towards using gather and ppc in shapepath
This commit is contained in:
@@ -29,6 +29,7 @@ close all;
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[pb]=simFxFyStage(mot1,1);
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[ssc]=StateSpaceControlDesign(mot1,1);
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[mot1,mot2]=identifyFxFyStage();
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[pb]=simFxFyStage(mot2,2);
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[ssc]=StateSpaceControlDesign(mot2,2);
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@@ -1,19 +1,38 @@
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raw=desPos_actPos.Data
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raw(:,2)=raw(:,1)*100
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ft=fft(raw);
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plot(log(abs(ft)));
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plot(log(abs(ft(:,1)./ft(:,2))));
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https://de.wikipedia.org/wiki/Chirp
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i=int(minFrq*tSec); j=int(maxFrq*tSec); #print(w[i],w[j])
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# amp, minFrq, maxFrq, tSec = (10, 10, 300, 30)
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import numpy as np
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import matplotlib as mpl
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import matplotlib.pyplot as plt
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x=np.arange(1,300000)
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y=10*np.sin(31.415926535897931*( pow(1.058324104020218,(x*0.000199996614513)) -1) /np.log(1.058324104020218))
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plt.show()
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plt.plot(x,y)
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plt.show()
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y=amp*sin( a* (b**(x*c))-1) / log(d) )
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=amp*sin( a/log(d)* (b**(x*c))-1) )
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x=2+3j
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rho=abs(x)
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theta=angle(x)
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%-------------------
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x=rho*exp(j*theta)
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0.000199996614513=samplingrate in sec. (gatherPeriod==1?)
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31.415926535897931 = pi*10 =? 2*pi*f0
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1.058324104020218 = k
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x*0.000199996614513 =t
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1.058324104020218**60 = 30
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sin( 2*pi*f0/ln(k)*(k**t-1) )
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f(t)=f0*k**t = f0*e**(t*ln(k))
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k**t=30 (from 10 to 300 -> 300/10=30)
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log(k**t)=log(30)
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log(k)*t=log(30)
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log(k)=log(30)*(1/t)
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log(k)=log(30**(1/t))
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k=30**(1/t)
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30**(1/60.) = 1.0583241040202176
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-----------------------------------------------------------------
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figure();
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@@ -21,10 +40,6 @@ x=rho*exp(j*theta)
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setoptions(h,'FreqUnits','Hz','Grid','on');legend('location','sw');
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%figure();bode(ssc.ss_o(3));
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%figure();tf=tf(ssc.ss_o) pzplot(tf(3));
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38
python/MXMotion.py
Normal file
38
python/MXMotion.py
Normal file
@@ -0,0 +1,38 @@
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import os, sys
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sys.path.insert(0,os.path.expanduser('~/Documents/prj/SwissFEL/PBTools/'))
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#import pbtools.misc.pp_comm as pp_comm -> pp_comm.PPComm
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from pbtools.misc.pp_comm import PPComm
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from pbtools.misc.gather import Gather
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class MotionBase:
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def __init__(self, comm, gather, verbose):
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self.comm=comm
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self.gather=gather
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self.verbose=verbose
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def wait_trigger(self):
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'''
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//changes the Timebase of coord system 1
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//modifies the timebase to start/stop a running program
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//this can also be used to adjust the execution speed
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open plc 1
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Coord[1].DesTimeBase=0 // freezes timebase at boot
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while(1)
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{
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if(PowerBrick[0].GpioData[0].0.1==1)
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{
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PowerBrick[0].GpioData[0].16.8=255
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Coord[1].DesTimeBase=Sys.ServoPeriod
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}
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else
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{
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PowerBrick[0].GpioData[0].16.8=7
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Coord[1].DesTimeBase=0
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}
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}
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close
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'''
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pass
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@@ -49,65 +49,33 @@ Sequencer functions are:
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Acquired time is:MaxSamples*Period*.2
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'''
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import os, sys, json
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from __future__ import print_function
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import os, sys, time
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import numpy as np
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import matplotlib as mpl
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import matplotlib.pyplot as plt
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import subprocess as sprc
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import telnetlib
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class ShapePath:
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def __init__(self,args):
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if args.cfg:
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fh=open(args.cfg,'r')
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s=fh.read()
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cfg=json.loads(s, object_hook=ConvUtf8)
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s=json.dumps(cfg, indent=2, separators=(',', ': '));print(s)
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else:
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fn='/tmp/shapepath4'
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#fn='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/data/'+time.strftime('%y-%m-%d-%H_%M_%S')
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#cfg={"points": [[100,523],[635,632],[756,213]],"sequencer":['sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1")','plot_gather("'+fn+'.npz")']}
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#cfg={"sequencer":['gen_rand_points(n=107, scale=1000)','sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1")','plot_gather("'+fn+'.npz")']}
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#cfg={"sequencer":['gen_grid_points(w=10,h=10,pitch=100,rnd=.2)','sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1")','plot_gather("'+fn+'.npz")']}
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#cfg={"sequencer":['gen_grid_points(w=10,h=10,pitch=100,rnd=0.2)','sort_points()','gen_prog(file="'+fn+'.prg")','plot_gather("'+fn+'.npz")']}
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#cfg = {"sequencer": ['gen_rand_points(n=107, scale=1000)', 'sort_points()','plot_gather("'+fn+'.npz")']}
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#cfg={"sequencer":['gen_grid_points(w=20,h=20,pitch=50,rnd=.2)','sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1")','plot_gather("'+fn+'.npz")']}
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#cfg={"sequencer":['gen_grid_points(w=20,h=20,pitch=50,rnd=.2)','sort_points()','gen_prog(file="'+fn+'.prg")','plot_gather("'+fn+'.npz")']}
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#cfg={"sequencer":['gen_rand_points(n=400, scale=1000)','sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1")','plot_gather("'+fn+'.npz")']}
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#cfg = {"sequencer": ['gen_grid_points(w=20,h=20,pitch=50,rnd=.2)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=0)', 'plot_gather("'+fn+'.npz")']}
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#cfg = {"sequencer": ['gen_grid_points(w=5,h=5,pitch=50,rnd=.2)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=1)', 'plot_gather("'+fn+'.npz")']}
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#cfg = {"sequencer": ['gen_grid_points(w=2,h=2,pitch=100,rnd=0)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=0)', 'plot_gather("'+fn+'.npz")']}
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#cfg = {"sequencer": ['gen_grid_points(w=5,h=5,pitch=100,rnd=0.2)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=0)', 'plot_gather("'+fn+'.npz")']}
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#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="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=0)', 'plot_gather("'+fn+'.npz")']}
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#cfg = {"sequencer": ['gen_grid_points(w=2,h=2,pitch=10000,rnd=0)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=-1)', 'plot_gather("'+fn+'.npz")']}
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#cfg = {"sequencer": ['gen_grid_points(w=2,h=2,pitch=10000,rnd=0)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=1,pt2pt_time=1000)', 'plot_gather("'+fn+'.npz")']}
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#cfg = {"sequencer": ['gen_grid_points(w=20,h=20,pitch=50,rnd=0.2)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=1,pt2pt_time=10,acq_per=10)', 'plot_gather("'+fn+'.npz")']}
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#cfg = {"sequencer": ['gen_rand_points(n=400, scale=1000)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=1,pt2pt_time=10)', 'plot_gather("'+fn+'.npz")']}
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cfg = {"sequencer": ['gen_grid_points(w=40,h=40,pitch=100,rnd=0.4)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=1,pt2pt_time=10,cnt=1)', 'plot_gather("'+fn+'.npz")']}
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cfg = {"sequencer":['gen_rand_points(n=900, scale=1000)','sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=1,pt2pt_time=40,acq_per=10)','plot_gather("'+fn+'.npz")']}
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#cfg = {"sequencer": ['gen_swissfel_points(scale=300)','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=1,pt2pt_time=100,acq_per=10)', 'plot_gather("'+fn+'.npz")']}
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#cfg = {"sequencer": ['opt_pts("'+fn+'.npz")','gen_prog(file="'+fn+'_corr.prg",host="SAR-CPPM-EXPMX1",mode=1,pt2pt_time=10,cnt=1)', 'plot_gather("'+fn+'_corr.npz")']}
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#cfg = {"sequencer": ['opt_pts("'+fn+'.npz")','gen_prog(file="'+fn+'.prg",mode=1,pt2pt_time=10,cnt=1)']}
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sys.path.insert(0,os.path.expanduser('~/Documents/prj/SwissFEL/PBTools/'))
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from pbtools.misc.pp_comm import PPComm
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from pbtools.misc.gather import Gather
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from MXMotion import MotionBase
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#cfg = {"sequencer": ['gen_grid_points(w=5,h=5,pitch=100,rnd=0.4)', 'sort_points()','gen_prog(file="'+fn+'.prg",mode=1,pt2pt_time=10,cnt=1)']}
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self.cfg=dotdict(cfg)
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self.args=args
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class ShapePath(MotionBase):
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def __init__(self,comm, gather, verbose):
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MotionBase.__init__(self,comm, gather, verbose)
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def run(self):
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print('args='+str(self.args))
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print('cfg='+str(self.cfg))
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def run_test(self,cfg,dryrun=False):
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print('cfg='+str(cfg))
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try:
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self.points=np.array(self.cfg.points)
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except AttributeError:
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self.points=np.array(cfg['points'])
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except KeyError:
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pass
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try:
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sequencer= self.cfg.pop('sequencer')
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sequencer= cfg['sequencer']
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except KeyError:
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print('no command sequence to execute')
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else:
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dryrun=self.args.dryrun
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for cmd in sequencer:
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print('>'*5+' '+cmd+' '+'<'*5)
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if not dryrun:
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@@ -127,7 +95,7 @@ class ShapePath:
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pts*=scale
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self.points=pts
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verb=self.args.verbose
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verb=self.verbose
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if verb&2:
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self.plot_points(pts)
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plt.show()
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@@ -167,28 +135,27 @@ class ShapePath:
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self.ptsCorr=ptsCorr
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print(ptsCorr)
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def gen_prog(self,prgId=2,file=None,host=None,mode=0,**kwargs):
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def move_trajectory(self,prgId=2,fnPrg=None,mode=0,**kwargs):
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'''
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1. generates program <prgId> and saves to fnPrg
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the type of generated program is defined by <mode>
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2. runs the program on the deltatau
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kwargs:
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acq_per : acquire period: acquire data all acq_per servo loops (default=1)
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pt2pt_time : time to move from one point to the next point
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'''
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prg=[]
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acq_per=kwargs.get('acq_per',1)
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gather={"MaxSamples":1000000, "Period":acq_per}
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#Sys.ServoPeriod is dependent of !common() macro
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gt=self.gather
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comm=self.comm
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acq_per=kwargs.get('acq_per', 1)
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ServoPeriod= .2 #0.2ms
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#ServoPeriod = .05
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self.meta = {'timebase': ServoPeriod*gather['Period']}
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#channels=["Motor[1].ActPos","Motor[2].ActPos","Motor[3].ActPos"]
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channels=["Motor[3].ActPos","Motor[2].ActPos","Motor[1].ActPos","Motor[3].DesPos","Motor[2].DesPos","Motor[1].DesPos"]
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prg.append('Gather.Enable=0')
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prg.append('Gather.Items=%d'%len(channels))
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for k,v in gather.iteritems():
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prg.append('Gather.%s=%d'%(k,v))
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for i,c in enumerate(channels):
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prg.append('Gather.Addr[%d]=%s.a'%(i,c))
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if gt:
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gt.set_phasemode(False)
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gt.set_address('Motor[3].ActPos','Motor[2].ActPos','Motor[1].ActPos','Motor[3].DesPos','Motor[2].DesPos','Motor[1].DesPos')
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gt.set_property(MaxSamples=1000000,Period=acq_per)
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#gt.set_property(Period=acq_per)
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prg=[]
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self.meta = {'timebase': ServoPeriod*acq_per}
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prg.append('open prog %d'%(prgId))
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# this uses Coord[1].Tm and limits with MaxSpeed
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@@ -293,39 +260,56 @@ class ShapePath:
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prg.append('close')
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prg.append('&1\nb%dr\n'%prgId)
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if self.args.verbose & 4:
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if self.verbose & 4:
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for ln in prg:
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print(ln)
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if file is not None:
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fh=open(file,'w')
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if fnPrg is not None:
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fh=open(fnPrg,'w')
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fh.write('\n'.join(prg))
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fh.close()
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if host is not None:
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cmd ='gpasciiCommander --host '+host+' '+ file
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print(cmd)
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p = sprc.Popen(cmd, shell=True)#, stdout=sprc.PIPE, stderr=sprc.STDOUT)
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#res=p.stdout.readlines(); print res
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retval = p.wait()
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#gather -u /var/ftp/gather/out.txt
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cmd ='PBGatherPlot -m24 -v7 --host '+host
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print(cmd)
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p = sprc.Popen(cmd, shell=True)#, stdout=sprc.PIPE, stderr=sprc.STDOUT)
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retval = p.wait()
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self.prg=prg
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if comm is not None:
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gpascii=comm.gpascii
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for ln in prg:
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gpascii.send_line(ln.strip())
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gpascii.sync()
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def sort_points(self):
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def gather_upload(self,fnRec=None):
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gt=self.gather
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comm=self.comm
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if comm is None:
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return
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gpascii=comm.gpascii
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#while True: #wait unti acquisition started
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# samples=gpascii.get_variable('Gather.Samples', type_=int)
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# enable=gpascii.get_variable('Gather.Enable', type_=int)
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# if enable>0 and samples>0:
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# break;
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# time.sleep(.1)
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# sys.stdout.flush()
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gt.wait_stopped(verbose=True)
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self.rec =rec = self.gather.upload()
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pts=self.points
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verb=self.args.verbose
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#if verb&2:
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# self.plot_points(pts)
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#rec=Motor[1].ActPos,Motor[2].ActPos,Motor[3].ActPos,Motor[1].DesPos,Motor[2].DesPos,Motor[3].DesPos
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#res=rot.ActPos,x.ActPos,y.ActPos,rot.DesPos,x.DesPos,y.DesPos
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#idx 0 1 2 3 4 5
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ofsy=-rec[0,4]+pts[0,0]
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ofsx=-rec[0,5]+pts[0,1]
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rec[:,(1,4)]+=ofsy
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rec[:,(2,5)]+=ofsx
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if fnRec:
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np.savez_compressed(fnRec, rec=rec, pts=pts, meta=self.meta)
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def sort_points(self,xy=False):
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pts=self.points
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verb=self.verbose
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cnt=pts.shape[0]
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idx=np.ndarray(cnt,dtype=np.int32)
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grp_cnt=int(np.sqrt(cnt))
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grp_sz=int(np.ceil(float(cnt)/grp_cnt))
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if self.args.xy==True:
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if xy==True:
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idxA=1;idxB=0
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else:
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idxA=0;idxB=1
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@@ -366,24 +350,14 @@ class ShapePath:
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self.ax=ax
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self.hl=hl
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def plot_gather(self,fnOut='/tmp/shapepath.npz',fnLoc='/tmp/gather.txt'):
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meta=self.meta
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pts=self.points # X,Y array
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rec = np.genfromtxt(fnLoc, delimiter=' ')
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#rec=Motor[1].ActPos,Motor[2].ActPos,Motor[3].ActPos,Motor[1].DesPos,Motor[2].DesPos,Motor[3].DesPos
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#res=rot.ActPos,x.ActPos,y.ActPos,rot.DesPos,x.DesPos,y.DesPos
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#idx 0 1 2 3 4 5
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ofsy=-rec[0,4]+pts[0,0]
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ofsx=-rec[0,5]+pts[0,1]
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rec[:,(1,4)]+=ofsy
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rec[:,(2,5)]+=ofsx
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if fnOut:
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# time base:
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# Gather.Period=10
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# Sys.ServoPeriod=0.2 -> 5kHz
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# -> aquired data all 10*0.2ms= 2 ms -> 30000 points = 60 sec
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np.savez_compressed(fnOut, rec=rec, pts=pts, meta=meta)
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def plot_gather(self):
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try:
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meta=self.meta
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pts=self.points # X,Y array
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rec = self.rec
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except AttributeError as e:
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print('plot_gather(): '+str(e)+': no data acquired yet')
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return
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fig=plt.figure()
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ax = fig.add_subplot(1,1,1)
|
||||
#hl=ax[0].plot(x, y, color=col)
|
||||
@@ -415,6 +389,67 @@ class ShapePath:
|
||||
plt.show()
|
||||
|
||||
if __name__=='__main__':
|
||||
#import logging
|
||||
#logger = logging.getLogger(__name__)
|
||||
#logger = logging.getLogger('pbtools.misc.pp_comm')
|
||||
#logger.setLevel(logging.DEBUG)
|
||||
#logging.basicConfig(format=('%(asctime)s %(name)-12s '
|
||||
# '%(levelname)-8s %(message)s'),
|
||||
# datefmt='%m-%d %H:%M',
|
||||
# )
|
||||
|
||||
def run_test(args):
|
||||
if args.host is None:
|
||||
comm=gather=None
|
||||
else:
|
||||
comm = PPComm(host=args.host)
|
||||
gather = Gather(comm)
|
||||
sp=ShapePath(comm, gather, args.verbose)
|
||||
|
||||
fn='/tmp/shapepath'
|
||||
# fn='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/data/'+time.strftime('%y-%m-%d-%H_%M_%S')
|
||||
sort_points='sort_points(xy='+str(args.xy)+')'
|
||||
gt_upld='gather_upload(fnRec="'+fn+'.npz")'
|
||||
move_trj='move_trajectory(fnPrg="'+fn+'.prg"'
|
||||
|
||||
# cfg={"points": [[100,523],[635,632],[756,213]],"sequencer":[sort_points,move_trj+')']}
|
||||
cfg={"sequencer":['gen_rand_points(n=107, scale=1000)',sort_points,move_trj+')']}
|
||||
# cfg={"sequencer":['gen_grid_points(w=10,h=10,pitch=100,rnd=.2)',sort_points,move_trj+')']}
|
||||
# cfg={"sequencer":['gen_grid_points(w=10,h=10,pitch=100,rnd=0.2)',sort_points,move_trj+')']}
|
||||
# cfg = {"sequencer": ['gen_rand_points(n=107, scale=1000)', sort_points]}
|
||||
# cfg={"sequencer":['gen_grid_points(w=20,h=20,pitch=50,rnd=.2)',sort_points,move_trj+')']}
|
||||
# cfg={"sequencer":['gen_grid_points(w=20,h=20,pitch=50,rnd=.2)',sort_points,move_trj+')']}
|
||||
# cfg={"sequencer":['gen_rand_points(n=400, scale=1000)',sort_points,move_trj+')']}
|
||||
# cfg = {"sequencer": ['gen_grid_points(w=20,h=20,pitch=50,rnd=.2)', sort_points,move_trj+',mode=0)',]}
|
||||
# cfg = {"sequencer": ['gen_grid_points(w=5,h=5,pitch=50,rnd=.2)', sort_points,move_trj+',mode=1)',]}
|
||||
# cfg = {"sequencer": ['gen_grid_points(w=2,h=2,pitch=100,rnd=0)', sort_points,move_trj+',mode=0)',]}
|
||||
# cfg = {"sequencer": ['gen_grid_points(w=5,h=5,pitch=100,rnd=0.2)', sort_points,move_trj+',mode=0)',]}
|
||||
# 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": [move_trj+',mode=0)',]}
|
||||
# cfg = {"sequencer": ['gen_grid_points(w=2,h=2,pitch=10000,rnd=0)', sort_points,move_trj+',mode=-1)',]}
|
||||
# cfg = {"sequencer": ['gen_grid_points(w=2,h=2,pitch=10000,rnd=0)', sort_points,move_trj+',mode=1,pt2pt_time=1000)',]}
|
||||
# cfg = {"sequencer": ['gen_grid_points(w=20,h=20,pitch=50,rnd=0.2)', sort_points,move_trj+',mode=1,pt2pt_time=10,acq_per=10)',]}
|
||||
# cfg = {"sequencer": ['gen_rand_points(n=400, scale=1000)', sort_points,move_trj+',mode=1,pt2pt_time=10)',]}
|
||||
#cfg={"sequencer": ['gen_grid_points(w=40,h=40,pitch=100,rnd=0.4)', sort_points,
|
||||
# move_trj+',mode=1,pt2pt_time=10,cnt=1)',
|
||||
# ]}
|
||||
|
||||
# 900npoints is a too big code block... and creates unfixable buffe locks
|
||||
cfg={"sequencer": ['gen_rand_points(n=100, scale=1000)', sort_points,
|
||||
move_trj+',mode=1,pt2pt_time=40,acq_per=10)',
|
||||
]}
|
||||
# cfg = {"sequencer": ['gen_swissfel_points(scale=300)',move_trj+',mode=1,pt2pt_time=100,acq_per=10)',]}
|
||||
# cfg = {"sequencer": ['opt_pts("'+fn+'.npz")','move_trajectory(file="'+fn+'_corr.prg",mode=1,pt2pt_time=10,cnt=1)', ("'+fn+'_corr.npz")']}
|
||||
# cfg = {"sequencer": ['opt_pts("'+fn+'.npz")',move_trj+',mode=1,pt2pt_time=10,cnt=1)']}
|
||||
|
||||
# cfg = {"sequencer": ['gen_grid_points(w=5,h=5,pitch=100,rnd=0.4)', sort_points,move_trj+',mode=1,pt2pt_time=10,cnt=1)']}
|
||||
|
||||
cfg['sequencer'].append(gt_upld)
|
||||
cfg['sequencer'].append('plot_gather()')
|
||||
sp.run_test(cfg,args.dryrun)
|
||||
#self.cfg=dotdict(cfg)
|
||||
#self.args=args
|
||||
|
||||
|
||||
from optparse import OptionParser, IndentedHelpFormatter
|
||||
class MyFormatter(IndentedHelpFormatter):
|
||||
'helper class for formating the OptionParser'
|
||||
@@ -443,14 +478,13 @@ Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
|
||||
|
||||
parser.add_option('-v', '--verbose', type="int", dest='verbose', help='verbosity bits (see below)', default=0)
|
||||
parser.add_option('-n', '--dryrun', action='store_true', help='dryrun to stdout')
|
||||
parser.add_option('--xy', action='store_true', help='sort x,y instead y,x')
|
||||
parser.add_option('--cfg', help='config file containing json configuration structure')
|
||||
parser.add_option('--xy', action='store_true', help='sort x,y instead y,x',default=False)
|
||||
parser.add_option('--host', help='hostname', default='SAR-CPPM-EXPMX1')
|
||||
#parser.add_option('--host', help='hostname')
|
||||
|
||||
(args, other)=parser.parse_args()
|
||||
args.other=other
|
||||
|
||||
sp=ShapePath(args)
|
||||
sp.run()
|
||||
run_test(args)
|
||||
#------------------ Main Code ----------------------------------
|
||||
#ssh_test()
|
||||
ret=parse_args()
|
||||
|
||||
Reference in New Issue
Block a user