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):
+  def setup_sync(self, crdId=1, prgId=2, plcId=2, mode=0, **kwargs):
-    '''
+    '''setup the timing synchronization for the motion program
-    //changes the Timebase of coord system 1
+       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
+    elif mode == 1:
-    //this can also be used to adjust the execution speed
+      # 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

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):
+  def setup_coord_trf(self):
-    '''setup the timing synchronization for the motion program
+    comm = self.comm
-       mode=0 : no sync at all
+    gpascii = comm.gpascii
-       mode=1 : first sync test
+    prg = '''&1a
-       this function generates the code blocks:
+#1->   Y
-       self.sync_wait and self.sync_run
+#2->   X
-       sync_wait can be put in the program to force a timing sync
+#3->   A
-       sync_run are the commands to run the whole program
+#4->0
-       '''
+#5->0
-    gpascii=self.comm.gpascii
+#6->0
-    if mode==0:
+#7->0
-      try:
+#8->0
-        del self.sync_wait
+#1..8j/
-      except AttributeError:
+'''
-        pass
+    gpascii.send_block(prg)
-      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_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