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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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216
cfg/shapepath.py
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@@ -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()