726 lines
37 KiB
Python
Executable File
726 lines
37 KiB
Python
Executable File
#!/usr/bin/env python
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# *-----------------------------------------------------------------------*
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# | |
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# | Copyright (c) 2016 by Paul Scherrer Institute (http://www.psi.ch) |
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# | |
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# | Author Thierry Zamofing (thierry.zamofing@psi.ch) |
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# *-----------------------------------------------------------------------*
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'''
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shape an optimal path with given points
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verbose bits:
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1 basic info
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2 plot sorting steps
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4 list program
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4 upload progress
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8 plot gather path
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Gather motor order
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idx 0 1 2 3 4 5 6
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OLD Motor[3].ActPos Motor[2].ActPos Motor[1].ActPos Motor[3].DesPos Motor[2].DesPos Motor[1].DesPos Gate3[1].Chan[1].UserFlag
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NEW Motor[1].ActPos Motor[2].ActPos Motor[1].DesPos Motor[2].DesPos Gate3[1].Chan[1].UserFlag
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NEW y.ActPos x.ActPos y.DesPos x.DesPos Gate3[1].Chan[1].UserFlag
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OLD->NEW
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0->none
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1->1
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2->0
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3->none
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4->3
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5->2
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Mot 1: Stage Y Parker MX80L D11 25mm one pole cycle = 13mm = 2048 phase_step
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Mot 2: Stage X Parker MX80L D11 25mm one pole cycle = 13mm = 2048 phase_step
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Mot 3: Rotation stage LS Mecapion MDM-DC06DNC0H 32 poles = 1 rev = 16*2048=32768 phase_step
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Mot 4: Stage X Stada Stepper 670mA 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
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Mot 5: Stage Z Stada Stepper 670mA 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
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Enc 6: Interferometer Y
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Enc 7: Interferometer X
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'''
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from __future__ import print_function
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import os, sys, time
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import numpy as np
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import matplotlib as mpl
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import matplotlib.pyplot as plt
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import subprocess as sprc
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sys.path.insert(0,os.path.expanduser('~/Documents/prj/SwissFEL/PBTools/'))
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#sys.path.insert(0,'/sf/bernina/config/swissmx/zamofing_t')
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#sys.path.insert(0,'/sf/bernina/config/swissmx/zamofing_t/pbtools/misc/')
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from pbtools.misc.pp_comm import PPComm
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from pbtools.misc.gather import Gather
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from MXMotion import MotionBase
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class ShapePath(MotionBase):
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def __init__(self,comm, gather, verbose):
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MotionBase.__init__(self,comm, gather, verbose)
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def gen_swissmx_points(self,flipx=False,flipy=False,ofs=(0,0),width=1000):
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'generathe a path that writes swissfel'
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#string from inkscape path of the drawing
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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"
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d=d.split()
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pts=np.ndarray((len(d)-1,2),dtype=np.float)
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for i in xrange(pts.shape[0]):
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pts[i,:]=map(float,d[i+1].split(','))
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pts[0,:]=(0,0)
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pts=pts.cumsum(0)
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pts=pts[::-1,:]
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pts=pts-pts[0]
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pts*=width/pts[:,0].max()
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if flipx: pts[:,0]=-pts[:,0]
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if not flipy: pts[:,1]=-pts[:,1]
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pts+=ofs
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self.points=pts
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verb=self.verbose
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if verb&2:
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self.plot_points(pts)
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plt.show()
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def gen_swissfel_points(self,flipx=False,flipy=False,ofs=(0,0),width=1000):
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'generathe a path that writes swissfel'
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#string from inkscape path of the drawing
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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):
|
|
'generate random distributed points'
|
|
np.random.seed(0)
|
|
#data=np.random.randint(0,1000,(30,2))
|
|
pts=np.random.rand(n,2)*scale
|
|
self.points=pts
|
|
|
|
def gen_grid_points(self,w=10,h=10,pitch=100,rnd=.2):
|
|
'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[:,0]+=500
|
|
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")
|
|
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 <prgId> and saves to fnPrg
|
|
the type of generated program is defined by <mode>
|
|
2. runs the program on the deltatau
|
|
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
|
|
'''
|
|
prg=['close all buffers','open prog %d'%(prgId)]
|
|
comm=self.comm
|
|
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==1: #### pvt 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.
|
|
self.meta['pt2pt_time']=pt2pt_time
|
|
try:
|
|
cnt=kwargs['cnt'] #move path multiple times
|
|
except KeyError:
|
|
cnt=1
|
|
try:
|
|
pt=self.ptsCorr
|
|
except AttributeError:
|
|
pt=self.points
|
|
vel=pt[2:,:]-pt[:-2,:]
|
|
#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)]=2*pt[0,:]-pt[1,:]
|
|
pv[ 0,(0,1)]=pt[0,:]
|
|
pv[ 1:-1,(0,1)]=pt
|
|
#pv[ -1,(0,1)]=2*pt[-1,:]-pt[-2,:]
|
|
pv[ -1,(0,1)]=pt[-1,:]
|
|
pv[(0,0,-1,-1),(2,3,2,3)]=0
|
|
dist=pv[2:,(0,1)] - pv[:-2,(0,1)]
|
|
pv[ 1:-1,(2,3)] = 1000.*dist/(2.*pt2pt_time)
|
|
|
|
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')
|
|
pass
|
|
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]):
|
|
prg.append('X%g:%g Y%g:%g'%tuple(pv[idx,(0,2,1,3)]))
|
|
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 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.
|
|
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()
|
|
gpascii.send_block(prg)
|
|
|
|
#if self.host is not None:
|
|
# cmd ='gpasciiCommander --host '+self.host+' '+ fnPrg
|
|
# print(cmd)
|
|
# p = sprc.Popen(cmd, shell=True)#, stdout=sprc.PIPE, stderr=sprc.STDOUT)
|
|
# #res=p.stdout.readlines(); print res
|
|
# retval = p.wait()
|
|
self.prg=prg
|
|
|
|
def gather_upload(self,fnRec=None):
|
|
gt=self.gather
|
|
gt.wait_stopped(verbose=True)
|
|
self.rec=rec=gt.upload()
|
|
|
|
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)
|
|
#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)
|
|
#hl=ax[0].plot(x, y, color=col)
|
|
hl=ax.plot(pts[:,0],pts[:,1],'r.')
|
|
hl=ax.plot(pts[:,0],pts[:,1],'y--')
|
|
hl=ax.plot(rec[:,3],rec[:,2], 'b-') # desired path
|
|
hl=ax.plot(rec[:,1],rec[:,0],'g-') # actual path
|
|
ax.xaxis.set_label_text('x-pos um')
|
|
ax.yaxis.set_label_text('y-pos um')
|
|
ax.axis('equal')
|
|
cid = fig.canvas.mpl_connect('button_press_event', self.onclick)
|
|
fig.obj=self
|
|
self.ax=ax
|
|
self.hl=hl
|
|
|
|
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
|
|
ofs = l2.argmin()
|
|
print(l2[ofs])
|
|
idx += ofs
|
|
idxInPos.append(idx)
|
|
idx += rng / 2
|
|
|
|
idxInPos = np.array(idxInPos)
|
|
jitter=idxInPos-idxTrigger[:idxInPos.shape[0]]
|
|
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 (ms)')
|
|
|
|
|
|
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'
|
|
#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
|
|
# 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_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)
|
|
|
|
|
|
#setup_gather(self, 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 (PLC)
|
|
sp.setup_sync(mode=2) #sync with timing system (PROG)
|
|
|
|
#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=20,h=20,pitch=10,rnd=0);sp.sort_points(xy);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<<<
|
|
sp.run()
|
|
trigger(0.5)
|
|
sp.gather_upload(fnRec=fn+'.npz')
|
|
sp.plot_gather()
|
|
|
|
|
|
# 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)
|