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This commit is contained in:
zamofing_t
2018-10-10 17:15:36 +02:00
parent 5543582557
commit f9ddf04fdc
11 changed files with 640 additions and 91 deletions
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129
python/MXTuning.py
View File

@@ -76,6 +76,11 @@ class MXTuning(Tuning):
num1=np.poly1d([mag1])
den1 = np.poly1d([T1**2,2*T1*d1,1])
#reiner integrator: 30Hz=0dB -> k=30*2*pi=180
#num1=np.poly1d([120*120])
#den1 = np.poly1d([1,0,0])
#first resonance frequency
f2=np.array([197,199])
d2=np.array([.02,.02])#daempfung
@@ -101,9 +106,9 @@ class MXTuning(Tuning):
num=num1*num2*numc#*num3
den=den1*den2*denc#*den3
mdl= signal.lti(num, den) #num denum
print num
print den
print mdl
print(num)
print(den)
print(mdl)
d={'num':num.coeffs,'num1':num1.coeffs,'num2':num2.coeffs,'numc':numc.coeffs,
'den':den.coeffs,'den1':den1.coeffs,'den2':den2.coeffs,'denc':denc.coeffs}
fn=os.path.join(base,'model%d.mat'%mot)
@@ -175,9 +180,9 @@ class MXTuning(Tuning):
num=num1*num2*num3*num4*num5*numc
den=den1*den2*den3*den4*den5*denc
mdl= signal.lti(num, den) #num denum
print num
print den
print mdl
print(num)
print(den)
print(mdl)
d={'num':num.coeffs,'num1':num1.coeffs,'num2':num2.coeffs,'num3':num3.coeffs,'num4':num4.coeffs,'num5':num5.coeffs,'numc':numc.coeffs,
'den':den.coeffs,'den1':den1.coeffs,'den2':den2.coeffs,'den3':den3.coeffs,'den4':den4.coeffs,'den5':den5.coeffs,'denc':denc.coeffs}
fn=os.path.join(base,'model%d.mat'%mot)
@@ -196,6 +201,100 @@ class MXTuning(Tuning):
# tp print see also: print(np.poly1d([1,2,3], variable='s')), print(np.poly1d([1,2,3], r=True, variable='s'))
def custom_chirp(self):
motor = 1
amp, minFrq, maxFrq, tSec = (10, 10, 300, 30)
file='/tmp/gather.npz'
# if not os.path.isfile(f): tune.init_stage();plt.close('all')
# tune.bode_chirp(openloop=True, file=f, motor=mot, amp=amp, minFrq=minFrq, maxFrq=maxFrq, tSec=tSec)
prog = '''
&0 //cout works only in coord 0
open prog 999
L11=0
L10=0
L12=0
L13=0
L14=0
Gather.Enable=2
while(L10<300005)
{
L12=10*sin(31.415926535897931*(pow(1.058324104020218,(L10*0.000199996614513))-1)/log(1.058324104020218))
cout%d:(L12)
L10=L10+1
}
Gather.Enable=0
close
b999r
'''%motor
gpascii = self.comm.gpascii
gt = self.gather
print(gpascii.servo_period)
gt.set_phasemode(False)
address=("Motor[1].IqCmd", "Motor[1].ActPos",)
gt.set_address(*address)
#Gather.Enable=1
gt.set_property(MaxSamples=300000, Period=1)
# gt.enable(2)
gpascii.send_line(prog)
gpascii.sync()
gt.wait_stopped()
self.data=data=gt.upload()
meta={'motor':motor,'date':time.asctime(),'minFrq':minFrq,'maxFrq':maxFrq,'tSec':tSec,'amp':amp,'address':address}
np.savez_compressed(file, data=data, meta=meta)
meta['file'] = file
self.bode_chirp_plot(data, meta,True)
pass
def bode_sine(self,openloop=True,motor=1,minFrq=1,maxFrq=20,numFrq=15,amp=10,file='/tmp/gather.npz'):
'''calculates phase and amplitude at different frequencies and
saves:#loads and plots the bode diagram'''
if False:# os.path.isfile(file):
f=np.load(file)
bode=f['bode']
meta=f['meta'].item()
meta['file']=file
else:
gpascii=self.comm.gpascii
#motor 1 maximum: 13750
#amp= percentage of maximum amplitude
fig = plt.figure()
ax = fig.add_subplot(1, 1, 1)
frqLst=np.logspace(np.log10(minFrq),np.log10(maxFrq),numFrq)
n=len(frqLst)
#frqLst=(10,15,20,25,30)
bode=np.ndarray((n,3))
bode[:, 0]=frqLst
#for i in range(n):
for i in range(n-1,-1,-1):
frq=frqLst[i]
t=1
rep=max(1,frq*t)
if openloop:
data=self.do_command('openloopsine',motor,amp,frq,rep,0)
else:
data=self.do_command('sinusoidal',motor,amp,frq,rep,0)
data=data[:,(1,2)]
gpascii.send_line('#1j=0')
time.sleep(1)
ax.clear()
avg=data.mean(0)
print(avg)
ax.plot(data[:, 0]-avg[0] , 'b-', label='input')
ax.plot(data[:, 1]-avg[1], 'g-', label='output')
#plt.pause(.05)
bode[i,1:]=self.phase_amp(frq, rep)
print('frq %g ampl %g phase %g'%tuple(bode[i,:]))
plt.show(block=False);plt.pause(.05)
meta={'motor':motor,'date':time.asctime()}
np.savez_compressed(file, bode=bode, meta=meta)
meta['file']=file
self.bode_sine_plot(bode, meta)
def bode(mdl):
w,mag,phase = signal.bode(mdl,1000)
f=w/(2*np.pi)
@@ -214,6 +313,16 @@ def bode(mdl):
if __name__=='__main__':
from argparse import ArgumentParser,RawDescriptionHelpFormatter
import logging
logger = logging.getLogger(__name__)
logger = logging.getLogger('pbtools.misc.pp_comm')
logger.setLevel(logging.DEBUG)
logging.basicConfig(format=('%(asctime)s %(name)-12s '
'%(levelname)-8s %(message)s'),
datefmt='%m-%d %H:%M',
)
def parse_args():
'main command line interpreter function'
#usage: gpasciiCommunicator.py --host=PPMACZT84 myPowerBRICK.cfg
@@ -315,7 +424,13 @@ Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
tune.bode_sine(openloop=False, file=fn)
if os.path.basename(fn).startswith('chirp_cl_mot'):
tune.bode_chirp(openloop=False, file=fn)
print 'done'
print('done')
elif mode==7: #further tests
tune.init_stage();
plt.close('all')
tune.bode_sine()
tune.custom_chirp()
plt.show()
#------------------ Main Code ----------------------------------
#ssh_test()

32
python/helicalscan.py
View File

@@ -151,19 +151,19 @@ class HelicalScan:
param = self.param
cx, cz, w, fy, = (0.2,0.3,0.1,0.4)
#cx, cz, w, fy, = (10.,20,3.,40)
print 'input : cx:%.6g cz:%.6g w:%.6g fy:%.6g' % (cx,cz,w/d2r*1000.,fy)
print('input : cx:%.6g cz:%.6g w:%.6g fy:%.6g' % (cx,cz,w/d2r*1000.,fy))
(dx,dz,w,y) = self.fwd_transform(cx,cz,w,fy)
print 'fwd_trf: dx:%.6g dz:%.6g w:%.6g fy:%.6g' % (dx,dz,w/d2r*1000.,y)
print('fwd_trf: dx:%.6g dz:%.6g w:%.6g fy:%.6g' % (dx,dz,w/d2r*1000.,y))
(cx,cz,w,fy) = self.inv_transform(dx,dz,w,y)
print 'inv_trf: cx:%.6g cz:%.6g w:%.6g fy:%.6g' % (cx,cz,w/d2r*1000.,fy)
print('inv_trf: cx:%.6g cz:%.6g w:%.6g fy:%.6g' % (cx,cz,w/d2r*1000.,fy))
dx, dz, w, y, = (0.2,0.3,0.1,0.4)
#dx, dz, w, y, = (10.,20,3.,40)
print 'input : dx:%.6g dz:%.6g w:%.6g fy:%.6g' % (dx,dz,w/d2r*1000.,y)
print('input : dx:%.6g dz:%.6g w:%.6g fy:%.6g' % (dx,dz,w/d2r*1000.,y))
(cx,cz,w,fy) = self.inv_transform(dx,dz,w,y)
print 'inv_trf: cx:%.6g cz:%.6g w:%.6g fy:%.6g' % (cx,cz,w/d2r*1000.,fy)
print('inv_trf: cx:%.6g cz:%.6g w:%.6g fy:%.6g' % (cx,cz,w/d2r*1000.,fy))
(dx,dz,w,y) = self.fwd_transform(cx,cz,w,fy)
print 'fwd_trf: dx:%.6g dz:%.6g w:%.6g fy:%.6g' % (dx,dz,w/d2r*1000.,y)
print('fwd_trf: dx:%.6g dz:%.6g w:%.6g fy:%.6g' % (dx,dz,w/d2r*1000.,y))
@@ -306,7 +306,7 @@ class HelicalScan:
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)
print p
print(p)
ofs=(p[1]+p[0])/2. # = center of the cristal
m=Trf.trans(*ofs); self.hOrig=self.pltOrig(m)
@@ -327,7 +327,7 @@ class HelicalScan:
p[i, 0] = x_i + r_i * np.cos(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.sin(phi_i) # z= z_i+r_i*sin(phi_i*w)
print p
print(p)
ofs = (p[1] + p[0]) / 2. # = center of the cristal
m = Trf.trans(cx,fy,cz)
@@ -375,7 +375,7 @@ class HelicalScan:
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
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])
@@ -458,7 +458,7 @@ class HelicalScan:
for k,v in fh.iteritems():
s+=' '+k+': '+str(v.dtype)+' '+str(v.shape)+'\n'
setattr(self,k,v)
print s
print(s)
def fwd_transform(self,cx,cz,w,fy):
#cx,cy: coarse stage
@@ -530,7 +530,7 @@ class HelicalScan:
param[i, 1] = y
param[i, 2:] = HelicalScan.meas_rot_ctr(x) # (bias,ampl,phase)
(bias, ampl, phase) = param[i][2:]
print param
print(param)
def calcParam(self,x=((-241.,96.,-53.),(-162.,-293.,246.)),
@@ -569,15 +569,15 @@ class HelicalScan:
x_ = ampl * np.cos(w + phase) + bias
print(x_)
(dx,dz,w,y_) = (0,0,0,y[0])
print 'input : dx:%.6g dz:%.6g w:%.6g fy:%.6g' % (dx,dz,w/d2r*1000.,y_)
print('input : dx:%.6g dz:%.6g w:%.6g fy:%.6g' % (dx,dz,w/d2r*1000.,y_))
(cx,cz,w,fy) = self.inv_transform(dx,dz,w,y_)
print 'inv_trf: cx:%.6g cz:%.6g w:%.6g fy:%.6g' % (cx,cz,w/d2r*1000.,fy)
print('inv_trf: cx:%.6g cz:%.6g w:%.6g fy:%.6g' % (cx,cz,w/d2r*1000.,fy))
(dx, dz, w, y_) = (0,0,0,y[1])
print 'input : dx:%.6g dz:%.6g w:%.6g fy:%.6g' % (dx, dz, w / d2r * 1000., y_)
print('input : dx:%.6g dz:%.6g w:%.6g fy:%.6g' % (dx, dz, w / d2r * 1000., y_))
(cx, cz, w, fy) = self.inv_transform(dx, dz, w, y_)
print 'inv_trf: cx:%.6g cz:%.6g w:%.6g fy:%.6g' % (cx, cz, w / d2r * 1000., fy)
print('inv_trf: cx:%.6g cz:%.6g w:%.6g fy:%.6g' % (cx, cz, w / d2r * 1000., fy))
print param
print(param)
def pltOrig(self,m,h=None):

1
python/shapepath.py
View File

@@ -56,7 +56,6 @@ import matplotlib as mpl
import matplotlib.pyplot as plt
import subprocess as sprc
import telnetlib
from utilities import *
class ShapePath:
def __init__(self,args):

91
python/utilities.py Executable file
View File

@@ -0,0 +1,91 @@
#!/usr/bin/env python
#*-----------------------------------------------------------------------*
#| |
#| Copyright (c) 2016 by Paul Scherrer Institute (http://www.psi.ch) |
#| |
#| Author Thierry Zamofing (thierry.zamofing@psi.ch) |
#*-----------------------------------------------------------------------*
'''
utilities classes
'''
import json
import numpy as np
import time,os
class dotdict(dict):
"""dot.notation access to dictionary attributes"""
def __init__(self,arg=None,**kwargs):
if arg!=None:
self.__fill__(arg)
self.__fill__(kwargs)
def __fill__(self,kw):
for k,v in kw.iteritems():
if type(v)==dict:
self[k]=dotdict(v)
else:
self[k]=v
if type(v)==list:
for i,w in enumerate(v):
if type(w)==dict:
v[i]=dotdict(w)
pass
def __dir__(self):
l=dir(object)
#l.extend(self.keys())
l.extend(map(str,self.keys()))
return l
def __getattr__(self, attr):
#return self.get(attr)
try:
return self[attr]
except KeyError as e:
raise AttributeError("%r instance has no attribute %r" % (self.__class__, attr))
def __repr__(self):
return '<' + dict.__repr__(self)[1:-1] + '>'
def PrettyPrint(self,indent=0):
for k,v in self.iteritems():
if type(v)==dotdict:
print(' '*indent,str(k)+':')
v.PrettyPrint(indent+2)
else:
print(' '*indent+str(k)+'\t'+str(v))
__setattr__= dict.__setitem__
__delattr__= dict.__delitem__
#__getattr__= dict.__getattr__
def ConvUtf8(s):
'convert unicoded json object to ASCII encoded'
#http://stackoverflow.com/questions/956867/how-to-get-string-objects-instead-of-unicode-ones-from-json-in-python
if isinstance(s, dict):
return {ConvUtf8(key): ConvUtf8(value) for key, value in s.items()}
elif isinstance(s, list):
return [ConvUtf8(element) for element in s]
elif isinstance(s, str):
return s.encode('utf-8')
else:
return s
class GpasciiCommunicator():
'''Communicates with the Delta Tau gpascii programm
'''
gpascii_ack="\x06\r\n"
gpascii_inp='Input\r\n'
def connect(self, host, username='root', password='deltatau',prompt='ppmac# '):
p=telnetlib.Telnet(host)
print(p.read_until('login: '))
p.write(username+'\n')
print(p.read_until('Password: '))
p.write(password+'\n')
print(p.read_until(prompt)) # command prompt
p.write('gpascii -2\n') # execute gpascii command
print(p.read_until(self.gpascii_inp))
return p