#!/usr/bin/env python # *-----------------------------------------------------------------------* # | | # | Copyright (c) 2016 by Paul Scherrer Institute (http://www.psi.ch) | # | | # | Author Thierry Zamofing (thierry.zamofing@psi.ch) | # *-----------------------------------------------------------------------* ''' shape an optimal path with given points verbose bits: 1 basic info 2 plot sorting steps 4 list program 4 upload progress 8 plot gather path 16 plot pvt trajectory (before motion) Gather motor order idx 0 1 2 3 4 5 6 OLD Motor[3].ActPos Motor[2].ActPos Motor[1].ActPos Motor[3].DesPos Motor[2].DesPos Motor[1].DesPos Gate3[1].Chan[1].UserFlag NEW Motor[1].ActPos Motor[2].ActPos Motor[1].DesPos Motor[2].DesPos Gate3[1].Chan[1].UserFlag NEW y.ActPos x.ActPos y.DesPos x.DesPos Gate3[1].Chan[1].UserFlag OLD->NEW 0->none 1->1 2->0 3->none 4->3 5->2 Mot 1: Stage Y Parker MX80L D11 25mm one pole cycle = 13mm = 2048 phase_step Mot 2: Stage X Parker MX80L D11 25mm one pole cycle = 13mm = 2048 phase_step Mot 3: Rotation stage LS Mecapion MDM-DC06DNC0H 32 poles = 1 rev = 16*2048=32768 phase_step Mot 4: Stage X Stada Stepper 670mA 200 poles 1 rev = 100*2048 phase_step (2 stepper motor) Mot 5: Stage Z Stada Stepper 670mA 200 poles 1 rev = 100*2048 phase_step (2 stepper motor) Enc 6: Interferometer Y Enc 7: Interferometer X ''' from __future__ import print_function import os, sys, time import numpy as np import matplotlib as mpl import matplotlib.pyplot as plt import subprocess as sprc sys.path.insert(0,os.path.expanduser('~/Documents/prj/SwissFEL/PBTools/')) #sys.path.insert(0,'/sf/bernina/config/swissmx/zamofing_t') #sys.path.insert(0,'/sf/bernina/config/swissmx/zamofing_t/pbtools/misc/') from pbtools.misc.pp_comm import PPComm from pbtools.misc.gather import Gather from MXMotion import MotionBase def gen_pvt(p,v, p2pt, ts): '''generates a pvt motion p: position array v: velocity array t: time array ts: servo cycle time !!! it is assumed, that the time intervals are constant !!! ''' n=int(p2pt/ts) pvt=np.ndarray((p.shape[0]-1)*n)*0 tt=np.arange(0,p2pt,ts) for i in range(p.shape[0]-1): d=p[i] c=v[i] a=(-2*(p[i+1]-p[i]-v[i]*p2pt)+p2pt*(v[i+1]-v[i]))/p2pt**3 b=(3*p2pt*(p[i+1]-p[i]-v[i]*p2pt)-p2pt**2*(v[i+1]-v[i]))/p2pt**3 pvt[i*n:(i+1)*n]=a*tt**3+b*tt**2+c*tt+d return pvt def debugplot_pvt(pv, meta): # pv is an array of posx posy velx vely #pv=pv[5:10,:] #pv=pv[5:-4,:] p2pt=meta['pt2pt_time'] # ms step between samples ts=meta['timebase'] # sampling time in ms n=int(p2pt/ts) # servo cycle between samples k=pv.shape[0] # number of unique samples t=np.arange(0, p2pt*k, p2pt) # time array of trajectory ppx=gen_pvt(pv[:,0], pv[:,2], p2pt, ts) ppy=gen_pvt(pv[:,1], pv[:,3], p2pt, ts) tt=np.arange(0, n*(k-1))*ts # time array of trajectory fig=plt.figure() ax1=fig.add_subplot(2, 1, 1) ax2=fig.add_subplot(2, 1, 2) #ax.xaxis.set_ticks(t) ax1.stem(t, pv[:,0], '-r') ax2.stem(t, pv[:,1], '-g') ax1.plot(tt, ppx, '-r', label='x') ax2.plot(tt, ppy, '-g', label='y') #ax.legend(loc='best') ax=plt.figure().add_subplot(1, 1, 1) ax.plot(pv[:,0], pv[:,1], '.r', label='pft') ax.plot(ppx, ppy, '-c', label='pft') ax.invert_xaxis() ax.invert_yaxis() plt.axis('equal') ax.legend(loc='best') plt.show(block=False) # ### frequency plots ### # fig=plt.figure() # ax=fig.add_subplot(1,1,1)#ax=plt.gca() # # #remove linear slope # sx=ppx-(pv[-1,0]-pv[0,0])*np.arange(ppx.shape[0]) # sy=ppy-(pv[-1,1]-pv[0,1])*np.arange(ppy.shape[0]) # # #normalize with l -> value of k means amplitude of k at a given frequency # ppxf=np.fft.rfft(sx)/(2*n) # ppyf=np.fft.rfft(sy)/(2*n) # # f=np.fft.rfftfreq(ppx.shape[0], d=ts*1E-3) # f=f[1:] #remove dc value frequency # # mag=abs(ppxf[1:])#; mag=20*np.log10(abs(mag)) # ax.semilogx(f,mag,'-b',label='ppx') # Bode magnitude plot # mag=abs(ppyf[1:])#; mag=20*np.log10(abs(mag)) # ax.semilogx(f,mag,'-g',label='ppy') # Bode magnitude plot # #ax.yaxis.set_label_text('dB ampl') # ax.yaxis.set_label_text('ampl') # ax.xaxis.set_label_text('frequency [Hz]') # plt.grid(True) # # ax.legend(loc='best') # plt.show(block=False) return (tt,ppx,ppy) class ShapePath(MotionBase): def __init__(self,comm, gather, verbose): MotionBase.__init__(self,comm, gather, verbose) def gen_swissmx_points(self,flipx=False,flipy=False,ofs=(0,0),width=1000): 'generathe a path that writes swissfel' #string from inkscape path of the drawing d="m 524.7061,637.31536 3.54883,0 3.54882,0 3.54883,0 0,-4.20801 0,-4.20801 0,-4.208 0,-4.20801 4.22949,0 4.22949,0 4.2295,0 4.22949,0 0,-3.55957 0,-3.55957 0,-3.55957 0,-3.55957 -4.22949,0 -4.2295,0 -4.22949,0 -4.22949,0 0,-4.22949 0,-4.2295 0,-4.22949 0,-4.22949 -3.54883,0 -3.54882,0 -3.54883,0 -3.54883,0 0,4.22949 0,4.22949 0,4.2295 0,4.22949 -4.20752,0 -4.20752,0 -4.20752,0 -4.20752,0 0,3.55957 0,3.55957 0,3.55957 0,3.55957 4.20752,0 4.20752,0 4.20752,0 4.20752,0 0,4.20801 0,4.208 0,4.20801 0,4.20801 -11.87126,0.36152 -12.12171,-0.13934 -2.52941,3.93977 -2.57238,3.94369 -2.50854,3.88614 -2.50731,3.91767 -2.49035,3.88268 -2.50987,3.91244 -2.50453,3.88732 -2.51897,3.9189 -6.39782,5.72802 -6.63782,6.70894 -3.21517,5.11464 -3.3404,5.32333 -3.08995,5.11464 -3.17343,5.15637 -16.69223,0.0698 5.55908,0 5.55909,0 5.55908,0 3.18604,-5.17432 3.18603,-5.17431 3.18604,-5.17432 3.18603,-5.17431 3.17481,5.17431 3.1748,5.17432 3.17481,5.17431 3.1748,5.17432 5.59229,0 5.59228,0 5.59229,0 5.59228,0 -2.74121,-4.15283 -2.74121,-4.15283 -2.74121,-4.15283 -2.74121,-4.15284 -2.74122,-4.15283 -2.74121,-4.15283 -2.74121,-4.15283 -2.74121,-4.15283 2.50488,-3.90015 2.50489,-3.90015 2.50488,-3.90014 2.50488,-3.90015 2.50488,-3.90015 2.50489,-3.90015 2.50488,-3.90014 2.50488,-3.90015 -5.42724,0 -5.42725,0 -5.42724,0 -5.42725,0 -2.76855,4.95508 -2.76856,4.95508 -2.76855,4.95508 -2.76856,4.95508 -2.85644,-4.95508 -2.85645,-4.95508 -2.85644,-4.95508 -2.85645,-4.95508 -5.48193,0 -5.48194,0 -5.48194,0 -5.48193,0 2.52686,3.8562 2.52685,3.8562 2.52686,3.8562 2.52686,3.85621 2.52685,3.8562 2.52686,3.8562 2.52685,3.8562 2.52686,3.8562 -2.77954,4.19678 -2.77954,4.19678 -2.77954,4.19677 -2.77955,4.19678 -2.77954,4.19678 -2.77954,4.19678 -2.77954,4.19677 -2.77954,4.19678 -4.91638,0 -4.91638,0 -4.91639,0 -4.91638,0 -4.91638,0 -4.91638,0 -4.91638,0 -4.91638,0 -4.91639,0 -4.91638,0 -4.91638,0 -4.91638,0 -4.91638,0 -4.91639,0 -4.91638,0 -4.91638,0 4.07568,0 4.07568,0 4.07569,0 4.07568,0 0,-6.14136 0,-6.14135 0,-6.14136 0,-6.14136 0,-6.14136 0,-6.14135 0,-6.14136 0,-6.14136 1.57105,6.14136 1.57104,6.14136 1.57104,6.14135 1.57105,6.14136 1.57105,6.14136 1.57104,6.14136 1.57104,6.14135 1.57105,6.14136 3.68066,0 3.68067,0 3.68067,0 3.68066,0 1.57642,-6.14136 1.57641,-6.14135 1.57642,-6.14136 1.57641,-6.14136 1.57642,-6.14136 1.57642,-6.14135 1.57641,-6.14136 1.57642,-6.14136 0,6.14136 0,6.14136 0,6.14135 0,6.14136 0,6.14136 0,6.14136 0,6.14135 0,6.14136 4.06494,0 4.06494,0 4.06494,0 4.06494,0 0,-8.05298 0,-8.05298 0,-8.05298 0,-8.05297 0,-8.05298 0,-8.05298 0,-8.05298 0,-8.05298 -6.52588,0 -6.52588,0 -6.52587,0 -6.52588,0 -1.25781,4.8999 -1.25782,4.89991 -1.25781,4.8999 -1.25781,4.8999 -1.25781,4.8999 -1.25782,4.89991 -1.25781,4.8999 -1.25781,4.8999 -1.26343,-4.8999 -1.26343,-4.8999 -1.26343,-4.89991 -1.26343,-4.8999 -1.26342,-4.8999 -1.26343,-4.8999 -1.26343,-4.89991 -1.26343,-4.8999 -6.54785,0 -6.54785,0 -6.54785,0 -6.54785,0 0,8.05298 0,8.05298 0,8.05298 0,8.05298 0,8.05297 0,8.05298 0,8.05298 -4.25755,8.13646 -8.40743,0.19687 -8.40743,0.19687 -8.40743,0.19687 -8.40743,0.19687 5.93521,0.22812 8.09742,-0.56079 6.18579,-1.6814 4.55883,-2.66919 3.13062,-3.43823 1.84571,-3.87866 0.61523,-3.98853 -0.58179,-3.83373 -1.74634,-3.50416 -2.802,-2.95581 -3.83472,-2.18676 -5.49316,-1.60401 -7.77832,-1.20849 -7.64649,-1.58204 -1.75781,-2.59179 1.36328,-2.59375 4.4375,-1.09766 5.09766,1.40625 2.19727,3.29492 4.24072,-0.41748 4.24073,-0.41748 4.24072,-0.41748 4.24072,-0.41748 -1.98804,-4.09741 -2.44946,-3.15259 -2.97778,-2.3291 -3.65894,-1.62598 -5.05371,-0.95629 -7.25098,-0.3191 -7.10766,0.41748 -5.50367,1.25244 -4.19677,2.05494 -3.18604,2.91186 -2.01099,3.65796 -0.67065,4.29517 0.61523,3.98852 1.84571,3.5271 2.78002,2.823 3.32935,1.87817 5.06421,1.42822 7.89868,1.56006 7.69141,1.84571 2.02148,2.98828 -1.53906,2.85742 -5.58008,1.53711 -5.27344,-1.36133 -3.07617,-4.52734 -4.43847,0.41748 -4.43848,0.41748 -4.43848,0.41748 -4.43847,0.41748 2.50488,5.95459 4.43848,4.4165 3.18313,1.59592 4.10031,1.14017 -3.65979,0.0939 -5.9713,6e-5 -5.97131,5e-5 -5.9713,6e-5 -5.9713,6e-5 -5.9713,5e-5 -5.97131,6e-5 -5.9713,5e-5 -5.9713,6e-5 5.34491,0.81842 8.09742,-0.56079 6.18579,-1.6814 4.55883,-2.66919 3.13062,-3.43823 1.84571,-3.87866 0.61523,-3.98853 -0.58179,-3.83373 -1.74634,-3.50416 -2.802,-2.95581 -3.83472,-2.18676 -5.49316,-1.60401 -7.77832,-1.20849 -7.64649,-1.58204 -1.75781,-2.59179 1.36328,-2.59375 4.4375,-1.09766 5.09766,1.40625 2.19727,3.29492 4.24072,-0.41748 4.24073,-0.41748 4.24072,-0.41748 4.24072,-0.41748 -1.98804,-4.09741 -2.44946,-3.15259 -2.97778,-2.3291 -3.65894,-1.62598 -5.05371,-0.95629 -7.25098,-0.3191 -7.10766,0.41748 -5.50367,1.25244 -4.19677,2.05494 -3.18604,2.91186 -2.01099,3.65796 -0.67065,4.29517 0.61523,3.98852 1.84571,3.5271 2.78002,2.823 3.32935,1.87817 5.06421,1.42822 7.89868,1.56006 7.69141,1.84571 2.02148,2.98828 -1.53906,2.85742 -5.58008,1.53711 -5.27344,-1.36133 -3.07617,-4.52734 -4.43847,0.41748 -4.43848,0.41748 -4.43848,0.41748 -4.43847,0.41748 2.50488,5.95459 4.43848,4.4165 3.18313,1.59592 4.10031,1.14017 -3.06953,-0.0416 -3.06952,-0.0416 -8.58102,-0.0261 -10.12782,-0.0261 -7.03422,-0.0261 -8.58102,-0.0261 4.47168,0 6.6151,0 2.32826,0 4.47168,0 0,-5.83374 0,-5.83374 0,-5.83374 0,-5.83374 0,-5.83374 0,-5.83374 0,-5.83374 0,-5.83374 -4.47168,0 -4.47168,0 -4.47168,0 0,-5.5796 4.47168,0 4.47168,0 4.47168,0 0,-6.08691 0,-6.08692 -4.47168,0 -4.47168,0 -4.47168,0 -4.47168,0 0,6.08692 0,6.08691 0,5.5796 0,5.83374 0,5.83374 0,5.83374 0,5.83374 0,5.83374 0,5.83374 0,5.83374 -3.67318,5.83374 -8.7308,0 -10.73079,0 -6.7308,0 -9.10563,0 -2.25201,0.007 -8.72971,0.0266 -7.53755,-0.0442 -9.68477,0.0107 -6.3443,0 3.99902,0 3.99902,0 3.99903,0 3.99902,0 2.28516,-7.02002 2.28516,-7.02002 2.28516,-7.02002 2.28516,-7.02002 2.36181,7.02002 2.36182,7.02002 2.36181,7.02002 2.36182,7.02002 3.97705,0 3.97705,0 3.97705,0 3.97705,0 2.14795,-5.83374 2.14795,-5.83374 2.14795,-5.83374 2.14795,-5.83374 2.14795,-5.83374 2.14795,-5.83374 2.14795,-5.83374 2.14795,-5.83374 -4.2959,0 -4.2959,0 -4.2959,0 -4.2959,0 -0.93921,3.67505 -0.93921,3.67505 -0.93921,3.67505 -0.93921,3.67505 -0.9392,3.67504 -0.93921,3.67505 -0.93921,3.67505 -0.93921,3.67505 -1.23047,-3.67505 -1.23047,-3.67505 -1.23047,-3.67505 -1.23047,-3.67504 -1.23046,-3.67505 -1.23047,-3.67505 -1.23047,-3.67505 -1.23047,-3.67505 -4.03223,0 -4.03222,0 -4.03223,0 -4.03223,0 -1.18652,3.67505 -1.18653,3.67505 -1.18652,3.67505 -1.18653,3.67505 -1.18652,3.67504 -1.18652,3.67505 -1.18653,3.67505 -1.18652,3.67505 -0.93921,-3.67505 -0.93921,-3.67505 -0.93921,-3.67505 -0.93921,-3.67504 -0.9392,-3.67505 -0.93921,-3.67505 -0.93921,-3.67505 -0.93921,-3.67505 -4.32862,0 -4.32861,0 -4.32862,0 -4.32861,0 2.16431,5.83374 2.1643,5.83374 2.16431,5.83374 2.16431,5.83374 2.16431,5.83374 2.1643,5.83374 2.16431,5.83374 -3.84635,5.83374 -5.60781,0.003 -5.6078,0.003 -5.60781,0.003 -5.6078,0.003 -5.4839,-1.59358 0,0 5.47119,-3.35034 4.10888,-4.60278 2.5708,-5.4712 0.85694,-5.95459 -0.64868,-5.02123 -1.94507,-4.51587 -3.32837,-3.91114 -4.88843,-3.20801 -7.482173,-2.87842 -5.1337,-1.42273 -6.06186,-1.41174 -6.67969,-2.37304 -1.44922,-2.76758 1.75782,-3.56055 5.22851,-1.49414 6.5918,1.97852 1.99951,2.5708 1.16455,3.75732 4.69141,-0.2749 4.691403,-0.2749 4.6914,-0.27491 4.69141,-0.2749 -0.94483,-4.66918 -1.604,-3.98804 -2.26318,-3.30688 -2.92236,-2.62574 -3.59802,-2.01858 -4.334103,-1.44162 -5.0702,-0.86484 -5.80627,-0.28824 -4.76547,0.1593 -4.23282,0.47791 -6.86695,1.91162 -5.04223,2.98828 -3.61401,3.95507 -2.14283,4.53687 -0.7146,4.82251 1.40625,6.88892 4.21875,5.54858 3.26035,2.31812 4.19986,2.07641 5.13919,1.83472 6.07834,1.59302 6.54785,1.81226 3.64746,1.92211 2.19727,4.48242 -2.33008,4.65821 -6.54688,1.97851 -5.05371,-0.97827 -3.73535,-2.93384 -1.57153,-2.9663 -0.93433,-4.06495 -4.73486,0.29688 -4.73487,0.29687 -4.73486,0.29688 -4.73486,0.29687 0.76065,4.6637 1.44711,4.23523 2.13376,3.80676 2.82059,3.3783 3.79577,2.76855 5.0592,1.97754 6.32264,1.18652 7.58606,0.39551 9.481626,-0.95145 -7.224723,-0.043 -7.224724,-0.043 -7.224723,-0.043 -7.224723,-0.043 -7.224723,-0.043 -7.224723,-0.043 -7.224724,-0.043 -7.224723,-0.043" d=d.split() pts=np.ndarray((len(d)-1,2),dtype=np.float) for i in xrange(pts.shape[0]): pts[i,:]=map(float,d[i+1].split(',')) pts[0,:]=(0,0) pts=pts.cumsum(0) pts=pts[::-1,:] pts=pts-pts[0] pts*=width/pts[:,0].max() if flipx: pts[:,0]=-pts[:,0] if not flipy: pts[:,1]=-pts[:,1] pts+=ofs self.points=pts verb=self.verbose if verb&2: self.plot_points(pts) plt.show() def gen_swissfel_points(self,flipx=False,flipy=False,ofs=(0,0),width=1000): 'generathe a path that writes swissfel' #string from inkscape path of the drawing d="m 15.801613,951.54022 -1.655274,-0.17578 -1.809082,-0.52002 0,-1.52344 1.765137,0.76172 1.699219,0.25635 1.955566,-0.49805 0.688477,-1.4209 -0.498047,-1.25976 -1.618652,-0.68115 -0.900879,-0.17578 -1.426392,-0.42298 -0.968628,-0.60974 -0.739746,-1.95557 0.254516,-1.29638 0.76355,-0.98877 1.217652,-0.62622 1.602173,-0.20874 1.567383,0.13916 1.6333,0.41748 0,1.44287 -1.589355,-0.60059 -1.442871,-0.19775 -1.071167,0.11719 -0.796509,0.35156 -0.651856,1.33301 0.432129,1.09863 1.655274,0.59326 0.893555,0.18311 1.437377,0.43579 1.001587,0.67749 0.593262,0.92651 0.197754,1.19751 -0.267334,1.3971 -0.802002,1.01257 -1.311035,0.61523 2.995605,-0.004 2.995606,-0.004 -0.536499,-2.05078 -0.536499,-2.05078 -0.536499,-2.05079 -0.536499,-2.05078 1.347656,0 0.421142,1.60034 0.421143,1.60034 0.421143,1.60035 0.421142,1.60034 0.419312,-1.60034 0.419311,-1.60035 0.419312,-1.60034 0.419311,-1.60034 1.589356,0 0.421142,1.60034 0.421143,1.60034 0.421143,1.60035 0.421142,1.60034 0.419312,-1.60034 0.419311,-1.60035 0.419312,-1.60034 0.419311,-1.60034 1.347657,0 -0.536499,2.05078 -0.5365,2.05079 -0.536499,2.05078 -0.536499,2.05078 -1.589355,0 -0.441284,-1.68091 -0.441285,-1.68091 -0.441284,-1.6809 -0.441284,-1.68091 -0.443115,1.68091 -0.443116,1.6809 -0.443115,1.68091 -0.443115,1.68091 2.330933,-8e-5 2.330933,-8e-5 2.330932,-8e-5 2.330933,-8e-5 0,-2.05078 0,-2.05078 0,-2.05079 0,-2.05078 0.673828,-1.48681 0.673828,0 0,-0.85327 0,-0.85327 -0.673828,0 -0.673828,0 0,0.85327 0,0.85327 0.673828,1.48681 0.673828,0 0,2.05078 0,2.05079 0,2.05078 0,2.05078 2.545166,0.1062 2.545166,0.1062 -1.376953,-0.13183 -1.501465,-0.38086 0,-1.3916 1.472168,0.58593 1.435547,0.19043 1.464844,-0.32226 0.512695,-0.92285 -0.373535,-0.84229 -1.038789,-0.41935 -1.048614,-0.25448 -1.078491,-0.33325 -0.730591,-0.47241 -0.55664,-1.50147 0.205078,-1.02539 0.615234,-0.76172 0.99243,-0.47241 1.336672,-0.15747 1.40625,0.10986 1.21582,0.32959 0,1.27442 -1.186523,-0.43946 -1.274414,-0.14648 -1.508789,0.30762 -0.498047,0.92285 0.358886,0.73975 0.763094,0.30189 0.76857,0.22893 0.785513,0.20842 0.813927,0.24037 0.809326,0.49988 0.455932,0.66833 0.151978,0.89173 -0.227051,1.02355 -0.681152,0.78553 -1.071167,0.49988 3.205262,0.0833 3.205261,0.0833 -1.376953,-0.13183 -1.501465,-0.38086 0,-1.3916 1.472168,0.58593 1.435547,0.19043 1.464843,-0.32226 0.512696,-0.92285 -0.373536,-0.84229 -1.038789,-0.41935 -1.048613,-0.25448 -1.078491,-0.33325 -0.730591,-0.47241 -0.556641,-1.50147 0.205078,-1.02539 0.615235,-0.76172 0.99243,-0.47241 1.336672,-0.15747 1.40625,0.10986 1.21582,0.32959 0,1.27442 -1.186524,-0.43946 -1.274414,-0.14648 -1.508789,0.30762 -0.498047,0.92285 0.358887,0.73975 0.805073,0.3095 0.76935,0.22988 0.764915,0.20509 0.791765,0.23514 0.809327,0.49988 0.455932,0.66833 0.151978,0.89173 -0.227051,1.02355 -0.681152,0.78553 -1.071167,0.49988 2.095642,-0.0229 2.095642,-0.0229 0,-1.36688 0,-1.36688 0,-1.36689 0,-1.36688 0,-1.36688 0,-1.36688 0,-1.36689 0,-1.36688 1.571045,0 1.571045,0 1.571045,0 1.571045,0 0,1.24512 -1.201172,0 -1.201172,0 -1.201172,0 -1.201172,0 0,0.80566 0,0.80567 0,0.80566 0,0.80566 1.083984,0 1.083985,0 1.083984,0 1.083985,0 0,1.24512 -1.083985,0 -1.083984,0 -1.083985,0 -1.083984,0 0,1.30554 0,1.30555 0,1.30554 0,1.30554 3.581543,0 3.581543,0 0,-1.36688 0,-1.36688 0,-1.36689 0,-1.36688 0,-1.36688 0,-1.36688 0,-1.36689 0,-1.36688 1.728516,0 1.728516,0 1.728515,0 1.728516,0 0,1.24512 -1.358643,0 -1.358642,0 -1.358643,0 -1.358643,0 0,0.80932 0,0.80933 0,0.80933 0,0.80932 1.30188,0 1.30188,0 1.30188,0 1.30188,0 0,1.24512 -1.30188,0 -1.30188,0 -1.30188,0 -1.30188,0 0,0.9906 0,0.9906 0,0.9906 0,0.9906 1.391602,0 1.391601,0 1.391602,0 1.391602,0 0,1.24512 -3.587581,3.8e-4 -1.964972,0 3.702844,0 4.295998,0 0,-1.36733 0,-1.36688 0,-1.36689 0,-1.36688 0,-1.36688 0,-1.36689 0,-1.36688 0,-1.36688 1.479492,0 0,1.21124 0,1.21124 0,1.21125 0,1.21124 0,1.21124 0,1.21124 0,1.21125 0,1.21124 1.331177,0 1.331177,0 1.331176,0 1.331177,0 0,1.24512 -1.70105,0 -1.701049,0 -1.70105,0" d=d.split() pts=np.ndarray((len(d)-1,2),dtype=np.float) for i in xrange(pts.shape[0]): pts[i,:]=map(float,d[i+1].split(',')) pts[0,:]=(0,0) pts=pts.cumsum(0) pts=pts[::-1,:] pts=pts-pts[0] pts*=width/pts[:,0].max() if flipx: pts[:,0]=-pts[:,0] if not flipy: pts[:,1]=-pts[:,1] pts+=ofs self.points=pts verb=self.verbose if verb&2: self.plot_points(pts) plt.show() def gen_rand_points(self,n=107,scale=1000,ofs=(0,0)): 'generate random distributed points' np.random.seed(0) #data=np.random.randint(0,1000,(30,2)) pts=np.random.rand(n,2)*scale pts+=ofs self.points=pts def gen_grid_points(self,w=10,h=10,pitch=100,rnd=.2,ofs=(0,0)): 'generates points in a grid with a given pitch and a bit randomness' np.random.seed(0) xx,yy=np.meshgrid(range(w), range(h)) pts=np.array([xx.reshape(-1),yy.reshape(-1)],dtype=np.float).transpose()*pitch if rnd != 0: pts+=(np.random.rand(pts.shape[0],2)*(rnd*pitch)) pts+=ofs self.points=pts def gen_spiral_points(self,rStart=1.,rInc=.2,numSeg=4,numCir=6, ofs=(0, 0)): #rInc radius increment per circle r=rStart+np.arange(numSeg*numCir)*(float(rInc)/numSeg) ang=2.*np.pi/numSeg*np.arange(numSeg*numCir) pts=np.vstack((np.sin(ang)*r,np.cos(ang)*r)).T pts+=ofs self.points=pts def gen_closed_shifted(self,pitch=100,shift=5,mult=3): 'from the given points, close the path, and runs 9 times with small pitch' pts=self.points pts = np.vstack((pts, pts[-1]+(0,-50)))#add a new point outside of the grid mn=pts.min(0) mx=pts.max(0) d=pts[0,:]-pts[-1,:] l=np.sum(d) bk=[] if abs(d[1])>pitch: #make a vertical back move s=np.sign(d[1]) n=np.ceil(np.abs(d[1])/pitch) p=np.ndarray((n,2)) p[:,0]=pts[-1, 0] p[:,1]=pts[-1, 1]+np.arange(1,n+1)*s*pitch pts=np.vstack((pts,p)) if abs(d[0])>pitch: #make a horizonlat back move s=np.sign(d[0]) n=np.ceil(np.abs(d[0])/pitch) p=np.ndarray((n,2)) p[:,0]=pts[-1, 0]+np.arange(1,n+1)*s*pitch p[:,1]=pts[-1, 1] pts[-1, :] pts=np.vstack((pts,p)) stack=[] for y in np.arange(mult)*shift: for x in np.arange(mult)*shift: stack.append(pts+(x,y)) pts=np.vstack(stack) #xx,yy=np.meshgrid(range(w), range(h)) #pts=np.array([xx.reshape(-1),yy.reshape(-1)],dtype=np.float).transpose()*pitch #if xy: #else: # smlpitch #pts+=ofs self.points=pts def opt_pts(self,fn): ''' trial to optimize path by mofing trajectory, uload real path and move the points to finally go trough the desired points ''' fh=np.load(fn) #res=rot.ActPos,x.ActPos,y.ActPos,rot.DesPos,x.DesPos,y.DesPos #idx 0 1 2 3 4 5 rec=fh['rec'] pts=fh['pts'] desPos=rec[:,(3,2)] idx=np.ndarray(shape=len(pts),dtype=np.int32) for i in range(len(pts)): l=desPos-pts[i,:] l2=l[:,0]**2+l[:,1]**2 idx[i]=np.argmin(l2) recPts=rec[idx,:] ptsCorr=(pts-recPts[:,(1,0)]+recPts[:,(3,2)]) self.points=pts self.ptsCorr=ptsCorr print(ptsCorr) def setup_gather(self,acq_per=1): ''' setup the channels to gather kwargs: acq_per : acquire period: acquire data all acq_per servo loops (default=1) ''' comm=self.comm gt=self.gather gt.set_phasemode(False) address=("Motor[1].ActPos","Motor[2].ActPos","Motor[1].DesPos","Motor[2].DesPos","Gate3[1].Chan[1].UserFlag") address=("Motor[1].ActPos","Motor[2].ActPos","Motor[1].DesPos","Motor[2].DesPos","Sys.P[1]") #address=("Motor[1].ActPos","Motor[2].ActPos","Motor[1].DesPos","Motor[2].DesPos","Coord[1].Q[1]") gt.set_address(*address) gt.set_property(MaxSamples=1000000, Period=acq_per) ServoPeriod= .2 #0.2ms #Sys.ServoPeriod is dependent of !common() macro #ServoPeriod=comm.gpascii.servo_period self.meta = {'timebase': ServoPeriod*acq_per,'address':address} 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): ''' 1. generates program and saves to fnPrg the type of generated program is defined by 2. runs the program on the deltatau mode=-1 jog a 10mm square mode=0 linear motion mode=1 pvt motion kwargs: pt2pt_time : time to move from one point to the next point sync_frq : synchronization mark all n points (default=10) scale : scaling velocity (default=1. value=0 would stop at the point cnt : move path multiple times (default=1) dwell : dwell time at end (default=100ms) mode=2 spline motion mode=3 pvt motion using inverse fft velocity kwargs: same as pvt motion ''' prg=['close all buffers','open prog %d'%(prgId)] comm=self.comm if comm is not None: gpascii=comm.gpascii # this uses Coord[1].Tm and limits with MaxSpeed if mode==-1: #### jog a 10mm square pos=self.points prg.append(' linear abs') prg.append('X(%g) Y(%g)' % tuple(pos[0, :])) prg.append('dwell 10') prg.append('Gather.Enable=2') prg.append('jog2:10000') prg.append('dwell 100') prg.append('jog3:10000') prg.append('dwell 100') prg.append('jog2:-10000') prg.append('dwell 100') prg.append('jog3:-10000') prg.append('dwell 100') prg.append('Gather.Enable=0') elif mode==0: #### linear motion pos=self.points prg.append(' linear abs') prg.append('X(%g) Y(%g)' % tuple(pos[0, :])) prg.append('dwell 10') prg.append('Gather.Enable=2') prg.append(' linear abs') for idx in range(pos.shape[0]): prg.append('X%g Y%g'%tuple(pos[idx,:])) prg.append('dwell 100') prg.append('Gather.Enable=0') elif mode in (1,3): #### pvt motion pt2pt_time=kwargs.get('pt2pt_time', 100) ts=self.meta['timebase'] scale=kwargs.get('scale', 1.) self.meta['pt2pt_time']=pt2pt_time cnt=kwargs.get('cnt', 1) # move path multiple times sync_frq=kwargs.get('sync_frq', 10) # synchronization mark all n points dwell=kwargs.get('dwell', 100) # synchronization mark all n points CoordFeedTime=1000. #Defaut deltatau value try: pt=self.ptsCorr except AttributeError: pt=self.points #pv is an array of posx posy velx vely pv=np.ndarray(shape=(pt.shape[0]+2,4),dtype=pt.dtype) pv[:]=np.NaN pv[ 0,(0,1)]=pt[0,:] pv[ 1:-1,(0,1)]=pt pv[ -1,(0,1)]=pt[-1,:] pv[(0,0,-1,-1),(2,3,2,3)]=0 if mode==1: # set velocity to average from prev to next point dist=pv[2:,(0,1)] - pv[:-2,(0,1)] pv[ 1:-1,(2,3)] = dist/(2.*pt2pt_time)*scale #um/ms else: #mode=3: set velocity to the reconstructed inverse fourier transformation p=pt.T.copy() #copy k=p.shape[1] stp=((p[:,-1]-p[:,0])/(k-1)) #calculate steepness point to point #stp*=0 p[0,:]-=stp[0]*np.arange(k) p[1,:]-=stp[1]*np.arange(k) f=np.fft.fftfreq(k, d=1.) pf=np.fft.fft(p) pfd=pf*f*1j # differentiate in fourier pd=np.fft.ifft(pfd) v=pd.real.T/pt2pt_time*np.pi*2+stp/pt2pt_time pv[ 1:-1,(2,3)] = v*scale verb=self.verbose if verb&16: self.pvt=debugplot_pvt(pv, self.meta) plt.show() pv[1:-1, (2, 3)]*=CoordFeedTime #scaling for Deltatau prg.append(' linear abs') prg.append('X%g Y%g' % tuple(pv[0, (0,1)])) prg.append('dwell 10') try: prg.extend(self.sync_prg.split('\n')) except AttributeError: #print('no sync code available') prg.append('Gather.Enable=2') if cnt>1: prg.append('P100=%d'%cnt) prg.append('N100:') prg.append(' pvt%g abs'%pt2pt_time) #100ms to next position for idx in range(1,pv.shape[0]): if sync_frq is not None and idx%sync_frq==0: prg.append('Coord[1].Q[1]=%d'%(idx)) prg.append('X%g:%g Y%g:%g'%tuple(pv[idx,(0,2,1,3)])) if sync_frq is not None: prg.append('Coord[1].Q[1]=%d' % (idx)) prg.append('X%g Y%g' % tuple(pv[-1, (0,1)])) if cnt>1: prg.append('dwell 10') prg.append('P100=P100-1') prg.append('if(P100>0)') prg.append('{') prg.append(' linear abs') prg.append('X%g Y%g' % tuple(pv[0, (0,1)])) prg.append('dwell 100') prg.append('goto 100') prg.append('}') else: prg.append('dwell %d'%dwell) 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. pos=self.points 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('close') #prg.append('&1\nb%dr\n'%prgId) if self.verbose & 4: for ln in prg: print(ln) if fnPrg is not None: fh=open(fnPrg,'w') fh.write('\n'.join(prg)) fh.close() if comm is not None: gpascii.send_block(prg) self.prg=prg def gather_upload(self,fnRec=None): gt=self.gather gt.wait_stopped(verbose=True) self.rec=rec=gt.upload() try: syncShell=self.syncShell except AttributeError: pass else: print(syncShell.sync()) del self.syncShell syncShell.close() pts=self.points ofsy=-rec[0,2]+pts[0,1] ofsx=-rec[0,3]+pts[0,0] rec[:,(1,3)]+=ofsx rec[:,(0,2)]+=ofsy if fnRec: np.savez_compressed(fnRec, rec=rec, pts=pts, meta=self.meta) def sort_points(self,xy=False,grp_sz=None): pts=self.points verb=self.verbose cnt=pts.shape[0] idx=np.ndarray(cnt,dtype=np.int32) if grp_sz is None: grp_cnt=int(np.sqrt(cnt)) grp_sz=int(np.ceil(float(cnt)/grp_cnt)) else: grp_sz=int(grp_sz) grp_cnt=int(np.ceil(float(cnt)/grp_sz)) if xy==True: idxA=1;idxB=0 else: idxA=0;idxB=1 #sort points along idxA pts=pts[pts[:,idxA].argsort()] #group sorting along idxB for i in range(grp_cnt): a=i*grp_sz #print a,a+grp_sz if i%2: idx[a:a+grp_sz]=a+pts[a:a+grp_sz,idxB].argsort()[::-1] else: idx[a:a+grp_sz]=a+pts[a:a+grp_sz,idxB].argsort() #print(idx) pts=pts[idx] if verb&2: self.plot_points(pts) plt.show() self.points=pts @staticmethod def onclick(event): print('button=%s, x=%d, y=%d, xdata=%f, ydata=%f'%( event.button, event.x, event.y, event.xdata, event.ydata)) obj=event.canvas.figure.obj def plot_points(self,pts): fig=plt.figure() ax = fig.add_subplot(1,1,1) ax.invert_xaxis();ax.invert_yaxis() #hl=ax[0].plot(x, y, color=col) hl=ax.plot(pts[:,0],pts[:,1],'r.') hl=ax.plot(pts[:,0],pts[:,1],'y--') cid = fig.canvas.mpl_connect('button_press_event', self.onclick) fig.obj=self plt.axis('equal') self.ax=ax self.hl=hl def plot_gather(self,mode=255): try: meta=self.meta pts=self.points # X,Y array rec = self.rec # yA,xA,yD,xD,trig except AttributeError as e: print('plot_gather(): '+str(e)+': no data acquired yet') return ts=meta['timebase'] t=np.arange(rec.shape[0],dtype=np.uint32) if mode&1: fig=plt.figure('trajectory') ax = fig.add_subplot(1,1,1) ax.invert_xaxis();ax.invert_yaxis() #hl=ax[0].plot(x, y, color=col) hl=ax.plot(pts[:,0],pts[:,1],'r.',label='points') hl+=ax.plot(pts[:,0],pts[:,1],'y--',label='direct') hl+=ax.plot(rec[:,3],rec[:,2], 'b-',label='DesPos') # desired path hl+=ax.plot(rec[:,1],rec[:,0],'g-',label='ActPos') # actual path try: pvt=self.pvt except AttributeError: pass else: hl=ax.plot(pvt[1], pvt[2], 'c--',label='SimPos') # simulated path fig2=plt.figure('time line') ax2=fig2.add_subplot(1, 1, 1) hl2=ax2.plot(rec[:, 2], 'r-', label='desPos Mot1') hl2+=ax2.plot(rec[:, 3], 'g-', label='desPos Mot2') idxTrigger = rec[:, 4] idxTrigger = np.where(np.diff(idxTrigger) == 1)[0] + 1 if idxTrigger.shape[0]>0: hl+=ax.plot(rec[idxTrigger,1],rec[idxTrigger,0],'xr',label='trig') # actual path hl2 += ax2.plot(rec[:, 4], 'b-',label='trigger') ax.xaxis.set_label_text('x-pos um') ax.yaxis.set_label_text('y-pos um') ax.axis('equal') ax.legend(loc='best') cid = fig.canvas.mpl_connect('button_press_event', self.onclick) fig.obj=self ax2.legend(loc='best') plt.show(block=False) if mode&2: fig = plt.figure('position error') ax = fig.add_subplot(1, 1, 1) errx=rec[:,1]-rec[:,3] erry=rec[:,0]-rec[:,2] err=np.sqrt(errx**2+erry**2) hl = [] hl += ax.plot(t,errx,'b-',label='x-error') hl += ax.plot(t,erry,'g-',label='y-error') hl += ax.plot(t,err, 'r-',label='error') ax.xaxis.set_label_text('ms (timebase: %g ms per data point)'%ts) ax.yaxis.set_label_text('pos-error um') legend = ax.legend(loc='upper right', shadow=True) print('average error x %g um, y %g um, %g um'%(np.abs(errx).mean(),np.abs(erry).mean(),err.mean())) if mode&4: self.bode_plot(xy=(3,1),mode=31,db=True) # FX self.bode_plot(xy=(2,0),mode=31,db=True) # FY if mode&8: lenRec = rec.shape[0] lenPts = pts.shape[0] # idxTrigger=np.hstack(([0],rec[:,4])) # doc.idxTrigger=idxTrigger=np.where(np.diff(idxTrigger)==1)[0] idxTrigger = rec[:, 4] idxTrigger = np.where(np.diff(idxTrigger) == 1)[0] + 1 idxInPos = [] # first point at idx 0 try: # find approximate distance of 2 points rng = idxTrigger[2]-idxTrigger[1] except IndexError: rng = int(lenRec/lenPts) idx = rng/2 for i in range(lenPts): l=rec[idx:idx+rng,(3,2)]-pts[i,:] l2=l[:,0]**2+l[:,1]**2 try: ofs=l2.argmin() except ValueError as e: break idx+=ofs idxInPos.append(idx) idx+= rng/2 idxInPos = np.array(idxInPos) num = min(idxInPos.shape[0], idxTrigger.shape[0]) jitter=idxTrigger[:num]-idxInPos[:num] fig = plt.figure('trigger jitter') ax = fig.add_subplot(1, 1, 1) hl = [] hl += ax.plot(jitter*ts, 'b-',label='jitter') ax.xaxis.set_label_text('position idx') ax.yaxis.set_label_text('jitter motion (ms)') if num>0: print('scaling of DesTimeBase: %f'%(float(idxInPos[num-1])/idxTrigger[num-1])) plt.show() def bode_plot(self,xy=(0,1),mode=25,db=True): '''displays a bode plot of the data Y(s)=G(s)*X(s) Y= output signal X= input signal xy are the row indexes of input and output signal meta= meta information (dictionary) of data mode bits: (+mean default) +1: display time signal 2: display bode of X(s) signal 4: display bode of Y(s) signal +8: display bode of G(s) signal +16: clip frequencies out of minFrq,maxFrq ''' rec=self.rec strMot=('FY.act','FX.act','FY.des','FX.des') ts=self.meta['timebase']*1E-3 #0.2ms num=rec.shape[0] #rngMin=int(.01/ts);rngMax=int(num-1.001/ts) #0.01s from start 1.01 sec before end rngMin=int(.01/ts);rngMax=rngMin+int((self.points.shape[0]-2)*.01/ts) num=rngMax-rngMin minFrq=1/(num*ts)#minimal frq to show bode maxFrq=1/(2*ts) #maximal frq to show bode xIdx,yIdx=xy #remove DC value x=rec[rngMin:rngMax,xIdx]-rec[rngMin,xIdx] y=rec[rngMin:rngMax,yIdx]-rec[rngMin,yIdx] #make last value same as first (nice periodicity) x=x-(x[-1]*np.arange(num)/(num-1.)) y=y-(y[-1]*np.arange(num)/(num-1.)) if mode&1: t = ts*np.arange(num) fig=plt.figure('raw {}->{}'.format(strMot[xIdx],strMot[yIdx])) ax=fig.gca() ax.plot(t,x,'b') ax.plot(t,y,'g') fig=plt.figure('bode {}->{}'.format(strMot[xIdx],strMot[yIdx])) ax1=fig.add_subplot(2,1,1) ax1.grid(True) ax1.yaxis.set_label_text('Amplitude'+ (' [dB]' if db else '')) ax1.axvline(minFrq,c='k');ax1.axvline(maxFrq,c='k') ax2=fig.add_subplot(2,1,2, sharex = ax1) ax2.grid(True) ax2.xaxis.set_label_text('Frequency [Hz]') ax2.yaxis.set_label_text('Phase [degree]') ftX=np.fft.rfft(x) ftY=np.fft.rfft(y) fMax=.5/ts #fs=1/ts, fMax=1/2fs n=ftX.shape[0] f=np.arange(n)*fMax/(n-1) if mode&16: i=int(minFrq*num*ts); j=int(maxFrq*num*ts); #print(w[i],w[j]) f=f[i:j+1] ftX=ftX[i:j+1] ftY=ftY[i:j+1] ftLst=[] if mode&2: ftLst.append((ftX,'b','input')) if mode&4: ftLst.append((ftY,'g','output')) if mode&8: ftLst.append((ftY/ftX,'r','out/inp')) for ft,c,s in ftLst: phase=np.angle(ft) phase=np.degrees(np.unwrap(phase)) mag=np.abs(ft) #ftY)/np.abs(ftX) if db: magDb=20*np.log10(mag) #in decibel (20=10*2: factor 2 because rfft only half) ax1.semilogx(f,magDb,c,label=s) # Bode magnitude plot else: ax1.semilogx(f, mag, c,label=s) # Bode magnitude plot ax2.semilogx(f,phase,c,label=s) # Bode phase plot ax2.set_ylim(-360,360) ax2.legend() plt.show(block=False) if __name__=='__main__': #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 trigger(wait=.5): import CaChannel time.sleep(wait) pvTrigger = CaChannel.CaChannel('SAR-CVME-TIFALL5-EVG0:SoftEvt-EvtCode-SP.VAL') pvTrigger.searchw() pvTrigger.putw(254) def run_test(args): #args.host=None if args.host is None: comm=gather=None else: comm = PPComm(host=args.host) gather = Gather(comm) sp = ShapePath(comm, gather, args.verbose) # Gather.MaxLines=116508 # ts=0.2ms # max_num_points=(MaxLines*ts-1000ms)/(+acq_per*pt2pt_time*ts) # pt2pt_time acq_per maxpts # 40ms 1 555 # 40ms 2 1135 # 40ms 3 1715 # 40ms 4 2295 # 10ms 1 2220 # 10ms 2 4540 # 10ms 3 6860 # 10ms 4 9180 #sp.gen_swissmx_points(width=1000,ofs=(-500,0)) #sp.gen_swissfel_points(width=1000,ofs=(-500,0)) #fn='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/PBMotionAnalyzer/records/mode1' #fh=np.load(fn+'.npz') #for k,v in fh.iteritems(): # setattr(sp,k,v) #sp.meta=sp.meta.item() #sp.points=sp.pts; del sp.pts #sp.plot_gather() #return fn='/tmp/shapepath' #fn='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/record/grid_delay_0002' # /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/record/chip000_sortedXXXX_9x9' #fn='/sf/bernina/data/p17592/res/20181203/imprints/chip000_preloc_min10um_sortedX_refs_goaround/chip000_sortedY_9x9.npz' #fn='PBMotionAnalyzer/records/rand50um_25Hz' #sp.setup_coord_trf() #sp.points=np.zeros((2,2)) sp.meta={'timebase':.2} #sp.gather_upload(fnRec=fn+'.npz') #sp.plot_gather() #return xy=False #sp.gen_rand_points(n=14, scale=1000);sp.sort_points(xy=xy) #print(sp.points[:,0]) #sp.gen_swissmx_points(width=1000, ofs=(-500, 0)); #sp.points=np.array([[0.,1.],[1.,0.],[0.,-1.],[-1.,0.]]) #sp.points=np.array([[0.,1. ],[1. ,0.],[0.,-1. ],[-1. ,0.], # [0., 1.], [1., 0.], [0., -1.], [-1., 0.], # [0., 1.], [1., 0.], [0., -1.], [-1., 0.], # [0., 1.], [1., 0.], [0., -1.], [-1., 0.], # [0., 1.], [1., 0.], [0., -1.], [-1., 0.], # ]) # [0.,1.2],[1.2,0.],[0.,-1.2],[-1.2,0.], # [0.,1.4],[1.4,0.],[0.,-1.4],[-1.4,0.], # [0.,1.6],[1.6,0.],[0.,-1.6],[-1.6,0.], # [0.,1.8],[1.8,0.],[0.,-1.8],[-1.8,0.], # [0.,2. ],[2. ,0.],[0.,-2. ],[-2. ,0.], # [0., 1.]]) #sp.points*=100 #sp.gen_spiral_points(rStart=100,rInc=10,numSeg=4,numCir=60, ofs=(0, 0)) sp.gen_spiral_points(rStart=100,rInc=10,numSeg=8,numCir=12, ofs=(0, 0)) #sp.gen_closed_shifted() #sp.gen_grid_points(w=10,h=10,pitch=100,rnd=0,ofs=(0,0));sp.sort_points(False); #sp.gen_grid_points(w=1,h=10,pitch=100,rnd=0,ofs=(0,0)) #sp.setup_motion(fnPrg=fn + '.prg', mode=1, pt2pt_time=40,scale=0) #sp.setup_motion(fnPrg=fn + '.prg', mode=1, pt2pt_time=40,scale=1) sp.setup_gather(acq_per=1) sp.setup_sync(mode=1) #sync with timing system and PLC to sync speed (PROG) sp.setup_coord_trf() # reset to shape path system sp.setup_motion(fnPrg=fn + '.prg', mode=3, pt2pt_time=40,scale=1,dwell=10) sp.run() sp.gather_upload(fnRec=fn+'.npz') sp.plot_gather(mode=11) exit(0) # fn='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/data/'+time.strftime('%y-%m-%d-%H_%M_%S') #>>>point source and sorting<<< #sp.points = np.array([[100,523],[635,632],[756,213]]) #sp.points = np.array([[0, 0],[100, 0],[200, 0],[300, 0],[400, 0],[400, 100],[300, 100],[200, 100],[100, 100],[0, 100],[10, 200],[100, 200],[200, 200],[300, 200],[400, 200],[410, 300],[300, 300],[200, 300],[100, 300],[0, 300],[0, 400],[100, 400],[200, 400],[300, 400],[400, 400]]) #sp.gen_rand_points(n=107, scale=1000);sp.sort_points(xy=xy) #sp.gen_rand_points(n=107, scale=1000);sp.sort_points(xy=xy) #fh=np.load('/sf/bernina/data/p17592/res/20181203/imprints/chip000_preloc_min10um_sortedX_refs_goaround/chip000_preloc_min10um_sortedX_refs_goaround_0529.npz') #sp.points=fh['pts'] sp.gen_grid_points(w=6,h=6,pitch=100,rnd=0,ofs=(0,0));sp.sort_points(False); sp.gen_closed_shifted() sp.points=sp.points-+sp.points[0,:]+(-967,1446) #1412.33 -2862.37 #1446.62 -967.7128125 #sp.plot_points(sp.points);plt.show() #sp.gen_grid_points(w=100,h=100,pitch=10,rnd=.2) #sp.gen_swissfel_points(width=1000,ofs=(-500,0));sp.sort_points(xy=xy) #sp.gen_grid_points(w=10,h=10,pitch=50,rnd=.2) #sp.gen_grid_points(w=100,h=100,pitch=50,rnd=.2) #sp.setup_gather(acq_per=1) #Gather.MaxLines=116508 580pts sp.setup_gather(acq_per=2) #setup_sync(self, crdId=1, prgId=2, plcId=2, mode=0, **kwargs): #sp.setup_sync() #no sync at all #sp.setup_sync(mode=1) #sync with timing system (PROG) sp.setup_sync(mode=2) #sync with timing system and PLC to sync speed (PROG) sp.setup_coord_trf() # reset to shape path system sp.setup_motion(fnPrg=fn + '.prg', mode=1, pt2pt_time=40) #sp.gen_grid_points(w=2,h=2,pitch=50,rnd=.2);sp.sort_points(xy);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=10,acq_per=1) #sp.gen_swissmx_points(width=1000,ofs=(-500,0));sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=40,acq_per=1) #sp.gen_grid_points(w=30,h=30,pitch=50,rnd=.2);sp.sort_points(xy);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=40) #sp.gen_grid_points(w=200,h=200,pitch=50,rnd=.2);sp.sort_points(xy);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=40) #sp.gen_grid_points(w=2,h=20,pitch=50,rnd=0);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=10,acq_per=1) #sp.gen_rand_points(n=500, scale=1000);sp.sort_points(xy);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=10,acq_per=1) #sp.gen_grid_points(w=30,h=30,pitch=50,rnd=0.2);sp.sort_points(xy);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=40) #sp.gen_rand_points(n=400, scale=1000);sp.sort_points(xy);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=10) #sp.gen_swissmx_points(width=2000,flipx=True,flipy=True,ofs=(1014,-281));sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=40,acq_per=1) #sp.gen_grid_points(w=20,h=20,pitch=20,rnd=0,ofs=(-464,1754));sp.sort_points(True);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=40) #sp.gen_grid_points(w=20,h=20,pitch=20,rnd=0,ofs=(-160,3700));sp.sort_points(False);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=40) #sp.gen_grid_points(w=5,h=5,pitch=100,rnd=0,ofs=(-1590,-1070));sp.sort_points(False);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=40) #sp.gen_grid_points(w=5,h=5,pitch=100,rnd=0,ofs=(-1580,-1070));sp.sort_points(False);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=40) #sp.gen_grid_points(w=5,h=5,pitch=100,rnd=0,ofs=(-1580,-1060));sp.sort_points(False);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=40) #sp.gen_grid_points(w=5,h=5,pitch=100,rnd=0,ofs=(-1590,-1060));sp.sort_points(False);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=40) #>>>setup gather and sync<<< #sp.setup_gather() #sp.setup_sync() #>>>setup motion program<<< #sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=10,acq_per=1) #>>>run gather and plot trajectory<<< #return sp.run() #trigger(0.5) sp.gather_upload(fnRec=fn+'.npz') sp.plot_gather(mode=11) # cfg={"points": [[100,523],[635,632],[756,213]],"sequencer":[sort_points,move_trj+')']} #cfg={"sequencer":['gen_rand_points(n=107, scale=1000)',sort_points,move_trj+')']} # cfg={"sequencer":['gen_grid_points(w=10,h=10,pitch=100,rnd=.2)',sort_points,move_trj+')']} # cfg={"sequencer":['gen_grid_points(w=10,h=10,pitch=100,rnd=0.2)',sort_points,move_trj+')']} # cfg = {"sequencer": ['gen_rand_points(n=107, scale=1000)', sort_points]} # cfg={"sequencer":['gen_grid_points(w=20,h=20,pitch=50,rnd=.2)',sort_points,move_trj+')']} # cfg={"sequencer":['gen_grid_points(w=20,h=20,pitch=50,rnd=.2)',sort_points,move_trj+')']} # cfg={"sequencer":['gen_rand_points(n=400, scale=1000)',sort_points,move_trj+')']} # cfg = {"sequencer": ['gen_grid_points(w=20,h=20,pitch=50,rnd=.2)', sort_points,move_trj+',mode=0)',]} # cfg = {"sequencer": ['gen_grid_points(w=5,h=5,pitch=50,rnd=.2)', sort_points,move_trj+',mode=1)',]} # cfg = {"sequencer": ['gen_grid_points(w=2,h=2,pitch=100,rnd=0)', sort_points,move_trj+',mode=0)',]} # cfg = {"sequencer": ['gen_grid_points(w=5,h=5,pitch=100,rnd=0.2)', sort_points,move_trj+',mode=0)',]} # cfg = {"points": [[0, 0],[100, 0],[200, 0],[300, 0],[400, 0],[400, 100],[300, 100],[200, 100],[100, 100],[0, 100],[10, 200],[100, 200],[200, 200],[300, 200],[400, 200],[410, 300],[300, 300],[200, 300],[100, 300],[0, 300],[0, 400],[100, 400],[200, 400],[300, 400],[400, 400]],"sequencer": [move_trj+',mode=0)',]} # cfg = {"sequencer": ['gen_grid_points(w=2,h=2,pitch=10000,rnd=0)', sort_points,move_trj+',mode=-1)',]} # cfg = {"sequencer": ['gen_grid_points(w=2,h=2,pitch=10000,rnd=0)', sort_points,move_trj+',mode=1,pt2pt_time=1000)',]} # cfg = {"sequencer": ['gen_grid_points(w=20,h=20,pitch=50,rnd=0.2)', sort_points,move_trj+',mode=1,pt2pt_time=10,acq_per=10)',]} # cfg = {"sequencer": ['gen_rand_points(n=400, scale=1000)', sort_points,move_trj+',mode=1,pt2pt_time=10)',]} #cfg={"sequencer": ['gen_grid_points(w=40,h=40,pitch=100,rnd=0.4)', sort_points, # move_trj+',mode=1,pt2pt_time=10,cnt=1)', # ]} # 900npoints is a too big code block... and creates unfixable buffe locks #cfg={"sequencer": ['gen_rand_points(n=5000, scale=100)', sort_points, # move_trj+',mode=1,pt2pt_time=4,acq_per=10)', # ]} # cfg = {"sequencer": ['gen_swissfel_points(scale=300)',move_trj+',mode=1,pt2pt_time=100,acq_per=10)',]} # cfg = {"sequencer": ['opt_pts("'+fn+'.npz")','move_trajectory(file="'+fn+'_corr.prg",mode=1,pt2pt_time=10,cnt=1)', ("'+fn+'_corr.npz")']} # cfg = {"sequencer": ['opt_pts("'+fn+'.npz")',move_trj+',mode=1,pt2pt_time=10,cnt=1)']} # cfg = {"sequencer": ['gen_grid_points(w=5,h=5,pitch=100,rnd=0.4)', sort_points,move_trj+',mode=1,pt2pt_time=10,cnt=1)']} #cfg['sequencer'].append(gt_upld) #cfg['sequencer'].append('plot_gather()') from optparse import OptionParser, IndentedHelpFormatter class MyFormatter(IndentedHelpFormatter): 'helper class for formating the OptionParser' def __init__(self): IndentedHelpFormatter.__init__(self) def format_epilog(self, epilog): if epilog: return epilog else: return "" def parse_args(): 'main command line interpreter function' #usage: gpasciiCommunicator.py --host=PPMACZT84 myPowerBRICK.cfg (h, t)=os.path.split(sys.argv[0]);cmd='\n '+(t if len(h)>3 else sys.argv[0])+' ' exampleCmd=('-n', '-v15' ) epilog=__doc__+''' Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n ' fmt=MyFormatter() parser=OptionParser(epilog=epilog, formatter=fmt) parser.add_option('-v', '--verbose', type="int", dest='verbose', help='verbosity bits (see below)', default=0) parser.add_option('--host', help='hostname', default='SAR-CPPM-EXPMX1') #parser.add_option('--host', help='hostname') (args, other)=parser.parse_args() args.other=other run_test(args) #------------------ Main Code ---------------------------------- #ssh_test() ret=parse_args() exit(ret)