wip

python/helicalscan.py

@@ -354,7 +354,7 @@ class HelicalScanGui():
 
   def update_anim(self,frm):
     rec=self.helScn.rec
-    (cx, cz, w, fy)=rec[int(frm),:4];cx=-cx;cz=-cz
+    (cx, cz, w, fy)=rec[int(frm),:4];cx=-cx;cz=-cz #change sign because axes have neg direction
     w*=d2r/1000 # scale from deg to rad
     if self.manip:
       param = self.helScn.param
@@ -781,7 +781,6 @@ a
 #1->I
 '''
     pbParam=param.copy()
-    pbParam[:,(0,2)]=-pbParam[:,(0,2)] #change sign of x_0,x_1,z_0,z_1, because axes have neg direction
     sh=pbParam.shape
     s = ('z', 'y', 'x', 'r', 'phi')
     a = np.ones(sh[1], dtype=np.uint8).reshape(1, -1)
@@ -790,7 +789,7 @@ a
     subsParam=dict(map(lambda k, i, v: (k + '_' + str(i), v), s * sh[0], c, pbParam.reshape(-1)))
     subsParam['d2r']=d2r/1000.
     subsParam['r2d']=1000./d2r
-    subsParam['cmt']='//'
+    subsParam['cmt']='' #'//'
 
 
     subs={'qCX':'L4', 'qCZ':'L5', 'qW':'L3', 'qFY':'L1',
@@ -1003,6 +1002,7 @@ close
     elif mode==1: #### pvt motion
       #y=2.3 6.2 dx=0, dz=0  w=0..3600000 # 10 rev
       cnt= kwargs.get('cnt', 1) #move path multiple times
+      sync_frq=kwargs.get('sync_frq',10)  # synchronization mark all n points
       cntVert = kwargs.get('cntVert', 12)
       cntHor = kwargs.get('cntHor', 4)
       hRng = kwargs.get('hRng', (-.2,.2))
@@ -1010,6 +1010,7 @@ close
       yRng = kwargs.get('yRng', self.param[:,1])
       pt2pt_time = kwargs.get('pt2pt_time', 100)
       smt  = kwargs.get('smt', 1) # SegMoveTime, default = 1ms -> velocity calc not yet 100% correct (smt=0 not 100% working)
+
       numPt=cntVert*cntHor
       pt=np.zeros((numPt,4))
       if cntHor>1:
@@ -1049,7 +1050,8 @@ close
       prg.append('  Coord[1].SegMoveTime=%d'%smt) #to calculate every 1 ms the inverse kinematics
       prg.append('  pvt%g abs'%pt2pt_time) #100ms to next position
       for idx in range(1,pv.shape[0]):
-        #prg.append('  P2000=%d'%idx)
+        if sync_frq is not None and idx%sync_frq==0:
+          prg.append('Coord[1].Q[0]=%d'%(idx))
         prg.append('  X%g:%g Z%g:%g B%g:%g Y%g:%g' % tuple(pv[idx, (0,4,1,5,2,6,3,7)]))
         #prg.append('Y%g:%g' % tuple(pv[idx, (5, 7)]))
         #prg.append('B%g:%g' %(idx*1000,0))
@@ -1065,9 +1067,9 @@ close
         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')
-
-    prg.append('  P1000=1')
     prg.append('close')
     #prg.append('&1\nb%dr\n'%prgId)
 
@@ -1100,7 +1102,7 @@ close
 if __name__=='__main__':
   def run_test(args):
     test=args.test
-    args.host=None
+    #args.host=None
 
     if args.host is None:
       comm=gather=None
@@ -1123,10 +1125,19 @@ if __name__=='__main__':
       HelicalScanTests.calcParamSim(hs)
       hs.setup_motion(mode=1,cntHor=5,cntVert=15,hRng=(-50,50),wRng=(0,120000),smt=0,pt2pt_time=200)
 
+      hs.setup_coord_trf()
+      hs.setup_sync(mode=0)  # None: no sync at all mode=1: sync on timing UserFlag
+      hs.setup_gather()
+      hs.run()
+      print('wait until gather finished:')
+      fn = '/tmp/helicalscan'
+      hs.gather_upload(fn + '.npz')
+      hs.load_rec(fn + '.npz')
+
       for manip in (False,True):
         hsg=HelicalScanGui(hs);hsg.interactive_cx_cz_w_fy(manip=manip)
         hsg=HelicalScanGui(hs);hsg.interactive_dx_dz_w_y(manip=manip)
-        #hsg=HelicalScanGui(hs);hsg.interactive_anim(manip=manip)
+        hsg=HelicalScanGui(hs);hsg.interactive_anim(manip=manip)
       return
 
     elif test==3:
@@ -1153,9 +1164,9 @@ if __name__=='__main__':
     #cpx X0 Z0 B0      Y258
     #cpx X0 Z0 B120000 Y258
 
-    #hs.calcParam(x = ((-1154.4,   216.3,  -250.7), ( -1330.2,   340.9,  -230.4)),
-    #             y = (1405.7,1019.2),
-    #             z = ((-1309.6, -1010.9, -2410.3),( -1219.4, -918.8, -2510.4)))
+    hs.calcParam(x = ((-1154.4,   216.3,  -250.7), ( -1330.2,   340.9,  -230.4)),
+                 y = (1405.7,1019.2),
+                 z = ((-1309.6, -1010.9, -2410.3),( -1219.4, -918.8, -2510.4)))
 
 
     ### use simulation motors ###
@@ -1171,7 +1182,7 @@ if __name__=='__main__':
     eval(s)
 
     hs.setup_coord_trf()
-    hs.setup_sync(mode=2)  # None: no sync at all mode=1: sync on timing UserFlag
+    hs.setup_sync(mode=0)  # None: no sync at all mode=1: sync on timing UserFlag
     hs.setup_gather()
 
     #hs.gen_prog(mode=-1)