From fab5ecdc2bf01a113481b481cc0e95bc382af6d5 Mon Sep 17 00:00:00 2001
From: Thierry Zamofing <thierry.zamofing@psi.ch>
Date: Thu, 6 Oct 2022 13:56:32 +0200
Subject: [PATCH] cleanup

---
 python/shapepath.py           |  19 ++----------
 src/triggerSync/triggerSync   | Bin 67570 -> 66458 bytes
 src/triggerSync/triggerSync.c |  55 +++++++---------------------------
 3 files changed, 12 insertions(+), 62 deletions(-)

diff --git a/python/shapepath.py b/python/shapepath.py
index 90eb0ce..22e40dc 100755
--- a/python/shapepath.py
+++ b/python/shapepath.py
@@ -694,21 +694,6 @@ class ShapePath(MotionBase):
       '''
       prg=['close all buffers','open prog %d'%(prgId)]
 
-      #Use EncTable 20 as Frame counter
-      #dont use Coord[1].DesTimeBase as the time base but use the virtual encoder:
-      # Coord[1].pDesTimeBase=Coord[1].DesTimeBase.a #(default)
-      prg.append('''\
-EncTable[20].type = 1 //32 Bit uint
-EncTable[20].pEnc = Sys.Udata[0].a
-EncTable[20].index1 = 0
-EncTable[20].index2 = 0
-EncTable[20].index3 = 0
-EncTable[20].index4 = 0
-EncTable[20].index5 = 0
-EncTable[20].index5 = 0
-EncTable[20].ScaleFactor=1E-3
-//Coord[1].pDesTimeBase=EncTable[20].DeltaPos.a
-''')
       verb=self.verbose
       comm=self.comm
       if comm is not None:
@@ -914,9 +899,9 @@ if __name__=='__main__':
     #sp.gen_grid_points(w=50,h=50,pitch=120,rnd=0,ofs=(0,+2000));sp.sort_points(False,50);   sp.meta['pt2pt_time']=10
     #sp.gen_grid_points(w=16,h=16,pitch=120,rnd=0,ofs=(0,+2000));sp.sort_points(False,16);   sp.meta['pt2pt_time']=10
     #12.5x12.5
-    sp.gen_grid_points(w=78,h=78,pitch=120,rnd=0,ofs=(-10000,-12000));sp.sort_points(False,78);   sp.meta['pt2pt_time']=10
+    #sp.gen_grid_points(w=78,h=78,pitch=120,rnd=0,ofs=(-10000,-12000));sp.sort_points(False,78);   sp.meta['pt2pt_time']=10
     #23.0x23.0 -> only 3 data points from shot to shot: 6,9,12,14,17,20...
-    #sp.gen_grid_points(w=162,h=162,pitch=120,rnd=0,ofs=(-10000,-12000));sp.sort_points(False,162);   sp.meta['pt2pt_time']=10
+    sp.gen_grid_points(w=162,h=162,pitch=120,rnd=0,ofs=(-10000,-12000));sp.sort_points(False,162);   sp.meta['pt2pt_time']=10
 
     #sp.gen_grid_points(w=1,h=10,pitch=100,rnd=0,ofs=(0,0))
     #sp.gen_spiral_points(rStart=100,rInc=20,numSeg=8,numCir=32, ofs=(0, 0))
diff --git a/src/triggerSync/triggerSync b/src/triggerSync/triggerSync
index 7aa55cb25cbf6a9594550381e2edb750cae4b20c..c04b8cfb10380e596e8dbef9e83233dbdee57da9 100755
GIT binary patch
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diff --git a/src/triggerSync/triggerSync.c b/src/triggerSync/triggerSync.c
index d7562f2..7372bbb 100644
--- a/src/triggerSync/triggerSync.c
+++ b/src/triggerSync/triggerSync.c
@@ -41,15 +41,6 @@ static float timeCor=0.f; //time correction (frame to frame time adjustment)
 #define  SIMFLAG0 (pshm->Coord[1].Q[10])
 #define  SIMFLAG1 (pshm->Coord[1].Q[11])
 
-//EncTable[20].pEnc= Coord[1].Q[12].a does not work
-//EncTable[20].pEnc= Sys.Udata[0].a works uint32
-//EncTable[20].pEnc= Sys.Idata[0].a works int32
-//EncTable[20].pEnc= Sys.Fdata[0].a works float32
-//EncTable[20].pEnc= Sys.Ddata[0].a works float64
-//#define  ENCVAL (*((double *)pushm+0))
-#define  ENCVAL (*((unsigned int *)pushm+0))
-
-
 //#define  SIMFLAG0 (pshm->P[10])
 //#define  SIMFLAG1 (pshm->P[11])
 //Power PMAC Software Reference Manual.pdf Gate3[i].Chan[j].Status -> page 919 UserFlag
@@ -76,8 +67,7 @@ void trigsync_func(void *arg)
   int i;
   RTIME rtStart,rtLast,rtCur,rtDiff; //rt* is real time of the rt-process
   unsigned int scStart,scLast,scCur,scDiff; //sc* are servo counts of the motion
-  double srvPer,srvPer2;
-  double mtAct,mtDes; //mt* motion time. Actual and desired. this is the accumulated time that controls motion speed
+  double srvPer;
 
   unsigned int maxDiff;
   struct GateArray3* gate3_1=GetGate3MemPtr(1);
@@ -91,15 +81,14 @@ void trigsync_func(void *arg)
 
   //unsigned int lastQ12=0; //Q12 value for further sync
   double mvTimer;
-  double mxActPos,mxDesPos,mxHomePos=pshm->Motor[2].HomePos;
-  double myActPos,myDesPos,myHomePos=pshm->Motor[1].HomePos;
+  double mxActPos,mxDesPos,mxErr,mxHomePos=pshm->Motor[2].HomePos;
+  double myActPos,myDesPos,myErr,myHomePos=pshm->Motor[1].HomePos;
 
   printf("Wait motion program arrived at start position...\n");
   while(pshm->Coord[1].Q[0]!=-3)
     rt_task_wait_period(NULL);
   pshm->Coord[1].Q[0]=-2;
   srvPer=pshm->ServoPeriod;
-  srvPer2=pshm->ServoPeriod;
 
   rtStart=rt_timer_read();
   printf("Wait for 'arm' event...\n");
@@ -132,17 +121,14 @@ void trigsync_func(void *arg)
   //FEL shot arrived FLAG1 0->1: first frame trigger before first cristall
   pshm->Gather.Enable=2; //start gathering data
   pshm->Coord[1].Q[0]=-1;
-  ENCVAL=0;
 
   printf("Flag 1: %.5f ms\n", (rt_timer_read() - rtStart)/1E6);
   rtStart=rtLast=rt_timer_read();
   scStart=scLast=pshm->ServoCount;
-  mtAct=0.f;
   pshm->Coord[1].Q[0]=0;
-  //pshm->Coord[1].DesTimeBase=srvPer;  //start motion at default speed
-  pshm->Coord[1].DesTimeBase=srvPer*(mtPt2Pt+timeOfs)/mtPt2Pt;  //start motion at default speed
+  pshm->Coord[1].DesTimeBase=srvPer;  //start motion at default speed
   if(mode&8)
-    printf("Start: rtStart:%.3f ms scStart:%d mtAct:%.3f mtDes:%.3f srvPer:%.6f\n", i, rtLast/1E6,scLast, mtAct,mtDes,srvPer);
+    printf("Start: rtStart:%.3f ms scStart:%d srvPer:%.6f\n", i, rtLast/1E6,scLast, srvPer);
 
   for(i=1;pshm->Gather.Enable;i++)
   {
@@ -159,43 +145,21 @@ void trigsync_func(void *arg)
       while(FLAG1)
       {
         rt_task_wait_period(NULL);
-        ENCVAL=( (i-1)*mtPt2Pt + (pshm->ServoCount-scLast)*srvPer )*1000;
       }
 
       while(!FLAG1)
       {
         rt_task_wait_period(NULL);
-        ENCVAL=( (i-1)*mtPt2Pt + (pshm->ServoCount-scLast)*srvPer )*1000;
       }
     }
     //FEL shot arrived FLAG1 0->1
-    //ENCVAL+=mtPt2Pt*1000; //ENCVAL in us
-    ENCVAL=i*mtPt2Pt*1000; //ENCVAL in us
     rtCur = rt_timer_read();
     scCur=pshm->ServoCount;
-    //if (lastQ12!=(unsigned int)pshm->Coord[1].Q[12])
-    //{
-    //  //'Coord[1].Q[12]=Sys.ServoCount'
-    //  //'Coord[1].Q[13]={idxOfPoint}'
-    //  //type of pshm->Coord[1].Q[12] is double
-    //  lastQ12=(unsigned int)pshm->Coord[1].Q[12]; //saved ServoCount in program code
-
-    //  //mxActPos=pshm->Motor[2].ActPos;mxDesPos=pshm->Motor[2].DesPos;
-    //  //myActPos=pshm->Motor[1].ActPos;myDesPos=pshm->Motor[1].DesPos;
-
-    //  //printf("*** SYNC *** Trigger count:%d,  ProgIdx:%d, ServoCount diff:%d-%d=%d", i, (unsigned int)pshm->Coord[1].Q[13], lastQ12,scCur, lastQ12-scCur);
-    //  printf("*** SYNC *** Trigger count:%d,  myDesPos:%.2f, ServoCount diff:%d-%d=%d\n", i, pshm->Coord[1].Q[13]-myHomePos, lastQ12,scCur, lastQ12-scCur);
-    //  //printf(" X,Y ActPos:(%.5g %.5g) DesPos:(%.5g %.5g)\n", mxActPos-mxHomePos, myActPos-myHomePos, mxDesPos-mxHomePos, myDesPos-myHomePos);
-    //}
 
     rtDiff=rtCur-rtLast;
     scDiff=scCur-scLast;
 
-    mtAct+=scDiff*srvPer+timeCor;
-    mtDes=i*mtPt2Pt+timeOfs;
-    srvPer=(mtPt2Pt+mtDes-mtAct)/scDiff;
     //srvPer=pshm->ServoPeriod; //default speed
-
     // mvTimer > 0 motion leading FEL -> decrease srvPer
     // mvTimer < 0 motion lagging FEL -> increase srvPer
     // rtDiff > mtPt2Pt -> increase srvPer
@@ -204,19 +168,20 @@ void trigsync_func(void *arg)
     if(mvTimer>mtPt2Pt/2) //lagging
       mvTimer-=mtPt2Pt;
     //srvPer2*=(rtDiff/1E6-mvTimer)/mtPt2Pt;
-    srvPer2=pshm->ServoPeriod*(rtDiff/1E6-mvTimer)/mtPt2Pt;
+    srvPer=pshm->ServoPeriod*(rtDiff/1E6-mvTimer)/mtPt2Pt;
 
-    pshm->Coord[1].DesTimeBase=srvPer2;
+    pshm->Coord[1].DesTimeBase=srvPer;
     pshm->Coord[1].Q[0]++;
     if(mode&8)
     {
       mxActPos=pshm->Motor[2].ActPos;mxDesPos=pshm->Motor[2].DesPos;
       myActPos=pshm->Motor[1].ActPos;myDesPos=pshm->Motor[1].DesPos;
+      mxErr=mxDesPos-mxActPos;
+      myErr=myDesPos-myActPos;
       //printf(" X,Y ActPos:(%.5g %.5g) DesPos:(%.5g %.5g) ", mxActPos-mxHomePos, myActPos-myHomePos, mxDesPos-mxHomePos, myDesPos-myHomePos);
       //printf(" X,Y Nsync:(%d) ", pshm->Coord[1].Nsync);
       //printf(" X,Y MoveTimer:(%.5g %.5g) ", pshm->Motor[1].MoveTimer,pshm->Motor[2].MoveTimer);
-      printf(" Nsync:%d, MoveTimer:(%.5g) srvPer2:%.6f ", pshm->Coord[1].Nsync,mvTimer,srvPer2);
-      printf("Trigger count:%d, rtDiff:%.3fms scDiff:%d mtAct:%.3f mtDes:%.3f srvPer:%.6f ENCVAL:%u \n", i, rtDiff/1E6,scDiff, mtAct,mtDes,srvPer,ENCVAL);
+      printf("Trigger count:%d, Nsync:%d, MoveTimer:%.5g srvPer:%.6f rtDiff:%.3fms scDiff:%d PosErrXY:(%.3f,%.3f)\n",i, pshm->Coord[1].Nsync,mvTimer,srvPer, rtDiff/1E6,scDiff,mxErr,myErr);
     }
     rtLast=rtCur;
     scLast=scCur;