428 lines
14 KiB
Python
Executable File
428 lines
14 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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4 list program
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4 upload progress
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8 plot gather path
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prog_1(),plot_1(): position dependent friction(=current) Move multiple times with different speeds
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generate friction lut and save to friction.mat
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prog_2(),plot_2(): plot position speed acceleration. Move multiple times with different accelerations
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Acquired time is:MaxSamples*Period*.2
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'''
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import os, sys, json
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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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import telnetlib
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from utilities import *
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os.environ['PATH']='/home/zamofing_t/scripts/:'+os.environ['PATH']
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class MoveRecord:
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def __init__(self,args):
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fn='/tmp/moverecord'
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self.fnPrg=fn+'.prg'
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self.fnNpz=fn+'.npz'
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#cfg = {"sequencer": ['prog_1(host="SAROP11-CPPM-MOT6871",acq_per=10)', 'plot_1()']}
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#cfg = {"sequencer": ['plot_1()']}
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cfg = {"sequencer": ['prog_2(host="SAROP11-CPPM-MOT6871",acq_per=10)', 'plot_2()']}
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#cfg = {"sequencer": ['plot_2()']}
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self.cfg=dotdict(cfg)
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self.args=args
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def run(self):
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print('args='+str(self.args))
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print('cfg='+str(self.cfg))
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try:
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sequencer= self.cfg.pop('sequencer')
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except KeyError:
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print('no command sequence to execute')
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else:
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for cmd in sequencer:
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print '>'*5+' '+cmd+' '+'<'*5
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eval('self.' + cmd)
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def prg_prolog(self):
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prg=self.prg
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gather=self.gather
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channels=self.channels
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prg.append('Gather.Enable=0')
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prg.append('Gather.Items=%d'%len(channels))
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for k,v in gather.iteritems():
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prg.append('Gather.%s=%d'%(k,v))
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for i,c in enumerate(channels):
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prg.append('Gather.Addr[%d]=%s.a'%(i,c))
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prg.append('open prog %d'%(self.prgId))
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def prg_epilog(self):
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fnPrg=self.fnPrg
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fnNpz=self.fnNpz
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host=self.host
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prg=self.prg
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prg.append('close')
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prg.append('&1\nb%dr\n'%self.prgId)
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if self.args.verbose & 4:
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for ln in prg:
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print(ln)
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if fnPrg is not None:
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fh=open(fnPrg,'w')
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fh.write('\n'.join(prg))
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fh.close()
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if host is not None:
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cmd ='gpasciiCommander --host '+host+' '+ fnPrg
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print cmd
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p = sprc.Popen(cmd, shell=True)#, stdout=sprc.PIPE, stderr=sprc.STDOUT)
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#res=p.stdout.readlines(); print res
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retval = p.wait()
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#gather -u /var/ftp/gather/out.txt
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cmd ='PBGatherPlot -m24 -v7 --host '+host
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print cmd
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p = sprc.Popen(cmd, shell=True)#, stdout=sprc.PIPE, stderr=sprc.STDOUT)
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retval = p.wait()
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meta = self.meta
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channels = self.channels
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fnLoc='/tmp/gather.txt'
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rec = np.genfromtxt(fnLoc, delimiter=' ')
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# rec=Motor[1].ActPos,Motor[2].ActPos,Motor[3].ActPos,Motor[1].DesPos,Motor[2].DesPos,Motor[3].DesPos
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# res=rot.ActPos,y.ActPos,x.ActPos,rot.DesPos,y.DesPos,x.DesPos
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# idx 0 1 2 3 4 5
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if fnNpz:
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np.savez_compressed(fnNpz, rec=rec, prg=self.prg, channels=self.channels, meta=meta)
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def prog_1(self,prgId=2,host=None,acq_per=1):
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'''
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kwargs:
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acq_per : acquire period: acquire data all acq_per servo loops (default=1)
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prgId : used program number
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file : used filename to save if None, not saved
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host : host to send and execute program, if None, nothing is executed
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'''
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ServoPeriod= .2 #0.2ms Sys.ServoPeriod is dependent of !common() macro
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self.prgId=prgId
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self.file=file
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self.host=host
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self.gather={"MaxSamples":1000000, "Period":acq_per}
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self.channels=["Motor[3].ActPos","Motor[3].DesPos","Motor[3].PhasePos","Motor[3].idMeas","Motor[3].iqMeas"]
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self.meta=meta = {'timebase': ServoPeriod*self.gather['Period']}
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self.prg=prg=[]
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#prg.append('#1..3$')
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#prg.append('#1..3j/')
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self.prg_prolog()
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prg=self.prg
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prg.append(' linear abs')
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prg.append('jog3=100')
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prg.append('dwell 100')
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prg.append('Gather.Enable=2')
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#for spd in (5,10,20,30,40):
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for spd in (10,10,10,10,20,20,20,20,20,20):
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prg.append('Motor[3].JogSpeed=%d'%spd)
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#prg.append('jog3=27000')
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prg.append('jog3=28500')
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prg.append('dwell 100')
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prg.append('jog3=100')
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prg.append('dwell 100')
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prg.append('Gather.Enable=0')
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meta['HomePos']=-4885.72 #set the value of Motor[3].HomePos
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self.prg_epilog()
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#!mx-stage()
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# &1 #1->0
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# &1 #2->0
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# #3$
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# an anschlag (kabel) bewegen
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# #3hmz
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# Motor[3].PhasePos=1200
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# #3j/
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# &1p
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@staticmethod
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def onclick(event):
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print 'button=%s, x=%d, y=%d, xdata=%f, ydata=%f'%(
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event.button, event.x, event.y, event.xdata, event.ydata)
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obj=event.canvas.figure.obj
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def plot_1(self):
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try:
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rec=self.rec
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prg=self.prg
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channels=self.channels
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meta=self.meta
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except AttributeError:
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fh=np.load(self.fnNpz)
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rec=fh['rec']
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prg=list(fh['prg'])
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channels=list(fh['channels'])
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meta=fh['meta'].item()
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actPos=rec[:,0]-meta['HomePos']
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desPos=rec[:,1]-meta['HomePos']
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desVel=np.diff(desPos)
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time=np.arange(0,rec.shape[0])*meta['timebase']
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fig=plt.figure();
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fig.obj=self; cid=fig.canvas.mpl_connect('button_press_event', self.onclick)
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fig.canvas.set_window_title('position')
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ax = fig.add_subplot(1,1,1)
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hl=[]
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hl+=ax.plot(time,actPos,'r-',label=channels[0])
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hl+=ax.plot(time,desPos,'g-',label=channels[1])
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hl+=ax.plot(time,rec[:,2],'b-',label=channels[2])
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ax.xaxis.set_label_text('ms')
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ax.yaxis.set_label_text('um')
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legend = ax.legend(loc='upper right', shadow=True)
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fig=plt.figure();
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fig.obj=self; cid=fig.canvas.mpl_connect('button_press_event', self.onclick)
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fig.canvas.set_window_title('current')
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ax = fig.add_subplot(1,1,1)
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hl=[]
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sz=100; weights = np.repeat(1.0, sz) / sz
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v = np.convolve(rec[:,3], weights, 'same')
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hl+=ax.plot(time,v,'r-',label=channels[3])
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v = np.convolve(rec[:, 4], weights, 'same')
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hl+=ax.plot(time,v,'g-',label=channels[4])
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ax.xaxis.set_label_text('ms')
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ax.yaxis.set_label_text('current in bits')
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legend = ax.legend(loc='upper right', shadow=True)
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print 'abs average ',channels[4], np.abs(rec[:, 4]).mean()
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fig=plt.figure();
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fig.obj=self; cid=fig.canvas.mpl_connect('button_press_event', self.onclick)
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fig.canvas.set_window_title('friction(=current) at position current')
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ax = fig.add_subplot(1,1,1)
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hl=[]
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sz=10; weights = np.repeat(1.0, sz) / sz
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curr = np.convolve(rec[:,4], weights, 'same')
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hl+=ax.plot(desPos,curr,'y-',label=channels[4])
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sz=100; weights = np.repeat(1.0, sz) / sz
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idx=desVel[:-1]>0
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arg=np.argsort(desPos[idx])
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p1=desPos[idx][arg];c1=curr[idx][arg]
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c1 = np.convolve(c1, weights, 'same')
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idx=desVel[:-1]<0
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arg=np.argsort(desPos[idx])
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p2=desPos[idx][arg];c2=curr[idx][arg]
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c2 = np.convolve(c2, weights, 'same')
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hl+=ax.plot(p1,c1,'g-',label=channels[4]+' vel>0')
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hl+=ax.plot(p2,c2,'r-',label=channels[4]+' lut')
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#hl+=ax.plot(p1,c1-c1.mean(),'g-',label=channels[4]+' vel>0')
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#hl+=ax.plot(p2,c2-c2.mean(),'r-',label=channels[4]+' vel<0')
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cAll=c1;pAll=p1
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cAll=cAll-cAll.mean()
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#p=p[::100];c=c[::100] # poor selection of points
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p=np.arange(500,28000,100) #np.arange(500,28000,128)
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c=np.interp(p,pAll,cAll)
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hl+=ax.plot(p,c,'b.',label=channels[4]+' vel<0')
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FfricLut=np.array([p,c]).T
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Ffric=np.array([c1.mean(),c2.mean()])
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print 'Avg current forward:',Ffric[0],'Avg current backward:',Ffric[1]
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#print 'FfricLut',FfricLut
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print '//positions '+'%g,%g,%g'%tuple(p[0:3]),'...%g,%g,%g'%tuple(p[-3:])
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print 'float lutCur[%d]={'%len(p)
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for i in range(len(p)):
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print '%g,'%(c[i]),
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print '};'
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import scipy.io
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fn='/home/zamofing_t/afs/ESB-MX/data/friction.mat'
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#scipy.io.savemat(fn,mdict={'Ffric':Ffric,'FfricLut':FfricLut})
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print '\n\nuncomment line above to saved to matlab file',fn
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#ax.xaxis.set_label_text(channels[1])
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ax.yaxis.set_label_text('current in bits: '+channels[4])
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legend = ax.legend(loc='upper right', shadow=True)
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plt.show()
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def prog_2(self,prgId=2,host=None,acq_per=1):
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'''
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kwargs:
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acq_per : acquire period: acquire data all acq_per servo loops (default=1)
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prgId : used program number
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file : used filename to save if None, not saved
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host : host to send and execute program, if None, nothing is executed
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'''
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ServoPeriod= .2 #0.2ms Sys.ServoPeriod is dependent of !common() macro
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self.prgId=prgId
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self.file=file
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self.host=host
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self.gather={"MaxSamples":1000000, "Period":acq_per}
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self.channels=["Motor[3].ActPos","Motor[3].DesPos","Motor[3].PhasePos","Motor[3].idMeas","Motor[3].iqMeas"]
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self.meta=meta = {'timebase': ServoPeriod*self.gather['Period']}
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self.prg=prg=[]
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#prg.append('#1..3$')
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#prg.append('#1..3j/')
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self.prg_prolog()
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prg=self.prg
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prg.append(' linear abs')
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prg.append('Motor[3].JogTs=0')
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prg.append('Motor[3].JogSpeed=10')
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prg.append('Motor[3].JogTa=-2.5')
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prg.append('jog3=10000')
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prg.append('dwell 100')
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prg.append('Gather.Enable=2')
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for spd in (5,10,20,30,40):
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prg.append('Motor[3].JogSpeed=%d'%spd)
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#for acc in (-2.5,-1.25,-.5,-.25):
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# prg.append('Motor[3].JogTa=%g'%acc)
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prg.append('jog3=17000')
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prg.append('dwell 100')
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prg.append('jog3=10000')
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prg.append('dwell 1000')
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prg.append('Gather.Enable=0')
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self.prg_epilog()
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# &1 #1->0
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# &1 #2->0
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# #3$
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# an anschlag (kabel) bewegen
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# #3hmz
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# Motor[3].PhasePos=1200 # or for motor 2: Motor[2].PhasePos=300
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# #3j/
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# &1p
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#folgende parameter setzen: Motor[3].HomePos
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meta['HomePos']=-223.8 #Motor[3].HomePos
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meta['PhasePos']=1200 #Motor[3].PhasePos
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def plot_2(self):
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try:
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rec=self.rec
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prg=self.prg
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channels=self.channels
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meta=self.meta
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except AttributeError:
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fh=np.load(self.fnNpz)
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rec=fh['rec']
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prg=list(fh['prg'])
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channels=list(fh['channels'])
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meta=fh['meta'].item()
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time=np.arange(0,rec.shape[0])*meta['timebase']
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fig=plt.figure();
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fig.obj=self; cid=fig.canvas.mpl_connect('button_press_event', self.onclick)
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fig.canvas.set_window_title('position')
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ax = fig.add_subplot(1,1,1)
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hl=[]
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p_avg=rec[:,1].mean();
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p=rec[:,0]-p_avg
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hl+=ax.plot(time,p,'r-',label=channels[0])
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#d=np.diff(p)*100
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#hl+=ax.plot(time[1:],d,'r-',label='vel of '+channels[0])
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#a=np.diff(d)*100
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#hl+=ax.plot(time[2:],a,'r-',label='acc of '+channels[0])
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p=rec[:,1]-p_avg
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hl+=ax.plot(time,p,'g-',label=channels[1])
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d=np.diff(p)*50
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hl+=ax.plot(time[1:],d,'b-',label='vel of '+channels[0])
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a=np.diff(d)*50
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hl+=ax.plot(time[2:],a,'m-',label='acc of '+channels[0])
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#hl+=ax.plot(time,rec[:,2],'b-',label=channels[2])
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ax.xaxis.set_label_text('ms')
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ax.yaxis.set_label_text('um')
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legend = ax.legend(loc='upper right', shadow=True)
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fig=plt.figure();
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fig.obj=self; cid=fig.canvas.mpl_connect('button_press_event', self.onclick)
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fig.canvas.set_window_title('current')
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ax = fig.add_subplot(1,1,1)
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hl=[]
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sz=100; weights = np.repeat(1.0, sz) / sz
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v = np.convolve(rec[:,3], weights, 'same')
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hl+=ax.plot(time,v,'r-',label=channels[3])
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v = np.convolve(rec[:, 4], weights, 'same')
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hl+=ax.plot(time,v,'g-',label=channels[4])
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hl+=ax.plot(time,p/100.,'y-',label=channels[1])
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hl+=ax.plot(time,(rec[:,0]-p_avg)/100.,'g-',label=channels[0])
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hl+=ax.plot(time,(rec[:,0]-rec[:,1]),'c-',label='PosError')
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ax.xaxis.set_label_text('ms')
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ax.yaxis.set_label_text('current in bits')
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legend = ax.legend(loc='upper right', shadow=True)
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print 'abs average ',channels[4], np.abs(rec[:, 4]).mean()
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print 'abs average pos Error',np.abs(rec[:,0]-rec[:,1]).mean()
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plt.show()
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if __name__=='__main__':
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from optparse import OptionParser, IndentedHelpFormatter
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class MyFormatter(IndentedHelpFormatter):
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'helper class for formating the OptionParser'
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def __init__(self):
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IndentedHelpFormatter.__init__(self)
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def format_epilog(self, epilog):
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if epilog:
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return epilog
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else:
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return ""
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def parse_args():
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'main command line interpreter function'
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#usage: gpasciiCommunicator.py --host=PPMACZT84 myPowerBRICK.cfg
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(h, t)=os.path.split(sys.argv[0]);cmd='\n '+(t if len(h)>3 else sys.argv[0])+' '
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exampleCmd=('--host=PPMAC1391 -m 63 --cfg gather.cfg',
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'samplePowerBrick.cfg',
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'-n stackCheck1.cfg',
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'--host=PPMACZT84 stackCheck1.cfg',
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'--host=PPMACZT84 stackCheck1.cfg -v15',
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)
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epilog=__doc__+'''
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Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
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fmt=MyFormatter()
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parser=OptionParser(epilog=epilog, formatter=fmt)
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parser.add_option('-v', '--verbose', type="int", dest='verbose', help='verbosity bits (see below)', default=0)
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(args, other)=parser.parse_args()
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args.other=other
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mr=MoveRecord(args)
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mr.run()
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#------------------ Main Code ----------------------------------
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#ssh_test()
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ret=parse_args()
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exit(ret)
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