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782d5fc7585f24c0ab1584732732222faba6d6ee
PBSwissMX/python/shapepath.py
Thierry Zamofing 782d5fc758 add PBTuneing.py
2018-08-15 15:40:53 +02:00

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Python
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#!/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
#config file example:
{
"points": [
[100,523],[635,632],[756,213],
"sequencer":[
'gen_grid_points(w=10,h=10,pitch=100,rnd=.2)',
'sort_points()',
'gen_prog(file="'+fn+'.prg")',
'plot_gather("'+fn+'.npz")']
}
Sequencer functions are:
- generate points (if not in the 'points' configuration)
gen_rand_points(self,n=107,scale=1000)
gen_grid_points(w=10,h=10,pitch=100,rnd=.2)
- sorting points:
sort_points(self)
- generate/download/execute motion progran, upload trace of motors (gather data)
gen_prog(self,prgId=2,file=None,host=None)
if host=None nothing will be downloaded/executed and trace of motors will not be uploaded
if file=None the program will not be saved and nothing will be executed
gen_prog modes:
-1 jog a 10mm square
0 linear motion
1 pvt motion
2 spline motion
- plot gathered data
plot_gather("'+fn+'.npz")
this makes only sence, if motion has been executed and data can be gathered from the powerbrick
Acquired time is:MaxSamples*Period*.2
'''
import os, sys, json
import numpy as np
import matplotlib as mpl
import matplotlib.pyplot as plt
import subprocess as sprc
import telnetlib
from utilities import *
class ShapePath:
def __init__(self,args):
if args.cfg:
fh=open(args.cfg,'r')
s=fh.read()
cfg=json.loads(s, object_hook=ConvUtf8)
s=json.dumps(cfg, indent=2, separators=(',', ': '));print(s)
else:
fn='/tmp/shapepath4'
#fn='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/data/'+time.strftime('%y-%m-%d-%H_%M_%S')
#cfg={"points": [[100,523],[635,632],[756,213]],"sequencer":['sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1")','plot_gather("'+fn+'.npz")']}
#cfg={"sequencer":['gen_rand_points(n=107, scale=1000)','sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1")','plot_gather("'+fn+'.npz")']}
#cfg={"sequencer":['gen_grid_points(w=10,h=10,pitch=100,rnd=.2)','sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1")','plot_gather("'+fn+'.npz")']}
#cfg={"sequencer":['gen_grid_points(w=10,h=10,pitch=100,rnd=0.2)','sort_points()','gen_prog(file="'+fn+'.prg")','plot_gather("'+fn+'.npz")']}
#cfg = {"sequencer": ['gen_rand_points(n=107, scale=1000)', 'sort_points()','plot_gather("'+fn+'.npz")']}
#cfg={"sequencer":['gen_grid_points(w=20,h=20,pitch=50,rnd=.2)','sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1")','plot_gather("'+fn+'.npz")']}
#cfg={"sequencer":['gen_grid_points(w=20,h=20,pitch=50,rnd=.2)','sort_points()','gen_prog(file="'+fn+'.prg")','plot_gather("'+fn+'.npz")']}
#cfg={"sequencer":['gen_rand_points(n=400, scale=1000)','sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1")','plot_gather("'+fn+'.npz")']}
#cfg = {"sequencer": ['gen_grid_points(w=20,h=20,pitch=50,rnd=.2)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=0)', 'plot_gather("'+fn+'.npz")']}
#cfg = {"sequencer": ['gen_grid_points(w=5,h=5,pitch=50,rnd=.2)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=1)', 'plot_gather("'+fn+'.npz")']}
#cfg = {"sequencer": ['gen_grid_points(w=2,h=2,pitch=100,rnd=0)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=0)', 'plot_gather("'+fn+'.npz")']}
#cfg = {"sequencer": ['gen_grid_points(w=5,h=5,pitch=100,rnd=0.2)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=0)', 'plot_gather("'+fn+'.npz")']}
#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": ['gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=0)', 'plot_gather("'+fn+'.npz")']}
#cfg = {"sequencer": ['gen_grid_points(w=2,h=2,pitch=10000,rnd=0)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=-1)', 'plot_gather("'+fn+'.npz")']}
#cfg = {"sequencer": ['gen_grid_points(w=2,h=2,pitch=10000,rnd=0)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=1,pt2pt_time=1000)', 'plot_gather("'+fn+'.npz")']}
#cfg = {"sequencer": ['gen_grid_points(w=20,h=20,pitch=50,rnd=0.2)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=1,pt2pt_time=10,acq_per=10)', 'plot_gather("'+fn+'.npz")']}
#cfg = {"sequencer": ['gen_rand_points(n=400, scale=1000)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=1,pt2pt_time=10)', 'plot_gather("'+fn+'.npz")']}
cfg = {"sequencer": ['gen_grid_points(w=40,h=40,pitch=100,rnd=0.4)', 'sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=1,pt2pt_time=10,cnt=1)', 'plot_gather("'+fn+'.npz")']}
cfg = {"sequencer":['gen_rand_points(n=900, scale=1000)','sort_points()','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=1,pt2pt_time=40,acq_per=10)','plot_gather("'+fn+'.npz")']}
#cfg = {"sequencer": ['gen_swissfel_points(scale=300)','gen_prog(file="'+fn+'.prg",host="SAR-CPPM-EXPMX1",mode=1,pt2pt_time=100,acq_per=10)', 'plot_gather("'+fn+'.npz")']}
#cfg = {"sequencer": ['opt_pts("'+fn+'.npz")','gen_prog(file="'+fn+'_corr.prg",host="SAR-CPPM-EXPMX1",mode=1,pt2pt_time=10,cnt=1)', 'plot_gather("'+fn+'_corr.npz")']}
#cfg = {"sequencer": ['opt_pts("'+fn+'.npz")','gen_prog(file="'+fn+'.prg",mode=1,pt2pt_time=10,cnt=1)']}
#cfg = {"sequencer": ['gen_grid_points(w=5,h=5,pitch=100,rnd=0.4)', 'sort_points()','gen_prog(file="'+fn+'.prg",mode=1,pt2pt_time=10,cnt=1)']}
self.cfg=dotdict(cfg)
self.args=args
def run(self):
print('args='+str(self.args))
print('cfg='+str(self.cfg))
try:
self.points=np.array(self.cfg.points)
except AttributeError:
pass
try:
sequencer= self.cfg.pop('sequencer')
except KeyError:
print('no command sequence to execute')
else:
dryrun=self.args.dryrun
for cmd in sequencer:
print('>'*5+' '+cmd+' '+'<'*5)
if not dryrun:
eval('self.' + cmd)
def gen_swissfel_points(self,scale=10):
#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,:]=(5,0)
pts=pts.cumsum(0)
pts[:,1]=-pts[:,1]
pts*=scale
self.points=pts
verb=self.args.verbose
if verb&2:
self.plot_points(pts)
plt.show()
def gen_rand_points(self,n=107,scale=1000):
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):
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):
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[:,4:6]
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[:,1:3]+recPts[:,4:6])
self.points=pts
self.ptsCorr=ptsCorr
print(ptsCorr)
def gen_prog(self,prgId=2,file=None,host=None,mode=0,**kwargs):
'''
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=[]
acq_per=kwargs.get('acq_per',1)
gather={"MaxSamples":1000000, "Period":acq_per}
#Sys.ServoPeriod is dependent of !common() macro
ServoPeriod= .2 #0.2ms
#ServoPeriod = .05
self.meta = {'timebase': ServoPeriod*gather['Period']}
#channels=["Motor[1].ActPos","Motor[2].ActPos","Motor[3].ActPos"]
channels=["Motor[3].ActPos","Motor[2].ActPos","Motor[1].ActPos","Motor[3].DesPos","Motor[2].DesPos","Motor[1].DesPos"]
prg.append('Gather.Enable=0')
prg.append('Gather.Items=%d'%len(channels))
for k,v in gather.iteritems():
prg.append('Gather.%s=%d'%(k,v))
for i,c in enumerate(channels):
prg.append('Gather.Addr[%d]=%s.a'%(i,c))
prg.append('open prog %d'%(prgId))
# 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.
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')
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.args.verbose & 4:
for ln in prg:
print(ln)
if file is not None:
fh=open(file,'w')
fh.write('\n'.join(prg))
fh.close()
if host is not None:
cmd ='gpasciiCommander --host '+host+' '+ file
print(cmd)
p = sprc.Popen(cmd, shell=True)#, stdout=sprc.PIPE, stderr=sprc.STDOUT)
#res=p.stdout.readlines(); print res
retval = p.wait()
#gather -u /var/ftp/gather/out.txt
cmd ='PBGatherPlot -m24 -v7 --host '+host
print(cmd)
p = sprc.Popen(cmd, shell=True)#, stdout=sprc.PIPE, stderr=sprc.STDOUT)
retval = p.wait()
self.prg=prg
def sort_points(self):
pts=self.points
verb=self.args.verbose
#if verb&2:
# self.plot_points(pts)
cnt=pts.shape[0]
idx=np.ndarray(cnt,dtype=np.int32)
grp_cnt=int(np.sqrt(cnt))
grp_sz=int(np.ceil(float(cnt)/grp_cnt))
if self.args.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,fnOut='/tmp/shapepath.npz',fnLoc='/tmp/gather.txt'):
meta=self.meta
pts=self.points # X,Y array
rec = np.genfromtxt(fnLoc, delimiter=' ')
#rec=Motor[1].ActPos,Motor[2].ActPos,Motor[3].ActPos,Motor[1].DesPos,Motor[2].DesPos,Motor[3].DesPos
#res=rot.ActPos,x.ActPos,y.ActPos,rot.DesPos,x.DesPos,y.DesPos
#idx 0 1 2 3 4 5
ofsy=-rec[0,4]+pts[0,0]
ofsx=-rec[0,5]+pts[0,1]
rec[:,(1,4)]+=ofsy
rec[:,(2,5)]+=ofsx
if fnOut:
# time base:
# Gather.Period=10
# Sys.ServoPeriod=0.2 -> 5kHz
# -> aquired data all 10*0.2ms= 2 ms -> 30000 points = 60 sec
np.savez_compressed(fnOut, rec=rec, pts=pts, meta=meta)
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--')
hl = ax.plot(rec[:, 4], rec[:, 5], 'b-') # desired path
hl=ax.plot(rec[:,1],rec[:,2],'g-') # actual path
ax.xaxis.set_label_text('x-pos um')
ax.yaxis.set_label_text('y-pos um')
cid = fig.canvas.mpl_connect('button_press_event', self.onclick)
fig.obj=self
self.ax=ax
self.hl=hl
fig = plt.figure()
ax = fig.add_subplot(1, 1, 1)
errx=rec[:,1]-rec[:,4]
erry=rec[:,2]-rec[:,5]
err=np.sqrt(errx**2+erry**2)
hl = []
hl += ax.plot(errx, 'b-',label='x-error')
hl += ax.plot(erry, 'g-',label='y-error')
hl += ax.plot(err, 'r-',label='error')
ax.xaxis.set_label_text('datapoint (timebase: %g ms per data point)'%meta['timebase'])
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()))
plt.show()
if __name__=='__main__':
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('-n', '--dryrun', action='store_true', help='dryrun to stdout')
parser.add_option('--xy', action='store_true', help='sort x,y instead y,x')
parser.add_option('--cfg', help='config file containing json configuration structure')
(args, other)=parser.parse_args()
args.other=other
sp=ShapePath(args)
sp.run()
#------------------ Main Code ----------------------------------
#ssh_test()
ret=parse_args()
exit(ret)
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