Switched back to kmp2 (now properly patched for syncing). Changed debug...

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

 #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 &

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') ]

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__":