532 lines
22 KiB
Python
Executable File
532 lines
22 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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#config file example:
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{
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"points": [
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[100,523],[635,632],[756,213],
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"sequencer":[
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'gen_grid_points(w=10,h=10,pitch=100,rnd=.2)',
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'sort_points()',
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'gen_prog(file="'+fn+'.prg")',
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'plot_gather("'+fn+'.npz")']
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}
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Sequencer functions are:
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- generate points (if not in the 'points' configuration)
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gen_rand_points(self,n=107,scale=1000)
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gen_grid_points(w=10,h=10,pitch=100,rnd=.2)
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- sorting points:
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sort_points(self)
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- generate/download/execute motion progran, upload trace of motors (gather data)
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gen_prog(self,prgId=2,file=None,host=None)
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if host=None nothing will be downloaded/executed and trace of motors will not be uploaded
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if file=None the program will not be saved and nothing will be executed
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gen_prog modes:
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-1 jog a 10mm square
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0 linear motion
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1 pvt motion
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2 spline motion
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- plot gathered data
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plot_gather("'+fn+'.npz")
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this makes only sence, if motion has been executed and data can be gathered from the powerbrick
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Acquired time is:MaxSamples*Period*.2
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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_swissfel_points(self,scale=10):
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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"
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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,:]=(5,0)
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pts=pts.cumsum(0)
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pts[:,1]=-pts[:,1]
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pts*=scale
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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_rand_points(self,n=107,scale=1000):
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'generate random distributed points'
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np.random.seed(0)
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#data=np.random.randint(0,1000,(30,2))
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pts=np.random.rand(n,2)*scale
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self.points=pts
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def gen_grid_points(self,w=10,h=10,pitch=100,rnd=.2):
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'generates points in a grid with a given pitch and a bit randomness'
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np.random.seed(0)
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xx,yy=np.meshgrid(range(w), range(h))
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pts=np.array([xx.reshape(-1),yy.reshape(-1)],dtype=np.float).transpose()*pitch
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if rnd != 0:
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pts+=(np.random.rand(pts.shape[0],2)*(rnd*pitch))
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pts[:,0]+=500
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self.points=pts
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def opt_pts(self,fn):
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'''
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trial to optimize path by mofing trajectory, uload real path and move the points
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to finally go trough the desired points
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'''
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fh=np.load(fn)
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#res=rot.ActPos,x.ActPos,y.ActPos,rot.DesPos,x.DesPos,y.DesPos
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#idx 0 1 2 3 4 5
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rec=fh['rec']
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pts=fh['pts']
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desPos=rec[:,4:6]
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idx=np.ndarray(shape=len(pts),dtype=np.int32)
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for i in range(len(pts)):
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l=desPos-pts[i,:]
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l2=l[:,0]**2+l[:,1]**2
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idx[i]=np.argmin(l2)
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recPts=rec[idx,:]
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ptsCorr=(pts-recPts[:,1:3]+recPts[:,4:6])
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self.points=pts
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self.ptsCorr=ptsCorr
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print(ptsCorr)
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def setup_gather(self,acq_per=1):
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'''
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setup the channels to gather
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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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'''
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comm=self.comm
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gt=self.gather
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gt.set_phasemode(False)
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gt.set_address("Motor[3].ActPos","Motor[2].ActPos","Motor[1].ActPos","Motor[3].DesPos","Motor[2].DesPos","Motor[1].DesPos")
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gt.set_property(MaxSamples=1000000, Period=acq_per)
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ServoPeriod= .2 #0.2ms #Sys.ServoPeriod is dependent of !common() macro
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#ServoPeriod=comm.gpascii.servo_period
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self.meta = {'timebase': ServoPeriod*acq_per}
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def setup_coord_trf(self):
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comm = self.comm
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gpascii = comm.gpascii
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prg = '''&1a
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#1-> Y
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#2-> X
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#3-> A
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#4->0
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#5->0
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#6->0
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#7->0
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#8->0
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#1..8j/
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'''
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gpascii.send_block(prg)
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def setup_motion(self,prgId=2,fnPrg=None,mode=0,**kwargs):
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'''
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1. generates program <prgId> and saves to fnPrg
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the type of generated program is defined by <mode>
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2. runs the program on the deltatau
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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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pt2pt_time : time to move from one point to the next point
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'''
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prg=['close all buffers','open prog %d'%(prgId)]
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comm=self.comm
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gpascii=comm.gpascii
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# this uses Coord[1].Tm and limits with MaxSpeed
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if mode==-1: #### jog a 10mm square
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pos=self.points
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prg.append(' linear abs')
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prg.append('X(%g) Y(%g)' % tuple(pos[0, :]))
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prg.append('dwell 10')
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prg.append('Gather.Enable=2')
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prg.append('jog2:10000')
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prg.append('dwell 100')
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prg.append('jog3:10000')
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prg.append('dwell 100')
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prg.append('jog2:-10000')
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prg.append('dwell 100')
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prg.append('jog3:-10000')
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prg.append('dwell 100')
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prg.append('Gather.Enable=0')
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elif mode==0: #### linear motion
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pos=self.points
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prg.append(' linear abs')
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prg.append('X(%g) Y(%g)' % tuple(pos[0, :]))
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prg.append('dwell 10')
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prg.append('Gather.Enable=2')
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prg.append(' linear abs')
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for idx in range(pos.shape[0]):
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prg.append('X%g Y%g'%tuple(pos[idx,:]))
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prg.append('dwell 100')
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prg.append('Gather.Enable=0')
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elif mode==1: #### pvt motion
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try:
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pt2pt_time=kwargs['pt2pt_time'] #how many ms to move to next point (pt2pt_time)
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except KeyError:
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print('missing pt2pt_time, use default=100ms')
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pt2pt_time=100.
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try:
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cnt=kwargs['cnt'] #move path multiple times
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except KeyError:
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cnt=1
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try:
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pt=self.ptsCorr
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except AttributeError:
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pt=self.points
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vel=pt[2:,:]-pt[:-2,:]
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#pv is an array of posx posy velx vely
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pv=np.ndarray(shape=(pt.shape[0]+2,4),dtype=pt.dtype)
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pv[:]=np.NaN
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#pv[ 0,(0,1)]=2*pt[0,:]-pt[1,:]
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pv[ 0,(0,1)]=pt[0,:]
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pv[ 1:-1,(0,1)]=pt
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#pv[ -1,(0,1)]=2*pt[-1,:]-pt[-2,:]
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pv[ -1,(0,1)]=pt[-1,:]
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pv[(0,0,-1,-1),(2,3,2,3)]=0
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dist=pv[2:,(0,1)] - pv[:-2,(0,1)]
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pv[ 1:-1,(2,3)] = 1000.*dist/(2.*pt2pt_time)
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prg.append(' linear abs')
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prg.append('X%g Y%g' % tuple(pv[0, (0,1)]))
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prg.append('dwell 10')
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try:
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prg.append(self.sync_wait)
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except AttributeError:
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pass
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else:
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print('no sync code available')
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prg.append('Gather.Enable=2')
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if cnt>1:
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prg.append('P100=%d'%cnt)
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prg.append('N100:')
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prg.append(' pvt%g abs'%pt2pt_time) #100ms to next position
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for idx in range(1,pv.shape[0]):
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prg.append('X%g:%g Y%g:%g'%tuple(pv[idx,(0,2,1,3)]))
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prg.append('X%g Y%g' % tuple(pv[-1, (0,1)]))
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if cnt>1:
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prg.append('dwell 10')
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prg.append('P100=P100-1')
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prg.append('if(P100>0)')
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prg.append('{')
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prg.append(' linear abs')
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prg.append('X%g Y%g' % tuple(pv[0, (0,1)]))
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prg.append('dwell 100')
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prg.append('goto 100')
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prg.append('}')
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else:
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prg.append('dwell 1000')
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prg.append('Gather.Enable=0')
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elif mode==2: #### spline motion
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try:
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pt2pt_time=kwargs['pt2pt_time'] #how many ms to move to next point (pt2pt_time)
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except KeyError:
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print('missing pt2pt_time, use default=100ms')
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pt2pt_time=100.
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pos=self.points
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pcor=np.ndarray(pos.shape,dtype=pos.dtype);pcor[:]=np.NaN
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pcor[(0,-1),:]=pos[(0,-1),:]
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pcor[1:-1,:]=(-pos[0:-2,:]+8*pos[1:-1,:]-pos[2:,:])/6.
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#pcor=pos
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prg.append(' linear abs')
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prg.append('X(%g) Y(%g)' % tuple(pcor[0, :]))
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prg.append('dwell 10')
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prg.append('Gather.Enable=2')
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prg.append(' spline%g abs'%pt2pt_time) #100ms to next position
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for idx in range(pcor.shape[0]):
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prg.append('X%g Y%g'%tuple(pcor[idx,:]))
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prg.append('dwell 100')
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prg.append('Gather.Enable=0')
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prg.append('close')
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#prg.append('&1\nb%dr\n'%prgId)
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if self.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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gpascii.send_block(prg)
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#if self.host is not None:
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# cmd ='gpasciiCommander --host '+self.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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self.prg=prg
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def gather_upload(self,fnRec=None):
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gt=self.gather
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gt.wait_stopped(verbose=True)
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self.rec=rec=gt.upload()
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pts=self.points
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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,x.ActPos,y.ActPos,rot.DesPos,x.DesPos,y.DesPos
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#idx 0 1 2 3 4 5
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ofsy=-rec[0,4]+pts[0,0]
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ofsx=-rec[0,5]+pts[0,1]
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rec[:,(1,4)]+=ofsy
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rec[:,(2,5)]+=ofsx
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if fnRec:
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np.savez_compressed(fnRec, rec=rec, pts=pts, meta=self.meta)
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def sort_points(self,xy=False):
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pts=self.points
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verb=self.verbose
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cnt=pts.shape[0]
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idx=np.ndarray(cnt,dtype=np.int32)
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grp_cnt=int(np.sqrt(cnt))
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grp_sz=int(np.ceil(float(cnt)/grp_cnt))
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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):
|
|
try:
|
|
meta=self.meta
|
|
pts=self.points # X,Y array
|
|
rec = self.rec
|
|
except AttributeError as e:
|
|
print('plot_gather(): '+str(e)+': no data acquired yet')
|
|
return
|
|
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__':
|
|
#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 run_test(args):
|
|
if args.host is None:
|
|
comm=gather=None
|
|
else:
|
|
comm = PPComm(host=args.host)
|
|
gather = Gather(comm)
|
|
sp = ShapePath(comm, gather, args.verbose)
|
|
sp.setup_coord_trf()
|
|
|
|
fn='/tmp/shapepath'
|
|
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=args.xy)
|
|
#sp.gen_grid_points(w=100,h=100,pitch=10,rnd=.2)
|
|
#sp.gen_swissfel_points(scale=300)
|
|
#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)
|
|
sp.setup_gather()
|
|
#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
|
|
|
|
sp.gen_grid_points(w=20,h=20,pitch=50,rnd=.2);sp.sort_points(xy);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=10,acq_per=1)
|
|
|
|
|
|
#>>>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()
|
|
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)
|