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running sync !!!

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This commit is contained in:
zamofing_t
2019-01-17 17:03:13 +01:00
parent a11a3bce79
commit f32f7723bf
2 changed files with 39 additions and 34 deletions
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2
python/shapepath.py
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@@ -822,7 +822,7 @@ if __name__=='__main__':
# [0., 1.]]) # [0., 1.]])
#sp.points*=100 #sp.points*=100
#sp.gen_spiral_points(rStart=100,rInc=10,numSeg=4,numCir=60, ofs=(0, 0)) #sp.gen_spiral_points(rStart=100,rInc=10,numSeg=4,numCir=60, ofs=(0, 0))
sp.gen_spiral_points(rStart=100,rInc=10,numSeg=32,numCir=12, ofs=(0, 0)) sp.gen_spiral_points(rStart=100,rInc=10,numSeg=8,numCir=12, ofs=(0, 0))
#sp.gen_closed_shifted() #sp.gen_closed_shifted()
#sp.gen_grid_points(w=10,h=10,pitch=100,rnd=0,ofs=(0,0));sp.sort_points(False); #sp.gen_grid_points(w=10,h=10,pitch=100,rnd=0,ofs=(0,0));sp.sort_points(False);

67
src/triggerSync/triggerSync.c
View File

@@ -41,58 +41,60 @@ void trigsync_func(void *arg)
rt_task_set_periodic(NULL, TM_NOW, LOOP_PERIOD); rt_task_set_periodic(NULL, TM_NOW, LOOP_PERIOD);
int i; int i;
RTIME rtStart,rtLast,rtCur; RTIME rtStart,rtLast,rtCur,rtDiff; //rt* is real time of the rt-process
unsigned scStart,scLast,diff,maxDiff; unsigned int scStart,scLast,scCur,scDiff; //sc* are servo counts of the motion
float srvPer;
float mtAct,mtDes; //mt* motion time. Actual and desired. this is the accumulated time that controls motion speed
float mtPt2Pt=40.f; //motion point to point time
unsigned int maxDiff;
struct GateArray3* gate3_1=GetGate3MemPtr(1); struct GateArray3* gate3_1=GetGate3MemPtr(1);
pshm = GetSharedMemPtr(); pshm = GetSharedMemPtr();
srvPer=pshm->ServoPeriod;
/*
//Start the task loop
rtStart = rt_timer_read();
for(i=0;i<20000;i++)
{
if (i%10==0)
printf("Loop count: %d, Loop time: %.5f ms\n", i, (rt_timer_read() - tStart)/1000000.0);
rt_task_wait_period(NULL);
//int rt_task_sleep_until
}
*/
if(pshm->Gather.Enable==1) if(pshm->Gather.Enable==1)
pshm->Gather.Enable=2; //start record at flag0' trigger pshm->Gather.Enable=2; //start record at flag0' trigger
sleep(1); usleep(1000000); //wait 1 sec(record before motion)
rtStart=rt_timer_read(); rtStart=rt_timer_read();
printf("Wait for trigger:\n"); printf("Wait for 'arm' event:\n");
pshm->Coord[1].Q[0]=-10; pshm->Coord[1].Q[0]=-10;
while(!FLAG0) while(!FLAG0)
rt_task_wait_period(NULL); rt_task_wait_period(NULL);
printf("Flag 0: %.5f ms\n", (rt_timer_read() - rtStart)/1000000.0); printf("Flag 0: %.5f ms\n", (rt_timer_read() - rtStart)/1E6);
pshm->Coord[1].Q[0]=-9; pshm->Coord[1].Q[0]=-9;
while(!FLAG1) while(!FLAG1)
rt_task_wait_period(NULL); rt_task_wait_period(NULL);
//if(pshm->Gather.Enable==1) printf("Flag 1: %.5f ms\n", (rt_timer_read() - rtStart)/1E6);
// pshm->Gather.Enable=2; //start record at flag1' trigger
printf("Flag 1: %.5f ms\n", (rt_timer_read() - rtStart)/1000000.0);
rtStart=rtLast=rt_timer_read(); rtStart=rtLast=rt_timer_read();
scStart=scLast=pshm->ServoCount; scStart=scLast=pshm->ServoCount;
mtAct=0.f;
pshm->Coord[1].Q[0]=1; pshm->Coord[1].Q[0]=1;
pshm->Coord[1].DesTimeBase=pshm->ServoPeriod; //start motion at default speed pshm->Coord[1].DesTimeBase=srvPer; //start motion at default speed
for(i=1;pshm->Gather.Enable;i++)
{
while(FLAG1) while(FLAG1)
rt_task_wait_period(NULL); rt_task_wait_period(NULL);
for(i=0;pshm->Gather.Enable;i++)
{
while(!FLAG1) while(!FLAG1)
rt_task_wait_period(NULL); rt_task_wait_period(NULL);
rtLast = rt_timer_read(); //FEL shot arrived
scLast=pshm->ServoCount; rtCur = rt_timer_read();
scCur=pshm->ServoCount;
rtDiff=rtCur-rtLast;
scDiff=scCur-scLast;
mtAct+=scDiff*srvPer;
mtDes=i*mtPt2Pt;
srvPer=(mtPt2Pt+mtDes-mtAct)/scDiff;
pshm->Coord[1].DesTimeBase=srvPer;
pshm->Coord[1].Q[0]++; pshm->Coord[1].Q[0]++;
while(FLAG1) printf("Trigger count: %d, rtDiff: %.3f ms scDiff %d mtAct %.3f mtDes %.3f srvPer %.3f\n", i, rtDiff/1E6,scDiff, mtAct,mtDes,srvPer);
rt_task_wait_period(NULL); rtLast=rtCur;
printf("Trigger count: %d, time: %.5f ms ServoCount %d\n", i, (rtLast - rtStart)/1000000.0,scLast-scStart); scLast=scCur;
} }
/* float ang,pos; /* float ang,pos;
@@ -132,9 +134,12 @@ void trigsim_func(void *arg)
rtStart=rt_timer_read(); rtStart=rt_timer_read();
for(i=0;;i++) for(i=0,rtSlice=rtStart;;i++)
{ {
rtSlice=rtStart+i*40*1E6; // a slice is 40 ms //rtSlice=rtStart+i*40*1E6; // a slice is 40 ms
rtSlice=rtStart+i*40.2*1E6; // a slice is 40 ms
//rtSlice+=(rand()%(int)(1*1E6)); //0.1ms jitter
rt_task_sleep_until(rtSlice); //in ns rt_task_sleep_until(rtSlice); //in ns
pshm->P[1]=1; pshm->P[1]=1;
//while(rt_timer_read()-rtStart<1E6*40*i) //while(rt_timer_read()-rtStart<1E6*40*i)