wip

python/MXMotion.py

@@ -73,11 +73,13 @@ class MotionBase:
       self.sync_prg = prg
       self.sync_run = '&{crdId}b{prgId}r'''.format(prgId=prgId, plcId=plcId, crdId=crdId)
       if mode==2:
+        #frequence jitter 50Hz Swissgrid:
+        #https://www.swissgrid.ch/de/home/operation/grid-data/current-data.html#
         notFlag1 = 'Gate3[1].Chan[1].UserFlag!=0'
         try:
           prop=kwargs['prop'] #proportional value to adapt speed
         except KeyError:
-          prop = 1E-4
+          prop = .5E-4
         try:
           maxJitter = kwargs['maxJitter']  # proportional value to adapt speed
         except KeyError:
@@ -86,58 +88,67 @@ class MotionBase:
 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
+Coord[1].Q[0]=0 //set syncCnt 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
+{syncCnt}=0 //sync counter, sent when motion is on a crystal
+//{evnt} current PhaseCount event
+//{jitter} jitter: neg:motion lags trigger,pos:motion leads trigger
+//{syncEnvt} Prev syncEnvt PhaseCount
+{sync2sync}=0 // last syncEnvt-syncEnvt PhaseCount
+{dtb}=Sys.ServoPeriod //DesTimeBase
+//{tmp} temp variable
 
-while(L0>=0) //as long we are not at the last point
+while({syncCnt}>=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
+  {syncCnt}=Coord[1].Q[0] //sync counter
+  while({flag1} && {syncCnt}==Coord[1].Q[0]){{}} //wait for event
+  {evnt}=Sys.PhaseCount   //a event happened
+  {jitter}=1000
   //send 1"event\\n"
-  if(L0==Coord[1].Q[0])
+  if({syncCnt}==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
+    //send 1"trigger %d %d %d\\n",{syncCnt},{evnt},{sync2sync}
+    while(Sys.PhaseCount<{evnt}+{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
+      if({syncCnt}!=Coord[1].Q[0])
+      {{//event syncCnt
+        {tmp}=Sys.PhaseCount
+        {sync2sync}={tmp}-{syncEnvt};{syncEnvt}={tmp}
+        {jitter}={evnt}-{tmp} //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
+  {{//it was a syncCnt
+    {sync2sync}={evnt}-{syncEnvt};{syncEnvt}={evnt}
+    //send 1"syncCnt %d %d %d\\n",{syncCnt},{evnt},{sync2sync}
+    while(Sys.PhaseCount<{evnt}+{maxJitter}) //wait half a trigger period for event
     {{
       if({notFlag1})
       {{//event trigger
-        L2=Sys.ServoCount-L1 //jitter: pos:motion leads trigger
+        {jitter}=Sys.PhaseCount-{evnt} //jitter: pos:motion leads trigger
         break
       }}
     }}
   }}
-  if(L2!=1000)
+  if({jitter}!=1000 && {sync2sync}>0)
   {{
-    L3=Sys.ServoPeriod*(1-{prop}*L2)
-    //send 1"jitter %d timebase: %f\\n",L2,L3
-    Coord[1].DesTimeBase=L3
+    {dtb}=Sys.ServoPeriod*(1-{prop}*{jitter})
+    //{dtb}={dtb}*(1-{jitter}/{sync2sync}*.5)
+    //send 1"syncCnt %d jitter %d sync2sync %d timebase: %f\\n",{syncCnt},{jitter},{sync2sync},{dtb}
+    Coord[1].DesTimeBase={dtb}
   }}
 }}
 disable plc {plcId}
 close
 enable plc {plcId}
-'''.format(plcId=plcId, crdId=crdId, flag0=flag0, flag1=flag1, notFlag1=notFlag1, prop=prop, maxJitter=maxJitter)
+'''.format(plcId=plcId, crdId=crdId, flag0=flag0, flag1=flag1, notFlag1=notFlag1, prop=prop, maxJitter=maxJitter,
+           syncCnt='L0', evnt='L1', jitter='L2', syncEnvt='L3', sync2sync='L4', dtb='L5', tmp='L6')
         comm=self.comm
         if comm is not None:
           gpascii=comm.gpascii