From d4edb2d13306b556db6a64a04233556250b24831 Mon Sep 17 00:00:00 2001
From: Thierry Zamofing <thierry.zamofing@psi.ch>
Date: Tue, 16 Oct 2018 16:30:27 +0200
Subject: [PATCH] wip

---
 python/helicalscan.py | 89 ++++++++++++++++++++++++++-----------------
 1 file changed, 55 insertions(+), 34 deletions(-)

diff --git a/python/helicalscan.py b/python/helicalscan.py
index eb7f2bd..d1f475f 100755
--- a/python/helicalscan.py
+++ b/python/helicalscan.py
@@ -397,13 +397,6 @@ class HelicalScan(MotionBase):
     #data=self.rec[int(idx*self.step),:]
     #self.hCrist,pt=self.pltCrist(*data,h=self.hCrist)
 
-  def save_rec(self,fn_npz='/tmp/helicalscan.npz'):
-    param= self.param
-    meta= self.meta
-    points = self.points  # target points
-    rec = self.rec
-    np.savez_compressed(fn_npz, rec=rec, points=points, param=param, meta=meta)
-
   def load_rec(self,fn_npz='/tmp/helicalscan.npz'):
     try:
       fh=np.load(fn_npz)
@@ -660,6 +653,21 @@ class HelicalScan(MotionBase):
     ax.set_ylim(v[0]-l2, v[0]+l2);
     ax.set_zlim(v[1]-l2, v[1]+l2)
 
+  def setup_gather(self,acq_per=1):
+    '''
+    setup the channels to gather
+    kwargs:
+      acq_per    : acquire period: acquire data all acq_per servo loops (default=1)
+    '''
+    comm=self.comm
+    gt=self.gather
+    gt.set_phasemode(False)
+    gt.set_address("Motor[4].ActPos","Motor[5].ActPos","Motor[3].ActPos","Motor[1].ActPos")
+    gt.set_property(MaxSamples=1000000, Period=acq_per)
+    ServoPeriod= .2 #0.2ms      #Sys.ServoPeriod is dependent of !common() macro
+    #ServoPeriod=comm.gpascii.servo_period
+    self.meta = {'timebase': ServoPeriod*acq_per}
+
   def setup_coord_trf(self,fnCrdTrf='/tmp/coordTrf.cfg'):
     comm = self.comm
     gpascii = comm.gpascii
@@ -799,7 +807,7 @@ close
     time.sleep(.5)
     gpascii.send_block('#1..7j/')
 
-  def setup_motion(self,prgId=2,fnPrg=None,mode=0,**kwargs):
+  def setup_motion(self,prgId=2,fnPrg='/tmp/prg.cfg',mode=0,**kwargs):
     '''
     kwargs:
       acq_per    : acquire period: acquire data all acq_per servo loops (default=1)
@@ -820,6 +828,9 @@ close
         wRng    : starting and ending angle
         yRng    : starting and ending height
     '''
+    comm = self.comm
+    gpascii = comm.gpascii
+    param=self.param
     prg=[]
     acq_per=kwargs.get('acq_per',10)
     gather={"MaxSamples":1000000, "Period":acq_per}
@@ -966,9 +977,29 @@ close
 
     prg.append('  P1000=1')
     prg.append('close')
-    prg.append('&1\nb%dr\n'%prgId)
+    #prg.append('&1\nb%dr\n'%prgId)
 
-    self.download(prg,mode=3,file='/tmp/prg.cfg')
+    prg='\n'.join(prg) + '\n'
+    gpascii.send_block(prg)
+    if self.verbose & 4:
+        print(prg)
+    if fnPrg is not None :
+      fh=open(fnPrg,'w')
+      fh.write(prg)
+      fh.close()
+
+  def gather_upload(self,fnRec='/tmp/helicalscan.npz'):
+    gpascii=self.comm.gpascii
+    gt=self.gather
+    gt.wait_stopped(verbose=True)
+    self.rec=rec=gt.upload()
+    channels = ["Motor[4].HomePos", "Motor[5].HomePos", "Motor[3].HomePos", "Motor[1].HomePos"]
+    ofs = np.ndarray(len(channels))
+    for i, v in enumerate(channels):
+      ofs[i] = gpascii.get_variable(v,float)
+    rec -= ofs
+    if fnRec:
+      np.savez_compressed(fnRec, rec=rec, points=self.points, param=self.param, meta=self.meta)
 
   def download(self,prg=None,mode=0,file='/tmp/helicalscan.cfg'):
     '''
@@ -1042,27 +1073,6 @@ close
         self.save_rec()
 
 
-class GpasciiCommunicator():
-  '''Communicates with the Delta Tau gpascii programm
-  '''
-  gpascii_ack="\x06\r\n"
-  gpascii_inp='Input\r\n'
-
-  def connect(self, host, username='root', password='deltatau',prompt='ppmac# ',verbose=0):
-    p=telnetlib.Telnet(host)
-    s=p.read_until('login: ')
-    if verbose: print(s)
-    p.write(username+'\n')
-    s =p.read_until('Password: ')
-    if verbose: print(s)
-    p.write(password+'\n')
-    s =p.read_until(prompt)  # command prompt
-    if verbose: print(s)
-    p.write('gpascii -2\n')  # execute gpascii command
-    s=p.read_until(self.gpascii_inp)
-    if verbose: print(s)
-    return p
-
 if __name__=='__main__':
   def run_test(args):
     if args.host is None:
@@ -1075,7 +1085,7 @@ if __name__=='__main__':
     hs.host=args.host # temporary
     #hs.test_find_rot_ctr()
     #hs.test_find_rot_ctr(n=5. ,per=1.,bias=2.31,ampl=4.12,phi=24.6)
-
+    fn='/tmp/helicalscan'
     hs.calcParam()
     #hs.calcParamSim()
     #hs.param[0]=(15,2,0,3,0)#(z_i, y_i, x_i, r_i,phi_i)
@@ -1101,6 +1111,9 @@ if __name__=='__main__':
     if mode&4:
       hs.setup_coord_trf()
 
+    hs.setup_sync()  # no sync at all
+    hs.setup_gather()
+
     #hs.gen_prog(mode=-1)
     #hs.gen_prog(mode=0,cntHor=1,cntVert=3,wRng=(120000,120000))
     #hs.gen_prog(mode=0,cntHor=1)
@@ -1123,8 +1136,16 @@ if __name__=='__main__':
     #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))
     #hs.gen_prog(mode=1,pt2pt_time=100,cnt=1,cntVert=10,cntHor=3,hRng=(-30,30),wRng=(0,36000),yRng=(-50,-100))
     #hs.gen_prog(mode=1,cntHor=7,cntVert=2,hRng=(-100,50),wRng=(000,10000),smt=0)
-    hs.load_rec()
-    hs.show_pos();hs.show_vel()
+
+
+    hs.run()
+    print('temporary wait that the program started')
+    time.sleep(5)#temporary wait that the program started
+    hs.gather_upload(fn+'.npz')
+
+    hs.load_rec(fn+'.npz')
+    hs.show_pos()
+    hs.show_vel()
     hs.interactive_anim()
     #hs.show_vel();    plt.show()
     #hs.show_pos();    plt.show()