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pvt motion

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This commit is contained in:
zamofing_t
2017-01-04 13:51:18 +01:00
parent 85f20ef491
commit a265d91f2f
7 changed files with 141 additions and 39 deletions
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11
python/MAError.py
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@@ -45,16 +45,16 @@ class MPLCanvasErr(FigureCanvas):
self.fig=fig
self.ax=ax
def InitChild(self,err):
def InitChild(self,meta,err):
fig=self.fig
ax=self.ax
errx,erry,err=err
hl = []
hl += ax.plot(errx, 'g-',label='x-error')
hl += ax.plot(erry, 'y-',label='y-error')
hl += ax.plot(errx, 'b-',label='x-error')
hl += ax.plot(erry, 'g-',label='y-error')
hl += ax.plot(err, 'r-',label='error')
ax.xaxis.set_label_text('time (10x servo cycle)')
ax.xaxis.set_label_text('datapoint (timebase: %g ms per data point)'%meta['timebase'])
ax.yaxis.set_label_text('pos-error um')
legend = ax.legend(loc='upper right', shadow=True)
ax.plot([.5,.5],[0.01, 0.99],'k',transform=ax.transAxes)
@@ -128,6 +128,7 @@ class MAErrorFrame(wx.Frame):
toolbar=ut.AddToolbar(canvas,sizer)
meta = doc.fh['meta'].item()
try:
err=doc.err
except AttributeError:
@@ -136,7 +137,7 @@ class MAErrorFrame(wx.Frame):
erry = abs(rec[:, 2] - rec[:, 5])
errxy = np.sqrt(errx ** 2 + erry ** 2)
doc.err = err = (errx, erry, errxy)
canvas.InitChild(err)
canvas.InitChild(meta,err)
self.Centre()

42
python/MAVelocity.py
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@@ -45,19 +45,22 @@ class MPLCanvasVelo(FigureCanvas):
self.fig=fig
self.ax=ax
def InitChild(self,vel):
def InitChild(self,meta,vel):
fig=self.fig
ax=self.ax
velxAct,velxDes,velyAct,velyDes=vel
velxAct,velxDes,velyAct,velyDes,velAct,velDes=vel
l=velxAct.shape[0]
hl = []
hl += ax.plot(velxAct, 'g-',label='vel x act')
hl += ax.plot(velxDes, 'g--',label='vel x des')
hl += ax.plot(velyAct, 'b-',label='vel y act')
hl += ax.plot(velyDes, 'b--',label='vel y des')
ax.xaxis.set_label_text('time (10x servo cycle)')
ax.yaxis.set_label_text('pos-error um')
hl += ax.plot(velxAct, 'b-',label='vel x act')
hl += ax.plot(velxDes, 'b--',label='vel x des')
hl += ax.plot(velyAct, 'g-',label='vel y act')
hl += ax.plot(velyDes, 'g--',label='vel y des')
hl += ax.plot(velAct, 'r-',label='vel act')
hl += ax.plot(velDes, 'r--',label='vel des')
ax.xaxis.set_label_text('datapoint (timebase: %g ms per data point)'%meta['timebase'])
ax.yaxis.set_label_text('um/ms')
legend = ax.legend(loc='upper right', shadow=True)
#axvline(linewidth=4, color='r')
#mpl.axvline(linewidth=4, color='r')
@@ -136,16 +139,24 @@ class MAVelocityFrame(wx.Frame):
toolbar=ut.AddToolbar(canvas,sizer)
meta = doc.fh['meta'].item()
try:
vel=doc.vel
except AttributeError:
tb=meta['timebase']
#data points are um
#datapoint timebase: 2 ms () per data point
#velocity: um/ms (deltatau desVel= motor units per serco cycle)
rec=doc.fh['rec']
velxAct = np.diff(rec[:, 1])
velxDes = np.diff(rec[:, 4])
velyAct = np.diff(rec[:, 2])
velyDes = np.diff(rec[:, 5])
doc.vel = vel = (velxAct,velxDes,velyAct,velyDes)
canvas.InitChild(vel)
velxAct = np.diff(rec[:, 1])/tb
velxDes = np.diff(rec[:, 4])/tb
velyAct = np.diff(rec[:, 2])/tb
velyDes = np.diff(rec[:, 5])/tb
velAct = np.sqrt(velxAct**2+velyAct**2)
velDes = np.sqrt(velxDes**2+velyDes**2)
doc.vel = vel = (velxAct,velxDes,velyAct,velyDes,velAct,velDes)
canvas.InitChild(meta,vel)
self.Centre()
@@ -184,7 +195,6 @@ class MAVelocityFrame(wx.Frame):
canvas = self.canvas
ax = canvas.ax
len = usrData
err = self.doc.err
hl = canvas.hl
#hl[0].set_data(rec[:len, 4], rec[:len, 5])
#hl[3].set_data(rec[:len, 1], rec[:len, 2])

11
python/PBMotionAnalyzer.py
View File

@@ -109,7 +109,7 @@ class MAMainFrame(wx.Frame):
sizer.Add(wxTxt, 1, wx.LEFT | wx.TOP | wx.GROW)
wxTimeCtrl=ut.SliderGroup(self, label='Time', range=(0, 1000))
wxTimeCtrl=ut.SliderGroup(self, label='DataPoint', range=(0, 1000))
wxTimeCtrl.SetCallback(MAMainFrame.OnSetTime, wxTimeCtrl)
sizer.Add(wxTimeCtrl.sizer, 0, wx.EXPAND | wx.ALIGN_CENTER | wx.ALL, border=5) #wxSplt.SplitVertically(wxTree, wxTxt)
wxPosCtrl=ut.SliderGroup(self, label='Position', range=(0, 1000))
@@ -126,6 +126,7 @@ class MAMainFrame(wx.Frame):
self.wxTxt=wxTxt
#self.wxTree=wxTree
#self.display=wxTxt
def __del__(self):
self.CloseFile()
@@ -298,6 +299,14 @@ if __name__ == '__main__':
if args.npzFile:
frame.OpenFile(args.npzFile)
frame.Show(True)
f1 = MAxyPlotFrame(frame, doc)
f1.Show(True)
f2= MAErrorFrame(frame, doc)
f2.Show(True)
f3= MAVelocityFrame(frame, doc)
f3.Show(True)
self.SetTopWindow(frame)
return True

BIN
python/data/shapepath.npz
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98
python/shapepath.py
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@@ -64,9 +64,19 @@ class ShapePath:
#cfg={"sequencer":['gen_grid_points(w=10,h=10,pitch=100,rnd=.2)','sort_points()','gen_prog(file="/tmp/shapepath.prg",host="SAROP11-CPPM-MOT6871")','plot_gather()']}
#cfg={"sequencer":['gen_grid_points(w=10,h=10,pitch=100,rnd=0.2)','sort_points()','gen_prog(file="/tmp/shapepath.prg")','plot_gather()']}
#cfg = {"sequencer": ['gen_rand_points(n=107, scale=1000)', 'sort_points()','plot_gather()']}
cfg={"sequencer":['gen_grid_points(w=20,h=20,pitch=50,rnd=.2)','sort_points()','gen_prog(file="/tmp/shapepath.prg",host="SAROP11-CPPM-MOT6871")','plot_gather()']}
cfg={"sequencer":['gen_grid_points(w=20,h=20,pitch=50,rnd=.2)','sort_points()','gen_prog(file="/tmp/shapepath.prg")','plot_gather()']}
#cfg={"sequencer":['gen_rand_points(n=400, scale=1000)','sort_points()','gen_prog(file="/tmp/shapepath.prg",host="SAROP11-CPPM-MOT6871")','plot_gather()']}
#cfg={"sequencer":['gen_grid_points(w=20,h=20,pitch=50,rnd=.2)','sort_points()','gen_prog(file="/tmp/shapepath.prg",host="SAROP11-CPPM-MOT6871")','plot_gather()']}
#cfg={"sequencer":['gen_grid_points(w=20,h=20,pitch=50,rnd=.2)','sort_points()','gen_prog(file="/tmp/shapepath.prg")','plot_gather()']}
#fn='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/data/'+time.strftime('%y-%m-%d-%H_%M_%S')
#cfg={"sequencer":['gen_rand_points(n=400, scale=1000)','sort_points()','gen_prog(file="'+fn+'.prg",host="SAROP11-CPPM-MOT6871")','plot_gather("'+fn+'.npz")']}
#cfg = {"sequencer": ['gen_grid_points(w=20,h=20,pitch=50,rnd=.2)', 'sort_points()','gen_prog(file="/tmp/shapepath.prg",host="SAROP11-CPPM-MOT6871",mode=0)', 'plot_gather()']}
#cfg = {"sequencer": ['gen_grid_points(w=5,h=5,pitch=50,rnd=.2)', 'sort_points()','gen_prog(file="/tmp/shapepath.prg",host="SAROP11-CPPM-MOT6871",mode=1)', 'plot_gather()']}
#cfg = {"sequencer": ['gen_grid_points(w=2,h=2,pitch=100,rnd=0)', 'sort_points()','gen_prog(file="/tmp/shapepath.prg",host="SAROP11-CPPM-MOT6871",mode=0)', 'plot_gather()']}
#cfg = {"sequencer": ['gen_grid_points(w=5,h=5,pitch=100,rnd=0.2)', 'sort_points()','gen_prog(file="/tmp/shapepath.prg",host="SAROP11-CPPM-MOT6871",mode=0)', 'plot_gather()']}
#cfg = {"points": [[0, 0],[100, 0],[200, 0],[300, 0],[400, 0],[400, 100],[300, 100],[200, 100],[100, 100],[0, 100],[10, 200],[100, 200],[200, 200],[300, 200],[400, 200],[410, 300],[300, 300],[200, 300],[100, 300],[0, 300],[0, 400],[100, 400],[200, 400],[300, 400],[400, 400]],"sequencer": ['gen_prog(file="/tmp/shapepath.prg",host="SAROP11-CPPM-MOT6871",mode=0)', 'plot_gather()']}
#cfg = {"sequencer": ['gen_grid_points(w=2,h=2,pitch=10000,rnd=0)', 'sort_points()','gen_prog(file="/tmp/shapepath.prg",host="SAROP11-CPPM-MOT6871",mode=-1)', 'plot_gather()']}
#cfg = {"sequencer": ['gen_grid_points(w=2,h=2,pitch=10000,rnd=0)', 'sort_points()','gen_prog(file="/tmp/shapepath.prg",host="SAROP11-CPPM-MOT6871",mode=1,pt2pt_time=1000)', 'plot_gather()']}
cfg = {"sequencer": ['gen_grid_points(w=20,h=20,pitch=100,rnd=0.2)', 'sort_points()','gen_prog(file="/tmp/shapepath.prg",host="SAROP11-CPPM-MOT6871",mode=1,pt2pt_time=10)', 'plot_gather()']}
#cfg = {"sequencer": ['gen_rand_points(n=400, scale=1000)', 'sort_points()','gen_prog(file="/tmp/shapepath.prg",host="SAROP11-CPPM-MOT6871",mode=1,pt2pt_time=10)', 'plot_gather()']}
self.cfg=dotdict(cfg)
self.args=args
@@ -103,9 +113,11 @@ class ShapePath:
pts+=(np.random.rand(pts.shape[0],2)*(rnd*pitch))
self.points=pts
def gen_prog(self,prgId=2,file=None,host=None,mode=0):
def gen_prog(self,prgId=2,file=None,host=None,mode=0,**kwargs):
prg=[]
gather={"MaxSamples":100000, "Period":10 }
gather={"MaxSamples":100000, "Period":1 }
#Sys.ServoPeriod= 0.2
self.meta = {'timebase': 0.2*gather['Period']}
#channels=["Motor[1].ActPos","Motor[2].ActPos","Motor[3].ActPos"]
channels=["Motor[1].ActPos","Motor[2].ActPos","Motor[3].ActPos","Motor[1].DesPos","Motor[2].DesPos","Motor[3].DesPos"]
prg.append('Gather.Enable=0')
@@ -118,16 +130,64 @@ class ShapePath:
prg.append('open prog %d'%(prgId))
# this uses Coord[1].Tm and limits with MaxSpeed
prg.append('Gather.Enable=2')
if mode==0:
if mode==-1:
pos=self.points
prg.append(' linear abs')
data=self.points
for idx in range(data.shape[0]):
prg.append('X(%f) Y(%f)'%tuple(data[idx,:]))
prg.append('X(%g) Y(%g)' % tuple(pos[0, :]))
prg.append('dwell 10')
prg.append('Gather.Enable=2')
prg.append('jog2:10000')
prg.append('dwell 100')
if mode==1:
pass
prg.append('Gather.Enable=0')
prg.append('jog3:10000')
prg.append('dwell 100')
prg.append('jog2:-10000')
prg.append('dwell 100')
prg.append('jog3:-10000')
prg.append('dwell 100')
prg.append('Gather.Enable=0')
elif mode==0:
pos=self.points
prg.append(' linear abs')
prg.append('X(%g) Y(%g)' % tuple(pos[0, :]))
prg.append('dwell 10')
prg.append('Gather.Enable=2')
prg.append(' linear abs')
for idx in range(pos.shape[0]):
prg.append('X%g Y%g'%tuple(pos[idx,:]))
prg.append('dwell 100')
prg.append('Gather.Enable=0')
elif mode==1:
try:
pt2pt_time=kwargs['pt2pt_time'] #how many ms to move to next point (pt2pt_time)
except KeyError:
print 'missing pt2pt_time, use default=100ms'
pt2pt_time=100.
pt=self.points
vel=pt[2:,:]-pt[:-2,:]
#pv is an array of posx posy velx vely
pv=np.ndarray(shape=(pt.shape[0]+2,4),dtype=pt.dtype)
pv[:]=np.NaN
#pv[ 0,(0,1)]=2*pt[0,:]-pt[1,:]
pv[ 0,(0,1)]=pt[0,:]
pv[ 1:-1,(0,1)]=pt
#pv[ -1,(0,1)]=2*pt[-1,:]-pt[-2,:]
pv[ -1,(0,1)]=pt[-1,:]
pv[(0,0,-1,-1),(2,3,2,3)]=0
dist=pv[2:,(0,1)] - pv[:-2,(0,1)]
pv[ 1:-1,(2,3)] = 1000.*dist/(2.*pt2pt_time)
prg.append(' linear abs')
prg.append('X%g Y%g' % tuple(pv[0, (0,1)]))
prg.append('dwell 10')
prg.append('Gather.Enable=2')
prg.append(' pvt%g abs'%pt2pt_time) #100ms to next position
for idx in range(1,pv.shape[0]):
prg.append('X%g:%g Y%g:%g'%tuple(pv[idx,(0,2,1,3)]))
prg.append('X%g Y%g' % tuple(pv[-1, (0,1)]))
prg.append('dwell 1000')
prg.append('Gather.Enable=0')
prg.append('close')
prg.append('&1\nb%dr\n'%prgId)
if self.args.verbose & 4:
@@ -200,11 +260,17 @@ class ShapePath:
self.ax=ax
self.hl=hl
def plot_gather(self,fnLoc='/tmp/gather.txt',fnOut='/tmp/shapepath.npz'):
def plot_gather(self,fnOut='/tmp/shapepath.npz',fnLoc='/tmp/gather.txt'):
meta=self.meta
pts=self.points
rec = np.genfromtxt(fnLoc, delimiter=' ')
if fnOut:
np.savez_compressed(fnOut, rec=rec, pts=pts)
# time base:
# Gather.Period=10
# Sys.ServoPeriod=0.2 -> 5kHz
# -> aquired data all 10*0.2ms= 2 ms -> 30000 points = 60 sec
np.savez_compressed(fnOut, rec=rec, pts=pts, meta=meta)
fig=plt.figure()
ax = fig.add_subplot(1,1,1)
#hl=ax[0].plot(x, y, color=col)
@@ -223,7 +289,7 @@ class ShapePath:
ax = fig.add_subplot(1, 1, 1)
err=np.sqrt((rec[:,1]-rec[:,4])**2+(rec[:,1]-rec[:,4])**2)
hl = ax.plot(err, 'r-')
ax.xaxis.set_label_text('time (10x servo cycle)')
ax.xaxis.set_label_text('datapoint (timebase: %g ms per data point)' % meta['timebase'])
ax.yaxis.set_label_text('pos-error um')
plt.show()