126 lines
4.5 KiB
Python
126 lines
4.5 KiB
Python
#!/usr/bin/env python
|
|
# *-----------------------------------------------------------------------*
|
|
# | |
|
|
# | Copyright (c) 2016 by Paul Scherrer Institute (http://www.psi.ch) |
|
|
# | |
|
|
# | Author Thierry Zamofing (thierry.zamofing@psi.ch) |
|
|
# *-----------------------------------------------------------------------*
|
|
'''
|
|
Coord[1].Q[0] : sync points when using setup_sync(mode=2)
|
|
0: after setup_sync(mode=2) call
|
|
idx: index of position during run
|
|
-1: pvt motion is finished
|
|
|
|
Coord[1].Q[1] : sync trigger: when setup_sync(mode=1 or 2)
|
|
0: idle
|
|
1: waiting for trigger
|
|
2: running
|
|
|
|
Gather.Enable : 1: after .setup_gather() called
|
|
2: during data gathering
|
|
0: when gather finished
|
|
|
|
Gather.Samples : number af gathered data samples
|
|
'''
|
|
|
|
import os, sys
|
|
sys.path.insert(0,os.path.expanduser('~/Documents/prj/SwissFEL/PBTools/'))
|
|
#import pbtools.misc.pp_comm as pp_comm -> pp_comm.PPComm
|
|
from pbtools.misc.pp_comm import PPComm
|
|
from pbtools.misc.gather import Gather
|
|
|
|
|
|
class MotionBase:
|
|
def __init__(self, comm, gather, verbose):
|
|
self.comm=comm
|
|
self.gather=gather
|
|
self.verbose=verbose
|
|
|
|
def setup_sync(self, crdId=1, prgId=2, plcId=2, encId=8, mode=0, **kwargs):
|
|
'''setup the timing synchronization for the motion program
|
|
mode=0 : no sync at all
|
|
mode=1 : synchronize start
|
|
mode=2 : synchronize start and adapt motion speed
|
|
this function generates the code blocks:
|
|
self.sync_wait and self.sync_run
|
|
sync_wait can be put in the program to force a timing sync
|
|
sync_run are the commands to run the whole program
|
|
flag=0 : real start and frame trigger
|
|
flag=1 : simulated start and real frame trigger
|
|
flag=2 : real start and simulated frame trigger
|
|
flag=3 : simulated start and frame trigger
|
|
pt2pt_time : time point to point (needed sor sync code)
|
|
'''
|
|
if mode==0:
|
|
try:
|
|
del self.sync_prg
|
|
except AttributeError:
|
|
pass
|
|
self.sync_run = '&{crdId}b{prgId}r'''.format(prgId=prgId, crdId=crdId)
|
|
|
|
elif mode in(1,2):
|
|
#frequence jitter 50Hz Swissgrid:
|
|
#https://www.swissgrid.ch/de/home/operation/grid-data/current-data.html#
|
|
flag=kwargs.get('flag',0);
|
|
pt2pt_time=kwargs.get('pt2pt_time',40);
|
|
flag0='Coord[1].Q[10]' if flag&1 else 'Gate3[1].Chan[0].UserFlag'
|
|
flag1='Coord[1].Q[11]' if flag&2 else 'Gate3[1].Chan[1].UserFlag'
|
|
if mode==1:
|
|
prg = '''
|
|
Coord[1].Q[1]=-2
|
|
Coord[1].TimeBaseSlew=1 //1E-4 is default
|
|
Coord[1].DesTimeBase=0
|
|
while({flag0}==0){{}}
|
|
Coord[1].Q[1]=-1
|
|
Gather.Enable=2
|
|
while({flag1}==0){{}}
|
|
Coord[1].DesTimeBase=Sys.ServoPeriod
|
|
'''.format(plcId=plcId, crdId=crdId, flag0=flag0, flag1=flag1)
|
|
else:
|
|
prg = '''
|
|
//Gather.Enable=2 is done in the sync program
|
|
Coord[1].TimeBaseSlew=1 //1E-4 is default
|
|
Coord[1].DesTimeBase=0
|
|
Coord[1].Q[1]=-1
|
|
'''.format(plcId=plcId, crdId=crdId, flag0=flag0, flag1=flag1)
|
|
|
|
self.sync_prg = prg
|
|
self.sync_run = '&{crdId}b{prgId}r'''.format(prgId=prgId, plcId=plcId, crdId=crdId)
|
|
#download and start triggerSync code
|
|
comm=self.comm
|
|
|
|
trigMode=0;
|
|
if mode==2:trigMode+=1 #synchronize
|
|
trigMode+=flag*2 #simulated or real triggers
|
|
trigMode+=8 # verbose
|
|
if mode==2 or trigMode&4:
|
|
sftp = comm.sftp
|
|
dst = '/tmp/triggerSync'
|
|
src = os.path.abspath(os.path.join(os.path.dirname(__file__), '../src/triggerSync/triggerSync'))
|
|
sftp.put(src, dst)
|
|
sftp.chmod(dst, 0o755)
|
|
cmd = 'LD_LIBRARY_PATH=/opt/ppmac/libppmac/ ' + dst
|
|
cmd+=' %g %d'%(pt2pt_time,trigMode)
|
|
self.cmdSync = cmd
|
|
print ('starting '+cmd)
|
|
self.syncShell=comm.shell_channel(cmd)
|
|
#self.syncChan=sc=comm._client.exec_command(cmd)
|
|
#ch=sc[1].channel
|
|
#ch.settimeout(1)
|
|
#sc[1].channel.setblocking(False)
|
|
#sc[1].read(100)
|
|
if flag&1:
|
|
print('set Coord[1].Q[10]=1 to start motion')
|
|
|
|
def run(self):
|
|
'runs the code sync_run which has been generated with setup_sync()'
|
|
comm = self.comm
|
|
gpascii = comm.gpascii
|
|
try:
|
|
cmd=self.sync_run
|
|
except AttributeError:
|
|
raise 'Need to call setup sync before'
|
|
gpascii.send_block(cmd)
|
|
|
|
|