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wip path shaping

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This commit is contained in:
zamofing_t
2016-12-22 08:09:52 +01:00
parent b4e28084d8
commit b98456b6ad
4 changed files with 246 additions and 152 deletions
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15
Readme.md
View File

@@ -45,11 +45,12 @@ Servo Test Motor QBL 4208-41-04-006
- 200 pole (100 einraster per rev)
************************
copy configuration after 'save':
scp -r root@SAROP11-CPPM-MOT6871:/opt/ppmac/usrflash /scratch
******* Path shaping test *****************
gpasciiCommander --host SAROP11-CPPM-MOT6871 -i
!mx-stage()
#1..3$
&1
#1..3j/
restore
scp -r /scratch/usrflash.IDE/* root@SAROP11-CPPM-MOT6871:/opt/ppmac/usrflash
$$$
#4$
cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg
./shapepath.py -v255

74
cfg/mx-stage.cfg
View File

@@ -76,77 +76,3 @@ open prog 2
X(0) Y(0) A(0)
close
open prog 2
//this uses Coord[1].Tm and limits with MaxSpeed
linear abs
X(10000) Y(0) A(0)
X(0) Y(10000) A(0)
X(0) Y(0) A(0)
X(0) Y(0) A(36000)
X(0) Y(0) A(0)
close
open prog 3
Gather.Enable=2
//this uses Coord[1].Tm and limits with MaxSpeed
linear abs
X(10000) //Y(0)
//X(0) Y(0)
//dwell 0
X(0) Y(10000)
X(0) Y(0)
X(10000) Y(10000)
X(0) Y(0)
dwell 100
Gather.Enable=0
close
open prog 4
Gather.Enable=2
//this uses Coord[1].Tm and limits with MaxSpeed
linear abs
X(100) Y(100)
X(200) Y(110)
X(300) Y(140)
X(400) Y(130)
X(500) Y(134)
X(600) Y(146)
X(700) Y(178)
X(800) Y(143)
X(900) Y(133)
X(1000) Y(147)
X(1100) Y(196)
X(1200) Y(104)
X(1300) Y(183)
X(1400) Y(135)
X(1500) Y(134)
X(1600) Y(195)
X(1700) Y(116)
X(1800) Y(150)
X(1900) Y(127)
X(1900) Y(272)
X(1800) Y(215)
X(1700) Y(232)
X(1600) Y(276)
X(1500) Y(215)
X(1400) Y(298)
X(1300) Y(235)
X(1200) Y(297)
X(1100) Y(256)
X(1000) Y(244)
X(900) Y(279)
X(800) Y(238)
X(700) Y(265)
X(600) Y(279)
X(500) Y(234)
X(400) Y(235)
X(300) Y(297)
X(200) Y(227)
X(100) Y(256)
dwell 100
Gather.Enable=0
close

216
cfg/shapepath.py
View File

@@ -8,26 +8,39 @@
'''
shape an optimal path with given points
#mode bits:
0 1 sort and plot random points
1 2 sort and plot grid(+some random) points
2 4 generate motion program
verbose bits:
1 basic info
2 plot sorting steps
4 list program
4 upload progress
8 plot gather path
#config file example:
{
"points": [
[100,523],[635,632],[756,213],
"mode": ["plot","program","gather","???"],
"sequencer":[
'gen_grid_points(w=10,h=10,pitch=100,rnd=.2)',
'sort_points()',
'gen_prog(file="/tmp/shapepath.prg")',
'plot_gather()']
}
Acquired time is:MaxSamples*Period*.2
Sequencer functions are:
- generate points (if not in the 'points' configuration)
gen_rand_points(self,n=107,scale=1000)
gen_grid_points(w=10,h=10,pitch=100,rnd=.2)
- sorting points:
sort_points(self)
- generate/download/execute motion progran, upload trace of motors (gather data)
gen_prog(self,prgId=2,file=None,host=None)
if host=None nothing will be downloaded/executed and trace of motors will not be uploaded
if file=None the program will not be saved and nothing will be executed
- plot gathered data
plot_gather()
this makes only sence, if motion has been executed and data can be gathered from the powerbrick
Acquired time is:MaxSamples*Period*.2
'''
import os, sys, json
@@ -36,36 +49,7 @@ import matplotlib as mpl
import matplotlib.pyplot as plt
import subprocess as sprc
import telnetlib
def ConvUtf8(s):
'convert unicoded json object to ASCII encoded'
#http://stackoverflow.com/questions/956867/how-to-get-string-objects-instead-of-unicode-ones-from-json-in-python
if isinstance(s, dict):
return {ConvUtf8(key): ConvUtf8(value) for key, value in s.iteritems()}
elif isinstance(s, list):
return [ConvUtf8(element) for element in s]
elif isinstance(s, unicode):
return s.encode('utf-8')
else:
return s
class GpasciiCommunicator():
'''Communicates with the Delta Tau gpascii programm
'''
gpascii_ack="\x06\r\n"
gpascii_inp='Input\r\n'
def connect(self, host, username='root', password='deltatau',prompt='ppmac# '):
p=telnetlib.Telnet(host)
print p.read_until('login: ')
p.write(username+'\n')
print p.read_until('Password: ')
p.write(password+'\n')
print p.read_until(prompt) # command prompt
p.write('gpascii -2\n') # execute gpascii command
print p.read_until(self.gpascii_inp)
return p
from utilities import *
class ShapePath:
def __init__(self,args):
@@ -75,45 +59,112 @@ class ShapePath:
cfg=json.loads(s, object_hook=ConvUtf8)
s=json.dumps(cfg, indent=2, separators=(',', ': '));print s
else:
cfg={"points": [[100,523],[635,632],[756,213]],"mode": ["plot","program","gather","???"]}
#args.cfg={"points": [[100,523],[635,632],[756,213]],"mode": ["plot","program","gather","???"]}
self.cfg=cfg
#cfg={"points": [[100,523],[635,632],[756,213]],"sequencer":['sort_points()','gen_prog(file="/tmp/shapepath.prg",host="SAROP11-CPPM-MOT6871")','plot_gather()']}
#cfg={"sequencer":['gen_rand_points(n=107, scale=1000)','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=.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()']}
self.cfg=dotdict(cfg)
self.args=args
def run(self):
print('args='+str(self.args))
print('cfg='+str(self.cfg))
mode=self.args.mode
if mode&1:
#generate random points and sort
try:
self.points=np.array(self.cfg.points)
except AttributeError:
pass
try:
sequencer= self.cfg.pop('sequencer')
except KeyError:
print('no command sequence to execute')
else:
dryrun=self.args.dryrun
for cmd in sequencer:
print '>'*5+' '+cmd+' '+'<'*5
if not dryrun:
eval('self.' + cmd)
def gen_rand_points(self,n=107,scale=1000):
np.random.seed(0)
#data=np.random.randint(0,1000,(30,2))
data=np.random.rand(107,2)*1000
self.points=data
self.sort_points()
if mode&2:
pts=np.random.rand(n,2)*scale
self.points=pts
def gen_grid_points(self,w=10,h=10,pitch=100,rnd=.2):
np.random.seed(0)
xx,yy=np.meshgrid(range(10), range(10))
data=np.array([xx.reshape(-1),yy.reshape(-1)],dtype=np.float).transpose()*100
data+=np.random.rand(100,2)*20
self.points=data
self.sort_points()
if mode&4:
xx,yy=np.meshgrid(range(w), range(h))
pts=np.array([xx.reshape(-1),yy.reshape(-1)],dtype=np.float).transpose()*pitch
if rnd != 0:
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):
prg=[]
gather={"MaxSamples":100000, "Period":10 }
#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')
prg.append('Gather.Items=%d'%len(channels))
for k,v in gather.iteritems():
prg.append('Gather.%s=%d'%(k,v))
for i,c in enumerate(channels):
prg.append('Gather.Addr[%d]=%s.a'%(i,c))
prg.append('open prog %d'%(prgId))
# this uses Coord[1].Tm and limits with MaxSpeed
prg.append('Gather.Enable=2')
if mode==0:
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('dwell 100')
if mode==1:
pass
prg.append('Gather.Enable=0')
prg.append('close')
prg.append('&1\nb%dr\n'%prgId)
if self.args.verbose & 4:
for ln in prg:
print(ln)
if file is not None:
fh=open(file,'w')
fh.write('\n'.join(prg))
fh.close()
if host is not None:
cmd ='gpasciiCommander --host '+host+' '+ file
print cmd
p = sprc.Popen(cmd, shell=True)#, stdout=sprc.PIPE, stderr=sprc.STDOUT)
#res=p.stdout.readlines(); print res
retval = p.wait()
#gather -u /var/ftp/gather/out.txt
cmd ='PBGatherPlot -m24 -v7 --host '+host
print cmd
p = sprc.Popen(cmd, shell=True)#, stdout=sprc.PIPE, stderr=sprc.STDOUT)
retval = p.wait()
self.prg=prg
def sort_points(self):
data=self.points
pts=self.points
verb=self.args.verbose
if verb&2:
self.plot_points(data)
#if verb&2:
# self.plot_points(pts)
#sort points along y
data=data[data[:, 1].argsort()]
if verb&2:
self.plot_points(data)
pts=pts[pts[:, 1].argsort()]
#if verb&2:
# self.plot_points(pts)
#group sorting
cnt=data.shape[0]
cnt=pts.shape[0]
idx=np.ndarray(cnt,dtype=np.int32)
grp_cnt=int(np.sqrt(cnt))
grp_sz=int(np.ceil(float(cnt)/grp_cnt))
@@ -121,16 +172,16 @@ class ShapePath:
a=i*grp_sz
#print a,a+grp_sz
if i%2:
idx[a:a+grp_sz]=a+data[a:a+grp_sz,0].argsort()[::-1]
idx[a:a+grp_sz]=a+pts[a:a+grp_sz,0].argsort()[::-1]
else:
idx[a:a+grp_sz]=a+data[a:a+grp_sz,0].argsort()
idx[a:a+grp_sz]=a+pts[a:a+grp_sz,0].argsort()
#print(idx)
data=data[idx]
pts=pts[idx]
if verb&2:
self.plot_points(data)
self.plot_points(pts)
plt.show()
self.points=data
self.points=pts
@staticmethod
def onclick(event):
@@ -138,18 +189,41 @@ class ShapePath:
event.button, event.x, event.y, event.xdata, event.ydata)
obj=event.canvas.figure.obj
def plot_points(self,data):
def plot_points(self,pts):
fig=plt.figure()
ax = fig.add_subplot(1,1,1)
#hl=ax[0].plot(x, y, color=col)
hl=ax.plot(data[:,0],data[:,1],'r.')
hl=ax.plot(data[:,0],data[:,1],'y--')
hl=ax.plot(pts[:,0],pts[:,1],'r.')
hl=ax.plot(pts[:,0],pts[:,1],'y--')
cid = fig.canvas.mpl_connect('button_press_event', self.onclick)
fig.obj=self
self.data=data
self.ax=ax
self.hl=hl
def plot_gather(self,fnLoc='/tmp/gather.txt'):
pts=self.points
rec = np.genfromtxt(fnLoc, delimiter=' ')
fig=plt.figure()
ax = fig.add_subplot(1,1,1)
#hl=ax[0].plot(x, y, color=col)
hl=ax.plot(pts[:,0],pts[:,1],'r.')
hl=ax.plot(pts[:,0],pts[:,1],'y--')
hl = ax.plot(rec[:, 4], rec[:, 5], 'b-')
hl=ax.plot(rec[:,1],rec[:,2],'g-')
ax.xaxis.set_label_text('x-pos um')
ax.yaxis.set_label_text('y-pos um')
cid = fig.canvas.mpl_connect('button_press_event', self.onclick)
fig.obj=self
self.ax=ax
self.hl=hl
fig = plt.figure()
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.yaxis.set_label_text('pos-error um')
plt.show()
if __name__=='__main__':
from optparse import OptionParser, IndentedHelpFormatter
@@ -182,7 +256,7 @@ Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
parser=OptionParser(epilog=epilog, formatter=fmt)
parser.add_option('-v', '--verbose', type="int", dest='verbose', help='verbosity bits (see below)', default=0)
parser.add_option('-m', '--mode', type="int", dest='mode', help='mode bits (see below)', default=0)
parser.add_option('-n', '--dryrun', action='store_true', help='dryrun to stdout')
parser.add_option('--cfg', help='config file containing json configuration structure')
(args, other)=parser.parse_args()

93
cfg/utilities.py Executable file
View File

@@ -0,0 +1,93 @@
#!/usr/bin/env python
#*-----------------------------------------------------------------------*
#| |
#| Copyright (c) 2016 by Paul Scherrer Institute (http://www.psi.ch) |
#| |
#| Author Thierry Zamofing (thierry.zamofing@psi.ch) |
#*-----------------------------------------------------------------------*
'''
utilities classes
'''
import logging, h5py, re, zlib, zmq, json
import numpy as np
from libDetXR import *
import time
class dotdict(dict):
"""dot.notation access to dictionary attributes"""
def __init__(self,arg=None,**kwargs):
if arg!=None:
self.__fill__(arg)
self.__fill__(kwargs)
def __fill__(self,kw):
for k,v in kw.iteritems():
if type(v)==dict:
self[k]=dotdict(v)
else:
self[k]=v
if type(v)==list:
for i,w in enumerate(v):
if type(w)==dict:
v[i]=dotdict(w)
pass
def __dir__(self):
l=dir(object)
#l.extend(self.keys())
l.extend(map(str,self.keys()))
return l
def __getattr__(self, attr):
#return self.get(attr)
try:
return self[attr]
except KeyError as e:
raise AttributeError("%r instance has no attribute %r" % (self.__class__, attr))
def __repr__(self):
return '<' + dict.__repr__(self)[1:-1] + '>'
def PrettyPrint(self,indent=0):
for k,v in self.iteritems():
if type(v)==dotdict:
print ' '*indent,str(k)+':'
v.PrettyPrint(indent+2)
else:
print ' '*indent+str(k)+'\t'+str(v)
__setattr__= dict.__setitem__
__delattr__= dict.__delitem__
#__getattr__= dict.__getattr__
def ConvUtf8(s):
'convert unicoded json object to ASCII encoded'
#http://stackoverflow.com/questions/956867/how-to-get-string-objects-instead-of-unicode-ones-from-json-in-python
if isinstance(s, dict):
return {ConvUtf8(key): ConvUtf8(value) for key, value in s.iteritems()}
elif isinstance(s, list):
return [ConvUtf8(element) for element in s]
elif isinstance(s, unicode):
return s.encode('utf-8')
else:
return s
class GpasciiCommunicator():
'''Communicates with the Delta Tau gpascii programm
'''
gpascii_ack="\x06\r\n"
gpascii_inp='Input\r\n'
def connect(self, host, username='root', password='deltatau',prompt='ppmac# '):
p=telnetlib.Telnet(host)
print p.read_until('login: ')
p.write(username+'\n')
print p.read_until('Password: ')
p.write(password+'\n')
print p.read_until(prompt) # command prompt
p.write('gpascii -2\n') # execute gpascii command
print p.read_until(self.gpascii_inp)
return p