update gui and triggering: speed sync works!

python/MXMotion.py

@@ -38,7 +38,8 @@ class MotionBase:
   def setup_sync(self, crdId=1, prgId=2, plcId=2, mode=0, **kwargs):
     '''setup the timing synchronization for the motion program
        mode=0 : no sync at all
-       mode=1 : first sync test
+       mode=1 : synchronize start
+       mode=2 : synchronize start and adapt motion speed
        this function generates the code blocks:
        self.sync_wait and self.sync_run
        sync_wait can be put in the program to force a timing sync
@@ -51,52 +52,14 @@ class MotionBase:
         pass
       self.sync_run = '&{crdId}b{prgId}r'''.format(prgId=prgId, crdId=crdId)
 
-    elif mode == 1:
-      # changes the Timebase of coord system
-      # modifies the timebase to start/stop a running program
-      # this can also be used to adjust the execution speed
-      # the plc for now
-      # - waits untis <flag> is false
-      # - waits raising edge of <flag> and the sets DesTimeBase=ServoPeriod
-
-      # flag ='PowerBrick[0].GpioData[0].0.1==1'
-      flag = 'Gate3[1].Chan[0].UserFlag==0'
-      prg = '''close all buffers
-disable plc {plcId}
-open plc {plcId}
-L0=Sys.PhaseCount
-send 1"sync0 %d:%d\\n",Sys.PhaseCount,Sys.PhaseCount-L0
-while({flag}){{}}
-send 1"sync1 %d:%d\\n",Sys.PhaseCount,Sys.PhaseCount-L0
-L1=Sys.PhaseCount
-while(1)
-{{
-  if({flag})
-  {{
-    PowerBrick[0].GpioData[0].16.1=1
-    Coord[{crdId}].DesTimeBase=Sys.ServoPeriod
-    send 1"sync2 %d:%d\\n",Sys.PhaseCount,Sys.PhaseCount-L1
-    break
-  }}
-}}
-disable plc {plcId}
-close
-'''.format(plcId=plcId, crdId=crdId, flag=flag)
-      comm=self.comm
-      if comm is not None:
-        gpascii=comm.gpascii
-        gpascii.send_block(prg)
-      self.sync_prg = 'Coord[{crdId}].DesTimeBase=0'.format(prgId=prgId, plcId=plcId, crdId=crdId)
-      self.sync_run = 'enable plc {plcId};&{crdId}b{prgId}r'''.format(prgId=prgId, plcId=plcId, crdId=crdId)
-
-    elif mode == 2:
+    elif mode in (1,2):
       # code block to insert in the program
       # - waits untis <flag> is false
       # - waits raising edge of <flag> and the sets DesTimeBase=ServoPeriod
 
       # flag ='PowerBrick[0].GpioData[0].0.1==1'
-      flag0 = 'Gate3[1].Chan[0].UserFlag==0'
-      flag1 = 'Gate3[1].Chan[1].UserFlag==0'
+      flag0='Gate3[1].Chan[0].UserFlag==0'
+      flag1='Gate3[1].Chan[1].UserFlag==0'
       prg = '''
   //L0=Sys.PhaseCount
   //send 1"sync0 %d:%d\\n",Sys.PhaseCount,Sys.PhaseCount-L0
@@ -109,6 +72,76 @@ close
   '''.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)
+      if mode==2:
+        notFlag1 = 'Gate3[1].Chan[1].UserFlag!=0'
+        try:
+          prop=kwargs['prop'] #proportional value to adapt speed
+        except KeyError:
+          prop = 1E-4
+        try:
+          maxJitter = kwargs['maxJitter']  # proportional value to adapt speed
+        except KeyError:
+          maxJitter=100
+        prg='''close all buffers
+disable plc {plcId}
+open plc {plcId}
+Coord[1].DesTimeBase=Sys.ServoPeriod //reset to 100% timebase
+Coord[1].Q[0]=0 //set CryPos counter to 0
+
+while({flag0}){{}} //wait Jungfrau start Trigger
+while({flag1}){{}} //ESx detector trigger
+
+
+L0=0 //CryPos counter
+//L1 ServoCount event 1
+//L2 jitter: neg:motion lags trigger,pos:motion leads trigger
+
+while(L0>=0) //as long we are not at the last point
+{{
+  L0=Coord[1].Q[0] //CryPos counter
+  while({flag1} && L0==Coord[1].Q[0]){{}} //wait for event
+  L1=Sys.ServoCount   //a event happened
+  L2=1000
+  //send 1"event\\n"
+  if(L0==Coord[1].Q[0])
+  {{//it was a trigger
+    //send 1"trigger %d %d\\n",L0,L1
+    while(Sys.ServoCount<L1+{maxJitter}) //wait half a trigger period for event
+    {{
+      if(L0!=Coord[1].Q[0])
+      {{//event CryPos counter
+        L2=L1-Sys.ServoCount //jitter: neg:motion lags trigger
+        break
+      }}
+    }}
+  }}
+  else
+  {{//it was a CryPos counter
+    //send 1"CryPos%d %d\\n",L0,L1
+    while(Sys.ServoCount<L1+{maxJitter}) //wait half a trigger period for event
+    {{
+      if({notFlag1})
+      {{//event trigger
+        L2=Sys.ServoCount-L1 //jitter: pos:motion leads trigger
+        break
+      }}
+    }}
+  }}
+  if(L2!=1000)
+  {{
+    L3=Sys.ServoPeriod*(1-{prop}*L2)
+    //send 1"jitter %d timebase: %f\\n",L2,L3
+    Coord[1].DesTimeBase=L3
+  }}
+}}
+disable plc {plcId}
+close
+enable plc {plcId}
+'''.format(plcId=plcId, crdId=crdId, flag0=flag0, flag1=flag1, notFlag1=notFlag1, prop=prop, maxJitter=maxJitter)
+        comm=self.comm
+        if comm is not None:
+          gpascii=comm.gpascii
+          gpascii.send_block(prg)
 
   def run(self):
     'runs the code sync_run which has been generated with setup_sync()'