202 lines
6.8 KiB
Python
202 lines
6.8 KiB
Python
#!/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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Coord[1].Q[0] : sync points when using setup_sync(mode=2)
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0: after setup_sync(mode=2) call
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idx: index of position during run
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-1: pvt motion is finished
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Coord[1].Q[1] : sync trigger: when setup_sync(mode=1 or 2)
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0: idle
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1: waiting for trigger
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2: running
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Gather.Enable : 1: after .setup_gather() called
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2: during data gathering
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0: when gather finished
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Gather.Samples : number af gathered data samples
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'''
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import os,sys,time
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sys.path.insert(0,os.path.expanduser('~/Documents/prj/SwissFEL/PBTools/'))
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#import pbtools.misc.pp_comm as pp_comm -> pp_comm.PPComm
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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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class MotionBase:
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def __init__(self, comm, gather, verbose,**kwargs):
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self.comm=comm
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self.gather=gather
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self.verbose=verbose
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#ServoPeriod=0.2 #ms, Sys.ServoPeriod is dependent of !common() macro
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if comm is None:
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ServoPeriod=.2
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else:
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ServoPeriod=comm.gpascii.servo_period*1000
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self.meta={'srv_per':ServoPeriod,'pt2pt_time':40,'sync_flag':0,'sync_mode':2}
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self.meta.update(kwargs)
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def setup_sync(self, crdId=1, prgId=2,verbose=False, timeOfs=0.):
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'''setup the timing synchronization for the motion program
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kwargs:
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sync_mode : default=2
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0 : no sync at all
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1 : synchronize start
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2 : synchronize start and adapt motion speed
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this function generates the code blocks:
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self.sync_wait and self.sync_run
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sync_wait can be put in the program to force a timing sync
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sync_run are the commands to run the whole program
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sync_flag : default=0
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bit 0=1 : simulated start trigger
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bit 1=2 : simulated frame trigger
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0 : real start and frame trigger
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1 : simulated start and real frame trigger
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2 : real start and simulated frame trigger
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3 : simulated start and frame trigger
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pt2pt_time : time point to point (needed sor sync code)
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'''
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sync_mode=self.meta['sync_mode']
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sync_flag=self.meta['sync_flag']
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pt2pt_time=self.meta['pt2pt_time']
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print({0:'no sync at all',1:'sync at start only',2:'sync on each shot'}[sync_mode])
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if sync_mode!=0:
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print({0: 'real start trigger', 1: 'simulated start trigger'}[sync_flag&1])
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print({0: 'real frame trigger', 2: 'simulated frame trigger'}[sync_flag&2])
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self.sync_run = '&{crdId}b{prgId}r'''.format(prgId=prgId, crdId=crdId)
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if sync_mode==0:
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try:
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del self.sync_prg
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except AttributeError:
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pass
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elif sync_mode in(1,2):
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#frequence jitter 50Hz Swissgrid:
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#https://www.swissgrid.ch/de/home/operation/grid-data/current-data.html#
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flag0='Coord[{crdId}].Q[10]'.format(crdId=crdId) if sync_flag&1 else 'Gate3[1].Chan[0].UserFlag'
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flag1='Coord[{crdId}].Q[11]'.format(crdId=crdId) if sync_flag&2 else 'Gate3[1].Chan[1].UserFlag'
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if sync_mode==1:
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prg = '''
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Coord[{crdId}].Q[0]=-2
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Coord[{crdId}].TimeBaseSlew=1 //1E-4 is default
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Coord[{crdId}].DesTimeBase=0
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while({flag0}==0){{}}
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Coord[{crdId}].Q[0]=-1
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Gather.Enable=2
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while({flag1}==0){{}}
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Coord[1].DesTimeBase=Sys.ServoPeriod
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'''.format(crdId=crdId, flag0=flag0, flag1=flag1)
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else:
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prg = '''
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//Gather.Enable=2 is done in the sync program
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Coord[1].TimeBaseSlew=1 //1E-4 is default
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Coord[1].DesTimeBase=0
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//Coord[1].Q[0]=-1 is done in the sync program
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'''.format(crdId=crdId, flag0=flag0, flag1=flag1)
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self.sync_prg = prg
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#download and start triggerSync code
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comm=self.comm
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if comm is None: return
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arg=0 #argument to pass to triggerSync program
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if sync_mode==2:arg+=1 #synchronize
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arg+=sync_flag*2 #simulated or real triggers
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if verbose: arg+=8
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if sync_mode==2 or arg&4:
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sftp = comm.sftp
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dst = '/tmp/triggerSync'
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src = os.path.abspath(os.path.join(os.path.dirname(__file__), 'triggerSync'))
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sftp.put(src, dst)
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sftp.chmod(dst, 0o755)
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cmd = 'LD_LIBRARY_PATH=/opt/ppmac/libppmac/ ' + dst
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cmd+=' %g %g %d'%(pt2pt_time,timeOfs,arg)
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self.cmdSync = cmd
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print ('starting '+cmd)
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self.syncShell=comm.shell_channel(cmd)
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#syncChan=sc=comm._client.exec_command(cmd) #this is less simple to communicate with
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def homing(self):
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if self.comm is None: return
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comm = self.comm
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gpascii = comm.gpascii
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#Motor[1].HomeComplete
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if gpascii.get_variable('Motor[1].HomeComplete', int)==0:
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gpascii.send_block('enable plc 1')
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while(True):
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sys.stdout.write('.');sys.stdout.flush()
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time.sleep(1)
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if gpascii.get_variable('Motor[1].HomeComplete', int)==1:
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break
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print('homing done')
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def run(self, crdId=1):
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'runs the code sync_run which has been generated with setup_sync()'
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comm = self.comm
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if comm is None: return
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gpascii = comm.gpascii
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try:
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cmd=self.sync_run
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except AttributeError:
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raise 'Need to call setup sync before'
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gpascii.send_block(cmd)
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def wait_armed(self,crdId=1): #wait until motors are at first position
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sm=self.meta['sync_mode']
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if sm==0:
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return
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else:
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comm = self.comm
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if comm is None: return
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gpascii = comm.gpascii
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while (True):
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val = gpascii.get_variable('Coord[{crdId}].Q[0]'.format(crdId=crdId), type_=int)
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if val==-2:
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break
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time.sleep(.1)
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def progress(self): #returns the progress of the motion
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sm=self.meta['sync_mode']
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comm = self.comm
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gpascii = comm.gpascii
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ge = gpascii.get_variable('Gather.Enable', type_=int)
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if ge == 0: return -1
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cnt = gpascii.get_variable('Gather.Samples', type_=int)
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try:
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cnt*=self.meta['srv_per']*self.meta['acq_per']/self.meta['pt2pt_time']
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except KeyError:
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pass
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return cnt
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def trigger(self,wait=.5):
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if self.meta['sync_mode']==0:
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return # no trigger at all
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time.sleep(wait)
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if self.meta['sync_flag']&1:
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comm = self.comm
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if comm is None: return
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gpascii = comm.gpascii
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gpascii.send_block('Coord[1].Q[10]=1')
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else:
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import CaChannel
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pvTrigger = CaChannel.CaChannel('SAR-CVME-TIFALL5-EVG0:SoftEvt-EvtCode-SP.VAL')
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pvTrigger.searchw()
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pvTrigger.putw(254)
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