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cleanup helicalscan

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This commit is contained in:
zamofing_t
2018-01-05 16:26:52 +01:00
parent f3e01ce33c
commit c2695e0ebf
1 changed files with 43 additions and 140 deletions
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183
python/helicalscan.py
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@@ -661,7 +661,7 @@ class HelicalScan:
ax.set_zlim(v[1]-l2, v[1]+l2) ax.set_zlim(v[1]-l2, v[1]+l2)
def gen_coord_trf_code(self,file=None,host=None): def gen_coord_trf_code(self):
param=self.param param=self.param
prg = [] prg = []
prg.append(''' prg.append('''
@@ -771,122 +771,10 @@ open inverse
close close
''') ''')
# ****** TESTING CODE ****** self.download(prg,mode=0,file='/tmp/coordTrf.cfg')
#this is testcode to check linear coordinate transformation and
#simple (same as before) fwd and inv-kinematics
#When using pvt mode they do not behave the same:
#(Power PMAC Users Manual P648)
#Enabling Move Segmentation:
#If segmentation mode is disabled, a circle-mode move will execute as a linear-mode move
#directly from the start point to the end point. Segmentation mode must also be enabled to use the
#special lookahead buffer, tool-radius compensation, and kinematic-subroutine calculations.
#set ct to:
# 1 for simple linear transformation
# 2 simple linear fwd/inv kinematics
ct=0;
if ct==1:
#simple linear transformation
prg = []
prg.append('''
//motors CX CZ RY FY
// 4 5 3 1
&1
a
#4->0
#5->0
#3->0
#1->0
#4->X def gen_prog(self,prgId=2,mode=0,**kwargs):
#5->Z
#3->B
#1->Y
''')
elif ct==2:
#simple linear fwd/inv kinematics
prg = []
prg.append('''
// Set the motors as inverse kinematic axes in CS 1
//motors CX CZ RY FY
// 4 5 3 1
&1
a
#4->0
#5->0
#3->0
#1->0
#4->I
#5->I
#3->I
#1->I
open forward
//define(KinVelEna='D0',KinAxisUsed='D0')
define(qCX='L4', qCZ='L5', qW='L3', qFY='L1')
define(DX='C6', DZ='C8', W='C1', Y='C7')
//coord X Z B Y
send 1"fwd_inp(%f) %f %f %f %f\\n",D0,qCX,qCZ,qW,qFY
if(D0>0) callsub 100
D0=$000001c2; //B=$2 X=$40 Y=$80 Z=$100 hex(2+int('40',16)+int('80',16)+int('100',16)) -> 0x1c2
N100:
DX=qCX
DZ=qCZ
W=qW
Y=qFY
send 1"fwd_res %f %f %f %f\\n",DX,DZ,W,Y
P1001+=1
close
open inverse
//coord X Z B Y
define( DX='C6' , DZ='C8' , W='C1', Y='C7')
define(vDX='C38', vDZ='C40', vW='C33', vY='C39')
//motor q4 q5 q3 q1
define( qCX='L4', qCZ='L5', qW='L3', qFY='L1')
define(vqCX='R4', vqCZ='R5', vqW='R3', vqFY='R1')
if(D0>0)
send 1"inv_inp(%f) %f:%f %f:%f %f:%f %f:%f\\n",D0,DX,vDX,DZ,vDZ,W,vW,Y,vY
else
send 1"inv_inp(%f) %f %f %f %f\\n",D0,DX,DZ,W,Y
qCX=DX
qCZ=DZ
qW=W
qFY=Y
if(D0>0)
{ // calculate velocities for PVT motion
vqCX=vDX
vqCZ=vDZ
vqW=vW
vqFY=vY
send 1"inv_res %f:%f %f:%f %f:%f %f:%f\\n",qCX,vqCX,qCZ,vqCZ,qW,vqW,qFY,vqFY
}
else
send 1"inv_res %f %f %f %f\\n",qCX,qCZ,qW,qFY
P1002+=1
close
''')
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
def gen_prog(self,prgId=2,fnPrg=None,host=None,mode=0,**kwargs):
''' '''
kwargs: kwargs:
acq_per : acquire period: acquire data all acq_per servo loops (default=1) acq_per : acquire period: acquire data all acq_per servo loops (default=1)
@@ -1052,22 +940,35 @@ close
prg.append(' P1000=1') prg.append(' P1000=1')
prg.append('close') prg.append('close')
prg.append('&1\nb%dr\n'%prgId) prg.append('&1\nb%dr\n'%prgId)
if self.args.verbose & 4:
self.download(prg,mode=3,file='/tmp/prg.cfg')
def download(self,prg=None,mode=0,file='/tmp/helicalscan.cfg'):
'''
mode bits:
bit 0 (1): wait execution finished (P1000==1)
bit 1 (2): gather and save data
bit 2 (4): ...
'''
host=self.args.host
if prg is not None and self.args.verbose & 4:
for ln in prg: for ln in prg:
print(ln) print(ln)
if fnPrg is not None: if file is not None and prg is not None:
fh=open(fnPrg,'w') fh=open(file,'w')
fh.write('\n'.join(prg)) fh.write('\n'.join(prg))
fh.close() fh.close()
if host is not None: if host is not None:
# ***download and start the program*** # ***download and start the program***
cmd ='gpasciiCommander --host '+host+' '+ fnPrg cmd ='gpasciiCommander --host '+host+' '+ file
print(cmd) print(cmd)
p = sprc.Popen(cmd, shell=True)#, stdout=sprc.PIPE, stderr=sprc.STDOUT) p = sprc.Popen(cmd, shell=True)#, stdout=sprc.PIPE, stderr=sprc.STDOUT)
#res=p.stdout.readlines(); print res #res=p.stdout.readlines(); print res
retval = p.wait() retval = p.wait()
if mode &1:
# ***wait program finished P1000=1*** # ***wait program finished P1000=1***
com=GpasciiCommunicator().connect(host,prompt='# ') com=GpasciiCommunicator().connect(host,prompt='# ')
ack=GpasciiCommunicator.gpascii_ack ack=GpasciiCommunicator.gpascii_ack
@@ -1084,6 +985,7 @@ close
#print val #print val
time.sleep(.2) time.sleep(.2)
sys.stdout.write('.');sys.stdout.flush() sys.stdout.write('.');sys.stdout.flush()
if mode &2:
fnRmt = '/var/ftp/gather/out.txt' fnRmt = '/var/ftp/gather/out.txt'
fnLoc = '/tmp/gather.txt' fnLoc = '/tmp/gather.txt'
print('\ngather data to %s...' % fnRmt) print('\ngather data to %s...' % fnRmt)
@@ -1152,14 +1054,16 @@ 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('-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('-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('--cfg', help='config file containing json configuration structure')
parser.add_option('--host', help='hostname')
(args, other)=parser.parse_args() (args, other)=parser.parse_args()
args.other=other args.other=other
hs=HelicalScan(args) hs=HelicalScan(args)
hs.args.verbose = 255 hs.args.verbose = 255
hs.args.host='MOTTEST-CPPM-CRM0485'
#SAR-CPPM-EXPMX1 MOTTEST-CPPM-CRM0485
#hs.sequencer() #hs.sequencer()
#hs.test_find_rot_ctr() #hs.test_find_rot_ctr()
#hs.test_find_rot_ctr(n=5. ,per=1.,bias=2.31,ampl=4.12,phi=24.6) #hs.test_find_rot_ctr(n=5. ,per=1.,bias=2.31,ampl=4.12,phi=24.6)
@@ -1169,20 +1073,19 @@ Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
#hs.interactive_cx_cz_w_fy() #hs.interactive_cx_cz_w_fy()
#hs.interactive_dx_dz_w_y() #hs.interactive_dx_dz_w_y()
#SAR-CPPM-EXPMX1 MOTTEST-CPPM-CRM0485 hs.download(file='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/cfg/sim_8_motors.cfg')
hs.gen_coord_trf_code('/tmp/helicalscan.cfg','MOTTEST-CPPM-CRM0485') hs.gen_coord_trf_code()
#hs.gen_prog(file='/tmp/prg.cfg',host='MOTTEST-CPPM-CRM0485',mode=-1) #hs.gen_prog(mode=-1)
#hs.gen_prog(fnPrg='/tmp/prg.cfg',host='MOTTEST-CPPM-CRM0485',mode=0,cntHor=1,cntVert=3,wRng=(120000,120000)) #hs.gen_prog(mode=0,cntHor=1,cntVert=3,wRng=(120000,120000))
#hs.gen_prog(fnPrg='/tmp/prg.cfg',host='MOTTEST-CPPM-CRM0485',mode=0,cntHor=1) #hs.gen_prog(mode=0,cntHor=1)
#hs.gen_prog(fnPrg='/tmp/prg.cfg',host='MOTTEST-CPPM-CRM0485',mode=0) #hs.gen_prog(mode=0)
#hs.gen_prog(fnPrg='/tmp/prg.cfg',host='MOTTEST-CPPM-CRM0485',mode=0,cntHor=1,cntVert=5,wRng=(120000,120000)) #hs.gen_prog(mode=0,cntHor=1,cntVert=5,wRng=(120000,120000))
#hs.gen_prog(fnPrg='/tmp/prg.cfg',host='MOTTEST-CPPM-CRM0485',mode=1,cntHor=1,cntVert=5,wRng=(120000,120000),pt2pt_time=100) #hs.gen_prog(mode=1,cntHor=1,cntVert=5,wRng=(120000,120000),pt2pt_time=100)
#hs.gen_prog(fnPrg='/tmp/prg.cfg',host='MOTTEST-CPPM-CRM0485',mode=1,cntHor=1,cntVert=5,wRng=(120000,120000),pt2pt_time=100,smt=0) #hs.gen_prog(mode=1,cntHor=1,cntVert=5,wRng=(120000,120000),pt2pt_time=100,smt=0)
#hs.gen_prog(fnPrg='/tmp/prg.cfg',host='MOTTEST-CPPM-CRM0485',mode=1,cntHor=1,cntVert=5,wRng=(0,360000)) #hs.gen_prog(mode=1,cntHor=1,cntVert=5,wRng=(0,360000))
#hs.gen_prog(fnPrg='/tmp/prg.cfg',host='MOTTEST-CPPM-CRM0485',mode=1,cntHor=1,cntVert=5,wRng=(0,360000),smt=0) #hs.gen_prog(mode=1,cntHor=1,cntVert=5,wRng=(0,360000),smt=0)
#hs.gen_prog(fnPrg='/tmp/prg.cfg',host='MOTTEST-CPPM-CRM0485',mode=1) #hs.gen_prog(mode=1)
hs.gen_prog(fnPrg='/tmp/prg.cfg',host='MOTTEST-CPPM-CRM0485',mode=1, hs.gen_prog(mode=1,pt2pt_time=100,cnt=1,cntVert=35,cntHor=7,hRng=(-.3,.3),wRng=(0,360000*3),yRng=(6.2,2.3))
pt2pt_time=100,cnt=1,cntVert=35,cntHor=7,hRng=(-.3,.3),wRng=(0,360000*3),yRng=(6.2,2.3))
hs.load_rec() hs.load_rec()
hs.show_pos();hs.show_vel() hs.show_pos();hs.show_vel()
hs.interactive_anim() hs.interactive_anim()