SFELPHOTON-1128: debug stup-and-go motion(4)

python/shapepath.py

@@ -65,8 +65,13 @@ import matplotlib as mpl
 import matplotlib.pyplot as plt
 import subprocess as sprc
 
-sys.path.insert(0,os.path.expanduser('~/Documents/prj/SwissFEL/PBTools/'))
-sys.path.insert(0,os.path.expanduser('/tmp/zamofing_t/PBTools/'))
+import socket
+hostname=socket.gethostname()
+if hostname=='ganymede':
+  sys.path.insert(0, os.path.expanduser('~/Documents/prj/SwissFEL/PBTools/'))
+else:
+  sys.path.insert(0, os.path.expanduser('/sf/cristallina/applications/mx/zamofing_t/PBTools/'))
+
 from  pbtools.misc.pp_comm import PPComm
 from  pbtools.misc.gather import Gather
 from MXMotion import MotionBase
@@ -711,8 +716,9 @@ class ShapePath(MotionBase):
             common kwargs plus:
               trf :  transformation that will be done on 'grid points'
               grid:  grid parameters: {orig:(0,0),pitch(10,10),cnt:(10,10),mode:0}
-              tmove: time to move in ms
+              tmove: time to move in ms (move start on FEL-trigger
               twait: time to wait in ms
+              (tmove+twait will be rounded to a multiple of fel_per)
     '''
     #scan=0 # snake motion X fast, Y slow
     scan=1 # snake motion Y fast, X slow (default)
@@ -721,14 +727,15 @@ class ShapePath(MotionBase):
 
     verb=self.verbose
     comm=self.comm
+    meta=self.meta
     try:
       self.sync_prg
     except AttributeError:
       _log.warning('missing motion sync code!')
     # this uses Coord[1].Tm and limits with MaxSpeed
     if mode in (1,3,4,5): #### pvt motion
-      pt2pt_time=self.meta['fel_per']
-      ts=self.meta['srv_per']
+      if mode!=5:
+        pt2pt_time=meta['pt2pt_time']=meta['fel_per']
       scale=kwargs.get('scale', 1.)
       cnt=kwargs.get('cnt', 1)  # move path multiple times
       dwell=kwargs.get('dwell', 100)  # wait time at end of motion
@@ -878,10 +885,16 @@ class ShapePath(MotionBase):
           raise Exception('scan=0 not supported')
           pass
         else:  # scan=1
-          if self.meta['sync_mode']==2:
+          if meta['sync_mode']==2:
             _log.error('sync_mode=2 not allowed for stop-and-go motion !')
-          pt2tp_felpulse=kwargs['pt2tp_felpulse']
           tmove=kwargs['tmove']
+          twait=kwargs['twait']
+          fel_per=meta['fel_per']
+          pt2tp_felpulse=round((tmove+twait)/fel_per)  # number of fel-pulses for a whole cycle (tmove+twait)
+          meta['pt2pt_time']=fel_per*pt2tp_felpulse
+          twait_=round((tmove+twait)/fel_per)*fel_per-tmove
+          if twait!=twait_:
+            _log.warning(f'adjust twait({twait}) to {twait_} to match multiple of fel-cycles')
           syncPlc=f'''\
 close all buffers
 disable plc 2
@@ -1194,33 +1207,14 @@ if __name__=='__main__':
     #mode=3;scale=0
     mode=5
     if mode==5:
-      tmove=sp.meta['tmove']=20 # time to move in ms
-      pt2tp_felpulse=15 #numper of fel pulses from point to point move e.g. 15puls at 100Hz=10ms -> 15*10ms=150ms
-      pt2pt_time=pt2tp_felpulse*sp.meta['fel_per']
-    else:
-      pt2pt_time=sp.meta['fel_per']
-    sp.meta['pt2pt_time']=pt2pt_time
+      tmove=20 # time to move in ms
+      twait=130# time to move in ms
     try:
       num_pts=gp.points.shape[0]
     except AttributeError as e:
       num_pts=np.array(grid['count'], np.int32).prod()
 
     if sp.comm:
-      gtMaxLn=int(sp.comm.gpascii.get_variable('Gather.MaxLines')) # 116508
-      if gtMaxLn==0:
-        sp.setup_gather(acq_per=1)
-        gtMaxLn=int(sp.comm.gpascii.get_variable('Gather.MaxLines')) # 116508
-
-      ovhdTime=100
-      acq_per=int(np.ceil((pt2pt_time*num_pts+ovhdTime)/(gtMaxLn*sp.meta['srv_per'])))
-      if args.verbose&0x01:
-        _log.info(f'''\
-  Gather.MaxLines:{gtMaxLn}
-  Gather.Period:  {acq_per}
-  meta: {sp.meta}
-  Filename: {fn}.[prg|npz]
-''')
-      sp.setup_gather(acq_per=acq_per)
       sp.setup_sync(verbose=args.verbose&0x40,timeOfs=0.03,timeCor=0.0005)
       sp.setup_coord_trf() # reset to shape path system
 
@@ -1231,7 +1225,10 @@ if __name__=='__main__':
     elif mode==4:
       sp.setup_motion(fnPrg=fn+'.prg',scale=1.,cnt=1,dwell=100,mode=4,grid=grid)
     elif mode==5:
-      sp.setup_motion(fnPrg=fn+'.prg',scale=1.,cnt=1,dwell=100,mode=5,tmove=tmove, pt2tp_felpulse=pt2tp_felpulse, grid=grid)
+      sp.setup_motion(fnPrg=fn+'.prg',scale=1.,cnt=1,dwell=100,mode=5,tmove=tmove, twait=twait, grid=grid)
+
+    if sp.comm:
+      sp.setup_gather()
 
     sp.homing()      #homing if needed
     sp.run()         #start motion program