hit return motion code gen

python/hit_return_evaluation.py

@@ -20,13 +20,13 @@ import matplotlib.pyplot as plt
 class HitReturnEval:
 
   def initPlt(self,grid):
-    cx,cy=grid['count']
+    nx,ny=grid['count']
     fig=plt.figure()
     ax = fig.add_subplot(1,1,1)
     #ax.invert_xaxis()
     ax.invert_yaxis()
     #hl=ax[0].plot(x, y, color=col)
-    pts=np.array(((0,0),(cx-1,0),(cx-1,cy-1),(0,cy-1),(0,0)))
+    pts=np.array(((0,0),(nx-1,0),(nx-1,ny-1),(0,ny-1),(0,0)))
     h3=ax.plot(pts[:,0],pts[:,1],'g-')
     h2=ax.plot(pts[:,0],pts[:,1],'y-')
     h1=ax.plot(pts[:,0],pts[:,1],'r.')
@@ -53,11 +53,14 @@ class HitReturnEval:
     #vgrid:  grid parameters: {orig:(0,0),pitch(10,10),cnt:(10,10),mode:0}
     #vp0:    x/y koordinates of well to start (default 0,0)
     #vsz:    size of wells to cycle (must be 2n x m)
-    grid=kwargs['grid']
+    g=kwargs['grid']
-    ox, oy=grid['pos']    #origin position in um (or counts if scaled)
+    ox,oy=g['pos']      #origin position in um (or counts if scaled)
-    px, py=grid['pitch']  #pitch to next position in um (or 1 if scaled)
+    px,py=g['pitch']    #pitch to next position in um (or 1 if scaled)
-    cx,cy=grid['count']   #total count of wells
+    nx,ny=g['count']     #total count of wells
-    rx,ry=kwargs['sz']    #region size of wells (sign shows direction)
+    sx,sy=kwargs['ssz']  #section size (in wells)
+    #smv=kwargs['smv']    #time(in num of shots) to move to next section (horiz/vert)
+    #swait=kwargs['smv']  #wait after <swait> section for motion trigger. swait=0:never wait
+
     #fast y (up/down) slow x(left/right)
     #    8
     #    7       8         8
@@ -79,22 +82,22 @@ class HitReturnEval:
       print(f'{x0+x1} {y0+y1} ({dx}|{dy}|{n})')
       mv.append((x0+x1+.1*n,y0+y1+.1*n,n))
       self.updatePlt(mv)
-      if y0==ry-1:
+      if y0==sy-1:
         if dy==1:   #(1)
           dx,dy=1,0
         else:
           dx,dy=0,-1#(2)
-      elif y0==1 and x0<rx-1:
+      elif y0==1 and x0<sx-1:
         if dy==-1:  #(3)
           dx,dy=1,0
         else:
           dx,dy=0,1 #(4)
       elif y0==0:
         if n==1 and x0==1: #(7 or 8)
-          if x1+2*rx<=cx:#(7)
+          if x1+2*sx<=nx:#(7)
-            x1+=rx
+            x1+=sx
-          elif y1+2*ry<=cy:#(8)
+          elif y1+2*sy<=ny:#(8)
-            x1=0;y1+=ry
+            x1=0;y1+=sy
           else:
             break #finished whole grid
           print('next regionA')
@@ -173,11 +176,11 @@ if __name__=='__main__':
     grid={'pos':(-1000, -1200), 'pitch':(120, 120), 'count':(20, 25)}
     grid={'pos':(0, 0), 'pitch':(1, 1), 'count':(16, 20)}
     obj.initPlt(grid)
-    obj.setup_motion(grid=grid,p0=(0,0),sz=(4,5))
+    obj.setup_motion(grid=grid,ssz=(4,5))
     obj.initPlt(grid)
-    obj.setup_motion(grid=grid,p0=(0,0),sz=(6,10))
+    obj.setup_motion(grid=grid,ssz=(6,10))
     obj.initPlt(grid)
-    obj.setup_motion(grid=grid,p0=(0,0),sz=(2,5))
+    obj.setup_motion(grid=grid,ssz=(2,5))
     print('done')
 
 #------------------ Main Code ----------------------------------

python/shapepath.py

@@ -732,11 +732,11 @@ class ShapePath(MotionBase):
               (tmove+twait will be rounded to a multiple of fel_per)
     mode:6  pvt motion 'hit and return using grid parameters. continous motion on 2n ells to pump then same 2n wells to probe, then go 2 rows down
             common kwargs plus:
-              trf :  transformation that will be done on 'grid points'
+              trf  : transformation that will be done on 'grid points'
-              grid:  grid parameters: {orig:(0,0),pitch(10,10),cnt:(10,10),mode:0}
+              grid : grid parameters: {orig:(0,0),pitch(10,10),cnt:(10,10),mode:0}
-              p0:    x/y koordinates of well to start (must be 2n x 2m)
+              ssz  : section size (in wells)
-              sz:    size of wells to cycle
+              smv  : time(in num of shots) to move to next section (horiz/vert)
-
+              swait: wait after <swait> section for motion trigger. swait=0:never wait
     '''
     #scan=0 # snake motion X fast, Y slow
     scan=1 # snake motion Y fast, X slow (default)
@@ -751,7 +751,7 @@ class ShapePath(MotionBase):
     except AttributeError:
       _log.warning('missing motion sync code!')
     # this uses Coord[1].Tm and limits with MaxSpeed
-    if mode in (1,3,4,5): #### pvt motion
+    if mode in (1,3,4,5,6): #### pvt motion
       if mode!=5:
         pt2pt_time=meta['pt2pt_time']=meta['fel_per']
       scale=kwargs.get('scale', 1.)
@@ -802,7 +802,7 @@ class ShapePath(MotionBase):
             plt.show(block=False)
         pv[1:-1, (2, 3)]*=CoordFeedTime #scaling for Deltatau
         prg+='  linear abs\n  X%g Y%g\n' % tuple(pv[0, (0,1)])
-      else: # mode==(4,5):  #### pvt motion, short code using grid parameters
+      elif mode in (4,5):  #### pvt motion, short code using grid parameters
         g=kwargs['grid']
         nx, ny=g['count']
         xx, yy=np.meshgrid(range(nx), range(ny))
@@ -827,6 +827,22 @@ class ShapePath(MotionBase):
           px, py=(1,1)
           self.mot_pts=(np.hstack((pt, np.ones((pt.shape[0], 1))))*np.asmatrix(trf)).A  # pt*trf
         #prg+=f'  linear abs\n  X{ox:g} Y{oy:g}\n'
+        prg+=f'  linear abs\n  X{ox-px:g} Y{oy-py:g}\n' # start one position out of grid
+      else: #mode==6:  #### pvt motion, hit and return using grid parameters
+        g=kwargs['grid']
+        try:
+          trf=kwargs['trf']
+        except KeyError as e:
+          ox, oy=g['pos']
+          px, py=g['pitch']
+        else:
+          ox, oy=(0,0)
+          px, py=(1,1)
+        nx,ny=g['count']      #total count of wells
+        sx,sy=kwargs['ssz']   #section size (in wells)
+        tmx,tmy=kwargs['smv'] #time(in num of shots) to move to next section (horiz/vert)
+        swait=kwargs['smv']  #wait after <swait> section for motion trigger. swait=0:never wait
+
         prg+=f'  linear abs\n  X{ox-px:g} Y{oy-py:g}\n' # start one position out of grid
       prg+='  dwell 10\n'
       try: prg+=self.sync_prg
@@ -897,7 +913,6 @@ class ShapePath(MotionBase):
   X({ox}+L1*{px}):{0:g} Y({oy}+L0*{py}):{0:g}
 
 '''
-
       elif mode==5:
         if scan==0:
           raise Exception('scan=0 not supported')
@@ -988,7 +1003,76 @@ enable plc 2
   while(Sys.Udata[2]==Sys.Udata[1]){{}};Sys.Udata[2]=Sys.Udata[1] // wait motion trigger
 
 '''
+      elif mode==6:
+        if scan==0:
+          raise Exception('scan=0 not supported')
+          pass
+        else:  # scan=1
+          vsx=px/(pt2pt_time)*scale*CoordFeedTime  # scaling for Deltatau
+          vsy=py/(pt2pt_time)*scale*CoordFeedTime  # scaling for Deltatau
+          #variables
+          m,x0,y0,n,dx,dy,x1,y1,t,vx,vy=map(lambda x: f'L{x}',range(11))
+          prg+=f'''\
+  //hit-and-return pvt motion
+  {m}=0
+  {x0}=0;{y0}=-1;{n}=0 // counter well in region
+  {dx}=0;{dy}=1  // motion pitch
+  {x1}=0;{y1}=0  // counter region start
+  {t}=1    // motion pvt tome scaling
+  pvt{pt2pt_time} abs
+  while(1){{
+    {x0}+={dx};{y0}+={dy}
+    //send 1"A:move(%d) X%g:%g Y%g:%g",{n},{ox}+{x0}+{x1}*{px},{dx},{oy}+{y0}+{y1}*{py},{dy}
+    X({ox}+({x0}+{x1})*{px}):({vx}) Y({oy}+({y0}+{y1})*{py}):({vy})
+    if ({t}!=1){{
+      pvt{pt2pt_time} abs;{t}=1
+    }}
+    if ({y0}=={sy}-1){{
+      if ({dy}==1){{   // (1)
+        {dx}=1;{dy}=0
+        {vx}={vsx};{vy}=0
+      }}else{{
+        {dx}=0;{dy}=-1// (2)
+        {vx}=0;{vy}=-{vsy}
+      }}
+    }}else if ({y0}==1 && {x0}<{sx}-1){{
+      if ({dy}==-1){{  // (3)
+        {dx}=1;{dy}=0
+        {vx}={vsx};{vy}=0
+      }}else{{
+        {dx}=0;{dy}=1 // (4)
+        {vx}=0;{vy}={vsy}
+      }}
+    }}else if ({y0}==0){{
+      if ({n}==1 && {x0}==1){{ // (7 or 8)
+        if ({x1}+2*{sx}<={nx}){{// (7)
+          {x1}+={sx}
+          {vx}={vsx};{vy}=0
+          pvt{pt2pt_time*tmx} abs;{t}={tmx}
+        }}else if ({y1}+2*{sy}<={ny}){{// (8)
+          {x1}=0;{y1}+={sy}
+          {vx}=0;{vy}={vsy}
+          pvt{pt2pt_time*tmy} abs;{t}={tmy}
+        }}else{{
+          break // finished whole grid
+        }}
+        //send 1"next regionA"
+        {x0}=0;{y0}=0;{n}=0
+        {dx}=0;{dy}=0
+      }}else if ({x0}==1){{ // (6)
+        {dx}=-1;{dy}=0;{n}+=1
+        {vx}=-{vsx};{vy}=0
+      }}else if ({x0}==0){{ // (0)
+        {dx}=0;{dy}=1
+        {vx}=0;{vy}={vsy}
+      }}else{{ // (5)
+        {dx}=-1;{dy}=0
+        {vx}=-{vsx};{vy}=0
+      }}
+    }}
+  }}
 
+'''
       else:
         raise ValueError('unsupported mode')
       #common code to repeat the motion multiple times
@@ -1168,6 +1252,15 @@ if __name__=='__main__':
       num_pts=gp.points.shape[0]
     except AttributeError as e:
       num_pts=np.array(grid['count'], np.int32).prod()
+    if mode==6:
+      ssz=(4,5) # section size (in wells)
+      smv=(4-1,grid['count'][0]//2) # time(in num of shots) to move to next section (horiz/vert)
+      swait=0 # wait after <swait> section for motion trigger. swait=0:never wait
+    try:
+      num_pts=gp.points.shape[0]
+    except AttributeError as e:
+      num_pts=np.array(grid['count'], np.int32).prod()
+
 
     if sp.comm:
       sp.setup_sync(verbose=args.verbose&0x40,timeOfs=0.03,timeCor=0.0005)
@@ -1180,7 +1273,10 @@ if __name__=='__main__':
     elif mode==4:
       sp.setup_motion(fnPrg=fn+'.prg',scale=1.,cnt=1,dwell=100,mode=4,grid=grid)
     elif mode==5:
-      sp.setup_motion(fnPrg=fn+'.prg',scale=1.,cnt=1,dwell=100,mode=5,tmove=tmove, twait=twait, grid=grid)
+      sp.setup_motion(fnPrg=fn+'.prg',scale=1.,cnt=1,dwell=100,mode=5,grid=grid,tmove=tmove,twait=twait)
+    elif mode==6:
+      sp.setup_motion(fnPrg=fn+'.prg',scale=1.,cnt=1,dwell=100,mode=6,grid=grid,ssz=ssz,smv=smv,swait=swait)
+      _log.info('terurns just for testing');return
     else:
       raise(ValueError(f'unsupported mode:{mode}'))