sf-mx/PBSwissMX
0
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

enhance shapepath for compact code in grid scan

Browse Source
This commit is contained in:
zamofing_t
2023-06-16 16:23:17 +02:00
parent 8fd22bb11b
commit ad149fb750
3 changed files with 194 additions and 77 deletions
Download Patch File Download Diff File Expand all files Collapse all files

265
python/shapepath.py
View File

@@ -44,6 +44,16 @@ Mot 4: Stage X Stada Stepper 670mA 200 poles 1 rev = 100*2
Mot 5: Stage Z Stada Stepper 670mA 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
s.a. https://docs.google.com/document/d/1soSuCZYyfGf_ntcgG_Y1_WeGuo_687OuFn0s4sMj1uY/
tunneling:
PPMAC=SAR-CPPM-EXPMX1
ssh -L 10001:localhost:22 root@$PPMAC 'uname -a'
ssh -L 10002:localhost:2332 root@$PPMAC 'uname -a'
debug code:
ssh root@$PPMAC
sendgetsends -1
'''
from __future__ import print_function
@@ -454,6 +464,21 @@ class DebugPlot:
class ShapePath(MotionBase):
'''
member variables:
meta: defined in base class MotionBase
MotionBase uses keys:
srv_per
pt2pt_time
sync_flag
sync_mode
additional keys from function setup_gather():
acq_per
address
points: numpy array of raw points (motor values not X,Y-cooridnate values)
'''
def __init__(self,comm, gather, verbose,**kwargs):
MotionBase.__init__(self,comm, gather, verbose, **kwargs)
@@ -677,35 +702,42 @@ class ShapePath(MotionBase):
gpascii.send_block(prg)
def setup_motion(self,prgId=2,fnPrg=None,mode=0,**kwargs):
'''
1. generates program <prgId> and saves to fnPrg
the type of generated program is defined by <mode>
2. runs the program on the deltatau
'''
generates program <prgId> and saves to fnPrg
the type of generated program is defined by <mode>
mode=1 pvt motion
kwargs:
scale : scaling velocity (default=1. value=0 would stop at the point
cnt : move path multiple times (default=1)
dwell : dwell time at end (default=100ms)
mode:0 unused
mode:1 pvt motion
kwargs:
scale : scaling velocity (default=1. value=0 would stop at the point
cnt : move path multiple times (default=1)
dwell : dwell time at end (default=100ms)
mode:2 unused
mode:3 pvt motion using inverse fft velocity
kwargs : same as pvt motion plus:
numPad : number of padding points to reduce aliasing (default=16)
mode:4 pvt motion short code using grid parameters
kwargs : same as pvt motion plus:
grid: grid parameters: {orig:(0,0),pitch(10,10),cnt:(10,10),mode:0}
mode=0 ->X,Y 'snake' scan
mode=0 ->Y,X 'snake' scan
mode=3 pvt motion using inverse fft velocity
kwargs: same as pvt motion
numPad : number of padding points to reduce aliasing (default=16)
'''
prg=['close all buffers','open prog %d'%(prgId)]
'''
prg=f'close all buffers\nopen prog {prgId}\n'
verb=self.verbose
comm=self.comm
if comm is not None:
gpascii=comm.gpascii
# this uses Coord[1].Tm and limits with MaxSpeed
if mode in (1,3): #### pvt motion
pt2pt_time=self.meta['pt2pt_time']
ts=self.meta['srv_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
CoordFeedTime=1000. #Defaut deltatau value
verb=self.verbose
comm=self.comm
if comm is not None:
gpascii=comm.gpascii
# this uses Coord[1].Tm and limits with MaxSpeed
if mode in (1,3,4): #### pvt motion
pt2pt_time=self.meta['pt2pt_time']
ts=self.meta['srv_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
CoordFeedTime=1000. #Defaut deltatau value
if mode in (1, 3): #### pvt motion, using points
try:
pt=self.ptsCorr
except AttributeError:
@@ -720,7 +752,7 @@ class ShapePath(MotionBase):
if mode==1: # set velocity to average from prev to next point
dist=pv[2:,(0,1)] - pv[:-2,(0,1)]
pv[ 1:-1,(2,3)] = dist/(2.*pt2pt_time)*scale #um/ms
else: #mode=3: set velocity to the reconstructed inverse fourier transformation
else: # mode==3: # set velocity to the reconstructed inverse fourier transformation
numPad=kwargs.get('numPad', 16)
p=np.hstack((pt.T,pt[-1,:].repeat(numPad).reshape(2,-1)))
k=p.shape[1]
@@ -743,53 +775,121 @@ class ShapePath(MotionBase):
plt.show(block=False)
pv[1:-1, (2, 3)]*=CoordFeedTime #scaling for Deltatau
prg.append('linear abs')
#prg.append('X%g Y%g' % tuple(pv[0, (0,1)]-(120,120)))
prg.append('X%g Y%g' % tuple(pv[0, (0,1)]))
prg.append('dwell 10')
try: prg.extend(self.sync_prg.split('\n'))
except AttributeError:
#print('no sync code available')
prg.append('Gather.Enable=2')
if cnt>1:
prg.append('P100=%d'%cnt)
prg.append('N100:')
prg.append(' pvt%g abs'%pt2pt_time) #100ms to next position
prg+=' linear abs\n X%g Y%g\n' % tuple(pv[0, (0,1)])
else: # mode==4: #### pvt motion, short code using grid parameters
g=kwargs['grid']
ox,oy=g['pos']
px,py=g['pitch']
nx,ny=g['count']
scan=0x2
xx, yy=np.meshgrid(range(nx), range(ny))
if scan&0x01: #modify x scaning forward backward each line
for i in range(1,ny,2):
xx[i]=xx[i][::-1]
if scan&0x02: # modify y scaning forward backward each line
xx=xx.T
yy=yy.T
for i in range(1, nx, 2):
yy[i]=yy[i][::-1]
pts=np.array([xx.reshape(-1), yy.reshape(-1)], dtype=np.float).transpose() #*pitch
self.points=pts*g['pitch']+g['pos']
prg+=f' linear abs\n X{ox:g} Y{oy:g}\n'
prg+=' dwell 10\n'
try: prg+=self.sync_prg
except AttributeError:
#print('no sync code available')
prg+=' Gather.Enable=2\n'
if cnt>1:
prg+=' P100=%d\n'%cnt
prg+='N100:\n'
prg+=' pvt%g abs\n'%pt2pt_time #100ms to next position
if mode in (1,3):
for idx in range(1,pv.shape[0]):
prg.append(f'N{idx} ' + 'X%g:%g Y%g:%g'%tuple(pv[idx,(0,2,1,3)]))
#if idx%256==4: #sync data all 256 points
# prg.append('Coord[1].Q[12]=Sys.ServoCount')
# #prg.append(f'Coord[1].Q[13]={idx}')
# prg.append(f'Coord[1].Q[13]=Motor[1].DesPos')
prg.append('X%g Y%g' % tuple(pv[-1, (0,1)]))
if cnt>1:
prg.append('dwell 10')
prg.append('P100=P100-1')
prg.append('if(P100>0)')
prg.append('{')
prg.append(' linear abs')
prg.append('X%g Y%g' % tuple(pv[0, (0,1)]))
prg.append('dwell %d' % dwell)
prg.append('goto 100')
prg.append('}')
else:
prg.append('dwell %d'%dwell)
prg.append('Gather.Enable=0')
prg+=f'N{idx} ' + 'X%g:%g Y%g:%g\n'%tuple(pv[idx,(0,2,1,3)])
prg+=f'X{pv[-1, 0]} Y{pv[-1, 1]}\n'
else: # mode=4
#mode=0 # X fast Y slow
mode=1 # X fast Y slow
if mode==0:
pass
else: # mode=1
vx=px/(pt2pt_time)*scale*CoordFeedTime #scaling for Deltatau
vy=py/(pt2pt_time)*scale*CoordFeedTime #scaling for Deltatau
prg.append('close')
#prg.append('&1\nb%dr\n'%prgId)
if verb&0x04:
for ln in prg:
print(ln)
prg+=f'''\
//grid pvt motion
L1=0 //slow loop x
L0=0 //fast loop y
while(L1<{nx})
{{
//send 1"A:move X%f:%f Y%f:%f",{ox}+L1*{px},0,{oy}+L0*{py},{vy/2:g}
X({ox}+L1*{px}):0 Y({oy}+L0*{py}):{vy/2:g}
L0+=1
while(L0<{ny}-1)
{{
//send 1"B:move X%f:%f Y%f:%f",{ox}+L1*{px},0,{oy}+L0*{py},{vy:g}
X({ox}+L1*{px}):0 Y({oy}+L0*{py}):{vy:g}
L0+=1
}}
if(L1>={nx}-1)
{{
break
}}
//send 1"C:move X%f:%f Y%f:%f",{ox}+L1*{px},{vx/2:g},{oy}+L0*{py},{vy/2:g}
X({ox}+L1*{px}):{vx/2:g} Y({oy}+L0*{py}):{vy/2:g}
L1+=1
//send 1"D:move X%f:%f Y%f:%f",{ox}+L1*{px},{vx/2:g},{oy}+L0*{py},{-vy/2:g}
X({ox}+L1*{px}):{vx/2:g} Y({oy}+L0*{py}):{-vy/2:g}
L0-=1
while(L0>=1)
{{
//send 1"E:move X%f:%f Y%f:%f",{ox}+L1*{px},0,{oy}+L0*{py},{-vy:g}
X({ox}+L1*{px}):0 Y({oy}+L0*{py}):{-vy:g}
L0-=1
}}
if(L1>={nx}-1)
{{
break
}}
//send 1"F:move X%f:%f Y%f:%f",{ox}+L1*{px},{vx/2:g},{oy}+L0*{py},{-vy/2:g}
X({ox}+L1*{px}):{vx/2:g} Y({oy}+L0*{py}):{-vy/2:g}
L1+=1
//send 1"G:move X%f:%f Y%f:%f",{ox}+L1*{px},{vx/2:g},{oy}+L0*{py},{vy/2:g}
X({ox}+L1*{px}):{vx/2:g} Y({oy}+L0*{py}):{vy/2:g}
L0+=1
}}
//send 1"H:move X%f:%f Y%f:%f",{ox}+L1*{px},{0:g},{oy}+L0*{py},{0:g}
X({ox}+L1*{px}):{0:g} Y({oy}+L0*{py}):{0:g}
if fnPrg is not None:
fh=open(fnPrg,'w')
fh.write('\n'.join(prg))
fh.close()
if comm is not None:
gpascii.send_block(prg,verb&0x08)
'''
#common code to repeat the motion multiple times
if cnt>1:
prg+=f'''\
dwell 10
P100=P100-1
f(P100>0)
{{
linear abs
X{pv[0,0]:g} Y{pv[0,1]:g}
dwell {dwell}
goto 100
}}\n'''
else:
prg+=f' dwell {dwell}\n Gather.Enable=0\nclose\n'
#prg+='&1\nb%dr\n'%prgId)
if verb&0x04:
print(prg)
self.prg=prg
if fnPrg is not None:
fh=open(fnPrg,'w')
fh.write(prg)
fh.close()
if comm is not None:
gpascii.send_block(prg,verb&0x08)
self.prg=prg
def gather_upload(self,fnRec=None):
gt=self.gather
@@ -844,13 +944,13 @@ if __name__=='__main__':
param['fast_gather_port']=int(hpp[2])
print(' -> ssh-tunneling PPComm({host}:{port} {host}:{fast_gather_port})'.format(**param))
comm=PPComm(**param)
gather = Gather(comm)
gather=Gather(comm)
#real start and frame trigger with sync
#sp = ShapePath(comm, gather, args.verbose)
# direct start
#sp = ShapePath(comm, gather, args.verbose,sync_mode=0,pt2pt_time=10)
sp = ShapePath(comm, gather, args.verbose,sync_mode=0,pt2pt_time=10)
#simulated start and frame trigger no sync
#sp = ShapePath(comm, gather, args.verbose,sync_mode=1,sync_flag=3)
@@ -862,7 +962,7 @@ if __name__=='__main__':
#sp = ShapePath(comm, gather, args.verbose,sync_mode=1,sync_flag=1)
#simulated start real frame trigger with sync
sp = ShapePath(comm, gather, args.verbose,sync_mode=2,sync_flag=1)
#sp = ShapePath(comm, gather, args.verbose,sync_mode=2,sync_flag=1)
fn='/tmp/shapepath'
#fn =unique_filename('ShapePathAnalyser/records/19_01_24/spiral')
@@ -899,15 +999,26 @@ if __name__=='__main__':
#sp.gen_grid_points(w=50,h=50,pitch=120,rnd=0,ofs=(0,+2000));sp.sort_points(False,50); sp.meta['pt2pt_time']=10
#sp.gen_grid_points(w=16,h=16,pitch=120,rnd=0,ofs=(0,+2000));sp.sort_points(False,16); sp.meta['pt2pt_time']=10
#12.5x12.5
#sp.gen_grid_points(w=78,h=78,pitch=120,rnd=0,ofs=(-10000,-12000));sp.sort_points(False,78); sp.meta['pt2pt_time']=10
sp.gen_grid_points(w=78,h=78,pitch=120,rnd=0,ofs=(-10000,-12000));sp.sort_points(False,78); sp.meta['pt2pt_time']=10
#23.0x23.0 -> only 3 data points from shot to shot: 6,9,12,14,17,20...
sp.gen_grid_points(w=162,h=162,pitch=120,rnd=0,ofs=(-10000,-12000));sp.sort_points(False,162); sp.meta['pt2pt_time']=10
#sp.gen_grid_points(w=162,h=162,pitch=120,rnd=0,ofs=(-10000,-12000));sp.sort_points(False,162); sp.meta['pt2pt_time']=10
#sp.gen_grid_points(w=1,h=10,pitch=100,rnd=0,ofs=(0,0))
#sp.gen_spiral_points(rStart=100,rInc=20,numSeg=8,numCir=32, ofs=(0, 0))
#sp.gen_spiral_points(rStart=100,rInc=10,numSeg=2,numCir=32, phase=45, ofs=(0, 0))
#sp.gen_spiral_points(rStart=100,rInc=10,numSeg=4,numCir=32, ofs=(0, 0))
#sp.gen_closed_shifted()
#sp.setup_motion(fnPrg=fn+'.prg', mode=3, scale=1.,dwell=10)
sp.gen_grid_points(w=10,h=11,pitch=120,rnd=0,ofs=(-1000,-1200));sp.sort_points(False,11); sp.meta['pt2pt_time']=10
#sp.setup_motion(fnPrg=fn+'.prg', mode=1, scale=1.,dwell=10)
#grid={'pos':(-1000, -1200),'pitch':(120,120),'count':(10,11)}
#sp.setup_motion(fnPrg=fn+'.prg', mode=4, scale=1.,dwell=10,grid=grid)
sp.gen_grid_points(w= 40,h=45,pitch=120,rnd=0,ofs=(-1000,-1200));sp.sort_points(False,45); sp.meta['pt2pt_time']=10
sp.setup_motion(fnPrg=fn+'.prg', mode=1, scale=1.,dwell=10)
grid={'pos':(-500, -600),'pitch':(120,120),'count':(40,45)}
sp.setup_motion(fnPrg=fn+'.prg', mode=4, scale=1.,dwell=10,grid=grid)
gtMaxLn=int(sp.comm.gpascii.get_variable('Gather.MaxLines')) # 116508
if gtMaxLn==0:
@@ -927,7 +1038,9 @@ Filename: {fn}.[prg|npz]
sp.setup_sync(verbose=args.verbose&0x40,timeOfs=0.03,timeCor=0.0005)
sp.setup_coord_trf() # reset to shape path system
#sp.meta['pt2pt_time']=10 #put between setup_sync and setup_motion to have more motion points than FEL syncs
sp.setup_motion(fnPrg=fn+'.prg', mode=3, scale=1.,dwell=10)
#sp.setup_motion(fnPrg=fn+'.prg', mode=3, scale=1.,dwell=10)
#NEW sp.setup_motion(fnPrg=fn+'.prg', mode=2, scale=1.,dwell=10)
#sp.setup_motion(fnPrg=fn + '.prg', mode=1, scale=1,dwell=10)
#sp.setup_motion(fnPrg=fn + '.prg', mode=1, scale=0,dwell=10)
sp.homing() #homing if needed