129 lines
4.5 KiB
Python
129 lines
4.5 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
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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):
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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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def setup_sync(self, crdId=1, prgId=2, plcId=2, encId=8, mode=0, **kwargs):
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'''setup the timing synchronization for the motion program
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mode=0 : no sync at all
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mode=1 : synchronize start
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mode=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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'''
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if 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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self.sync_run = '&{crdId}b{prgId}r'''.format(prgId=prgId, crdId=crdId)
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elif mode==1:
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# code block to insert in the program
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# - waits untis <flag> is false
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# - waits raising edge of <flag> and the sets DesTimeBase=ServoPeriod
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# flag ='PowerBrick[0].GpioData[0].0.1==1'
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flag0='Gate3[1].Chan[0].UserFlag'
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flag1='Gate3[1].Chan[1].UserFlag'
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flag0='P0';flag1='P1'
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prg = '''
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Coord[1].Q[1]=-2
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Coord[1].TimeBaseSlew=1 //1E-4 is default
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Coord[1].DesTimeBase=0
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while({flag0}==0){{}}
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Coord[1].Q[1]=-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(plcId=plcId, crdId=crdId, flag0=flag0, flag1=flag1)
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self.sync_prg = prg
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self.sync_run = '&{crdId}b{prgId}r'''.format(prgId=prgId, plcId=plcId, crdId=crdId)
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elif mode==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='Gate3[1].Chan[0].UserFlag'
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flag1='Gate3[1].Chan[1].UserFlag'
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flag0='P0';flag1='P1'
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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[1]=-1
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'''.format(plcId=plcId, crdId=crdId, flag0=flag0, flag1=flag1)
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self.sync_prg=prg
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self.sync_run='&{crdId}b{prgId}r'''.format(prgId=prgId, plcId=plcId, crdId=crdId)
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#download and start triggerSync code
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comm=self.comm
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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__), '../src/triggerSync/triggerSync'))
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sftp.put(src, dst)
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sftp.chmod(dst, 0o755)
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self.cmdSync=cmd='LD_LIBRARY_PATH=/opt/ppmac/libppmac/ '+dst
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#self.syncShell=comm.shell_channel(cmd)
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#self.syncChan=sc=comm._client.exec_command(cmd)
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#ch=sc[1].channel
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#ch.settimeout(1)
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#print ('starting '+cmd)
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def run(self):
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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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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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dst='/tmp/triggerSync'
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src=os.path.abspath(os.path.join(os.path.dirname(__file__), '../src/triggerSync/triggerSync'))
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cmd='LD_LIBRARY_PATH=/opt/ppmac/libppmac/ '+dst
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# self.syncShell=comm.shell_channel(cmd)
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try:
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cmd=self.cmdSync
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except AttributeError: pass
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else:
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import time
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time.sleep(1)
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self.syncChan=sc=comm._client.exec_command(cmd)
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