work on helicalscan. running pvt code

python/helicalscan.py

@@ -313,13 +313,6 @@ class HelicalScan:
     ax.view_init(elev=14., azim=10)
     param=self.param
 
-    fnLoc='/tmp/gather.txt'
-    #meta = self.meta
-    #pts = self.points  # X,Y array
-    self.rec = np.genfromtxt(fnLoc, delimiter=' ')
-    #if fnOut:
-    #  np.savez_compressed(fnOut, rec=rec, pts=pts, meta=meta)
-
     # param[i]=(z_i, y_i, x_i, r_i,phi_i)
     ctr=(0,0,0)
     self.axSetCenter(ctr,10)
@@ -330,30 +323,19 @@ class HelicalScan:
     ly = param[:,1]
     self.sldFrm=sFrm=Slider(axFrm, 'frm', 0, self.rec.shape[0]-1, valinit=0)
     sFrm.on_changed(self.update_anim)
-    # param[i]=(z_i, y_i, x_i, r_i,phi_i)
-    p=np.ndarray((param.shape[0], 3))
-    for i in range(2):
-      (z_i, y_i, x_i, r_i, phi_i)=param[i]
-      p[i,0]=x_i+r_i*np.sin(phi_i) # x= x_i+r_i*cos(phi_i+w)+cx
-      p[i,1]=y_i # y= y_i
-      p[i,2]=z_i+r_i*np.cos(phi_i)  # z= z_i+r_i*sin(phi_i*w)
-    ofs=(p[1]+p[0])/2. # = center of the cristal
-    print 'p, ofs',p,ofs
-
     m=Trf.trans(0,0,0); self.hOrig=self.pltOrig(m)
-    hCrist,pt=self.pltCrist(cx=-ofs[0],fy=-ofs[1],cz=-ofs[2])
+    self.hCrist=None
-
+    self.fig=fig
-    self.hCrist=hCrist;self.fig=fig
 
     animCnt=100
     self.step=self.rec.shape[0]/animCnt
-    a = anim.FuncAnimation(fig, self.anim_gather_data, animCnt, fargs=(), interval=20, repeat=False, blit=False)
+    #a = anim.FuncAnimation(fig, self.anim_gather_data, animCnt, fargs=(), interval=20, repeat=False, blit=False)
-    self.show_vel()
+    self.update_anim(0)
     plt.show()
+    pass
 
 
-  def update_anim(self,val):
+  def update_anim(self,frm):
-    frm = self.sldFrm.val
     (cx, cz, w, fy)=self.rec[int(frm),:]
     #data/=. #scale from um to mm
     w*=d2r/1000 # scale from deg to rad
@@ -369,7 +351,25 @@ class HelicalScan:
     #data=self.rec[int(idx*self.step),:]
     #self.hCrist,pt=self.pltCrist(*data,h=self.hCrist)
 
+  def save_rec(self,fn_npz='/tmp/helicalscan.npz'):
+    param= self.param
+    meta= self.meta
+    points = self.points  # target points
+    rec = self.rec
+    np.savez_compressed(fn_npz, rec=rec, points=points, param=param, meta=meta)
 
+  def load_rec(self,fn_npz='/tmp/helicalscan.npz'):
+    try:
+      fh=np.load(fn_npz)
+    except IOError as e:
+      sys.stderr.write('Unable to open File: '+fn_npz+'\n')
+    else:
+      pass
+    s='content of numpy file: '+fn_npz+'\n'
+    for k,v in fh.iteritems():
+      s+='   '+k+': '+str(v.dtype)+' '+str(v.shape)+'\n'
+      setattr(self,k,v)
+    print s
 
   def fwd_transform(self,cx,cz,w,fy):
     #cx,cy: coarse stage
@@ -445,74 +445,109 @@ class HelicalScan:
   def pltOrig(self,m,h=None):
     ax=self.ax
     # m is a 4x4 matrix. the transformed matrix
-    r=m[:3,0] #1st
+    idx=(2,0,1)
-    g=m[:3,1] #2nd
+    r=m[idx,0] #1st
-    b=m[:3,2] #3rd
+    g=m[idx,1] #2nd
-    o=m[:3,3] #origin
+    b=m[idx,2] #3rd
+    o=m[idx,3] #origin
+    lines = np.ndarray((3, 2, 3))  # numlines, points, xyz
+    lines[:, 0, :] = o
+    lines[0, 1, :] = o + r
+    lines[1, 1, :] = o + g
+    lines[2, 1, :] = o + b
     if h is None:
-      hr=ax.plot((o[2],o[2]+r[2]), (o[0],o[0]+r[0]), (o[1],o[1]+r[1]), 'r')
+      lseg = tuple(lines)
-      hg=ax.plot((o[2],o[2]+g[2]), (o[0],o[0]+g[0]), (o[1],o[1]+g[1]), 'g')
+      col=('r','g','b')
-      hb=ax.plot((o[2],o[2]+b[2]), (o[0],o[0]+b[0]), (o[1],o[1]+b[1]), 'b')
+      hlc = plt3d.art3d.Line3DCollection(lseg, colors=col)  # , *args[argi:], **kwargs)
-      return hr + hg + hb  # this is a list
+      ax.add_collection(hlc)
+      return hlc
     else:
-      hr, hg, hb = h
+      h.set_segments(lines)
-      hr.set_data((o[2], o[2] + r[2]), (o[0], o[0] + r[0]))
-      hr.set_3d_properties((o[1], o[1] + r[1]))
-      hg.set_data((o[2], o[2] + g[2]), (o[0], o[0] + g[0]))
-      hg.set_3d_properties((o[1], o[1] + g[1]))
-      hb.set_data((o[2], o[2] + b[2]), (o[0], o[0] + b[0]))
-      hb.set_3d_properties((o[1], o[1] + b[1]))
       return h
 
 
   def pltCrist(self,cx=0,cz=0,w=0,fy=0,h=None):
     #h are the handles
+    ax = self.ax
+    param = self.param
+    pt = np.ndarray((4, 3))
     if h is None:
       h=[] #handels
-      ax=self.ax
-      param=self.param
-      pt = np.ndarray((4, 3))
       for i in range(2):
         (z, y, x, r, phi) = param[i]
         x+=cx;y+=fy;z+=cz;phi+=w
-        pt[i] = (x, y, z)
+        pt[i] = (z, x, y)
-        pt[i + 2] = (x + r * np.sin(phi), y, z + r * np.cos(phi))
+        pt[i + 2] = (z + r * np.cos(phi), x + r * np.sin(phi), y)
         obj = mpl.patches.Circle((z, x), r, facecolor=mpl.colors.colorConverter.to_rgba('r', alpha=0.3))
         h1=ax.add_patch(obj)
         h2=plt3d.art3d.pathpatch_2d_to_3d(obj, z=y, zdir="z")
+        #print h1._segment3d
         h.append(obj)
       #hs=ax.scatter(pt[:, 2], pt[:, 0], pt[:, 1])
-      hs=ax.plot(pt[:, 2], pt[:, 0], pt[:, 1],'.')
+      hs=ax.plot(pt[:, 0], pt[:, 1], pt[:, 2],'.')
-      hp=ax.plot(pt[2:, 2], pt[2:, 0], pt[2:, 1])
+      hp=ax.plot(pt[2:, 0], pt[2:, 1], pt[2:, 2])
       h+=(hs[0],hp[0])
+      if hasattr(self,'points'):
+        lines = self.get_meas_lines(pt,cx,cz,fy,w)
+        p=tuple(lines[:,0,:].T)
+        hl =plt3d.art3d.Line3D(*p,color='r',marker='.')#, *args[argi:], **kwargs)
+        ax.add_artist(hl);h.append(hl)
+
+        lseg=tuple(lines)
+        col=(mpl.colors.colorConverter.to_rgba('r'),)*len(lseg)
+        hlc=plt3d.art3d.Line3DCollection(lseg,colors=col)#, *args[argi:], **kwargs)
+        ax.add_collection(hlc);h.append(hlc)
     else:
-      ax=self.ax
-      param=self.param
-      pt = np.ndarray((4, 3))
       for i in range(2):
         (z, y, x, r, phi) = param[i]
         x+=cx;y+=fy;z+=cz;phi+=w
-        pt[i] = (x, y, z)
+        pt[i] = (z, x, y)
-        pt[i + 2] = (x + r * np.sin(phi), y, z + r * np.cos(phi))
+        pt[i + 2] = (z + r * np.cos(phi), x + r * np.sin(phi), y)
         h[i].remove()
         obj = mpl.patches.Circle((z, x), r, facecolor=mpl.colors.colorConverter.to_rgba('r', alpha=0.3))
         ax.add_patch(obj)
         plt3d.art3d.pathpatch_2d_to_3d(obj, z=y, zdir="z")
         h[i]=obj
-      h[2].set_data(pt[:, 2], pt[:, 0])#, pt[:, 1]))
+      h[2].set_data(pt[:, 0], pt[:, 1])#, pt[:, 1]))
-      h[2].set_3d_properties(pt[:, 1])
+      h[2].set_3d_properties(pt[:, 2])
+
+      h[3].set_data(pt[2:, 0], pt[2:, 1])#, pt[:, 1]))
+      h[3].set_3d_properties(pt[2:, 2])
+      if hasattr(self,'points'):
+        lines = self.get_meas_lines(pt,cx,cz,fy,w)
+        hl=h[4]
+        #hl.set_data(lines[:,0,0], lines[:,0,1])  # , pt[:, 1]))
+        #hl.set_3d_properties(lines[:,0,2])
+        p=tuple(lines[:,0,:].T)
+        hl._verts3d=p;hl.stale=True
+
+        hlc=h[5]
+        hlc.set_segments(lines)
 
-      h[3].set_data(pt[2:, 2], pt[2:, 0])#, pt[:, 1]))
-      h[3].set_3d_properties(pt[2:, 1])
-      #hr.set_data((o[2], o[2] + r[2]), (o[0], o[0] + r[0]))
-      #hr.set_3d_properties((o[1], o[1] + r[1]))
 
-      #h[3].set_3d_properties(zs=pt[:, 1]))
-      #h[4].set_data((pt[2:, 2], pt[2:, 0]))#, pt[2:, 1]))
-      #hp=ax.plot(pt[2:, 2], pt[2:, 0], pt[2:, 1], label='zs=0, zdir=z')
-      #h+=(hs,hp[0])
     return (h,pt)
 
+  def get_meas_lines(self,pt,cx,cz,fy,w):
+    param = self.param
+    pts = self.points
+    dx_ = pts[:, 0] # add 0.2 to test
+    dz_ = pts[:, 1] # add 0.2 to test
+    w_ = pts[:, 2] * (d2r / 1000.)
+    y_ = pts[:, 3]
+
+    # self.inv_transform(self, dx, dz, w, y):
+
+    f = (pts[:, 3] - param[0, 1]) / (param[1, 1] - param[0, 1])
+    lines = np.ndarray((pts.shape[0], 2, 3))
+    ofx=dx_*-np.sin(w-w_)+dz_*np.cos(w-w_)  # 0.2=dx
+    ofy=dx_*np.cos(w-w_)+dz_*np.sin(w-w_)
+    lines[:, 0, 0] = pt[2, 0] + (pt[3, 0] - pt[2, 0]) * f +ofx # z data
+    lines[:, 0, 1] = pt[2, 1] + (pt[3, 1] - pt[2, 1]) * f +ofy # x data
+    lines[:, 0, 2] = pts[:, 3] + fy  # y data
+    lines[:, 1, 0] = lines[:, 0, 0] + np.cos(w-w_)*.1
+    lines[:, 1, 1] = lines[:, 0, 1] + np.sin(w-w_)*.1
+    lines[:, 1, 2] = lines[:, 0, 2]
+    return lines
 
   @staticmethod
   def meas_rot_ctr(y,per=1):
@@ -558,7 +593,7 @@ open forward
   define(p0_x='L10', p0_y='L11', p0_z='L12')
   define(p1_x='L13', p1_y='L14', p1_z='L15')
   define(scale='L16')
-  send 1"forward kinematic %f %f %f %f\\n",qCX,qCZ,qW,qFY''')
+  //send 1"forward kinematic %f %f %f %f\\n",qCX,qCZ,qW,qFY''')
     for i in range(2):
       #https://stackoverflow.com/questions/3471999/how-do-i-merge-two-lists-into-a-single-list
       l=[j for i in zip((i,) * param.shape[1], list(param[i])) for j in i]
@@ -580,7 +615,7 @@ open forward
   DX=qCX-p0_x
   DZ=qCZ-p0_z
   Y=qFY
-  send 1"forward result    %f %f %f %f\\n",DX,DZ,W,Y
+  //send 1"forward result    %f %f %f %f\\n",DX,DZ,W,Y
   //P1001+=1
   D0=$000001c2; //B=$2 X=$40 Y=$80 Z=$100 hex(2+int('40',16)+int('80',16)+int('100',16)) -> 0x1c2
 close
@@ -595,7 +630,7 @@ open inverse
   define(p0_x='L10', p0_y='L11', p0_z='L12')
   define(p1_x='L13', p1_y='L14', p1_z='L15')
   define(scale='L16')
-  send 1"inverse kinematic %f %f %f %f\\n",DX,DZ,W,Y''')
+  //send 1"inverse kinematic %f %f %f %f\\n",DX,DZ,W,Y''')
     for i in range(2):
       # https://stackoverflow.com/questions/3471999/how-do-i-merge-two-lists-into-a-single-list
       l = [j for i in zip((i,) * param.shape[1], list(param[i])) for j in i]
@@ -617,7 +652,7 @@ open inverse
   qCX=DX+p0_x
   qCZ=DZ+p0_z
   qFY=Y
-  send 1"inverse result    %f %f %f %f\\n",qCX,qCZ,qW,qFY
+  //send 1"inverse result    %f %f %f %f\\n",qCX,qCZ,qW,qFY
   //P1002+=1
 
 close
@@ -638,11 +673,26 @@ close
         retval = p.wait()
         # gather -u /var/ftp/gather/out.txt
 
-  def gen_prog(self,prgId=2,file=None,host=None,mode=0,**kwargs):
+  def gen_prog(self,prgId=2,fnPrg=None,host=None,mode=0,**kwargs):
     '''
     kwargs:
       acq_per    : acquire period: acquire data all acq_per servo loops (default=1)
-      pt2pt_time : time to move from one point to the next point
+      mode=-1: test motion
+      mode=0: #linear motion with 100 ms break at each measurement
+        cnt     : move path multiple times
+        cntVert : number of vertical measurements
+        cntHor  : number of horizontal measurements
+        hRng    : min, max horizontal boundaries
+        wRng    : starting and ending angle
+        yRng    : starting and ending height
+      mode=1: #PVT motion
+        pt2pt_time : time to move from one point to the next point
+        cnt     : move path multiple times
+        cntVert : number of vertical measurements
+        cntHor  : number of horizontal measurements
+        hRng    : min, max horizontal boundaries
+        wRng    : starting and ending angle
+        yRng    : starting and ending height
     '''
     prg=[]
     acq_per=kwargs.get('acq_per',1)
@@ -665,6 +715,8 @@ close
     prg.append('open prog %d'%(prgId))
     prg.append('  P1000=0')
     # this uses Coord[1].Tm and limits with MaxSpeed
+
+    #******** mode -1 ********
     if mode==-1: #### jog all motors 10000um (or 10000 mdeg)
       pos=np.array([[0,0,0,0],])
       prg.append('  linear abs')
@@ -683,49 +735,64 @@ close
       prg.append('  jog1,2,7,8=0')
       prg.append('  dwell 100')
       prg.append('  Gather.Enable=0')
+
+    # ******** mode 0 ********
     elif mode==0: #### linear motion
-      #y=2.3 6.2
+      #y=2.3 6.2 dx=0, dz=0  w=0..3600000 # 10 rev
-      #dx=0, dz=0
+      cnt= kwargs.get('cnt', 1) #move path multiple times
-      #w=0..3600000 # 10 rev
+      cntVert = kwargs.get('cntVert', 12)
-      pos=np.array([[0, 0,       0, 2.300],
+      cntHor = kwargs.get('cntHor', 4)
-                    [0, 0,  360000, 6.200],])
+      hRng = kwargs.get('hRng', (-.2,.2))
-      numPt=13
+      wRng = kwargs.get('wRng', (0,360000))
-      pos=np.zeros((numPt,4))
+      yRng = kwargs.get('yRng', (2.3,6.2))
-      pos[:,2]= np.linspace(0,3600000,numPt)
+
-      pos[:,3]= np.linspace(2.3,6.2,numPt)
+      numPt=cntVert*cntHor
-      #[0, 0, 3600000, 6.200],])
+      pt=np.zeros((numPt,4))
-      #prg.append('Coord[1].SegMoveTime=1') #to calculate every 1 ms the inverse kinematics
+      if cntHor>1:
-      prg.append('  Coord[1].SegMoveTime=.05')
+        a=np.linspace(hRng[0],hRng[1],cntHor)
+        a=np.append(a,a[::-1])
+        a=np.tile(a,(cntVert+1)//2)
+        pt[:,0]= a[0:pt.shape[0]]
+      #pt[:,1]= np.linspace(0,.2,numPt) #dz
+      pt[:,2]= np.linspace(wRng[0],wRng[1],numPt) #w
+      pt[:,3]= np.repeat(np.linspace(yRng[0],yRng[1],cntVert),cntHor) #y
+      self.points=pt
+      prg.append('  Coord[1].SegMoveTime=.05') #to calculate every 0.05 ms the inverse kinematics
       prg.append('  linear abs')
-      prg.append('  X%g Z%g B%g Y%g' % tuple(pos[0, :]))
+      prg.append('  X%g Z%g B%g Y%g' % tuple(pt[0, :]))
       prg.append('  dwell 100')
       prg.append('  Gather.Enable=2')
-      for i in range(pos.shape[0]):
+      for i in range(pt.shape[0]):
-        prg.append('  X%g Z%g B%g Y%g' % tuple(pos[i, :]))
+        prg.append('  X%g Z%g B%g Y%g' % tuple(pt[i, :]))
         prg.append('  dwell 100')
       prg.append('  Gather.Enable=0')
+
+    # ******** mode 1 ********
     elif mode==1: #### pvt motion
-      try:
+      #y=2.3 6.2 dx=0, dz=0  w=0..3600000 # 10 rev
-        pt2pt_time=kwargs['pt2pt_time'] #how many ms to move to next point (pt2pt_time)
+      cnt= kwargs.get('cnt', 1) #move path multiple times
-      except KeyError:
+      cntVert = kwargs.get('cntVert', 12)
-        print('missing pt2pt_time, use default=100ms')
+      cntHor = kwargs.get('cntHor', 4)
-        pt2pt_time=100.
+      hRng = kwargs.get('hRng', (-.2,.2))
-      try:
+      wRng = kwargs.get('wRng', (0,360000))
-        cnt=kwargs['cnt'] #move path multiple times
+      yRng = kwargs.get('yRng', (2.3,6.2))
-      except KeyError:
+      pt2pt_time = kwargs.get('pt2pt_time ', 100)
-        cnt=1
+      numPt=cntVert*cntHor
-      numPt=13
       pt=np.zeros((numPt,4))
-      pt[:,2]= np.linspace(0,3600000,numPt)
+      if cntHor>1:
-      pt[:,3]= np.linspace(2.3,6.2,numPt)
+        a=np.linspace(hRng[0],hRng[1],cntHor)
-      vel=pt[2:,:]-pt[:-2,:]
+        a=np.append(a,a[::-1])
-      #pv is an array of posx posy velx vely
+        a=np.tile(a,(cntVert+1)//2)
+        pt[:,0]= a[0:pt.shape[0]]
+      #pt[:,1]= np.linspace(0,.2,numPt) #dz
+      pt[:,2]= np.linspace(wRng[0],wRng[1],numPt) #w
+      pt[:,3]= np.repeat(np.linspace(yRng[0],yRng[1],cntVert),cntHor) #y
+      self.points=pt
+      #pv is an array of dx,dz,w,y,vel_dx,vel_dz,vel_w,vel_y
       pv=np.ndarray(shape=(pt.shape[0]+2,8),dtype=pt.dtype)
       pv[:]=np.NaN
-      #pv[     0,(0,1)]=2*pt[0,:]-pt[1,:]
       pv[     0,(0,1,2,3)]=pt[0,:]
       pv[  1:-1,(0,1,2,3)]=pt
-      #pv[    -1,(0,1)]=2*pt[-1,:]-pt[-2,:]
       pv[    -1,(0,1,2,3)]=pt[-1,:]
       pv[(0,0,0,0,-1,-1,-1,-1),(4,5,6,7,4,5,6,7)]=0
       dist=pv[2:,(0,1,2,3)] - pv[:-2,(0,1,2,3)]
@@ -740,6 +807,7 @@ close
         prg.append('  N100:')
       prg.append('  pvt%g abs'%pt2pt_time) #100ms to next position
       for idx in range(1,pv.shape[0]):
+        prg.append('  P2000=%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)]))
       if cnt>1:
         prg.append('  dwell 10')
@@ -754,29 +822,6 @@ close
       else:
         prg.append('  dwell 1000')
       prg.append('  Gather.Enable=0')
-    elif mode==2: #### spline motion
-      try:
-        pt2pt_time=kwargs['pt2pt_time'] #how many ms to move to next point (pt2pt_time)
-      except KeyError:
-        print('missing pt2pt_time, use default=100ms')
-        pt2pt_time=100.
-      cnt=13
-      pos=np.zeros((cnt,4))
-      pos[:,2]= np.linspace(0,3600000,cnt)
-      pos[:,3]= np.linspace(2.3,6.2,cnt)
-      pcor=np.ndarray(pos.shape,dtype=pos.dtype);pcor[:]=np.NaN
-      pcor[(0,-1),:]=pos[(0,-1),:]
-      pcor[1:-1,:]=(-pos[0:-2,:]+8*pos[1:-1,:]-pos[2:,:])/6.
-      #pcor=pos
-      prg.append('  linear abs')
-      prg.append('X(%g) Y(%g)' % tuple(pcor[0, :]))
-      prg.append('dwell 10')
-      prg.append('Gather.Enable=2')
-      prg.append('  spline%g abs'%pt2pt_time) #100ms to next position
-      for idx in range(pcor.shape[0]):
-        prg.append('X%g Y%g'%tuple(pcor[idx,:]))
-      prg.append('dwell 100')
-      prg.append('Gather.Enable=0')
 
     prg.append('  P1000=1')
     prg.append('close')
@@ -785,13 +830,13 @@ close
       for ln in prg:
         print(ln)
 
-    if file is not None:
+    if fnPrg is not None:
-      fh=open(file,'w')
+      fh=open(fnPrg,'w')
       fh.write('\n'.join(prg))
       fh.close()
       if host is not None:
         # ***download and start the program***
-        cmd ='gpasciiCommander --host '+host+' '+ file
+        cmd ='gpasciiCommander --host '+host+' '+ fnPrg
         print(cmd)
         p = sprc.Popen(cmd, shell=True)#, stdout=sprc.PIPE, stderr=sprc.STDOUT)
         #res=p.stdout.readlines();  print res
@@ -804,8 +849,12 @@ close
         while(True):
           com.write('P1000\n')
           val=com.read_until(ack)
+          #print val
           val=int(val[val.find('=')+1:].rstrip(ack))
           if val==1:break
+          #com.write('Gather.Index\n')
+          #val=com.read_until(ack)
+          #print val
           time.sleep(.2)
           sys.stdout.write('.');sys.stdout.flush()
         fnRmt = '/var/ftp/gather/out.txt'
@@ -814,10 +863,16 @@ close
         p = sprc.Popen(('ssh', 'root@' + host, 'gather ', '-u', fnRmt), shell=False, stdin=sprc.PIPE, stdout=sprc.PIPE,
                        stderr=sprc.PIPE)
         res = p.wait()
+        if res:
+          print('ssh failed. ssh root@%s to open a session' % host)
+          return
+
         print('transfer data to %s...' % fnLoc)
         p = sprc.Popen(('scp', 'root@' + host + ':' + fnRmt, fnLoc), shell=False, stdin=sprc.PIPE, stdout=sprc.PIPE,
                        stderr=sprc.PIPE)
         res = p.wait()
+        self.rec = np.genfromtxt(fnLoc, delimiter=' ')
+        self.save_rec()
 
 
 class GpasciiCommunicator():
@@ -883,15 +938,21 @@ Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
     #hs.test_find_rot_ctr(n=5. ,per=1.,bias=2.31,ampl=4.12,phi=24.6)
 
     hs.calcParam()
-    hs.test_coord_trf()
+    #hs.test_coord_trf()
     #hs.interactive_cx_cz_w_fy()
     #hs.interactive_dx_dz_w_y()
 
-    #hs.gen_coord_trf_code('/tmp/helicalscan.cfg','MOTTEST-CPPM-CRM0485')
+    hs.gen_coord_trf_code('/tmp/helicalscan.cfg','MOTTEST-CPPM-CRM0485')
     #hs.gen_prog(file='/tmp/prg.cfg',host='MOTTEST-CPPM-CRM0485',mode=-1)
-    hs.gen_prog(file='/tmp/prg.cfg',host='MOTTEST-CPPM-CRM0485',mode=0)
+    #hs.gen_prog(fnPrg='/tmp/prg.cfg',host='MOTTEST-CPPM-CRM0485',mode=0)
-    #hs.gen_prog(file='/tmp/prg.cfg',host='MOTTEST-CPPM-CRM0485',mode=1)
+    #hs.gen_prog(fnPrg='/tmp/prg.cfg',host='MOTTEST-CPPM-CRM0485',mode=0,cntHor=1)
+    #hs.gen_prog(fnPrg='/tmp/prg.cfg',host='MOTTEST-CPPM-CRM0485',mode=1)
+    hs.gen_prog(fnPrg='/tmp/prg.cfg',host='MOTTEST-CPPM-CRM0485',mode=1,
+                pt2pt_time=100,cnt=1,cntVert=35,cntHor=7,hRng=(-.3,.3),wRng=(0,360000*3),yRng=(6.2,2.3))
+    hs.load_rec()
     hs.interactive_anim()
+    hs.show_vel();    plt.show()
+
     return
 
   #------------------ Main Code ----------------------------------