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full stage tests

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zamofing_t
2017-07-21 14:25:09 +02:00
parent 7794f23c5f
commit ede6671ff0
5 changed files with 99 additions and 7 deletions
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51
python/shapepath.py
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@@ -66,7 +66,7 @@ class ShapePath:
cfg=json.loads(s, object_hook=ConvUtf8)
s=json.dumps(cfg, indent=2, separators=(',', ': '));print s
else:
fn='/tmp/shapepath'
fn='/tmp/shapepath4'
#fn='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/data/'+time.strftime('%y-%m-%d-%H_%M_%S')
#cfg={"points": [[100,523],[635,632],[756,213]],"sequencer":['sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1")','plot_gather("'+fn+'.npz")']}
#cfg={"sequencer":['gen_rand_points(n=107, scale=1000)','sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1")','plot_gather("'+fn+'.npz")']}
@@ -85,9 +85,11 @@ class ShapePath:
#cfg = {"sequencer": ['gen_grid_points(w=2,h=2,pitch=10000,rnd=0)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=1,pt2pt_time=1000)', 'plot_gather("'+fn+'.npz")']}
#cfg = {"sequencer": ['gen_grid_points(w=20,h=20,pitch=50,rnd=0.2)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=1,pt2pt_time=10,acq_per=10)', 'plot_gather("'+fn+'.npz")']}
#cfg = {"sequencer": ['gen_rand_points(n=400, scale=1000)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=1,pt2pt_time=10)', 'plot_gather("'+fn+'.npz")']}
cfg = {"sequencer": ['gen_grid_points(w=15,h=15,pitch=100,rnd=0.2)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=2,pt2pt_time=10)', 'plot_gather("'+fn+'.npz")']}
cfg = {"sequencer": ['gen_grid_points(w=5,h=5,pitch=100,rnd=0.4)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=1,pt2pt_time=10,cnt=1)', 'plot_gather("'+fn+'.npz")']}
#cfg = {"sequencer":['gen_rand_points(n=400, scale=1000)','sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=1,pt2pt_time=20,acq_per=10)','plot_gather("'+fn+'.npz")']}
#cfg = {"sequencer": ['gen_swissfel_points(scale=300)','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=1,pt2pt_time=100,acq_per=10)', 'plot_gather("'+fn+'.npz")']}
cfg = {"sequencer": ['opt_pts("'+fn+'.npz")','gen_prog(file="'+fn+'_corr.prg",host="SAR-CPPM-EXPMX1",mode=1,pt2pt_time=10,cnt=1)', 'plot_gather("'+fn+'_corr.npz")']}
#cfg = {"sequencer": ['opt_pts("'+fn+'.npz")','gen_prog(file="'+fn+'.prg",mode=1,pt2pt_time=10,cnt=1)']}
self.cfg=dotdict(cfg)
self.args=args
@@ -144,6 +146,26 @@ class ShapePath:
pts[:,0]+=500
self.points=pts
def opt_pts(self,fn):
fh=np.load(fn)
#res=rot.ActPos,x.ActPos,y.ActPos,rot.DesPos,x.DesPos,y.DesPos
#idx 0 1 2 3 4 5
rec=fh['rec']
pts=fh['pts']
desPos=rec[:,4:6]
idx=np.ndarray(shape=len(pts),dtype=np.int32)
for i in range(len(pts)):
l=desPos-pts[i,:]
l2=l[:,0]**2+l[:,1]**2
idx[i]=np.argmin(l2)
recPts=rec[idx,:]
ptsCorr=(pts-recPts[:,1:3]+recPts[:,4:6])
self.points=pts
self.ptsCorr=ptsCorr
print ptsCorr
def gen_prog(self,prgId=2,file=None,host=None,mode=0,**kwargs):
'''
kwargs:
@@ -201,8 +223,15 @@ class ShapePath:
except KeyError:
print 'missing pt2pt_time, use default=100ms'
pt2pt_time=100.
try:
cnt=kwargs['cnt'] #move path multiple times
except KeyError:
cnt=1
pt=self.points
try:
pt=self.ptsCorr
except AttributeError:
pt=self.points
vel=pt[2:,:]-pt[:-2,:]
#pv is an array of posx posy velx vely
pv=np.ndarray(shape=(pt.shape[0]+2,4),dtype=pt.dtype)
@@ -220,11 +249,25 @@ class ShapePath:
prg.append('X%g Y%g' % tuple(pv[0, (0,1)]))
prg.append('dwell 10')
prg.append('Gather.Enable=2')
if cnt>1:
prg.append('P100=%d'%cnt)
prg.append('N100:')
prg.append(' pvt%g abs'%pt2pt_time) #100ms to next position
for idx in range(1,pv.shape[0]):
prg.append('X%g:%g Y%g:%g'%tuple(pv[idx,(0,2,1,3)]))
prg.append('X%g Y%g' % tuple(pv[-1, (0,1)]))
prg.append('dwell 1000')
if cnt>1:
prg.append('dwell 10')
prg.append('P100=P100-1')
prg.append('if(P100>0)')
prg.append('{')
prg.append(' linear abs')
prg.append('X%g Y%g' % tuple(pv[0, (0,1)]))
prg.append('dwell 100')
prg.append('goto 100')
prg.append('}')
else:
prg.append('dwell 1000')
prg.append('Gather.Enable=0')
elif mode==2: #### spline motion
try: