update gui and triggering: speed sync works!

Readme.md

@@ -1167,6 +1167,10 @@ adapt speed
 
 make longer acquisition time by enhancing the gather server
 
+
+
+
+
 ```
 
 

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
@@ -51,45 +52,7 @@ class MotionBase:
         pass
       self.sync_run = '&{crdId}b{prgId}r'''.format(prgId=prgId, crdId=crdId)
 
-    elif mode == 1:
+    elif mode in (1,2):
-      # 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:
       # code block to insert in the program
       # - waits untis <flag> is false
       # - waits raising edge of <flag> and the sets DesTimeBase=ServoPeriod
@@ -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()'

python/PBMotionAnalyzer/MAError.py

@@ -91,12 +91,12 @@ class MPLCanvasErr(FigureCanvas):
 
   def OnBtnPress(self, event):
     """on button press we will see if the mouse is over us and store some data"""
-    print(dir(event.guiEvent))
+    #print(dir(event.guiEvent))
     return
 
   def OnBtnRelease(self, event):
     """on release we reset the press data"""
-    print(dir(event.guiEvent))
+    #print(dir(event.guiEvent))
     #self.OnMouse(event)
     return
 

python/PBMotionAnalyzer/MAVelocity.py

@@ -100,12 +100,12 @@ class MPLCanvasVelo(FigureCanvas):
 
   def OnBtnPress(self, event):
     """on button press we will see if the mouse is over us and store some data"""
-    print(dir(event.guiEvent))
+    #print(dir(event.guiEvent))
     return
 
   def OnBtnRelease(self, event):
     """on release we reset the press data"""
-    print(dir(event.guiEvent))
+    #print(dir(event.guiEvent))
     #self.OnMouse(event)
     return
 

python/PBMotionAnalyzer/MAxyPlot.py

@@ -46,34 +46,20 @@ class MPLCanvasImg(FigureCanvas):
     self.fig=fig
     self.ax=ax
 
-  def InitChild(self,pts,rec):
+  def InitChild(self,doc):
 
     fig=self.fig
     ax=self.ax
+    pts=doc.fh['pts']
+    rec=doc.fh['rec']
+    idxTrigger=doc.idxTrigger
 
-      #res=rot.ActPos,x.ActPos,y.ActPos,rot.DesPos,x.DesPos,y.DesPos
+    # idx=[]
-      #idx     0        1        2          3        4        5
-    #idx=np.ndarray(shape=len(pts),dtype=np.int32)
     # for i in range(len(pts)):
     #   l=rec[:,(3,2)]-pts[i,:]
     #   l2=l[:,0]**2+l[:,1]**2
-    #  idx[i]=np.argmin(l2)
+    #   idx.extend(np.where(l2<1)[0].tolist())
-
+    # recPts=rec[idx,:]
-    idx=[]
-    for i in range(len(pts)):
-      l=rec[:,(3,2)]-pts[i,:]
-      l2=l[:,0]**2+l[:,1]**2
-      idx.extend(np.where(l2<1)[0].tolist())
-    #print idx
-    recPts=rec[idx,:]
-    #f2 = plt.figure()
-    #a2 = f2.add_axes([0.075,0.075,0.85,0.85])
-    #a2.plot(rec[:,1],'r-',label='ptsDot') #,picker=5 default value
-    #a2.plot(rec[:,0],'g-',label='ptsDot') #,picker=5 default value
-    #a2.plot(rec[:,3],'r--',label='ptsDot') #,picker=5 default value
-    #a2.plot(rec[:,2],'g--',label='ptsDot') #,picker=5 default value
-    #plt.show()
-
 
     hl=[]
     hl+=ax.plot(pts[:,0],pts[:,1],'r.',label='ptsDot') #,picker=5 default value
@@ -86,7 +72,13 @@ class MPLCanvasImg(FigureCanvas):
 
     hl+=ax.plot(rec[:, 3], rec[:, 2], 'b-',label='recDesPos')
     hl+=ax.plot(rec[:,1],rec[:,0],'g-',label='recActPos')
-    hl+=ax.plot(recPts[:,1],recPts[:,0],'g.',label='recDot')
+    #hl+=ax.plot(recPts[:,1],recPts[:,0],'g.',label='recDot')
+    hl+=ax.plot(rec[-1:,1],rec[-1:,0],'r.--',label='recNxt')
+    #hh=ax.plot(rec[idxTrigger,1],rec[idxTrigger,0],'rx',label='trig')
+    #hh[0].get_markeredgewidth();hh[0].get_markersize()
+    hl+=ax.plot(rec[idxTrigger,1],rec[idxTrigger,0],'rx',label='trig',markeredgewidth=1.,markersize=6.)
+
+    #hl+=ax.plot(recPts[:,1],recPts[:,0],'g.',label='recDot')
     ax.xaxis.set_label_text('x-pos um')
     ax.yaxis.set_label_text('y-pos um')
     ax.axis('equal')
@@ -149,7 +141,7 @@ class MPLCanvasImg(FigureCanvas):
 
   def OnBtnPress(self, event):
     """on button press we will see if the mouse is over us and store some data"""
-    print(dir(event.guiEvent))
+    #print(dir(event.guiEvent))
     return
     if event.inaxes == self.colBar.ax:
       #if event.guiEvent.LeftDClick()==True:
@@ -247,7 +239,7 @@ class MAxyPlotFrame(wx.Frame):
     #wxAxCtrl.SetCallback(MAxyPlotFrame.OnSetView,wxAxCtrl)
     #sizer.Add(wxAxCtrl.sizer, 0, wx.EXPAND | wx.ALIGN_CENTER | wx.ALL, border=5)
 
-    canvas.InitChild(doc.fh['pts'],doc.fh['rec'])
+    canvas.InitChild(doc)
 
     #self.Fit()
     self.Centre()
@@ -295,6 +287,7 @@ class MAxyPlotFrame(wx.Frame):
       hl=canvas.hl
       hl[2].set_data(rec[:idx+1, 3], rec[:idx+1, 2])
       hl[3].set_data(rec[:idx+1, 1], rec[:idx+1, 0])
+      hl[4].set_data(rec[idx:idx+10, 1], rec[idx:idx+10, 0])
       #ax.draw_artist(hl[2])
       x=ax.get_xlim();x=(x[1]-x[0])/2;
       y=ax.get_ylim();y=(y[1]-y[0])/2;

python/PBMotionAnalyzer/PBMotionAnalyzer.py

@@ -148,21 +148,22 @@ class MAMainFrame(wx.Frame):
       l=rec[idx:idx+rng,(3,2)]-pts[i,:]
       l2=l[:,0]**2+l[:,1]**2
       ofs=l2.argmin()
-      print(l2[ofs])
+      #print(l2[ofs])
       idx+=ofs
       idxInPos.append(idx)
       idx+=rng/2
 
     doc.idxInPos=idxInPos=np.array(idxInPos)
-    #jitter=idxInPos-idxTrigger[:idxInPos.shape[0]]
+
+    self.SetStatusText('scaling of DesTimeBase: %f'%(float(idxInPos[-1])/idxTrigger[idxInPos.shape[0]-1]))
+    #self.PlotJitter()
+
     self.wxTimeCtrl.slider.SetRange(0,lenRec-1)
-
+    self.wxTimeCtrl.slider.SetPageSize(idxInPos[1]-idxInPos[0])
-    ts=fh['meta'].item()['timebase']
-    page=idxInPos[1]-idxInPos[0]
-    self.wxTimeCtrl.slider.SetPageSize(page)
-
     self.wxPosCtrl.slider.SetRange(0,lenPts-1)
+    self.wxPosCtrl.slider.SetPageSize(10)
     self.wxTrigCtrl.slider.SetRange(0,idxTrigger.shape[0]-1)
+    self.wxTrigCtrl.slider.SetPageSize(10)
 
   def CloseFile(self):
     #http://docs.wxwidgets.org/2.8/wx_windowdeletionoverview.html#windowdeletionoverview
@@ -173,6 +174,26 @@ class MAMainFrame(wx.Frame):
     except AttributeError as e:
       pass
 
+  def PlotJitter(self):
+    doc=self.doc
+    fh=doc.fh
+    idxInPos=doc.idxInPos
+    idxTrigger=doc.idxTrigger
+    #display the jitter of inPos->trigger
+    ts=fh['meta'].item()['timebase']
+    jitter=idxTrigger[:idxInPos.shape[0]]-idxInPos
+    import matplotlib.pyplot as plt  # used for the colormaps
+    plt.figure('jitter inPos -> trigger: scaling of DesTimeBase: %f'%(float(idxInPos[-1])/idxTrigger[idxInPos.shape[0]-1]))
+    plt.plot(jitter*ts)
+    plt.ylabel('jitter in ms')
+    plt.ylabel('point idx')
+    plt.show()
+
+  def DispJitter(self,idxInPos,idxTrigger):
+    doc=self.doc
+    ts=doc.fh['meta'].item()['timebase']
+    self.SetStatusText("Jitter: %.2gms  scaling: %.6g"%((idxTrigger-idxInPos)*ts,float(idxInPos)/idxTrigger))
+
   def OnOpen(self, event):
     dlg = wx.FileDialog(self, "Choose a file", os.getcwd(), '','numpy files (*.npz;*.npy)|*.npz;*.npy|all (*.*)|*.*', wx.OPEN|wx.FD_CHANGE_DIR)
     if dlg.ShowModal() == wx.ID_OK:
@@ -287,40 +308,43 @@ rec
     pass
 
   @staticmethod
-  def OnSetTime(usrData, value, msg):
+  def OnSetTime(usrData, idxRec, msg):
     'called when the time slider has been changed'
     #print('OnSetTime', usrData, value, msg)
     view=usrData.slider.Parent
     doc=view.doc
-    idx=np.argmin(abs(doc.idxInPos-value))
+    idxInPos=np.argmin(abs(doc.idxInPos-idxRec))
-    view.wxPosCtrl.SetValue(idx)
+    view.wxPosCtrl.SetValue(idxInPos)
-    idx=np.argmin(abs(doc.idxTrigger-value))
+    idxTrigger=np.argmin(abs(doc.idxTrigger-idxRec))
-    view.wxTrigCtrl.SetValue(idx)
+    view.wxTrigCtrl.SetValue(idxTrigger)
-    doc.Update(view,0,value)
+    view.DispJitter(doc.idxInPos[idxInPos],doc.idxTrigger[idxTrigger])
+    doc.Update(view,0,idxRec)
 
   @staticmethod
-  def OnSetIdxInPos(usrData, value, msg):
+  def OnSetIdxInPos(usrData, idxInPos, msg):
     'called when the idxInPos slider has been changed'
     #print('OnSetPosIdx', usrData, value, msg)
     view = usrData.slider.Parent
     doc = view.doc
-    value=doc.idxInPos[value]
+    idxRec=doc.idxInPos[idxInPos]
-    view.wxTimeCtrl.SetValue(value)
+    view.wxTimeCtrl.SetValue(idxRec)
-    idx=np.argmin(abs(doc.idxTrigger-value))
+    idxTrigger=np.argmin(abs(doc.idxTrigger-idxRec))
-    view.wxTrigCtrl.SetValue(idx)
+    view.wxTrigCtrl.SetValue(idxTrigger)
-    doc.Update(view, 0, value)
+    view.DispJitter(doc.idxInPos[idxInPos],doc.idxTrigger[idxTrigger])
+    doc.Update(view, 0, idxRec)
 
   @staticmethod
-  def OnSetIdxTrigger(usrData, value, msg):
+  def OnSetIdxTrigger(usrData, idxTrigger, msg):
     'called when the idxTrigger slider has been changed'
     #print('OnSetIdxTrigger', usrData, value, msg)
     view = usrData.slider.Parent
     doc = view.doc
-    value=doc.idxTrigger[value]
+    idxRec=doc.idxTrigger[idxTrigger]
-    view.wxTimeCtrl.SetValue(value)
+    view.wxTimeCtrl.SetValue(idxRec)
-    idx=np.argmin(abs(doc.idxInPos-value))
+    idxInPos=np.argmin(abs(doc.idxInPos-idxRec))
-    view.wxPosCtrl.SetValue(idx)
+    view.wxPosCtrl.SetValue(idxInPos)
-    doc.Update(view, 0, value)
+    view.DispJitter(doc.idxInPos[idxInPos],doc.idxTrigger[idxTrigger])
+    doc.Update(view, 0, idxRec)
 
 
 if __name__ == '__main__':

python/shapepath.py

@@ -184,9 +184,14 @@ class ShapePath(MotionBase):
       1. generates program <prgId> and saves to fnPrg
          the type of generated program is defined by <mode>
       2. runs the program on the deltatau
+
+      mode=-1 jog a 10mm square
+      mode=0  linear motion
+      mode=1  pvt motion
+      mode=2  spline motion
       kwargs:
-        acq_per    : acquire period: acquire data all acq_per servo loops (default=1)
         pt2pt_time : time to move from one point to the next point
+        sync_frq   : synchronization mark all n points
       '''
       prg=['close all buffers','open prog %d'%(prgId)]
       comm=self.comm
@@ -229,6 +234,10 @@ class ShapePath(MotionBase):
           cnt=kwargs['cnt'] #move path multiple times
         except KeyError:
           cnt=1
+        try:
+          sync_frq=kwargs['sync_frq'] #synchronization mark all n points
+        except KeyError:
+          sync_frq=10
         try:
           pt=self.ptsCorr
         except AttributeError:
@@ -259,7 +268,10 @@ class ShapePath(MotionBase):
           prg.append('N100:')
         prg.append('  pvt%g abs'%pt2pt_time) #100ms to next position
         for idx in range(1,pv.shape[0]):
+          if sync_frq is not None and idx%sync_frq==0:
+            prg.append('Coord[1].Q[0]=%d'%(idx))
           prg.append('X%g:%g Y%g:%g'%tuple(pv[idx,(0,2,1,3)]))
+        prg.append('Coord[1].Q[0]=%d' % (idx))
         prg.append('X%g Y%g' % tuple(pv[-1, (0,1)]))
         if cnt>1:
           prg.append('dwell 10')
@@ -273,6 +285,8 @@ class ShapePath(MotionBase):
           prg.append('}')
         else:
           prg.append('dwell 1000')
+        if sync_frq is not None:
+          prg.append('Coord[1].Q[0]=-1')
         prg.append('Gather.Enable=0')
       elif mode==2: #### spline motion
         try:
@@ -446,19 +460,21 @@ class ShapePath(MotionBase):
         l=rec[idx:idx+rng,(3,2)]-pts[i,:]
         l2=l[:,0]**2+l[:,1]**2
         ofs=l2.argmin()
-        print(l2[ofs])
+        #print(l2[ofs])
         idx+=ofs
         idxInPos.append(idx)
         idx+= rng/2
 
       idxInPos = np.array(idxInPos)
-      jitter=idxInPos-idxTrigger[:idxInPos.shape[0]]
+      jitter=idxTrigger[:idxInPos.shape[0]]-idxInPos
       fig = plt.figure('trigger jitter')
       ax = fig.add_subplot(1, 1, 1)
       hl = []
       hl += ax.plot(jitter*ts, 'b-',label='jitter')
       ax.xaxis.set_label_text('position idx')
-      ax.yaxis.set_label_text('jitter (ms)')
+      ax.yaxis.set_label_text('jitter motion (ms)')
+      print('scaling of DesTimeBase: %f'%(float(idxInPos[-1])/idxTrigger[idxInPos.shape[0]-1]))
+
 
 
     plt.show()
@@ -623,8 +639,8 @@ if __name__=='__main__':
     sp.setup_gather(acq_per=2)
     #setup_sync(self, crdId=1, prgId=2, plcId=2, mode=0, **kwargs):
     #sp.setup_sync() #no sync at all
-    #sp.setup_sync(mode=1) #sync with timing system (PLC)
+    #sp.setup_sync(mode=1) #sync with timing system (PROG)
-    sp.setup_sync(mode=2) #sync with timing system (PROG)
+    sp.setup_sync(mode=2) #sync with timing system and PLC to sync speed (PROG)
 
     #sp.gen_grid_points(w=2,h=2,pitch=50,rnd=.2);sp.sort_points(xy);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=10,acq_per=1)
     #sp.gen_swissmx_points(width=1000,ofs=(-500,0));sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=40,acq_per=1)
@@ -647,7 +663,7 @@ if __name__=='__main__':
     sp.run()
     trigger(0.5)
     sp.gather_upload(fnRec=fn+'.npz')
-    sp.plot_gather()
+    sp.plot_gather(mode=8)
 
 
     # cfg={"points": [[100,523],[635,632],[756,213]],"sequencer":[sort_points,move_trj+')']}