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towards using gather and ppc in shapepath

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This commit is contained in:
zamofing_t
2018-10-12 16:08:24 +02:00
parent cb9310ee5c
commit baef7cdb9e
4 changed files with 209 additions and 121 deletions
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38
python/MXMotion.py Normal file
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@@ -0,0 +1,38 @@
import os, sys
sys.path.insert(0,os.path.expanduser('~/Documents/prj/SwissFEL/PBTools/'))
#import pbtools.misc.pp_comm as pp_comm -> pp_comm.PPComm
from pbtools.misc.pp_comm import PPComm
from pbtools.misc.gather import Gather
class MotionBase:
def __init__(self, comm, gather, verbose):
self.comm=comm
self.gather=gather
self.verbose=verbose
def wait_trigger(self):
'''
//changes the Timebase of coord system 1
//modifies the timebase to start/stop a running program
//this can also be used to adjust the execution speed
open plc 1
Coord[1].DesTimeBase=0 // freezes timebase at boot
while(1)
{
if(PowerBrick[0].GpioData[0].0.1==1)
{
PowerBrick[0].GpioData[0].16.8=255
Coord[1].DesTimeBase=Sys.ServoPeriod
}
else
{
PowerBrick[0].GpioData[0].16.8=7
Coord[1].DesTimeBase=0
}
}
close
'''
pass

246
python/shapepath.py
View File

@@ -49,65 +49,33 @@ Sequencer functions are:
Acquired time is:MaxSamples*Period*.2
'''
import os, sys, json
from __future__ import print_function
import os, sys, time
import numpy as np
import matplotlib as mpl
import matplotlib.pyplot as plt
import subprocess as sprc
import telnetlib
class ShapePath:
def __init__(self,args):
if args.cfg:
fh=open(args.cfg,'r')
s=fh.read()
cfg=json.loads(s, object_hook=ConvUtf8)
s=json.dumps(cfg, indent=2, separators=(',', ': '));print(s)
else:
fn='/tmp/shapepath4'
#fn='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/data/'+time.strftime('%y-%m-%d-%H_%M_%S')
#cfg={"points": [[100,523],[635,632],[756,213]],"sequencer":['sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1")','plot_gather("'+fn+'.npz")']}
#cfg={"sequencer":['gen_rand_points(n=107, scale=1000)','sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1")','plot_gather("'+fn+'.npz")']}
#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")']}
#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")']}
#cfg = {"sequencer": ['gen_rand_points(n=107, scale=1000)', 'sort_points()','plot_gather("'+fn+'.npz")']}
#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")']}
#cfg={"sequencer":['gen_grid_points(w=20,h=20,pitch=50,rnd=.2)','sort_points()','gen_prog(file="'+fn+'.prg")','plot_gather("'+fn+'.npz")']}
#cfg={"sequencer":['gen_rand_points(n=400, scale=1000)','sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1")','plot_gather("'+fn+'.npz")']}
#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")']}
#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")']}
#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")']}
#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")']}
#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")']}
#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")']}
#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")']}
#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")']}
#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")']}
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")']}
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")']}
#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")']}
#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")']}
#cfg = {"sequencer": ['opt_pts("'+fn+'.npz")','gen_prog(file="'+fn+'.prg",mode=1,pt2pt_time=10,cnt=1)']}
sys.path.insert(0,os.path.expanduser('~/Documents/prj/SwissFEL/PBTools/'))
from pbtools.misc.pp_comm import PPComm
from pbtools.misc.gather import Gather
from MXMotion import MotionBase
#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)']}
self.cfg=dotdict(cfg)
self.args=args
class ShapePath(MotionBase):
def __init__(self,comm, gather, verbose):
MotionBase.__init__(self,comm, gather, verbose)
def run(self):
print('args='+str(self.args))
print('cfg='+str(self.cfg))
def run_test(self,cfg,dryrun=False):
print('cfg='+str(cfg))
try:
self.points=np.array(self.cfg.points)
except AttributeError:
self.points=np.array(cfg['points'])
except KeyError:
pass
try:
sequencer= self.cfg.pop('sequencer')
sequencer= cfg['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:
@@ -127,7 +95,7 @@ class ShapePath:
pts*=scale
self.points=pts
verb=self.args.verbose
verb=self.verbose
if verb&2:
self.plot_points(pts)
plt.show()
@@ -167,28 +135,27 @@ class ShapePath:
self.ptsCorr=ptsCorr
print(ptsCorr)
def gen_prog(self,prgId=2,file=None,host=None,mode=0,**kwargs):
def move_trajectory(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
kwargs:
acq_per : acquire period: acquire data all acq_per servo loops (default=1)
pt2pt_time : time to move from one point to the next point
'''
prg=[]
acq_per=kwargs.get('acq_per',1)
gather={"MaxSamples":1000000, "Period":acq_per}
#Sys.ServoPeriod is dependent of !common() macro
gt=self.gather
comm=self.comm
acq_per=kwargs.get('acq_per', 1)
ServoPeriod= .2 #0.2ms
#ServoPeriod = .05
self.meta = {'timebase': ServoPeriod*gather['Period']}
#channels=["Motor[1].ActPos","Motor[2].ActPos","Motor[3].ActPos"]
channels=["Motor[3].ActPos","Motor[2].ActPos","Motor[1].ActPos","Motor[3].DesPos","Motor[2].DesPos","Motor[1].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))
if gt:
gt.set_phasemode(False)
gt.set_address('Motor[3].ActPos','Motor[2].ActPos','Motor[1].ActPos','Motor[3].DesPos','Motor[2].DesPos','Motor[1].DesPos')
gt.set_property(MaxSamples=1000000,Period=acq_per)
#gt.set_property(Period=acq_per)
prg=[]
self.meta = {'timebase': ServoPeriod*acq_per}
prg.append('open prog %d'%(prgId))
# this uses Coord[1].Tm and limits with MaxSpeed
@@ -293,39 +260,56 @@ class ShapePath:
prg.append('close')
prg.append('&1\nb%dr\n'%prgId)
if self.args.verbose & 4:
if self.verbose & 4:
for ln in prg:
print(ln)
if file is not None:
fh=open(file,'w')
if fnPrg is not None:
fh=open(fnPrg,'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
if comm is not None:
gpascii=comm.gpascii
for ln in prg:
gpascii.send_line(ln.strip())
gpascii.sync()
def sort_points(self):
def gather_upload(self,fnRec=None):
gt=self.gather
comm=self.comm
if comm is None:
return
gpascii=comm.gpascii
#while True: #wait unti acquisition started
# samples=gpascii.get_variable('Gather.Samples', type_=int)
# enable=gpascii.get_variable('Gather.Enable', type_=int)
# if enable>0 and samples>0:
# break;
# time.sleep(.1)
# sys.stdout.flush()
gt.wait_stopped(verbose=True)
self.rec =rec = self.gather.upload()
pts=self.points
verb=self.args.verbose
#if verb&2:
# self.plot_points(pts)
#rec=Motor[1].ActPos,Motor[2].ActPos,Motor[3].ActPos,Motor[1].DesPos,Motor[2].DesPos,Motor[3].DesPos
#res=rot.ActPos,x.ActPos,y.ActPos,rot.DesPos,x.DesPos,y.DesPos
#idx 0 1 2 3 4 5
ofsy=-rec[0,4]+pts[0,0]
ofsx=-rec[0,5]+pts[0,1]
rec[:,(1,4)]+=ofsy
rec[:,(2,5)]+=ofsx
if fnRec:
np.savez_compressed(fnRec, rec=rec, pts=pts, meta=self.meta)
def sort_points(self,xy=False):
pts=self.points
verb=self.verbose
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))
if self.args.xy==True:
if xy==True:
idxA=1;idxB=0
else:
idxA=0;idxB=1
@@ -366,24 +350,14 @@ class ShapePath:
self.ax=ax
self.hl=hl
def plot_gather(self,fnOut='/tmp/shapepath.npz',fnLoc='/tmp/gather.txt'):
meta=self.meta
pts=self.points # X,Y array
rec = np.genfromtxt(fnLoc, delimiter=' ')
#rec=Motor[1].ActPos,Motor[2].ActPos,Motor[3].ActPos,Motor[1].DesPos,Motor[2].DesPos,Motor[3].DesPos
#res=rot.ActPos,x.ActPos,y.ActPos,rot.DesPos,x.DesPos,y.DesPos
#idx 0 1 2 3 4 5
ofsy=-rec[0,4]+pts[0,0]
ofsx=-rec[0,5]+pts[0,1]
rec[:,(1,4)]+=ofsy
rec[:,(2,5)]+=ofsx
if fnOut:
# 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)
def plot_gather(self):
try:
meta=self.meta
pts=self.points # X,Y array
rec = self.rec
except AttributeError as e:
print('plot_gather(): '+str(e)+': no data acquired yet')
return
fig=plt.figure()
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()