wifi

old/motor_rigol_scan_csv.py

@@ -0,0 +1,257 @@
+#!/usr/bin/env python3
+import argparse
+import csv
+import os
+import time
+from datetime import datetime
+
+from gpiozero import OutputDevice
+
+from rigol_phase import DEV as RIGOL_DEV, measure_phase
+
+
+# 这里的“step”按全步计（不考虑细分）。细分后会自动把全步换算为脉冲数。
+BASE_STEPS_PER_MM = 200  # 200 full-steps = 1mm
+MM_MIN = 0
+MM_MAX = 300
+
+
+class GPIOStepper:
+    def __init__(
+        self,
+        *,
+        dir_pin: int,
+        step_pin: int,
+        microsteps: int = 8,
+    ) -> None:
+        if microsteps <= 0:
+            raise ValueError("microsteps must be a positive integer")
+        self.microsteps = int(microsteps)
+
+        # gpiozero 默认使用 BCM 编号
+        self._dir = OutputDevice(dir_pin)
+        self._step = OutputDevice(step_pin)
+        self._step.off()
+
+    def close(self) -> None:
+        try:
+            self._step.off()
+        except Exception:
+            pass
+        try:
+            self._dir.off()
+        except Exception:
+            pass
+
+    def ping(self) -> str:
+        return "GPIO"
+
+    def set_dir(self, inc: bool) -> None:
+        value = 1 if inc else 0
+        self._dir.value = value
+
+    def move_steps(self, full_steps: int, freq_hz: int) -> None:
+        if full_steps < 0:
+            raise ValueError("steps must be >= 0")
+        if freq_hz <= 0:
+            raise ValueError("freq_hz must be > 0")
+
+        pulses = int(full_steps) * self.microsteps
+        if pulses <= 0:
+            return
+
+        half_period = 0.5 / float(freq_hz)
+        for _ in range(pulses):
+            self._step.on()
+            time.sleep(half_period)
+            self._step.off()
+            time.sleep(half_period)
+
+
+def _default_csv_path() -> str:
+    ts = datetime.now().strftime("%Y%m%d_%H%M%S")
+    return os.path.join(os.getcwd(), f"scan_{ts}.csv")
+
+
+def _ensure_csv_header(path: str) -> None:
+    exists = os.path.exists(path) and os.path.getsize(path) > 0
+    if exists:
+        return
+
+    with open(path, "w", newline="", encoding="utf-8") as f:
+        w = csv.writer(f)
+        w.writerow(
+            [
+                "ts",
+                "mm",
+                "f0_hz",
+                "phi1_rad",
+                "phi2_rad",
+                "dphi_rad",
+                "dphi_deg",
+                "amp1_pp_adc",
+                "amp2_pp_adc",
+                "rigol_idn",
+                "points_mode",
+                "n",
+            ]
+        )
+
+
+def _append_row(path: str, *, mm: float, r: dict) -> None:
+    with open(path, "a", newline="", encoding="utf-8") as f:
+        w = csv.writer(f)
+        w.writerow(
+            [
+                r.get("ts"),
+                mm,
+                r.get("f0_hz"),
+                r.get("phi1_rad"),
+                r.get("phi2_rad"),
+                r.get("dphi_rad"),
+                r.get("dphi_deg"),
+                r.get("amp1_pp_adc"),
+                r.get("amp2_pp_adc"),
+                r.get("idn"),
+                r.get("points_mode"),
+                r.get("n"),
+            ]
+        )
+        f.flush()
+
+
+def main() -> None:
+    ap = argparse.ArgumentParser(description="电机每1mm移动一次，并读取Rigol示波器数据写入CSV")
+    ap.add_argument("--mm", type=float, required=True, help="启动时装置当前位置(mm)，范围0-300")
+    ap.add_argument("--end-mm", type=float, default=300.0, help="扫描终点(mm)，默认300")
+    ap.add_argument(
+        "--step",
+        type=int,
+        default=40,
+        help="每步移动(全步 steps)，默认40（200 step = 1mm；会按细分自动换算为脉冲）",
+    )
+
+    ap.add_argument("--microsteps", type=int, default=8, help="驱动器细分倍数，默认8")
+    ap.add_argument("--dir-pin", type=int, default=22, help="DIR 引脚(BCM编号)，默认22")
+    ap.add_argument("--step-pin", type=int, default=27, help="STEP 引脚(BCM编号)，默认27")
+
+    ap.add_argument("--move-freq", type=int, default=1200, help="MOVE命令使用的频率Hz，默认500")
+    ap.add_argument("--settle-s", type=float, default=0.05, help="每次移动后等待再测量(秒)，默认0.05")
+
+    ap.add_argument("--rigol-dev", default=RIGOL_DEV, help="Rigol设备路径(默认/dev/usbtmc0)")
+    ap.add_argument("--rigol-timeout", type=float, default=3.0)
+    ap.add_argument("--rigol-mode", default="NORM", choices=["NORM", "RAW", "MAX"], help="WAV:POIN:MODE")
+
+    ap.add_argument(
+        "--live",
+        action="store_true",
+        help="开启 Matplotlib 实时图形监视器（相位差/峰峰值/频率 + 进度条）",
+    )
+
+    ap.add_argument("--csv", default="", help="输出CSV路径，默认当前目录scan_时间戳.csv")
+    args = ap.parse_args()
+
+    if args.step <= 0:
+        raise SystemExit("--step 必须是正整数")
+    if args.microsteps <= 0:
+        raise SystemExit("--microsteps 必须是正整数")
+
+    if not (MM_MIN <= args.mm <= MM_MAX):
+        raise SystemExit("--mm 超出范围 0-300")
+    if not (MM_MIN <= args.end_mm <= MM_MAX):
+        raise SystemExit("--end-mm 超出范围 0-300")
+
+    # 用“步数”作为内部位置单位，避免浮点累积误差。
+    # 这里的 steps 是“全步”；实际输出到 STEP 引脚时会乘以 microsteps。
+    start_steps = int(round(args.mm * BASE_STEPS_PER_MM))
+    end_steps = int(round(args.end_mm * BASE_STEPS_PER_MM))
+    step_steps = int(args.step)
+
+    csv_path = args.csv or _default_csv_path()
+    _ensure_csv_header(csv_path)
+
+    motor = GPIOStepper(
+        dir_pin=args.dir_pin,
+        step_pin=args.step_pin,
+        microsteps=args.microsteps,
+    )
+
+    live = None
+    if args.live:
+        try:
+            from live_monitor import LiveMonitor
+
+            start_mm = start_steps / BASE_STEPS_PER_MM
+            end_mm = end_steps / BASE_STEPS_PER_MM
+            live = LiveMonitor(start_mm=start_mm, end_mm=end_mm, csv_path=csv_path)
+        except Exception as e:
+            print(f"[!] Live monitor disabled: {e}")
+            live = None
+
+    def live_add(mm: float, meas: dict) -> None:
+        nonlocal live
+        if live is None:
+            return
+        try:
+            live.add_point(mm=mm, meas=meas)
+        except Exception as e:
+            print(f"[!] Live monitor error (disabled): {e}")
+            try:
+                live.close()
+            except Exception:
+                pass
+            live = None
+
+    try:
+        r = motor.ping()
+        print(
+            f"[+] Motor GPIO: DIR={args.dir_pin}, STEP={args.step_pin}, microsteps={args.microsteps} (PING -> {r})"
+        )
+
+        # 先测一次（包含一次性IDN）
+        start_mm = start_steps / BASE_STEPS_PER_MM
+        print(f"[+] Measure @ {start_mm:.3f}mm")
+        meas = measure_phase(dev=args.rigol_dev, timeout=args.rigol_timeout, points_mode=args.rigol_mode, fetch_idn=True)
+        _append_row(csv_path, mm=start_mm, r=meas)
+        live_add(start_mm, meas)
+        print(f"[+] CSV: {csv_path}")
+
+        cur_steps = start_steps
+        if cur_steps == end_steps:
+            print("[+] 已在终点，无需移动")
+            return
+
+        inc = end_steps > cur_steps
+        direction_str = "+" if inc else "-"
+        step_mm = step_steps / BASE_STEPS_PER_MM
+        end_mm = end_steps / BASE_STEPS_PER_MM
+        print(f"[+] Scan: {start_mm:.3f} -> {end_mm:.3f} (step {direction_str}{step_steps} steps = {step_mm:.3f}mm)")
+
+        while cur_steps != end_steps:
+            motor.set_dir(inc=inc)
+
+            remaining = (end_steps - cur_steps) if inc else (cur_steps - end_steps)
+            move = step_steps if step_steps <= remaining else remaining
+            motor.move_steps(move, args.move_freq)
+            time.sleep(args.settle_s)
+
+            cur_steps = cur_steps + (move if inc else -move)
+            cur_mm = cur_steps / BASE_STEPS_PER_MM
+            print(f"[+] Measure @ {cur_mm:.3f}mm")
+            meas = measure_phase(dev=args.rigol_dev, timeout=args.rigol_timeout, points_mode=args.rigol_mode, fetch_idn=False)
+            _append_row(csv_path, mm=cur_mm, r=meas)
+            live_add(cur_mm, meas)
+
+    except KeyboardInterrupt:
+        print("\n[!] Interrupted")
+    finally:
+        motor.close()
+        if live is not None:
+            try:
+                live.close()
+            except Exception:
+                pass
+
+
+if __name__ == "__main__":
+    main()

old/visualize_scan_csv.py

@@ -0,0 +1,228 @@
+#!/usr/bin/env python3
+from __future__ import annotations
+
+import argparse
+import csv
+import glob
+import math
+import os
+from dataclasses import dataclass
+
+import numpy as np
+
+
+def _should_use_agg(save_path: str | None) -> bool:
+    if save_path:
+        return True
+    # Headless environment
+    return not (os.getenv("DISPLAY") or os.getenv("WAYLAND_DISPLAY"))
+
+
+def _parse_float(x: object) -> float:
+    try:
+        if x is None:
+            return float("nan")
+        s = str(x).strip()
+        if not s:
+            return float("nan")
+        return float(s)
+    except Exception:
+        return float("nan")
+
+
+@dataclass
+class ScanSeries:
+    label: str
+    mm: np.ndarray
+    f0_hz: np.ndarray
+    dphi_rad: np.ndarray
+    dphi_deg: np.ndarray
+    amp1_pp_adc: np.ndarray
+    amp2_pp_adc: np.ndarray
+
+
+def load_scan_csv(path: str, *, label: str | None = None) -> ScanSeries:
+    mm: list[float] = []
+    f0_hz: list[float] = []
+    dphi_rad: list[float] = []
+    dphi_deg: list[float] = []
+    amp1: list[float] = []
+    amp2: list[float] = []
+
+    with open(path, "r", encoding="utf-8", newline="") as f:
+        r = csv.DictReader(f)
+        for row in r:
+            mm.append(_parse_float(row.get("mm")))
+            f0_hz.append(_parse_float(row.get("f0_hz")))
+            dphi_rad.append(_parse_float(row.get("dphi_rad")))
+            dphi_deg.append(_parse_float(row.get("dphi_deg")))
+            amp1.append(_parse_float(row.get("amp1_pp_adc")))
+            amp2.append(_parse_float(row.get("amp2_pp_adc")))
+
+    arr_mm = np.asarray(mm, dtype=float)
+    order = np.argsort(arr_mm)
+
+    series_label = label or os.path.basename(path)
+    return ScanSeries(
+        label=series_label,
+        mm=arr_mm[order],
+        f0_hz=np.asarray(f0_hz, dtype=float)[order],
+        dphi_rad=np.asarray(dphi_rad, dtype=float)[order],
+        dphi_deg=np.asarray(dphi_deg, dtype=float)[order],
+        amp1_pp_adc=np.asarray(amp1, dtype=float)[order],
+        amp2_pp_adc=np.asarray(amp2, dtype=float)[order],
+    )
+
+
+def nan_moving_average(y: np.ndarray, window: int) -> np.ndarray:
+    if window <= 1:
+        return y
+    y = np.asarray(y, dtype=float)
+    n = y.size
+    out = np.full(n, np.nan, dtype=float)
+    half = window // 2
+    for i in range(n):
+        lo = max(0, i - half)
+        hi = min(n, i + half + 1)
+        out[i] = np.nanmean(y[lo:hi])
+    return out
+
+
+def _mask_range(x: np.ndarray, *, x_min: float | None, x_max: float | None) -> np.ndarray:
+    m = np.isfinite(x)
+    if x_min is not None:
+        m &= x >= x_min
+    if x_max is not None:
+        m &= x <= x_max
+    return m
+
+
+def _get_pingfang_font_properties(ttf_path: str):
+    """Return (FontProperties, name) for PingFang SC from a TTF file."""
+    from matplotlib import font_manager
+
+    if not os.path.exists(ttf_path):
+        raise FileNotFoundError(
+            f"未找到字体文件：{ttf_path}（请确认 PingFangSC-Regular.ttf 已放在项目目录，或已安装到 ~/.local/share/fonts）"
+        )
+
+    # Ensure Matplotlib can see this font even if fontconfig cache is stale.
+    try:
+        font_manager.fontManager.addfont(ttf_path)
+    except Exception:
+        pass
+
+    fp = font_manager.FontProperties(fname=ttf_path)
+    return fp, fp.get_name()
+
+
+def main() -> None:
+    ap = argparse.ArgumentParser(description="可视化 motor_rigol_scan_csv.py 输出的扫描 CSV")
+    ap.add_argument(
+        "csv",
+        nargs="+",
+        help="CSV 路径（支持通配符），例如 scan_*.csv",
+    )
+    ap.add_argument("--unwrap", action="store_true", help="对相位差 dphi 做 unwrap（基于 dphi_rad）")
+    ap.add_argument("--smooth", type=int, default=1, help="平滑窗口(点数)，默认1=不平滑")
+    ap.add_argument("--mm-min", type=float, default=None, help="仅显示 mm >= mm-min")
+    ap.add_argument("--mm-max", type=float, default=None, help="仅显示 mm <= mm-max")
+    ap.add_argument("--save", default="", help="保存为图片(PNG/PDF等)，例如 out.png；为空则弹窗显示")
+    ap.add_argument("--title", default="Motor Scan", help="图标题")
+    args = ap.parse_args()
+
+    paths: list[str] = []
+    for p in args.csv:
+        expanded = sorted(glob.glob(p))
+        if expanded:
+            paths.extend(expanded)
+        else:
+            paths.append(p)
+
+    if not paths:
+        raise SystemExit("未找到任何 CSV")
+
+    save_path = args.save.strip() or None
+
+    if _should_use_agg(save_path):
+        import matplotlib
+
+        matplotlib.use("Agg")
+
+    import matplotlib
+
+    pingfang_ttf = os.path.join(os.path.dirname(__file__), "PingFangSC-Regular.ttf")
+    cjk_fp, cjk_name = _get_pingfang_font_properties(pingfang_ttf)
+    matplotlib.rcParams["font.family"] = cjk_name
+    matplotlib.rcParams["axes.unicode_minus"] = False
+    print(f"[+] Font: {cjk_name} ({pingfang_ttf})")
+
+    import matplotlib.pyplot as plt  # type: ignore
+
+    series_list: list[ScanSeries] = []
+    for path in paths:
+        if not os.path.exists(path):
+            raise SystemExit(f"CSV 不存在：{path}")
+        series_list.append(load_scan_csv(path))
+
+    fig = plt.figure(figsize=(12, 5.5))
+    gs = fig.add_gridspec(1, 2)
+
+    ax_phase = fig.add_subplot(gs[0, 0])
+    ax_amp = fig.add_subplot(gs[0, 1])
+
+    ax_phase.set_title("相位差", fontproperties=cjk_fp)
+    ax_phase.set_xlabel("位置 (mm)", fontproperties=cjk_fp)
+    ax_phase.set_ylabel("相位差 (度)", fontproperties=cjk_fp)
+    ax_phase.grid(True, alpha=0.3)
+
+    ax_amp.set_title("峰峰值", fontproperties=cjk_fp)
+    ax_amp.set_xlabel("位置 (mm)", fontproperties=cjk_fp)
+    ax_amp.set_ylabel("峰峰值 (ADC)", fontproperties=cjk_fp)
+    ax_amp.grid(True, alpha=0.3)
+
+    for s in series_list:
+        mm_mask = _mask_range(s.mm, x_min=args.mm_min, x_max=args.mm_max)
+
+        mm = s.mm[mm_mask]
+        amp1 = s.amp1_pp_adc[mm_mask]
+        amp2 = s.amp2_pp_adc[mm_mask]
+
+        # phase (deg)
+        if args.unwrap:
+            dphi_r = s.dphi_rad[mm_mask]
+            dphi_r_unwrapped = np.unwrap(dphi_r)
+            dphi_deg = dphi_r_unwrapped * 180.0 / math.pi
+        else:
+            dphi_deg = s.dphi_deg[mm_mask]
+
+        # scatter raw
+        ax_phase.plot(mm, dphi_deg, ".", ms=3, alpha=0.6, label=s.label)
+        ax_amp.plot(mm, amp1, ".", ms=3, alpha=0.35, label=f"{s.label} CH1")
+        ax_amp.plot(mm, amp2, ".", ms=3, alpha=0.35, label=f"{s.label} CH2")
+
+        # smoothed overlay
+        if args.smooth and args.smooth > 1:
+            ax_phase.plot(mm, nan_moving_average(dphi_deg, args.smooth), "-", lw=1.2, alpha=0.9)
+            ax_amp.plot(mm, nan_moving_average(amp1, args.smooth), "-", lw=1.2, alpha=0.9)
+            ax_amp.plot(mm, nan_moving_average(amp2, args.smooth), "-", lw=1.2, alpha=0.9)
+
+    # legends (avoid huge)
+    ax_phase.legend(loc="best", fontsize=8)
+    ax_amp.legend(loc="best", fontsize=7, ncols=2)
+
+    subtitle = " | ".join([s.label for s in series_list])
+    # 中文标题使用 CJK 字体；subtitle 一般是文件名/ASCII，用默认字体。
+    fig.suptitle(f"{args.title}", fontproperties=cjk_fp)
+    fig.text(0.5, 0.965, subtitle, ha="center", va="top", fontsize=9)
+    fig.tight_layout(rect=(0, 0, 1, 0.95))
+
+    if save_path:
+        fig.savefig(save_path, dpi=160)
+        print(f"[+] Saved: {save_path}")
+    else:
+        plt.show()
+
+
+if __name__ == "__main__":
+    main()