towards new communication

python/MXMotion.py

@@ -1,3 +1,27 @@
+#some further usefull PMAC commands:
+# list pc , 10    //list program counter during motion exec
+# buffer          //list allocated buffers
+#the rotary stuff only works from gpascii, not gpasciiCommander
+#delete rotary
+#define rotary 4096 //allocates mem
+#open rotary      //same as open prog 0
+#
+# X100 Y100
+# X200 Y300
+# X600 Y500
+# adding lines alway are acknowledged with ACK,
+# if not, it means that the buffer is full
+# it will acknowlegde when there is again free space.
+# close
+# delete rotary
+
+
+#from other gpascii
+#list rotary
+#rotfree
+#size
+#b0s //start the rotary buffer in single step mode
+
 import os, sys
 sys.path.insert(0,os.path.expanduser('~/Documents/prj/SwissFEL/PBTools/'))
 #import pbtools.misc.pp_comm as pp_comm   -> pp_comm.PPComm
@@ -11,28 +35,59 @@ class MotionBase:
     self.gather=gather
     self.verbose=verbose
 
-  def wait_trigger(self):
-    '''
-    //changes the Timebase of coord system 1
+  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
+       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
+       sync_run are the commands to run the whole program
+       '''
+    gpascii = self.comm.gpascii
+    if mode == 0:
+      try:
+        del self.sync_wait
+      except AttributeError:
+        pass
+      self.sync_run = '&{crdId}b{prgId}r'''.format(prgId=prgId, crdId=crdId)
 
-    //modifies the timebase to start/stop a running program
-    //this can also be used to adjust the execution speed
+    elif mode == 1:
+      # 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==1'
+      prg = '''close all buffers
+open plc {plcId}
+Coord[{crdId}].DesTimeBase=0       // freezes timebase at boot
+while(flag){{}}
+while(1)
+{{
+  if({flag})
+  {{
+    PowerBrick[0].GpioData[0].16.8=255
+    Coord[{crdId}].DesTimeBase=Sys.ServoPeriod
+    break
+  }}
+}}
+close
+'''.format(plcId=plcId, crdId=crdId, flag=flag)
+      gpascii.send_block(prg)
+      self.sync_wait = 'Coord[{crdId}].DesTimeBase=0;enable plc {plcId}'.format(plcId=plcId, crdId=crdId)
+      self.sync_run = 'Coord[{crdId}].DesTimeBase=0;&{crdId}b{prgId}r'''.format(prgId=prgId, plcId=plcId, crdId=crdId)
+
+  def run(self):
+    'runs the code sync_run which has been generated with setup_sync()'
+    comm = self.comm
+    gpascii = comm.gpascii
+    try:
+      cmd=self.sync_run
+    except AttributeError:
+      raise 'Need to call setup sync before'
+    gpascii.send_block(cmd)
 
-    open plc 1
-    Coord[1].DesTimeBase=0       // freezes timebase at boot
-    while(1)
-    {
-      if(PowerBrick[0].GpioData[0].0.1==1)
-      {
-         PowerBrick[0].GpioData[0].16.8=255
-         Coord[1].DesTimeBase=Sys.ServoPeriod
-      }
-      else
-      {
-        PowerBrick[0].GpioData[0].16.8=7
-         Coord[1].DesTimeBase=0
-      }
-    }
-    close
-    '''
-  pass