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hit return motion code gen

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zamofing_t
2024-11-21 12:22:10 +01:00
parent 949a00b432
commit c0ded6f683
2 changed files with 124 additions and 25 deletions
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114
python/shapepath.py
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@@ -732,11 +732,11 @@ class ShapePath(MotionBase):
(tmove+twait will be rounded to a multiple of fel_per)
mode:6 pvt motion 'hit and return using grid parameters. continous motion on 2n ells to pump then same 2n wells to probe, then go 2 rows down
common kwargs plus:
trf : transformation that will be done on 'grid points'
grid: grid parameters: {orig:(0,0),pitch(10,10),cnt:(10,10),mode:0}
p0: x/y koordinates of well to start (must be 2n x 2m)
sz: size of wells to cycle
trf : transformation that will be done on 'grid points'
grid : grid parameters: {orig:(0,0),pitch(10,10),cnt:(10,10),mode:0}
ssz : section size (in wells)
smv : time(in num of shots) to move to next section (horiz/vert)
swait: wait after <swait> section for motion trigger. swait=0:never wait
'''
#scan=0 # snake motion X fast, Y slow
scan=1 # snake motion Y fast, X slow (default)
@@ -751,7 +751,7 @@ class ShapePath(MotionBase):
except AttributeError:
_log.warning('missing motion sync code!')
# this uses Coord[1].Tm and limits with MaxSpeed
if mode in (1,3,4,5): #### pvt motion
if mode in (1,3,4,5,6): #### pvt motion
if mode!=5:
pt2pt_time=meta['pt2pt_time']=meta['fel_per']
scale=kwargs.get('scale', 1.)
@@ -802,7 +802,7 @@ class ShapePath(MotionBase):
plt.show(block=False)
pv[1:-1, (2, 3)]*=CoordFeedTime #scaling for Deltatau
prg+=' linear abs\n X%g Y%g\n' % tuple(pv[0, (0,1)])
else: # mode==(4,5): #### pvt motion, short code using grid parameters
elif mode in (4,5): #### pvt motion, short code using grid parameters
g=kwargs['grid']
nx, ny=g['count']
xx, yy=np.meshgrid(range(nx), range(ny))
@@ -827,6 +827,22 @@ class ShapePath(MotionBase):
px, py=(1,1)
self.mot_pts=(np.hstack((pt, np.ones((pt.shape[0], 1))))*np.asmatrix(trf)).A # pt*trf
#prg+=f' linear abs\n X{ox:g} Y{oy:g}\n'
prg+=f' linear abs\n X{ox-px:g} Y{oy-py:g}\n' # start one position out of grid
else: #mode==6: #### pvt motion, hit and return using grid parameters
g=kwargs['grid']
try:
trf=kwargs['trf']
except KeyError as e:
ox, oy=g['pos']
px, py=g['pitch']
else:
ox, oy=(0,0)
px, py=(1,1)
nx,ny=g['count'] #total count of wells
sx,sy=kwargs['ssz'] #section size (in wells)
tmx,tmy=kwargs['smv'] #time(in num of shots) to move to next section (horiz/vert)
swait=kwargs['smv'] #wait after <swait> section for motion trigger. swait=0:never wait
prg+=f' linear abs\n X{ox-px:g} Y{oy-py:g}\n' # start one position out of grid
prg+=' dwell 10\n'
try: prg+=self.sync_prg
@@ -897,7 +913,6 @@ class ShapePath(MotionBase):
X({ox}+L1*{px}):{0:g} Y({oy}+L0*{py}):{0:g}
'''
elif mode==5:
if scan==0:
raise Exception('scan=0 not supported')
@@ -988,7 +1003,76 @@ enable plc 2
while(Sys.Udata[2]==Sys.Udata[1]){{}};Sys.Udata[2]=Sys.Udata[1] // wait motion trigger
'''
elif mode==6:
if scan==0:
raise Exception('scan=0 not supported')
pass
else: # scan=1
vsx=px/(pt2pt_time)*scale*CoordFeedTime # scaling for Deltatau
vsy=py/(pt2pt_time)*scale*CoordFeedTime # scaling for Deltatau
#variables
m,x0,y0,n,dx,dy,x1,y1,t,vx,vy=map(lambda x: f'L{x}',range(11))
prg+=f'''\
//hit-and-return pvt motion
{m}=0
{x0}=0;{y0}=-1;{n}=0 // counter well in region
{dx}=0;{dy}=1 // motion pitch
{x1}=0;{y1}=0 // counter region start
{t}=1 // motion pvt tome scaling
pvt{pt2pt_time} abs
while(1){{
{x0}+={dx};{y0}+={dy}
//send 1"A:move(%d) X%g:%g Y%g:%g",{n},{ox}+{x0}+{x1}*{px},{dx},{oy}+{y0}+{y1}*{py},{dy}
X({ox}+({x0}+{x1})*{px}):({vx}) Y({oy}+({y0}+{y1})*{py}):({vy})
if ({t}!=1){{
pvt{pt2pt_time} abs;{t}=1
}}
if ({y0}=={sy}-1){{
if ({dy}==1){{ // (1)
{dx}=1;{dy}=0
{vx}={vsx};{vy}=0
}}else{{
{dx}=0;{dy}=-1// (2)
{vx}=0;{vy}=-{vsy}
}}
}}else if ({y0}==1 && {x0}<{sx}-1){{
if ({dy}==-1){{ // (3)
{dx}=1;{dy}=0
{vx}={vsx};{vy}=0
}}else{{
{dx}=0;{dy}=1 // (4)
{vx}=0;{vy}={vsy}
}}
}}else if ({y0}==0){{
if ({n}==1 && {x0}==1){{ // (7 or 8)
if ({x1}+2*{sx}<={nx}){{// (7)
{x1}+={sx}
{vx}={vsx};{vy}=0
pvt{pt2pt_time*tmx} abs;{t}={tmx}
}}else if ({y1}+2*{sy}<={ny}){{// (8)
{x1}=0;{y1}+={sy}
{vx}=0;{vy}={vsy}
pvt{pt2pt_time*tmy} abs;{t}={tmy}
}}else{{
break // finished whole grid
}}
//send 1"next regionA"
{x0}=0;{y0}=0;{n}=0
{dx}=0;{dy}=0
}}else if ({x0}==1){{ // (6)
{dx}=-1;{dy}=0;{n}+=1
{vx}=-{vsx};{vy}=0
}}else if ({x0}==0){{ // (0)
{dx}=0;{dy}=1
{vx}=0;{vy}={vsy}
}}else{{ // (5)
{dx}=-1;{dy}=0
{vx}=-{vsx};{vy}=0
}}
}}
}}
'''
else:
raise ValueError('unsupported mode')
#common code to repeat the motion multiple times
@@ -1168,6 +1252,15 @@ if __name__=='__main__':
num_pts=gp.points.shape[0]
except AttributeError as e:
num_pts=np.array(grid['count'], np.int32).prod()
if mode==6:
ssz=(4,5) # section size (in wells)
smv=(4-1,grid['count'][0]//2) # time(in num of shots) to move to next section (horiz/vert)
swait=0 # wait after <swait> section for motion trigger. swait=0:never wait
try:
num_pts=gp.points.shape[0]
except AttributeError as e:
num_pts=np.array(grid['count'], np.int32).prod()
if sp.comm:
sp.setup_sync(verbose=args.verbose&0x40,timeOfs=0.03,timeCor=0.0005)
@@ -1180,7 +1273,10 @@ if __name__=='__main__':
elif mode==4:
sp.setup_motion(fnPrg=fn+'.prg',scale=1.,cnt=1,dwell=100,mode=4,grid=grid)
elif mode==5:
sp.setup_motion(fnPrg=fn+'.prg',scale=1.,cnt=1,dwell=100,mode=5,tmove=tmove, twait=twait, grid=grid)
sp.setup_motion(fnPrg=fn+'.prg',scale=1.,cnt=1,dwell=100,mode=5,grid=grid,tmove=tmove,twait=twait)
elif mode==6:
sp.setup_motion(fnPrg=fn+'.prg',scale=1.,cnt=1,dwell=100,mode=6,grid=grid,ssz=ssz,smv=smv,swait=swait)
_log.info('terurns just for testing');return
else:
raise(ValueError(f'unsupported mode:{mode}'))