From 840062a2df75bcac0fe5d6d3879e72d4da30f98d Mon Sep 17 00:00:00 2001
From: Kevin Peterson <kmpeters@anl.gov>
Date: Wed, 11 Apr 2012 18:04:02 +0000
Subject: [PATCH] Switched back to kmp2 (now properly patched for syncing).
Changed debug messages to focus on DMOV now. Still syncing soft motor
targets at end of every move.
git-svn-id: https://subversion.xray.aps.anl.gov/kmp/transform/trunk@263 f095f811-4e88-6c84-d33e-e382bdb4531c
---
launch_medm | 10 ++++-----
myLabTransform.py | 4 ++--
transform.py | 56 +++++++++++++++++++++++++++--------------------
3 files changed, 39 insertions(+), 31 deletions(-)
diff --git a/launch_medm b/launch_medm
index 3a2827d..3d90452 100644
--- a/launch_medm
+++ b/launch_medm
@@ -1,7 +1,7 @@
#setenv EPICS_DISPLAY_PATH /APSshare/epics/synApps_5_5/support/all_adl
-medm -x -attach -macro "P=kmp3:,M1=m1,M2=m2,M3=m3" motor3x.adl &
+medm -x -attach -macro "P=kmp2:,M1=m1,M2=m2,M3=m3" motor3x.adl &
sleep 4.0
-medm -x -attach -macro "P=kmp3:,M1=m4,M2=m5,M3=m6" motor3x.adl &
-medm -x -attach -macro "P=kmp3:,M1=lab:m1,M2=lab:m2,M3=lab:m3" motor3x.adl &
-medm -x -attach -macro "P=kmp3:,M=m1" ~/epics/synAppsSVN/support/motor/motorApp/op/adl/motorx_all.adl &
-medm -x -attach -macro "P=kmp3:lab:,M=m1" ~/epics/synAppsSVN/support/motor/motorApp/op/adl/motorx_all.adl &
+medm -x -attach -macro "P=kmp2:,M1=m4,M2=m5,M3=m6" motor3x.adl &
+medm -x -attach -macro "P=kmp2:,M1=lab:m1,M2=lab:m2,M3=lab:m3" motor3x.adl &
+medm -x -attach -macro "P=kmp2:,M=m1" ~/epics/synAppsSVN/support/motor/motorApp/op/adl/motorx_all.adl &
+medm -x -attach -macro "P=kmp2:lab:,M=m1" ~/epics/synAppsSVN/support/motor/motorApp/op/adl/motorx_all.adl &
diff --git a/myLabTransform.py b/myLabTransform.py
index 1f073a3..bdd1705 100644
--- a/myLabTransform.py
+++ b/myLabTransform.py
@@ -51,8 +51,8 @@ class myTransform(transform.transform):
return retval.tolist()[0]
if __name__ == "__main__":
- #!prefix = 'kmp2:'
- prefix = 'kmp3:'
+ prefix = 'kmp2:'
+ #!prefix = 'kmp3:'
realMotors = ["%s%s" % (prefix, x) for x in ('m1', 'm2', 'm3') ]
transformMotors = ["%s%s" % (prefix, x) for x in ('m4', 'm5', 'm6') ]
softMotors = ["%s%s" % (prefix, x) for x in ('lab:m1', 'lab:m2', 'lab:m3') ]
diff --git a/transform.py b/transform.py
index 6a7df7c..ae10cf1 100644
--- a/transform.py
+++ b/transform.py
@@ -21,6 +21,7 @@ class transform:
self.stopMotorsFlag = False
self.syncSoftTargetFlag = False
self.reinitFlag = False
+ # Is only used if SYNC should happen conditionally
self.softMotorInitiatedMove = False
self.abortFlag = False
self.initCompleteFlag = False
@@ -126,11 +127,27 @@ class transform:
### Callback functions (to be called when PV values change--only set flags that are watched in main loop)
def driveCallback(self, **kw):
- print "driveCallback:\n", " ", kw['pvname'], kw['value']
+ #!print "driveCallback:\n", " ", kw['pvname'], kw['value']
+
+ #!print "_ updateReadbackFlag =", self.updateReadbackFlag
+ #!print "_ dmovChangeFlag =", self.dmovChangeFlag
+ #!print "_ moveSoftMotorFlag =", self.moveSoftMotorFlag
+ #!print "_ stopMotorsFlag =", self.stopMotorsFlag
+ #!print "_ syncSoftTargetFlag =", self.syncSoftTargetFlag
+ #!print "_ reinitFlag =", self.reinitFlag
+ #!print "_ softMotorInitiatedMove =", self.softMotorInitiatedMove
+ #!print "_ abortFlag =", self.abortFlag
+ #!print "_ initCompeteFlag =", self.initCompleteFlag
+ #!print "_ syncInProgress =", self.syncInProgress
+
if self.initCompleteFlag == True and self.syncInProgress == False:
self.moveSoftMotorFlag = True
self.softMotorInitiatedMove = True
-
+ #!print " move real motors because NOT syncing"
+ else:
+ #!print " not moving real motors because a sync is in progress or initializing"
+ pass
+
def rdbkCallback(self, **kw):
#!print "rdbkCallback:\n", " ", kw['pvname'], kw['value']
self.updateReadbackFlag = True
@@ -141,7 +158,7 @@ class transform:
self.stopMotorsFlag = True
def dmovCallback(self, **kw):
- #!print "dmovCallback:\n", " ", kw['pvname'], kw['value']
+ print "dmovCallback:\n", " ", kw['pvname'], kw['value']
self.dmovChangeFlag = True
def connectionCallback(self, **kw):
@@ -164,7 +181,7 @@ class transform:
# Do the forward transform
tm_positions = self.fwdTrans(m_positions, t_positions)
- print "updating readbacks:", tm_positions
+ #!print "updating readbacks:", tm_positions
# Write the soft (transformed) readback positions
for i in range(len(tm_positions)):
@@ -174,7 +191,6 @@ class transform:
# This is only useful if LOCK = YES
def syncSoftTargets(self):
- print "softMotorInitiatedMove =", self.softMotorInitiatedMove
# Synchronize soft targets if a real motor initated the move
#!if self.softMotorInitiatedMove == False:
# Always sync soft-motor target position (is this bad for spec?)
@@ -183,25 +199,16 @@ class transform:
self.syncInProgress = True
# The following sleep is required to prevent problems when making small moves
- sleep(0.05)
- #!#tm_positions = [x.get() for x in self.tm_rbv]
- #!### MAYBE SHOULD RECALCULATE BASED ON REAL MOTORS INSTEAD
- #!m_positions = [x.get() for x in self.m_val]
- #!t_positions = [x.get() for x in self.t_rbv]
-
- #!# Do the forward transform
- #!tm_positions = self.fwdTrans(m_positions, t_positions)
-
- #!#!print "syncing these target positions:", tm_positions
+ ###sleep(0.05)
for i in range(len(self.tm_rbv)):
- print i
+ #!print i
self.tm_sync[i].put(1)
# A delay is necessary before setting syncInProgress to False
- sleep(0.05)
- #!self.tm_proc[i].put(1)
+ ###sleep(0.05)
#
+ sleep(0.1)
self.syncInProgress = False
# For soft-motor-initiate moves don't do anything
@@ -218,7 +225,7 @@ class transform:
m_dmovs = [x.get() for x in self.m_dmov]
t_dmovs = [x.get() for x in self.t_dmov]
- #!print m_dmovs, t_dmovs
+ print m_dmovs, t_dmovs
# Determine if any motors are moving
if ( ( 0 in m_dmovs ) or ( 0 in t_dmovs ) ):
@@ -230,7 +237,7 @@ class transform:
# Write the soft (transformed) dmovs
for i in range(len(self.tm_dmov)):
- #!print "setting dmov for tm%i to %i" % (i, dmov)
+ print "setting dmov for tm%i to %i" % (i, dmov)
self.tm_dmov[i].put(dmov)
### Sanity check
@@ -258,6 +265,7 @@ class transform:
# Write the real motor target positions
for i in range(len(self.m_val)):
+ #!print "Actually changing the real motor target positions"
self.m_val[i].put(m_positions[i])
# also manually the dmov since this needs to be in sync very quickly
self.tm_dmov[i].put(0)
@@ -318,16 +326,16 @@ class transform:
#!print "idle: stop motors"
self.stopMotors()
if self.moveSoftMotorFlag == True:
- print "idle: move motors"
+ #!print "idle: move motors"
self.moveMotors()
if self.dmovChangeFlag == True:
- print "idle: update dmov"
+ #!print "idle: update dmov"
self.updateDmov()
if self.updateReadbackFlag == True:
- print "idle: update readback"
+ #!print "idle: update readback"
self.updateReadbacks()
if self.syncSoftTargetFlag == True:
- print "idle: sync soft targets"
+ #!print "idle: sync soft targets"
self.syncSoftTargets()
if __name__ == "__main__":
--
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