towards new communication

python/shapepath.py

@@ -144,51 +144,21 @@ class ShapePath(MotionBase):
     #ServoPeriod=comm.gpascii.servo_period
     self.meta = {'timebase': ServoPeriod*acq_per}
 
-  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)
-
-    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 setup_coord_trf(self):
+    comm = self.comm
+    gpascii = comm.gpascii
+    prg = '''&1a
+#1->   Y
+#2->   X
+#3->   A
+#4->0
+#5->0
+#6->0
+#7->0
+#8->0
+#1..8j/
+'''
+    gpascii.send_block(prg)
 
   def setup_motion(self,prgId=2,fnPrg=None,mode=0,**kwargs):
       '''
@@ -327,31 +297,13 @@ close
         #  retval = p.wait()
       self.prg=prg
 
-  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)
-
   def gather_upload(self,fnRec=None):
-    #gather -u /var/ftp/gather/out.txt
-    #cmd ='PBGatherPlot -m24 -v7 --host '+self.host
-    #print(cmd)
-    #p = sprc.Popen(cmd, shell=True)#, stdout=sprc.PIPE, stderr=sprc.STDOUT)
-    #retval = p.wait()
-    #fnLoc='/tmp/gather.txt'
-    #self.rec =rec = np.genfromtxt(fnLoc, delimiter=' ')
     gt=self.gather
     gt.wait_stopped(verbose=True)
     self.rec=rec=gt.upload()
 
     pts=self.points
 
-
     #rec=Motor[1].ActPos,Motor[2].ActPos,Motor[3].ActPos,Motor[1].DesPos,Motor[2].DesPos,Motor[3].DesPos
     #res=rot.ActPos,x.ActPos,y.ActPos,rot.DesPos,x.DesPos,y.DesPos
     #idx     0        1        2          3        4        5
@@ -466,7 +418,7 @@ if __name__=='__main__':
       comm = PPComm(host=args.host)
       gather = Gather(comm)
     sp = ShapePath(comm, gather, args.verbose)
-    sp.host=args.host #temporary
+    sp.setup_coord_trf()
 
     fn='/tmp/shapepath'
     xy=False