wip

python/MXMotion.py

@@ -80,14 +80,27 @@ class MotionBase:
       flag1='Gate3[1].Chan[1].UserFlag'
       flag0='P0';flag1='P1'
       prg='''
-      //Gather.Enable=2 if done in the sync program
+      //Gather.Enable=2 is done in the sync program
       Coord[1].TimeBaseSlew=1 //1E-4 is default 
       Coord[1].DesTimeBase=0
       Coord[1].Q[1]=-1
-      //while({flag0}==0){{}}
       '''.format(plcId=plcId, crdId=crdId, flag0=flag0, flag1=flag1)
       self.sync_prg=prg
       self.sync_run='&{crdId}b{prgId}r'''.format(prgId=prgId, plcId=plcId, crdId=crdId)
+      #download and start triggerSync code
+      comm=self.comm
+
+      sftp=comm.sftp
+      dst='/tmp/triggerSync'
+      src=os.path.abspath(os.path.join(os.path.dirname(__file__), '../src/triggerSync/triggerSync'))
+      sftp.put(src, dst)
+      sftp.chmod(dst, 0o755)
+      self.cmdSync=cmd='LD_LIBRARY_PATH=/opt/ppmac/libppmac/ '+dst
+      #self.syncShell=comm.shell_channel(cmd)
+      #self.syncChan=sc=comm._client.exec_command(cmd)
+      #ch=sc[1].channel
+      #ch.settimeout(1)
+      #print ('starting '+cmd)
 
   def run(self):
     'runs the code sync_run which has been generated with setup_sync()'
@@ -99,3 +112,17 @@ class MotionBase:
       raise 'Need to call setup sync before'
     gpascii.send_block(cmd)
 
+    dst='/tmp/triggerSync'
+    src=os.path.abspath(os.path.join(os.path.dirname(__file__), '../src/triggerSync/triggerSync'))
+    cmd='LD_LIBRARY_PATH=/opt/ppmac/libppmac/ '+dst
+    # self.syncShell=comm.shell_channel(cmd)
+
+    try:
+      cmd=self.cmdSync
+    except AttributeError: pass
+    else:
+      import time
+      time.sleep(1)
+      self.syncChan=sc=comm._client.exec_command(cmd)
+
+

python/shapepath.py

@@ -486,6 +486,16 @@ class ShapePath(MotionBase):
     gt.wait_stopped(verbose=True)
     self.rec=rec=gt.upload()
 
+    try:
+      syncShell=self.syncShell
+    except AttributeError: pass
+    else:
+      print(syncShell.sync())
+      del self.syncShell
+      syncShell.close()
+
+
+
     pts=self.points
     ofsy=-rec[0,2]+pts[0,1]
     ofsx=-rec[0,3]+pts[0,0]

src/triggerSync/triggerSync.c

@@ -147,7 +147,8 @@ void trigsim_func(void *arg)
     rt_task_sleep_until(rtSlice+5*1E6); //in ns
     pshm->P[1]=0;
 
-    if(pshm->Coord[1].Q[0]==-10)
+    //if(pshm->Coord[1].Q[0]==-10)
+    if(pshm->Coord[1].DesTimeBase==0)
     {
       rt_task_sleep_until(rtSlice+10*1E6); //in ns
       pshm->P[0]=1;