wip

python/PBMotionAnalyzer/MAxyPlot.py

@@ -36,6 +36,7 @@ class MPLCanvasImg(FigureCanvas):
       self.SetStatusCB=SetStatusCB
     fig = mpl.figure.Figure()
     ax = fig.add_axes([0.075,0.075,0.85,0.85])
+    ax.invert_xaxis();ax.invert_yaxis()
     FigureCanvas.__init__(self,parent, -1, fig)
     self.mpl_connect('motion_notify_event', self.OnMotion)
     self.mpl_connect('button_press_event',   self.OnBtnPress)

python/shapepath.py

@@ -106,11 +106,12 @@ class ShapePath(MotionBase):
       self.plot_points(pts)
       plt.show()
 
-  def gen_rand_points(self,n=107,scale=1000):
+  def gen_rand_points(self,n=107,scale=1000,ofs=(0,0)):
     'generate random distributed points'
     np.random.seed(0)
     #data=np.random.randint(0,1000,(30,2))
     pts=np.random.rand(n,2)*scale
+    pts+=ofs
     self.points=pts
 
   def gen_grid_points(self,w=10,h=10,pitch=100,rnd=.2,ofs=(0,0)):
@@ -123,6 +124,50 @@ class ShapePath(MotionBase):
     pts+=ofs
     self.points=pts
 
+  def gen_closed_shifted(self,pitch=100,shift=5,mult=3):
+    'from the given points, close the path, and runs 9 times with small pitch'
+
+    pts=self.points
+    pts = np.vstack((pts, pts[-1]+(0,-50)))#add a new point outside of the grid
+    mn=pts.min(0)
+    mx=pts.max(0)
+    d=pts[0,:]-pts[-1,:]
+    l=np.sum(d)
+    bk=[]
+    if abs(d[1])>pitch: #make a vertical back move
+      s=np.sign(d[1])
+      n=np.ceil(np.abs(d[1])/pitch)
+      p=np.ndarray((n,2))
+      p[:,0]=pts[-1, 0]
+      p[:,1]=pts[-1, 1]+np.arange(1,n+1)*s*pitch
+      pts=np.vstack((pts,p))
+
+    if abs(d[0])>pitch: #make a horizonlat back move
+      s=np.sign(d[0])
+      n=np.ceil(np.abs(d[0])/pitch)
+      p=np.ndarray((n,2))
+      p[:,0]=pts[-1, 0]+np.arange(1,n+1)*s*pitch
+      p[:,1]=pts[-1, 1]
+      pts[-1, :]
+      pts=np.vstack((pts,p))
+
+    stack=[]
+    for y in np.arange(mult)*shift:
+      for x in np.arange(mult)*shift:
+        stack.append(pts+(x,y))
+    pts=np.vstack(stack)
+
+
+    #xx,yy=np.meshgrid(range(w), range(h))
+    #pts=np.array([xx.reshape(-1),yy.reshape(-1)],dtype=np.float).transpose()*pitch
+    #if xy:
+    #else:
+
+    #  smlpitch
+    #pts+=ofs
+    self.points=pts
+
+
   def opt_pts(self,fn):
     '''
     trial to optimize path by mofing trajectory, uload real path and move the points
@@ -378,6 +423,7 @@ class ShapePath(MotionBase):
   def plot_points(self,pts):
     fig=plt.figure()
     ax = fig.add_subplot(1,1,1)
+    ax.invert_xaxis();ax.invert_yaxis()
     #hl=ax[0].plot(x, y, color=col)
     hl=ax.plot(pts[:,0],pts[:,1],'r.')
     hl=ax.plot(pts[:,0],pts[:,1],'y--')
@@ -400,6 +446,7 @@ class ShapePath(MotionBase):
     if mode&1:
       fig=plt.figure('trajectory')
       ax = fig.add_subplot(1,1,1)
+      ax.invert_xaxis();ax.invert_yaxis()
       #hl=ax[0].plot(x, y, color=col)
       hl=ax.plot(pts[:,0],pts[:,1],'r.')
       hl=ax.plot(pts[:,0],pts[:,1],'y--')
@@ -606,6 +653,9 @@ if __name__=='__main__':
     #sp.plot_gather()
     #return
     fn='/tmp/shapepath'
+    fn='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/record/grid_delay_0002'
+    #   /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/record/chip000_sortedXXXX_9x9'
+    #fn='/sf/bernina/data/p17592/res/20181203/imprints/chip000_preloc_min10um_sortedX_refs_goaround/chip000_sortedY_9x9.npz'
     #fn='PBMotionAnalyzer/records/rand50um_25Hz'
     #sp.setup_coord_trf()
 
@@ -621,6 +671,17 @@ if __name__=='__main__':
     #sp.points = np.array([[100,523],[635,632],[756,213]])
     #sp.points = np.array([[0, 0],[100, 0],[200, 0],[300, 0],[400, 0],[400, 100],[300, 100],[200, 100],[100, 100],[0, 100],[10, 200],[100, 200],[200, 200],[300, 200],[400, 200],[410, 300],[300, 300],[200, 300],[100, 300],[0, 300],[0, 400],[100, 400],[200, 400],[300, 400],[400, 400]])
     #sp.gen_rand_points(n=107, scale=1000);sp.sort_points(xy=xy)
+    #sp.gen_rand_points(n=107, scale=1000);sp.sort_points(xy=xy)
+    #fh=np.load('/sf/bernina/data/p17592/res/20181203/imprints/chip000_preloc_min10um_sortedX_refs_goaround/chip000_preloc_min10um_sortedX_refs_goaround_0529.npz')
+    #sp.points=fh['pts']
+    sp.gen_grid_points(w=6,h=6,pitch=100,rnd=0,ofs=(0,0));sp.sort_points(False);
+    sp.gen_closed_shifted()
+    sp.points=sp.points-+sp.points[0,:]+(-967,1446)
+    #1412.33 -2862.37
+    #1446.62 -967.7128125
+
+    #sp.plot_points(sp.points);plt.show()
+
     #sp.gen_grid_points(w=100,h=100,pitch=10,rnd=.2)
     #sp.gen_swissfel_points(width=1000,ofs=(-500,0));sp.sort_points(xy=xy)
     #sp.gen_grid_points(w=10,h=10,pitch=50,rnd=.2)
@@ -634,7 +695,7 @@ if __name__=='__main__':
     #sp.setup_sync(mode=1) #sync with timing system (PROG)
     sp.setup_sync(mode=2) #sync with timing system and PLC to sync speed (PROG)
     sp.setup_coord_trf() # reset to shape path system
-
+    sp.setup_motion(fnPrg=fn + '.prg', mode=1, pt2pt_time=40)
     #sp.gen_grid_points(w=2,h=2,pitch=50,rnd=.2);sp.sort_points(xy);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=10,acq_per=1)
     #sp.gen_swissmx_points(width=1000,ofs=(-500,0));sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=40,acq_per=1)
 
@@ -648,9 +709,13 @@ if __name__=='__main__':
     #sp.gen_rand_points(n=400, scale=1000);sp.sort_points(xy);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=10)
 
 
-    #sp.gen_swissmx_points(width=500,flipx=True,flipy=True,ofs=(-380,3980));sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=40,acq_per=1)
+    #sp.gen_swissmx_points(width=2000,flipx=True,flipy=True,ofs=(1014,-281));sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=40,acq_per=1)
     #sp.gen_grid_points(w=20,h=20,pitch=20,rnd=0,ofs=(-464,1754));sp.sort_points(True);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=40)
-    sp.gen_grid_points(w=20,h=20,pitch=20,rnd=0,ofs=(-160,3700));sp.sort_points(False);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=40)
+    #sp.gen_grid_points(w=20,h=20,pitch=20,rnd=0,ofs=(-160,3700));sp.sort_points(False);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=40)
+    #sp.gen_grid_points(w=5,h=5,pitch=100,rnd=0,ofs=(-1590,-1070));sp.sort_points(False);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=40)
+    #sp.gen_grid_points(w=5,h=5,pitch=100,rnd=0,ofs=(-1580,-1070));sp.sort_points(False);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=40)
+    #sp.gen_grid_points(w=5,h=5,pitch=100,rnd=0,ofs=(-1580,-1060));sp.sort_points(False);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=40)
+    #sp.gen_grid_points(w=5,h=5,pitch=100,rnd=0,ofs=(-1590,-1060));sp.sort_points(False);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=40)
 
     #>>>setup gather and sync<<<
     #sp.setup_gather()
@@ -662,7 +727,7 @@ if __name__=='__main__':
     #>>>run gather and plot trajectory<<<
     #return
     sp.run()
-    trigger(0.5)
+    #trigger(0.5)
     sp.gather_upload(fnRec=fn+'.npz')
     sp.plot_gather(mode=11)