#

# Indefinite closed loop

#

# Authors: Peter Weir and Marie Suver

# Last updated: September 1 2009

import sys

import timeimport numpy

import comedi

import PControl.Panel_com as Panel_com

from simple_step import Simple_Step

import curses

# -------------------------------------------------------------------------

# --------- experimenter input

# -------------------------------------------------------------------------

userInput = sys.argv

if len(userInput) < 2:

print 'user input should be [UV or gr] [pol, qwp, qtr] [none]'

sys.exit()

wavelength = userInput[1] # UV ('UV') or green ('gr') LED

filterType = userInput[2] # 'pol' or 'qwp' or 'qtr'

eyeTreatment = userInput[3] # Will do no eye treatments (i.e. waxing) in this experiment, but will indicate 'none' anyways

if (wavelength != 'UV' and wavelength != 'gr') or (filterType != 'pol' and filterType != 'qwp' and filterType != 'qtr') or (eyeTreatment != 'none'):

print 'user input should be [UV or gr] [qwp or qtr or pol] [none]'

sys.exit()

# -------------------------------------------------------------------------

# --------- curses input initialization

# -------------------------------------------------------------------------

stdscr = curses.initscr()

#curses.nocbreak()

stdscr.keypad(0)

curses.echo()

stdscr.nodelay(1)

gin = stdscr.getch()

# -------------------------------------------------------------------------

# --------- DAQ initialization

# -------------------------------------------------------------------------

chans = [0,1]

subdev = 0

chrange = 0

# Open and configure device

daq = comedi.comedi_open('/dev/comedi0')

if not daq:

raise "Error openning Comedi device"

maxdata = [0,0]

cr = [0,0]

maxdata[0] = comedi.comedi_get_maxdata(daq,subdev, chans[0])

cr[0] = comedi.comedi_get_range(daq,subdev,chans[0],chrange)

maxdata[1] = comedi.comedi_get_maxdata(daq,subdev, chans[1])

cr[1] = comedi.comedi_get_range(daq,subdev,chans[1],chrange)

# -------------------------------------------------------------------------

# --------- polarizer initialization

# -------------------------------------------------------------------------

NUM_TEETH_PASSIVE_GEAR = 80.0 # number of teeth on gear surrounding polarizer

NUM_TEETH_DRIVE_GEAR = 64.0 # number of teeth on gear attached to motor shaft

STEPS_PER_ROT_MOTOR = 6400.0 # setable on driver

RAMP_ACCEL = 15000

stepsPerRotation = STEPS_PER_ROT_MOTOR*NUM_TEETH_PASSIVE_GEAR/NUM_TEETH_DRIVE_GEAR

# Open device

dev = Simple_Step()

# enable device

dev.enable()

# No zeroing of device! Position calibrated (manually and occasionally by experimenters).

# DIO pin connected to LED

ledPin = 2

dev.set_dio_lo(ledPin) # turn LED off

# -------------------------------------------------------------------------

# --------- panels initialization

# -------------------------------------------------------------------------

NUM_PIXELS = 18*8

degreesPerPixel = 360.0/NUM_PIXELS

userport = '/dev/ttyS0'

panels = Panel_com.Panel_com( userport )

patternID = 1

panels.SetPatternID(patternID)

gainx = 16

gainy = 0

offsety = 0

offsetx = 0

modex = 1 # closed loop

modey = 0

patternYPos = 0

# -------------------------------------------------------------------------

# --------- closed loop

# -------------------------------------------------------------------------

direction = ['negative', 'positive']

TOTAL_TIME_VISUAL = 10 # seconds of closed loop stimulus

TOTAL_TIME_EXP = 48000 # seconds of closed loop (experimental) stimulus (many many minutes)

PRE_LED_TIME = 5 # seconds LED off before turning on

PRE_MOTION_TIME = 5 # seconds LED on before starting closed loop

trial_time = 0

stdscr.addstr('visual closed loop\n')

stdscr.refresh()

dev.set_dio_lo(ledPin) # turn LED off

panels.SetPositions(143, 0) # load [single] stripe pattern

panels.SetMode(modex, modey)

panels.SetGainOffset(gainx,offsetx,gainy,offsety)

panels.Start()

time.sleep(TOTAL_TIME_VISUAL)

panels.Stop()

panels.AllOff()

gain = -2500

start_pos_deg = numpy.random.randint(360)

start_pos = start_pos_deg*stepsPerRotation/360

date_time = time.strftime("%Y%m%d_%H%M%S")

fd = open('./' + wavelength + '_' + filterType + '_' + eyeTreatment + '_' + date_time + '.txt',mode='w')

fd.write('%d %d %d\n'%(gain,start_pos_deg,stepsPerRotation))

fd.flush()

dev.set_dio_lo(ledPin) # turn LED off

# rotate to start postion

current_pos = dev.get_pos()

dev.soft_ramp_to_pos(current_pos - numpy.mod(current_pos,stepsPerRotation)+start_pos,RAMP_ACCEL)

pstring = 'trial start pos = '+ str(start_pos_deg) + '\n ./' + wavelength + '_' + filterType + '_' + eyeTreatment + '_' + date_time + '.txt \n'

stdscr.addstr(pstring)

stdscr.refresh()

time.sleep(PRE_LED_TIME)

#turn LED on

dev.set_dio_hi(ledPin)

time.sleep(PRE_MOTION_TIME)

dev.set_vel_setpt(0)

dev.set_mode('velocity')

dev.start()

start_time = time.time()

t = 0

while t <= start_time + TOTAL_TIME_EXP:

gin = stdscr.getch()

if gin ==10:

stdscr.addstr("experiment ended")

stdscr.refresh()

time.sleep(1)

break

else:

rawAnalogIn = comedi.comedi_data_read(daq,subdev,chans[0],0,comedi.AREF_GROUND)

voltsInLMR = comedi.comedi_to_phys(rawAnalogIn[1], cr[0], maxdata[0])

rawAnalogIn = comedi.comedi_data_read(daq,subdev,chans[1],0,comedi.AREF_GROUND)

voltsInFreq = comedi.comedi_to_phys(rawAnalogIn[1], cr[1], maxdata[1])

vel = int(round(voltsInLMR*gain))

dev.set_dir_setpt(direction[(numpy.sign(vel)+1)/2], io_update=False)

dev.set_vel_setpt(abs(vel))

t = time.time()

pos = dev.get_pos()

fd.write('%f %d %d %f %f\n'%(t,vel,pos,voltsInLMR,voltsInFreq))

fd.flush()

dev.stop()

fd.close()

curses.endwin()

dev.set_dio_lo(ledPin) # turn LED off

dev.soft_ramp_to_vel(0,'positive',RAMP_ACCEL)

current_pos = dev.get_pos()

dev.soft_ramp_to_pos(current_pos - numpy.mod(current_pos,stepsPerRotation),RAMP_ACCEL)

sys.stdout.write('\a') # make a beep sound to mark end

panels.SetPositions(143, 0) # load [single] stripe pattern

panels.SetMode(modex, modey)

panels.SetGainOffset(gainx,offsetx,gainy,offsety)

panels.Start()