From ebd403fcf7c6e2cf44a00850a6f4f545fbc70ef8 Mon Sep 17 00:00:00 2001
From: Filip Leonarski <filip.leonarski@psi.ch>
Date: Thu, 11 Sep 2025 14:47:13 +0200
Subject: [PATCH] DAQ: Loop centre sequence - now using ml box to centre sample
 - takes centre of leftmost edge of either the face or the whole loop. Added
 print statements and more images saved to database.

---
 daq/src/aaredaq/daq.py | 43 ++++++++++++++++++++++++++++++++++++------
 1 file changed, 37 insertions(+), 6 deletions(-)

diff --git a/daq/src/aaredaq/daq.py b/daq/src/aaredaq/daq.py
index 38eb3d89..569a364c 100644
--- a/daq/src/aaredaq/daq.py
+++ b/daq/src/aaredaq/daq.py
@@ -4,6 +4,7 @@ from datetime import datetime
 from math import ceil
 from typing import List, Tuple
 import secrets
+import os
 
 import cv2
 import numpy as np
@@ -705,6 +706,29 @@ class AareDAQ:
             omega_deg=geom.omega_deg
         )
 
+    def __ml_loop_centre_box(self, sample_id: int | None = None, filename: str | None = None) -> SmargonCoordinate | None:
+        time.sleep(0.2) # Just to be sure image is stable
+        bgr_image = cv2.cvtColor(self.camera_image, cv2.COLOR_RGB2BGR)
+        box = self.__mlbox.predict(bgr_image, filename)
+
+        if box is None:
+            if filename is not None:
+                #cv2.imwrite(f"{filename}_no_detection.jpg", bgr_image)
+                self.__aare.upload_image(sample_id, f"{filename}_no_detection", bgr_image)
+            return None
+
+        x1, y1, x2, y2 = box
+
+        if filename is not None:
+            #cv2.rectangle(bgr_image, (int(x1), int(y1)), (int(x2), int(y2)), (0, 255, 0), 2)
+            #cv2.imwrite(f"{filename}.jpg", bgr_image)
+            self.__aare.upload_image(sample_id, filename, bgr_image)
+
+        geom = self.sample_geometry
+        centre_coord = y1 + (y2 - y1)/2
+        coord = geom.picture_to_smargon(Coordinate(x=x1, y=centre_coord))
+        return SmargonCoordinate(sh_mm=coord)
+
     def ml_bounding_box(self,  sample_id: int | None = None, filename: str | None = None) -> RasterGridRequest | None:
         try:
             self.__cfg.try_set_busy(timeout=360)
@@ -811,16 +835,22 @@ class AareDAQ:
             i = 0
             for s in self.__cfg.alc_zoom_settings.z:
                 print('new loop center settings')
-                print(s.zoom_value,s.sam_cam_gain, s.sam_cam_exp)
                 self.__devs.samcam_settings = SampleCameraSettings(exposure=s.sam_cam_exp, gain=s.sam_cam_gain)
                 self.__devs.zoom_sync(s.zoom_value)
-                print(s.zoom_value, s.sam_cam_gain, s.sam_cam_exp)
+                print(f'zoom={s.zoom_value},gain={s.sam_cam_gain}, exp={s.sam_cam_exp}')
+                if  sample_id is not None:
+                    self.save_screenshot_db(sample_id, f"pre_alc")
+                    print(sample_id)
                 if i % 2 == 0:
-                    angles = (0, -45, -90)
+                     angles = (0, -45, -90, -135)
                 else:
-                    angles = (-90, -45, 0)
+                     angles = (-135, -90, -45, 0)
                 for angle in angles:
-                    print(angle)
+                    print(f"Moving to new omega: {angle}")
+                    if sample_id is not None and i == 0:
+                        exp = int(s.sam_cam_exp * 1000)
+                        gain = int(s.sam_cam_gain)
+                        self.save_screenshot_db(sample_id, f"pre_alc_{sample_id}_{angle}_{s.zoom_value:.0f}_{exp}_{gain}")
                     self.__devs.aerotech.move(angle, wait=True)
                     filename = None
                     exp = int(s.sam_cam_exp * 1000)
@@ -837,7 +867,8 @@ class AareDAQ:
                         self.save_screenshot_db(sample_id, f"{sample_id}_{angle}_{s.zoom_value:.0f}_{exp}_{gain}")
                 i += 1
             return True
-        except LoopCenteringFailed:
+        except Exception as e:
+            print(f"Error in loop centering: {e}")
             return False
 
     def auto_loop_center(self, sample_id: int | None = None) -> float: