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This commit is contained in:
zamofing_t
2018-10-18 17:51:19 +02:00
parent 18521d9191
commit 6461cdff60
3 changed files with 115 additions and 86 deletions
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2
cfg/MX1_setup.cfg
View File

@@ -29,7 +29,7 @@
//Mot 4: Stage X Stada Stepper 670mA 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
//Enc 4: Renishaw absolute BiSS
//Mot 5: Stage Y Stada Stepper 670mA 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
//Mot 5: Stage Z Stada Stepper 670mA 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
//Enc 5: Renishaw absolute BiSS
//Enc 6: Interferometer Y

156
python/helicalscan.py
View File

@@ -8,16 +8,23 @@
'''
tools to setup and execute a helical scan of a cristal
Gather motor order
"Motor[4].ActPos","Motor[5].ActPos","Motor[3].ActPos","Motor[1].ActPos
motors CX CZ RY FY
7 8 1 2
Mot 1: Rotation stage LS Mecapion MDM-DC06DNC0H 32 poles = 1 rev = 16*2048=32768 phase_step
Mot 2: Stage Y Parker MX80L D11 25mm one pole cycle = 13mm = 2048 phase_step
Mot 3: Stage X Parker MX80L D11 25mm one pole cycle = 13mm = 2048 phase_step
Mot/Enc 4: camera base plate X
Mot/Enc 5: camera base plate Y
Mot 6: Backlight 2.3A
Mot 7: Stada Stepper: 670mA 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
Mot 8: Stada Stepper: 670mA 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
4 5 3 1
Mot 1: Stage Y Parker MX80L D11 25mm one pole cycle = 13mm = 2048 phase_step
Mot 2: Stage X Parker MX80L D11 25mm one pole cycle = 13mm = 2048 phase_step
Mot 3: Rotation stage LS Mecapion MDM-DC06DNC0H 32 poles = 1 rev = 16*2048=32768 phase_step
Mot 4: Stage X Stada Stepper 670mA 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
Mot 5: Stage Z Stada Stepper 670mA 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
Enc 6: Interferometer Y
Enc 7: Interferometer X
verbose bits:
#1 basic info
@@ -147,27 +154,41 @@ class HelicalScanGui():
#print msg
event.canvas.toolbar.set_message(msg)
def interactive_cx_cz_w_fy(self):
def interactive_cx_cz_w_fy(self,manip=False):
'''interactive shows a cristal with sliders for cx,cz,w,fy
self.helScn.param is used a cristal parameters
THE AXES ARE RELABELED !
The generated members are:
self.fig : handle to figure
self.hCrist : handle to cristal object
self.hOrig : handle to xyz-origin cross (xyz-length= 1/5 height of cristal
self.manip : True: moves the origin cross, False moves the Cristal
'''
param=self.helScn.param
fig = plt.figure()
self.manip=False#True#False
self.fig=fig=plt.figure()
self.manip=manip
self.ax=ax=plt3d.Axes3D(fig,[0.02, 0.15, 0.96, 0.83])
ax.set_xlabel('Z');ax.set_ylabel('X');ax.set_zlabel('Y')
ax.view_init(elev=14., azim=10)
ax.view_init(elev=14., azim=-170)
# param[i]=(z_i, y_i, x_i, r_i,phi_i)
ctr=param[:,0:3].mean(0)[::-1]
self.axSetCenter(ctr,param[0,3]+param[1,3])
l=max(2*param[:,3].max(),param[:,1].ptp()) #max of diameter and y peaktopeak
self.scale=l #scale is the length of a cube were the pltCrist object fits into
self.axSetCenter((0,0,0),l)
axCx=plt.axes([0.1, 0.01, 0.8, 0.02])
axCz=plt.axes([0.1, 0.04, 0.8, 0.02])
axW =plt.axes([0.1, 0.07, 0.8, 0.02])
axFy=plt.axes([0.1, 0.10, 0.8, 0.02])
if self.manip:
lz=ax.get_xlim()
lx=ax.get_ylim()
ly=ax.get_zlim()
else:
lx = ly=lz=[-5,5]
#lz=ax.get_xlim()
#lx=ax.get_ylim() #x-450 -> center==0
#ly=ax.get_zlim()
ly = param[::-1,1]
x0=param[:, 2].mean()
lx=(-l/2+x0,l/2+x0)
z0=param[:, 0].mean()
lz=(-l/2+z0,l/2+z0)
self.sldCx=sCx=Slider(axCx, 'cx', lx[0], lx[1], valinit=(lx[0]+lx[1])/2.)
self.sldCz=sCz=Slider(axCz, 'cz', lz[0], lz[1], valinit=(lz[0]+lz[1])/2.)
self.sldW =sW =Slider(axW, 'ang', -180., 180.0, valinit=0)
@@ -177,9 +198,9 @@ class HelicalScanGui():
sW.on_changed(self.update_cx_cz_w_fy)
sFy.on_changed(self.update_cx_cz_w_fy)
hCrist,pt=self.pltCrist()
self.update_cx_cz_w_fy()
#self.pltCrist(0,0,0,0)
self.hCrist=hCrist;self.fig=fig
# param[i]=(z_i, y_i, x_i, r_i,phi_i)
p=np.ndarray((param.shape[0], 3))
for i in range(2):
@@ -190,11 +211,11 @@ class HelicalScanGui():
print(p)
ofs=(p[1]+p[0])/2. # = center of the cristal
m=Trf.trans(*ofs); self.hOrig=self.pltOrig(m)
ofs=(0,0,0)
m=Trf.trans(*ofs); self.pltOrig(m)
plt.show()
def update_cx_cz_w_fy(self,val):
def update_cx_cz_w_fy(self,val=None):
cx = self.sldCx.val
cz = self.sldCz.val
w = self.sldW.val
@@ -209,24 +230,25 @@ class HelicalScanGui():
p[i, 1] = y_i # y= y_i
p[i, 2] = z_i + r_i * np.sin(phi_i) # z= z_i+r_i*sin(phi_i*w)
print(p)
ofs = (p[1] + p[0]) / 2. # = center of the cristal
m = Trf.trans(cx,fy,cz)
m= m.dot(Trf.rotY(w*d2r))
self.hOrig = self.pltOrig(m,self.hOrig)
self.pltOrig(m)
else:
self.hCrist,pt=self.pltCrist(cx,cz,w*d2r,fy,self.hCrist)
#l.set_ydata(amp * np.sin(2 * np.pi * freq * t))
w=w*d2r
self.pltCrist(-cx, -cz, w, -fy)
#self.pltCrist(cx,cz,w*d2r,fy)
self.fig.canvas.draw_idle()
def interactive_dx_dz_w_y(self):
param=self.helScn.param
fig = plt.figure()
self.fig=fig=plt.figure()
self.ax=ax=plt3d.Axes3D(fig,[0.02, 0.15, 0.96, 0.83])
ax.set_xlabel('Z');ax.set_ylabel('X');ax.set_zlabel('Y')
ax.view_init(elev=14., azim=10)
# param[i]=(z_i, y_i, x_i, r_i,phi_i)
l=max(2*param[:,3].max(),param[:,1].ptp()) #max of diameter and y peaktopeak
self.scale=l #scale is the length of a cube were the pltCrist object fits into
ctr=(0,0,0)
self.axSetCenter(ctr,param[0,3]+param[1,3])
@@ -235,8 +257,9 @@ class HelicalScanGui():
axW =plt.axes([0.1, 0.07, 0.8, 0.02])
axY =plt.axes([0.1, 0.10, 0.8, 0.02])
lx=[-1,1];ly=[0,1];lz=[-1,1]
ly = param[:,1]
lz=ax.get_xlim()
lx=ax.get_ylim()
ly = param[::-1,1]
self.sldDx=sDx=Slider(axDx, 'dx', lx[0], lx[1], valinit=(lx[0]+lx[1])/2.)
self.sldDz=sDz=Slider(axDz, 'dz', lz[0], lz[1], valinit=(lz[0]+lz[1])/2.)
self.sldW =sW =Slider(axW, 'ang', -180., 180.0, valinit=0)
@@ -257,13 +280,12 @@ class HelicalScanGui():
ofs=(p[1]+p[0])/2. # = center of the cristal
print('p, ofs',p,ofs)
m=Trf.trans(0,0,0); self.hOrig=self.pltOrig(m)
hCrist,pt=self.pltCrist(cx=-ofs[0],fy=-ofs[1],cz=-ofs[2])
self.hCrist=hCrist;self.fig=fig
m=Trf.trans(0,0,0); self.pltOrig(m)
self.pltCrist(cx=-ofs[0],cz=-ofs[2],w=0,fy=-ofs[1])
plt.show()
def update_dx_dz_w_y(self,val):
def update_dx_dz_w_y(self,val=None):
print(val)
helScn=self.helScn
dx = self.sldDx.val
dz = self.sldDz.val
@@ -272,7 +294,7 @@ class HelicalScanGui():
w=w*d2r
(cx,cz,w,fy)=helScn.inv_transform(dx,dz,w,y)
#print (cx,cz,w,fy)
self.hCrist,pt=self.pltCrist(-cx,-cz,w,-fy,self.hCrist)
self.pltCrist(-cx,-cz,w,-fy)
self.fig.canvas.draw_idle()
def interactive_anim(self):
@@ -293,7 +315,7 @@ class HelicalScanGui():
ly = param[:,1]
self.sldFrm=sFrm=Slider(axFrm, 'frm', 0, rec.shape[0]-1, valinit=0)
sFrm.on_changed(self.update_anim)
m=Trf.trans(0,0,0); self.hOrig=self.pltOrig(m)
m=Trf.trans(0,0,0); self.pltOrig(m)
self.hCrist=None
self.fig=fig
@@ -322,36 +344,43 @@ class HelicalScanGui():
#data=self.rec[int(idx*self.step),:]
#self.hCrist,pt=self.pltCrist(*data,h=self.hCrist)
def pltOrig(self,m,h=None):
def pltOrig(self,m):
'''plots a xyz axes in rgb colors that shows the transformation matrix m
if h is not none, the handles are the existing object and is modified
m is a 4x4 matrix. the transformed matrix
'''
ax=self.ax
# m is a 4x4 matrix. the transformed matrix
idx=(2,0,1)
r=m[idx,0] #1st
g=m[idx,1] #2nd
b=m[idx,2] #3rd
o=m[idx,3] #origin
r=m[idx,0]*self.scale/3.#1st
g=m[idx,1]*self.scale/3.#2nd
b=m[idx,2]*self.scale/3.#3rd
o=m[idx,3]*self.scale/3.#origin
lines = np.ndarray((3, 2, 3)) # numlines, points, xyz
lines[:, 0, :] = o
lines[0, 1, :] = o + r
lines[1, 1, :] = o + g
lines[2, 1, :] = o + b
if h is None:
try:
h=self.hOrig
except AttributeError:
lseg = tuple(lines)
col=('r','g','b')
hlc = plt3d.art3d.Line3DCollection(lseg, colors=col, linewidths=2) # , *args[argi:], **kwargs)
ax.add_collection(hlc)
return hlc
h = plt3d.art3d.Line3DCollection(lseg, colors=col, linewidths=2) # , *args[argi:], **kwargs)
ax.add_collection(h)
self.hOrig=h
else:
h.set_segments(lines)
return h
def pltCrist(self,cx=0,cz=0,w=0,fy=0,h=None):
def pltCrist(self,cx,cz,w,fy):
#h are the handles
ax = self.ax
helScn = self.helScn
param = helScn.param
pt = np.ndarray((4, 3))
if h is None:
try:
h=self.hCrist
except AttributeError:
h=[] #handels
for i in range(2):
(z, y, x, r, phi) = param[i]
@@ -377,6 +406,7 @@ class HelicalScanGui():
col=(mpl.colors.colorConverter.to_rgba('r'),)*len(lseg)
hlc=plt3d.art3d.Line3DCollection(lseg,colors=col)#, *args[argi:], **kwargs)
ax.add_collection(hlc);h.append(hlc)
self.hCrist=h
else:
for i in range(2):
(z, y, x, r, phi) = param[i]
@@ -403,6 +433,7 @@ class HelicalScanGui():
hlc=h[5]
hlc.set_segments(lines)
return (h,pt)
def get_meas_lines(self,pt,cx,cz,fy,w):
@@ -1019,6 +1050,7 @@ close
if __name__=='__main__':
def run_test(args):
args.host=None
if args.host is None:
comm=gather=None
else:
@@ -1031,8 +1063,22 @@ if __name__=='__main__':
#hs.test_find_rot_ctr()
#hs.test_find_rot_ctr(n=5. ,per=1.,bias=2.31,ampl=4.12,phi=24.6)
fn='/tmp/helicalscan'
hs.load_rec(fn+'.npz')
#hsg.interactive_anim()
#hs.param = np.ndarray((2,5))
#hs.param[0]=(15,2,0,3,0)#(z_i, y_i, x_i, r_i,phi_i)
#hs.param[1]=(15,4,0,3,0)#(z_i, y_i, x_i, r_i,phi_i)
#hsg.interactive_cx_cz_w_fy()
#while True: hsg.update_cx_cz_w_fy() #for debug purpose
hsg.interactive_dx_dz_w_y()
while True: hsg.update_dx_dz_w_y() #for debug purpose
return
#TODO: move the graphic part in a separate class
#TODO: FE Digitizers PBPS117 timing not working!
#hs.calcParam()
@@ -1105,7 +1151,7 @@ if __name__=='__main__':
#hs.gen_prog(mode=0,cntHor=3,cntVert=10,hRng=(-5,5),wRng=(0,120000))
#hs.gen_prog(mode=0,cntHor=3,cntVert=25,hRng=(-5,5),wRng=(0,120000))
#hs.gen_prog(mode=1,cntHor=3,cntVert=25,hRng=(-5,5),wRng=(0,120000),smt=0,pt2pt_time=300)
hs.setup_motion(mode=1,cntHor=5,cntVert=25,hRng=(-10,10),wRng=(0,120000),smt=0,pt2pt_time=300)
hs.setup_motion(mode=1,cntHor=5,cntVert=15,hRng=(-150,150),wRng=(0,120000),smt=0,pt2pt_time=300)
#hs.gen_prog(mode=1,cntHor=5,cntVert=25,hRng=(-100,100),wRng=(0,120000),smt=0,pt2pt_time=40)
#hs.gen_prog(mode=1,cntHor=3,cntVert=20,hRng=(-5,5),wRng=(0,1200),smt=0,pt2pt_time=200)
#hs.gen_prog(mode=1, cntHor=2, cntVert=2, wRng=(0, 360000), smt=0)

43
python/shapepath.py
View File

@@ -15,39 +15,22 @@ verbose bits:
4 upload progress
8 plot gather path
#config file example:
{
"points": [
[100,523],[635,632],[756,213],
"sequencer":[
'gen_grid_points(w=10,h=10,pitch=100,rnd=.2)',
'sort_points()',
'gen_prog(file="'+fn+'.prg")',
'plot_gather("'+fn+'.npz")']
}
Sequencer functions are:
- generate points (if not in the 'points' configuration)
gen_rand_points(self,n=107,scale=1000)
gen_grid_points(w=10,h=10,pitch=100,rnd=.2)
- sorting points:
sort_points(self)
- generate/download/execute motion progran, upload trace of motors (gather data)
gen_prog(self,prgId=2,file=None,host=None)
if host=None nothing will be downloaded/executed and trace of motors will not be uploaded
if file=None the program will not be saved and nothing will be executed
gen_prog modes:
-1 jog a 10mm square
0 linear motion
1 pvt motion
2 spline motion
Gather motor order
"Motor[3].ActPos","Motor[2].ActPos","Motor[1].ActPos","Motor[3].DesPos","Motor[2].DesPos","Motor[1].DesPos")
ACT DES
motors RY FX FY RY FX FY
3 2 1 3 2 1
Mot 1: Stage Y Parker MX80L D11 25mm one pole cycle = 13mm = 2048 phase_step
Mot 2: Stage X Parker MX80L D11 25mm one pole cycle = 13mm = 2048 phase_step
Mot 3: Rotation stage LS Mecapion MDM-DC06DNC0H 32 poles = 1 rev = 16*2048=32768 phase_step
Mot 4: Stage X Stada Stepper 670mA 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
Mot 5: Stage Z Stada Stepper 670mA 200 poles 1 rev = 100*2048 phase_step (2 stepper motor)
Enc 6: Interferometer Y
Enc 7: Interferometer X
- plot gathered data
plot_gather("'+fn+'.npz")
this makes only sence, if motion has been executed and data can be gathered from the powerbrick
Acquired time is:MaxSamples*Period*.2
'''
from __future__ import print_function
import os, sys, time