generate trajectories and motion programs for SwissMX (shapepath.py and helicalscan.py[obsolete])
motion synchronization executables (triggerSync) for Deltatau
analyse recorded trajectories on SwissMX (ShapePathAnalyser)
motor tuning tools (MXTuning)
documentation about the tuning results (MXfastStageDoc)

motion start/framesynchronization (update31.10.24)

For more details about triggerSync read: src/triggerSync/Readme.md

Important used vaiables:

Coord[1].Q[0] : sync points indicator: (at whick point is the motion program)
               val: desc                                    set in code
                -3: waiting at start position               motion code generated in MXMotion.py:setup_sync(mode=?)
                -2: got start trigger                       triggerSync.c:trigsync_func(mode&1) else motion code generated in MXMotion.py:setup_sync(mode=?)
                 0: after MXMotion.py:setup_sync call       triggerSync.c:trigsync_func(mode&1)
               idx: index of position during run            triggerSync.c:trigsync_func(mode&1)
                -1: motion is finished                      MXMotion.py:setup_sync(mode=?)

Gather.Enable : mode of gathering data 
                1: prepared (calculate Gather.MaxLines)     MotionBase.py:setup_gather()
                2: finite                                   motion code: during data gathering
                0: disabled                                 motion code: when gather finished

Gather.Samples : number af gathered data samples

MXMotion.py:setup_sync():
 sync_mode : default=2
         0 : no sync at all
         1 : synchronize start
         2 : synchronize start and adapt motion speed
 
 sync_flag : default=0
   bit 0=1 : simulated start trigger
   bit 1=2 : simulated frame trigger

triggerSync.c mode:
 bit0:1: sync mode
 bit1:2: simulate start trigger
 bit2:4: simulate frame trigger
 bit3:8: verbose

start/frame event system

Start event:
  sim: Coord[1].Q[10]
  EVR: Gate3[1].Chan[0].UserFlag == (gate3_1->Chan[0].Status&0x800) == FrontUnivOut4,  EPICS MACRO: $(USR_FLAG_ID)=5
       -> Pulser0 -> (active Low, 5000us delay   0us) Map: 214
         -> event 214 is 'ESC multipurpose event. In this case used as: start motion'

Frame event:
  sim: Coord[1].Q[11]
  EVR: Gate3[1].Chan[1].UserFlag == (gate3_1->Chan[1].Status&0x800) == FrontUnivOut5,  EPICS MACRO: $(USR_FLAG_ID)=5 
       -> Pulser1 -> (active Low, 5000us delay 750us) Map: 40
         -> event 40 = 'ESA_detector 100 Hz' >>> should be 77='ESC detector'

unused EVR input?: 
  EVR: Gate3[1].Chan[2].UserFlag == (gate3_1->Chan[2].Status&0x800) == FrontUnivOut6,  EPICS MACRO: $(USR_FLAG_ID)=7 

!!! Deltatau flags are inverted: FrontUnivOut6(Force Low) -> Gate3[1].Chan[2].UserFlag==1

event	simulated	real
start	Coord[.].Q[10]	Gate3[1].Chan[0].UserFlag
frame	Coord[.].Q[11]	Gate3[1].Chan[1].UserFlag

frequence jitter 50Hz Swissgrid: https://www.swissgrid.ch/de/home/operation/grid-data/current-data.html

partial python class diagram of PBSwissMX

classDiagram
MotionBase <|-- ShapePath
MotionBase <|-- HelicalScan

  class MotionBase {
    @MXMotion.py
    + setup_sync(self, crdId, prgId, verbose, timeOfs, timeCor)
    + homing(self)
    + run(self, crdId)
    + wait_armed(self, crdId)
    + progress(self)
    + trigger(self, wait)
  }

  class ShapePath {
    @shapepath.py
    %%- __init__(self, args) None
    + setup_gather(self,acq_per=None,numPts=None)
    + setup_coord_trf(self,fx='X',fy='Y',cz='0')
    + setup_motion(self,prgId=2,fnPrg=None,mode=0,**kwargs)
    + gather_upload(self,fnRec=None)
  }

  class HelicalScan {
    @helicalscan.py [obsolete]
    + setup_gather(self,acq_per=1)
    + setup_coord_trf(self,fnCrdTrf='/tmp/coordTrf.cfg')
    + setup_motion(self,prgId=2,fnPrg=None,mode=0,**kwargs)
    + gather_upload(self,fnRec=None)
  }

  class GenPath {
    @shapepath.py
    + swissmx(self, flipx, flipy, ofs, width)
    + swissfel(self, flipx, flipy, ofs, width)
    %%+ rand(self, n, scale, ofs)
    + grid(self, w, h, pitch, rnd, ofs)
    %%+ spiral(self, rStart, rInc, numSeg, numCir, phase, ofs)
    %%+ closed_shifted(self, pitch, shift, mult)
    %%+ sort(self, mode, grp_sz)
  }

Simplified Python sequence

Source for the instance "start/frame event system" can be:

python code
timing system (EVR)
motion code
triggerSync executable running on Deltatau

sequenceDiagram
  participant es as start/frame<br/>event system
  participant py as Python
  participant pb as PowerBrick

  Note over py: .setup_sync()<br/>prepare code snipplets
  activate py
  opt needs triggerSync
    Note over es,pb: triggerSync is needed in  case of:<br/>simulated start/frame triggers<br/>and/or adjust DesTimeBase
    py -) pb: sftp / ssh
  Note over pb: sftp triggerSync<br/>run triggerSync
    pb ->> es: run triggerSync
  end

  Note over py: .setup_coord_trf()
  py -) pb: download code
  Note over pb: setup coordinate transformation
  Note over py: .setup_motion()
  py -) pb: generate code<br/>download code
  Note over pb: setup motion program
  Note over py: .setup_gather()
  py -) pb: download code<br/>set gather vars
  Note over pb: set addresses to gather<br/>Gather.Enable=1
  Note over py: .homing()
  py -)+ pb: download code<br/>run homing PLC
  Note over py: wait(Motor[1].HomeComplete)
  deactivate py
  Note over pb: runs homing PLC [if needed]<br/>enable plc 1
  pb ->>- py: Motor[1].HomeComplete
  activate py
  Note over py: .run()
  py -)+ pb: run motion program
  Note over pb: runs motion program 2 in coordSystem 1<br/>&1br2
  Note over pb: move to first point<br/>DesTimeBase=0 (wait motion)<br/>Q[0]=-3 (motion program waiting at start position)
  pb ->>- es: Q[0]=-3
  Note over es: Q[0]=-2 (event system armed)<br/>[in motion code or<br/>triggerSync exe]
  Note over py: .wait_armed()<br/>wait(Q[0]==-2)  # wait until motors are at first position
  deactivate py
  es ->>+ py: Q[0]=-2
  Note over es: wait for start trigger
    Note over py: .trigger()
  alt sim start trig
    Note over py: Q[10]=1 [send a simulated start trigger<br/>after given time]
    py ->> es: Q[10]=1
  else real start trig
    es->> es: Gate3[1].Chan[0].UserFlag==1
  end
  Note over es: DesTimeBase=Sys.ServoPeriod<br/>[in motion code or<br/>triggerSync exe]
  es->>+pb: continue motion
  opt adjust time base
    Note over es: in thread trigger_sync_func()<br/>of triggerSync exe 
    es->>es: adjust DesTimeBase
  end
  Note over pb: pvt10abs<br/>move to all points
  loop 10 ms
    Note over pb: move to next point
  end
  opt triggerSync running
    pb ->> es: Gather.Enable=0
    Note over es: exit triggerSync exe
  end
  Note over py: while .progress()<br/>wait(Gather.Enable==0)
  deactivate py
  Note over pb: end motion program
  pb ->>- py: Gather.Enable=0
  activate py
  Note over py: .gather_upload()
  deactivate py