commit 73c8acc8f4ee3afca9350937dde88fde2b24b5b7 Author: feie9454 Date: Sat Jan 24 12:16:32 2026 +0800 init diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..505a3b1 --- /dev/null +++ b/.gitignore @@ -0,0 +1,10 @@ +# Python-generated files +__pycache__/ +*.py[oc] +build/ +dist/ +wheels/ +*.egg-info + +# Virtual environments +.venv diff --git a/.python-version b/.python-version new file mode 100644 index 0000000..24ee5b1 --- /dev/null +++ b/.python-version @@ -0,0 +1 @@ +3.13 diff --git a/PingFangSC-Regular.ttf b/PingFangSC-Regular.ttf new file mode 100644 index 0000000..6c019b1 Binary files /dev/null and b/PingFangSC-Regular.ttf differ diff --git a/README.md b/README.md new file mode 100644 index 0000000..a0f3be0 --- /dev/null +++ b/README.md @@ -0,0 +1,47 @@ + +## 电机 + Rigol 扫描（CSV + 实时监视器） + +### 扫描并写入 CSV + +```bash +uv run motor_rigol_scan_csv.py --mm 10 --end-mm 300 --step 40 +``` + +电机驱动为 GPIO 直控（DIR/STEP），默认使用 BCM 引脚：DIR=22、STEP=27，默认细分为 8。 +如需修改： + +```bash +uv run motor_rigol_scan_csv.py --mm 10 --end-mm 300 --step 40 --microsteps 8 --dir-pin 22 --step-pin 27 +``` + +### 开启实时图形监视器（Matplotlib） + +会在扫描进行时实时显示： +- 相位差 `dphi (deg)` vs 位置(mm) +- CH1/CH2 峰峰值 `pp (ADC counts)` vs 位置(mm) +- 频率 `f0 (Hz)` vs 位置(mm) +- 进度条（当前位置 + 完成百分比） + +```bash +uv run motor_rigol_scan_csv.py --mm 10 --end-mm 300 --step 40 --live +``` + +如果在无图形界面的环境（例如纯 SSH、无 X11/Wayland）运行，Matplotlib 可能无法打开窗口；脚本会自动关闭实时监视器并继续扫描。 + + +### 离线可视化 CSV（多图表） + +会生成 4 个子图：相位差(dphi)、峰峰值(CH1/CH2)、频率(f0)、等效延时(dt)。 + +弹窗显示： + +```bash +uv run visualize_scan_csv.py scan_20260120_154455.csv +``` + +无桌面/SSH 环境下保存图片： + +```bash +uv run visualize_scan_csv.py scan_20260120_154455.csv --save out.png --smooth 5 --unwrap +``` + diff --git a/live_monitor.py b/live_monitor.py new file mode 100644 index 0000000..a290710 --- /dev/null +++ b/live_monitor.py @@ -0,0 +1,170 @@ +#!/usr/bin/env python3 +from __future__ import annotations + +from dataclasses import dataclass, field +from typing import Optional + + +@dataclass +class LiveMonitor: + start_mm: float + end_mm: float + csv_path: str = "" + title: str = "Motor Scan Live Monitor" + _plt: object = field(init=False, repr=False) + _fig: object = field(init=False, repr=False) + _ax_phase: object = field(init=False, repr=False) + _ax_amp: object = field(init=False, repr=False) + _ax_freq: object = field(init=False, repr=False) + _ax_prog: object = field(init=False, repr=False) + _line_phase: object = field(init=False, repr=False) + _line_amp1: object = field(init=False, repr=False) + _line_amp2: object = field(init=False, repr=False) + _line_freq: object = field(init=False, repr=False) + _prog_bar: object = field(init=False, repr=False) + _prog_text: object = field(init=False, repr=False) + _mm: list[float] = field(default_factory=list, repr=False) + _dphi_deg: list[float] = field(default_factory=list, repr=False) + _amp1_pp: list[float] = field(default_factory=list, repr=False) + _amp2_pp: list[float] = field(default_factory=list, repr=False) + _f0_hz: list[float] = field(default_factory=list, repr=False) + + def __post_init__(self) -> None: + try: + import matplotlib.pyplot as plt # type: ignore + except Exception as e: # pragma: no cover + raise RuntimeError( + "Matplotlib 不可用；请先安装 matplotlib，或不要使用 --live" + ) from e + + self._plt = plt + plt.ion() + + self._fig = plt.figure(figsize=(12, 7)) + try: + self._fig.canvas.manager.set_window_title(self.title) + except Exception: + pass + + gs = self._fig.add_gridspec(2, 2) + self._ax_phase = self._fig.add_subplot(gs[0, 0]) + self._ax_amp = self._fig.add_subplot(gs[0, 1]) + self._ax_freq = self._fig.add_subplot(gs[1, 0]) + self._ax_prog = self._fig.add_subplot(gs[1, 1]) + + (self._line_phase,) = self._ax_phase.plot([], [], lw=1.5) + self._ax_phase.set_title("相位差 dphi") + self._ax_phase.set_xlabel("位置 (mm)") + self._ax_phase.set_ylabel("dphi (deg)") + self._ax_phase.grid(True, alpha=0.3) + + (self._line_amp1,) = self._ax_amp.plot([], [], lw=1.5, label="CH1 pp") + (self._line_amp2,) = self._ax_amp.plot([], [], lw=1.5, label="CH2 pp") + self._ax_amp.set_title("峰峰值 (ADC counts)") + self._ax_amp.set_xlabel("位置 (mm)") + self._ax_amp.set_ylabel("pp") + self._ax_amp.grid(True, alpha=0.3) + self._ax_amp.legend(loc="best") + + (self._line_freq,) = self._ax_freq.plot([], [], lw=1.5) + self._ax_freq.set_title("频率 f0") + self._ax_freq.set_xlabel("位置 (mm)") + self._ax_freq.set_ylabel("Hz") + self._ax_freq.grid(True, alpha=0.3) + + self._ax_prog.set_title("扫描进度") + self._ax_prog.set_xlim(0.0, 1.0) + self._ax_prog.set_ylim(-0.75, 0.75) + self._ax_prog.set_yticks([]) + self._ax_prog.set_xlabel("完成比例") + self._prog_bar = self._ax_prog.barh([0], [0.0], height=0.35)[0] + self._prog_text = self._ax_prog.text( + 0.01, + 0.0, + "", + va="center", + ha="left", + transform=self._ax_prog.transData, + ) + + subtitle = f"{self.start_mm:.3f} -> {self.end_mm:.3f} mm" + if self.csv_path: + subtitle += f" | CSV: {self.csv_path}" + self._fig.suptitle(subtitle) + + self._fig.tight_layout(rect=(0, 0, 1, 0.95)) + self._flush() + + def close(self) -> None: + try: + self._plt.close(self._fig) + except Exception: + pass + + def add_point(self, *, mm: float, meas: dict) -> None: + self._mm.append(float(mm)) + self._dphi_deg.append(_to_float(meas.get("dphi_deg"))) + self._amp1_pp.append(_to_float(meas.get("amp1_pp_adc"))) + self._amp2_pp.append(_to_float(meas.get("amp2_pp_adc"))) + self._f0_hz.append(_to_float(meas.get("f0_hz"))) + + self._line_phase.set_data(self._mm, self._dphi_deg) + self._line_amp1.set_data(self._mm, self._amp1_pp) + self._line_amp2.set_data(self._mm, self._amp2_pp) + self._line_freq.set_data(self._mm, self._f0_hz) + + self._autoscale(self._ax_phase) + self._autoscale(self._ax_amp) + self._autoscale(self._ax_freq) + self._update_progress(cur_mm=mm) + + self._fig.canvas.draw_idle() + self._flush() + + def _autoscale(self, ax: object) -> None: + try: + ax.relim() + ax.autoscale_view() + except Exception: + pass + + def _update_progress(self, *, cur_mm: float) -> None: + total = self.end_mm - self.start_mm + if total == 0: + ratio = 1.0 + else: + ratio = (cur_mm - self.start_mm) / total + if ratio < 0.0: + ratio = 0.0 + if ratio > 1.0: + ratio = 1.0 + + try: + self._prog_bar.set_width(ratio) + except Exception: + pass + + txt = f"{ratio * 100.0:6.2f}% | {cur_mm:.3f} mm" + try: + self._prog_text.set_text(txt) + self._prog_text.set_x(min(0.98, ratio + 0.01)) + except Exception: + pass + + def _flush(self) -> None: + try: + self._fig.canvas.flush_events() + except Exception: + pass + try: + # pause is required to keep GUI responsive + self._plt.pause(0.001) + except Exception: + pass + + +def _to_float(x: Optional[object]) -> float: + try: + return float(x) # type: ignore[arg-type] + except Exception: + return float("nan") diff --git a/main.py b/main.py new file mode 100644 index 0000000..6c46ff3 --- /dev/null +++ b/main.py @@ -0,0 +1,435 @@ +import os + +from fastapi import FastAPI, HTTPException, BackgroundTasks, Request +from fastapi.responses import StreamingResponse +from fastapi.middleware.cors import CORSMiddleware +from gpiozero import Buzzer, OutputDevice +import time +import threading +import queue +import uuid +import json +import asyncio +from typing import Optional, Callable, List, Dict, Any +from pydantic import BaseModel +from rigol_phase import measure_phase, DEV as RIGOL_DEV + +app = FastAPI() + +class BatchTaskItem(BaseModel): + cmd: str + args: Dict[str, Any] = {} + repeat: int = 1 +motor_lock = threading.Lock() + + +def _get_cors_origins() -> list[str]: + raw = os.getenv("CORS_ORIGINS", "*").strip() + if raw == "*": + return ["*"] + return [origin.strip() for origin in raw.split(",") if origin.strip()] + + +_cors_origins = _get_cors_origins() +_cors_allow_credentials_env = os.getenv("CORS_ALLOW_CREDENTIALS", "false").strip().lower() in ( + "1", + "true", + "yes", + "y", + "on", +) +_cors_allow_credentials = False if _cors_origins == ["*"] else _cors_allow_credentials_env + +app.add_middleware( + CORSMiddleware, + allow_origins=_cors_origins, + allow_credentials=_cors_allow_credentials, + allow_methods=[m.strip() for m in os.getenv("CORS_ALLOW_METHODS", "*").split(",") if m.strip()], + allow_headers=[h.strip() for h in os.getenv("CORS_ALLOW_HEADERS", "*").split(",") if h.strip()], +) + +pin = int(os.getenv("BEE_PIN", "23")) +BEE = Buzzer(pin) + +class GPIOStepper: + def __init__( + self, + *, + dir_pin: int = 22, + step_pin: int = 27, + dir_invert: bool = False, + ) -> None: + self.dir_invert = bool(dir_invert) + + # gpiozero 默认使用 BCM 编号 + self._dir = OutputDevice(dir_pin) + self._step = OutputDevice(step_pin) + self._step.off() + self._stop_event = threading.Event() + + def close(self) -> None: + try: + self._step.off() + except Exception: + pass + try: + self._dir.off() + except Exception: + pass + + def stop(self) -> None: + self._stop_event.set() + + def set_dir(self, inc: bool) -> None: + """Set direction. + + inc=True means microsteps increases. + """ + value = 1 if inc else 0 + if self.dir_invert: + value = 0 if value else 1 + self._dir.value = value + + def move_steps(self, steps: int, freq_hz: int, on_step: Optional[Callable[[], None]] = None) -> None: + """Move by microsteps.""" + self._stop_event.clear() + if steps < 0: + raise ValueError("steps must be >= 0") + if freq_hz <= 0: + raise ValueError("freq_hz must be > 0") + + pulses = int(steps) + if pulses <= 0: + return + + half_period = 0.5 / float(freq_hz) + for _ in range(pulses): + if self._stop_event.is_set(): + break + self._step.on() + time.sleep(half_period) + self._step.off() + time.sleep(half_period) + if on_step: + on_step() + +stepper = GPIOStepper() + +@app.get("/") +def read_root(): + return {"Hello": "World"} + +@app.get("/ping") +def ping(): + return {"ping": "pong"} + +@app.get("/bee") +def bee_sound(): + try: + BEE.beep(on_time=0.1, off_time=0, n=1) + except Exception as e: + raise HTTPException(status_code=500, detail=str(e)) + return {"status": "Bee buzzed for 0.1 seconds"} + +state = { 'dis': 16000, # 发射器与接收器距离 microsteps + 'phase': 0, # 相位差 rad + 'freq': 0, # 频率 Hz + 'p2p': 0, # 峰峰值 mV + 'speed': 1200, # 电机速度 Hz + 'tasks': [], # 任务列表 + 'last_measurement': {} # 最新示波器测量结果 + } + +state_lock = threading.Lock() +task_queue = queue.Queue() + +def worker(): + while True: + try: + task = task_queue.get() + if task is None: + continue + + task_id = task['id'] + + # Start running + with state_lock: + for t in state['tasks']: + if t['id'] == task_id: + t['status'] = 'running' + break + + try: + if task['type'] == 'move': + steps = task['steps'] + is_positive = steps > 0 + stepper.set_dir(is_positive) + + abs_steps = abs(steps) + if abs_steps > 0: + step_sign = 1 if is_positive else -1 + delta = step_sign + step_change = step_sign + + def on_step(): + with state_lock: + state['dis'] += delta + for t in state['tasks']: + if t['id'] == task_id: + t['remaining_steps'] -= step_change + if is_positive and t['remaining_steps'] < 0: + t['remaining_steps'] = 0 + elif not is_positive and t['remaining_steps'] > 0: + t['remaining_steps'] = 0 + break + + with state_lock: + current_speed = state.get('speed', 1200) + + stepper.move_steps(abs_steps, current_speed, on_step=on_step) + + elif task['type'] == 'measure': + # print(f"Measuring Rigol on {RIGOL_DEV}...") + try: + # 默认参数，可根据需求从 task 中获取 + meas = measure_phase( + dev=RIGOL_DEV, + timeout=3.0, + points_mode="NORM", + fetch_idn=False + ) + # print(f"Measure result: {meas}") + + with state_lock: + state['last_measurement'] = meas + # 更新 state 中的简要字段 + if 'dphi_rad' in meas: + state['phase'] = meas['dphi_rad'] + if 'f0_hz' in meas: + state['freq'] = meas['f0_hz'] + + # 'amp1_pp_adc' 和 'amp2_pp_adc' + # 假设 p2p 保存 Ch1 的 + if 'amp1_pp_adc' in meas: + state['p2p'] = meas['amp1_pp_adc'] + + except Exception as e: + print(f"Measurement failed: {e}") + + except Exception as e: + print(f"Error in task {task_id}: {e}") + finally: + # Remove from tasks list when done + with state_lock: + state['tasks'] = [t for t in state['tasks'] if t['id'] != task_id] + task_queue.task_done() + except Exception as e: + print(f"Worker exception: {e}") + +# Start worker thread +threading.Thread(target=worker, daemon=True).start() + +@app.get('/state') +def get_state(): + with state_lock: + return state + +@app.post('/state/dis') +def set_state_dis(dis: int): + print(f"Setting dis to {dis}") + with state_lock: + state['dis'] = dis + return {'dis': state['dis']} + +@app.post('/action/measure') +def action_measure(): + task_id = str(uuid.uuid4()) + task = { + 'id': task_id, + 'type': 'measure', + 'status': 'pending', + 'created_at': time.time() + } + + with state_lock: + state['tasks'].append(task) + + task_queue.put(task) + return {"status": "queued", "task": task} + +@app.post('/state/speed') +def set_state_speed(speed: int): + print(f"Setting speed to {speed}") + with state_lock: + state['speed'] = speed + return {'speed': state['speed']} + +@app.post('/action/move') +def action_move(steps: int): + task_id = str(uuid.uuid4()) + task = { + 'id': task_id, + 'type': 'move', + 'steps': steps, + 'remaining_steps': steps, + 'status': 'pending', + 'created_at': time.time() + } + + with state_lock: + state['tasks'].append(task) + + task_queue.put(task) + return {"status": "queued", "task": task} + +@app.post('/action/move_measure') +def action_move_measure(steps: int): + # Create Move Task + move_task_id = str(uuid.uuid4()) + move_task = { + 'id': move_task_id, + 'type': 'move', + 'steps': steps, + 'remaining_steps': steps, + 'status': 'pending', + 'created_at': time.time() + } + + # Create Measure Task + measure_task_id = str(uuid.uuid4()) + measure_task = { + 'id': measure_task_id, + 'type': 'measure', + 'status': 'pending', + 'created_at': time.time() + } + + with state_lock: + state['tasks'].append(move_task) + state['tasks'].append(measure_task) + + task_queue.put(move_task) + task_queue.put(measure_task) + return {"status": "queued", "tasks": [move_task, measure_task]} + +@app.post('/action/batch') +def action_batch(items: List[BatchTaskItem]): + new_tasks = [] + + for item in items: + count = max(1, item.repeat) + for _ in range(count): + if item.cmd == 'move': + steps = int(item.args.get('steps', 0)) + + task_id = str(uuid.uuid4()) + task = { + 'id': task_id, + 'type': 'move', + 'steps': steps, + 'remaining_steps': steps, + 'status': 'pending', + 'created_at': time.time() + } + new_tasks.append(task) + + elif item.cmd == 'measure': + task_id = str(uuid.uuid4()) + task = { + 'id': task_id, + 'type': 'measure', + 'status': 'pending', + 'created_at': time.time() + } + new_tasks.append(task) + + elif item.cmd == 'move_measure': + steps = int(item.args.get('steps', 0)) + + move_task_id = str(uuid.uuid4()) + move_task = { + 'id': move_task_id, + 'type': 'move', + 'steps': steps, + 'remaining_steps': steps, + 'status': 'pending', + 'created_at': time.time() + } + new_tasks.append(move_task) + + measure_task_id = str(uuid.uuid4()) + measure_task = { + 'id': measure_task_id, + 'type': 'measure', + 'status': 'pending', + 'created_at': time.time() + } + new_tasks.append(measure_task) + + with state_lock: + state['tasks'].extend(new_tasks) + + for t in new_tasks: + task_queue.put(t) + + return {"status": "queued", "count": len(new_tasks)} + +@app.post('/action/cancel') +def action_cancel(): + # Stop current motor move + stepper.stop() + + # Clear queue + while not task_queue.empty(): + try: + task_queue.get_nowait() + task_queue.task_done() + except queue.Empty: + break + + # Clear tasks in state + with state_lock: + state['tasks'] = [] + + return {"status": "cancelled", "message": "All tasks cancelled"} + +@app.get("/events") +async def sse(request: Request): + """Server-Sent Events endpoint to push state updates.""" + async def event_generator(): + last_state_str = None + while True: + if await request.is_disconnected(): + break + + with state_lock: + # Create a safe copy of state for serialization + current_state = state.copy() + all_tasks = state['tasks'] + current_state['total_tasks'] = len(all_tasks) + # Keep only the first 5 tasks (active + next pending) to reduce payload + current_state['tasks'] = list(all_tasks[:5]) + + # Serialize + try: + data = json.dumps(current_state) + except Exception: + data = "{}" # Fallback + + if data != last_state_str: + yield f"data: {data}\n\n" + last_state_str = data + + await asyncio.sleep(0.1) + + return StreamingResponse(event_generator(), media_type="text/event-stream") + +if __name__ == "__main__": + import uvicorn + + host = os.getenv("HOST", "0.0.0.0") + port = int(os.getenv("PORT", "8000")) + print(f"Starting FastAPI on http://{host}:{port} (docs: /docs)") + # When running this file as a script, avoid importing this module twice. + # Passing the app object directly prevents gpiozero from reserving the same pin twice. + uvicorn.run(app, host=host, port=port, reload=False) diff --git a/motor_rigol_scan_csv.py b/motor_rigol_scan_csv.py new file mode 100644 index 0000000..65b6787 --- /dev/null +++ b/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() diff --git a/pyproject.toml b/pyproject.toml new file mode 100644 index 0000000..3f40e33 --- /dev/null +++ b/pyproject.toml @@ -0,0 +1,22 @@ +[project] +name = "motor-scan" +version = "0.1.0" +description = "Add your description here" +readme = "README.md" +requires-python = ">=3.13" +dependencies = [ + "fastapi>=0.128.0", + "gpiozero>=2.0.1", + "matplotlib>=3.8.0", + "numpy>=2.4.0", + "pigpio>=1.78", + "pyserial>=3.5", + "pyusb>=1.3.1", + "pyvisa>=1.16.0", + "pyvisa-py>=0.8.1", + "uvicorn[standard]>=0.35.0", +] + +[[tool.uv.index]] +url = "https://pypi.tuna.tsinghua.edu.cn/simple" +default = true diff --git a/rigol_phase.py b/rigol_phase.py new file mode 100644 index 0000000..c1695aa --- /dev/null +++ b/rigol_phase.py @@ -0,0 +1,194 @@ +#!/usr/bin/env python3 +import os +import time +import math +import cmath +import argparse +import errno + +DEV = "/dev/usbtmc0" + + +def _write(dev: str, cmd: str) -> None: + if not cmd.endswith("\n"): + cmd += "\n" + fd = os.open(dev, os.O_WRONLY) + try: + os.write(fd, cmd.encode("ascii")) + finally: + os.close(fd) + + +def _read_loop_into(dev: str, buf: bytearray, timeout: float, chunk_size: int = 4096) -> bool: + """Keep reading (blocking) into buf until timeout; tolerate ETIMEDOUT.""" + deadline = time.monotonic() + timeout + fd = os.open(dev, os.O_RDONLY) + try: + while time.monotonic() < deadline: + try: + chunk = os.read(fd, chunk_size) + if chunk: + buf += chunk + return True + except OSError as e: + if e.errno == errno.ETIMEDOUT: + time.sleep(0.01) + continue + raise + time.sleep(0.01) + return False + finally: + os.close(fd) + + +def query_line(cmd: str, timeout: float = 2.0, *, dev: str = DEV) -> str: + _write(dev, cmd) + time.sleep(0.03) + buf = bytearray() + ok = _read_loop_into(dev, buf, timeout=timeout) + if not ok or not buf: + raise TimeoutError(f"query_line timeout: {cmd}") + line = bytes(buf).split(b"\n", 1)[0] + return line.decode("ascii", errors="replace").strip() + + +def query_block(cmd: str, timeout: float = 5.0, *, dev: str = DEV) -> bytes: + """ + Read IEEE488.2 block: # + Returns payload bytes. + """ + _write(dev, cmd) + time.sleep(0.03) + + buf = bytearray() + deadline = time.monotonic() + timeout + + while time.monotonic() < deadline: + _read_loop_into(dev, buf, timeout=0.5) # accumulate in chunks + + # parse block if possible + if len(buf) >= 2 and buf[0:1] == b"#" and chr(buf[1]).isdigit(): + ndigits = int(chr(buf[1])) + header_len = 2 + ndigits + if len(buf) >= header_len: + len_str = buf[2:header_len].decode("ascii", errors="replace") + if len_str.isdigit(): + payload_len = int(len_str) + total_len = header_len + payload_len + if len(buf) >= total_len: + return bytes(buf[header_len:total_len]) + + # some responses might be plain text + if b"\n" in buf and not buf.startswith(b"#"): + return bytes(buf) + + raise TimeoutError(f"query_block timeout: {cmd} (got {len(buf)} bytes)") + +def wrap_pi(x: float) -> float: + return (x + math.pi) % (2.0 * math.pi) - math.pi + +def time_axis(n: int, tscale: float, toffs: float) -> list[float]: + # screen spans 12 div horizontally (approx). Works well for NORM screen data. + t0 = toffs - 6.0 * tscale + dt = (12.0 * tscale) / (n - 1) if n > 1 else 0.0 + return [t0 + i * dt for i in range(n)] + +def phasor_at(samples: list[float], t: list[float], f0: float) -> complex: + mean = sum(samples) / len(samples) + w = 2.0 * math.pi * f0 + s = 0+0j + for x, ti in zip(samples, t): + s += (x - mean) * cmath.exp(-1j * w * ti) + return s + + +def measure_phase( + *, + dev: str = DEV, + timeout: float = 3.0, + points_mode: str = "NORM", + fetch_idn: bool = False, +) -> dict: + """Measure CH1/CH2 phase difference using a single waveform capture. + + Returns a dict suitable for JSON serialization. + """ + if points_mode not in {"NORM", "RAW", "MAX"}: + raise ValueError("points_mode must be one of: NORM, RAW, MAX") + + idn = query_line("*IDN?", timeout=timeout, dev=dev) if fetch_idn else None + + # Stop & set points mode + _write(dev, ":STOP") + _write(dev, f":WAV:POIN:MODE {points_mode}") + time.sleep(0.05) + + # timebase + tscale = float(query_line(":TIM:SCAL?", timeout=timeout, dev=dev)) + toffs = float(query_line(":TIM:OFFS?", timeout=timeout, dev=dev)) + + # frequency + f0 = float(query_line(":MEAS:FREQ? CHAN1", timeout=timeout, dev=dev)) + + # waveform payloads (bytes 0..255) + b1 = query_block(":WAV:DATA? CHAN1", timeout=timeout, dev=dev) + b2 = query_block(":WAV:DATA? CHAN2", timeout=timeout, dev=dev) + n = min(len(b1), len(b2)) + b1, b2 = b1[:n], b2[:n] + + x1 = [float(v) for v in b1] + x2 = [float(v) for v in b2] + t = time_axis(n, tscale, toffs) + + amp1_pp_adc = (max(x1) - min(x1)) if x1 else float("nan") + amp2_pp_adc = (max(x2) - min(x2)) if x2 else float("nan") + + p1 = phasor_at(x1, t, f0) + p2 = phasor_at(x2, t, f0) + phi1 = cmath.phase(p1) + phi2 = cmath.phase(p2) + dphi = wrap_pi(phi2 - phi1) + + deg = dphi * 180.0 / math.pi + dt = dphi / (2.0 * math.pi * f0) if f0 != 0.0 else float("nan") + + _write(dev, ":RUN") + + return { + "ts": time.time(), + "idn": idn, + "points_mode": points_mode, + "n": n, + "tscale": tscale, + "toffs": toffs, + "f0_hz": f0, + "amp1_pp_adc": amp1_pp_adc, + "amp2_pp_adc": amp2_pp_adc, + "phi1_rad": phi1, + "phi2_rad": phi2, + "dphi_rad": dphi, + "dphi_deg": deg, + "dt_s": dt, + "wave1": x1, + "wave2": x2, + } + +def main(): + ap = argparse.ArgumentParser() + ap.add_argument("--dev", default=DEV) + ap.add_argument("--mode", default="NORM", choices=["NORM", "RAW", "MAX"], help="WAV:POIN:MODE") + ap.add_argument("--timeout", type=float, default=3.0) + args = ap.parse_args() + + print("[+] *IDN? ->", query_line("*IDN?", timeout=args.timeout, dev=args.dev)) + + r = measure_phase(dev=args.dev, timeout=args.timeout, points_mode=args.mode, fetch_idn=False) + print(f"[+] Using f0 = {r['f0_hz']:.3f} Hz") + print(f"[+] Got points: {r['n']} (mode={r['points_mode']})") + print(f"[+] Phase:") + print(f" phi1={r['phi1_rad']:+.6f} rad, phi2={r['phi2_rad']:+.6f} rad") + print(f" dphi={r['dphi_rad']:+.6f} rad = {r['dphi_deg']:+.2f} deg") + print(f" equivalent delay dt={r['dt_s']:+.9e} s") + +if __name__ == "__main__": + main() diff --git a/scan_20260120_162345.csv b/scan_20260120_162345.csv new file mode 100644 index 0000000..5f24328 --- /dev/null +++ b/scan_20260120_162345.csv @@ -0,0 +1,4303 @@ +ts,mm,f0_hz,phi1_rad,phi2_rad,dphi_rad,dphi_deg,amp1_pp_adc,amp2_pp_adc,rigol_idn,points_mode,n 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0000000..81677d9 --- /dev/null +++ b/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()