sf-mx/PBSwissMX
0
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

add findxtal.py

Browse Source
This commit is contained in:
zamofing_t
2018-04-17 08:47:38 +02:00
parent 16614d650e
commit c131b05194
5 changed files with 261 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files

25
Readme.md
View File

@@ -832,4 +832,27 @@ Motor[1].ActPos=-1100474.61749599339
```
Motor[1].HomeOffset=-20907
Motor[1].HomePos=-372569.750242860231
Motor[1].ActPos=-8.86266251358743773e-17
#1p 372569.7502428602
but should be -8000
#1p=Motor[1].ActPos-Motor[1].HomePos
open plc 0
if (Motor[1].ActPos-Motor[1].HomePos>180000)
Motor[1].HomePos=Motor[1].HomePos+360000
if (Motor[2].ActPos-Motor[2].HomePos>180000)
Motor[2].HomePos=Motor[2].HomePos+360000
if (Motor[3].ActPos-Motor[3].HomePos>180000)
Motor[3].HomePos=Motor[3].HomePos+360000
if (Motor[4].ActPos-Motor[4].HomePos>180000)
Motor[4].HomePos=Motor[4].HomePos+360000
if (Motor[5].ActPos-Motor[5].HomePos>180000)
Motor[5].HomePos=Motor[5].HomePos+360000
disable plc 0
close plc 0```
enable plc 0

6
SAR-EXPMX1.subs
View File

@@ -18,10 +18,10 @@ file asyn.template {{P="$(P_M)1", PORT=$(PORT_M)}}
file PPMACMotor.template { file PPMACMotor.template {
pattern{ DESC , P , M , PORT , ADDR, DIR, VELO, HVEL, ACCL, JAR, MRES , PREC, EGU , DHLM, DLLM} pattern{ DESC , P , M , PORT , ADDR, DIR, VELO, HVEL, ACCL, JAR, MRES , PREC, EGU , DHLM, DLLM}
{ "Sample F-Trans Y", "$(P_M)", "MOT_FY" , "$(PORT_M)", 1 , 1 , 2 , 2 , 0.1 , 20 , -0.001, 3 , "mm" , 0 , 0 } { "Sample F-Trans Y", "$(P_M)", "MOT_FY" , "$(PORT_M)", 1 , 1 , 2 , 2 , 0.1 , 20 , -0.001, 3 , "mm" , 0 , 0 }
{ "Sample F-Trans X", "$(P_M)", "MOT_FX" , "$(PORT_M)", 2 , 1 , 2 , 2 , 0.1 , 20 , -0.001, 3 , "mm" , 0 , 0 } { "Sample F-Trans X", "$(P_M)", "MOT_FX" , "$(PORT_M)", 2 , 0 , 2 , 2 , 0.1 , 20 , -0.001, 3 , "mm" , 0 , 0 }
{ "Rotation Y" , "$(P_M)", "MOT_ROT_Y", "$(PORT_M)", 3 , 1 , 50 , 50 , 0.1 , 20 , -0.001, 3 , "deg", 0 , 0 } { "Rotation Y" , "$(P_M)", "MOT_ROT_Y", "$(PORT_M)", 3 , 1 , 50 , 50 , 0.1 , 20 , -0.001, 3 , "deg", 0 , 0 }
{ "Sample C-Trans X", "$(P_M)", "MOT_CX" , "$(PORT_M)", 4 , 1 , 2 , 2 , 0.1 , 20 , -0.001, 3 , "mm" , 0 , 0 } { "Sample C-Trans X", "$(P_M)", "MOT_CX" , "$(PORT_M)", 4 , 0 , 2 , 2 , 0.1 , 20 , -0.001, 3 , "mm" , 0 , 0 }
{ "Sample C-Trans Z", "$(P_M)", "MOT_CZ" , "$(PORT_M)", 5 , 1 , 2 , 2 , 0.1 , 20 , -0.001, 3 , "mm" , 0 , 0 } { "Sample C-Trans Z", "$(P_M)", "MOT_CZ" , "$(PORT_M)", 5 , 0 , 2 , 2 , 0.1 , 20 , -0.001, 3 , "mm" , 0 , 0 }
{ "Interfero Y" , "$(P_M)", "ENC_FY" , "$(PORT_M)", 6 , 1 , 2 , 2 , 0.1 , 20 , -0.001, 3 , "mm" , 0 , 0 } { "Interfero Y" , "$(P_M)", "ENC_FY" , "$(PORT_M)", 6 , 1 , 2 , 2 , 0.1 , 20 , -0.001, 3 , "mm" , 0 , 0 }
{ "Interfero X" , "$(P_M)", "ENC_FX" , "$(PORT_M)", 7 , 1 , 2 , 2 , 0.1 , 20 , -0.001, 3 , "mm" , 0 , 0 } { "Interfero X" , "$(P_M)", "ENC_FX" , "$(PORT_M)", 7 , 1 , 2 , 2 , 0.1 , 20 , -0.001, 3 , "mm" , 0 , 0 }
} }

2
cfg/MX1_setup.cfg
View File

@@ -60,7 +60,7 @@
!encoder_sim(enc=2,tbl=10,mot=10,posSf=13000./2048) !encoder_sim(enc=2,tbl=10,mot=10,posSf=13000./2048)
!encoder_inc(enc=2,tbl=2,mot=2,posSf=13000./650000) !encoder_inc(enc=2,tbl=2,mot=2,posSf=13000./650000)
!motor_servo(mot=2,ctrl='ServoCtrl',Kp=20,Kvfb=220,Ki=0.02,Kvff=240,Kaff=1500,MaxInt=1000) !motor_servo(mot=2,ctrl='ServoCtrl',Kp=18,Kvfb=220,Ki=0.02,Kvff=240,Kaff=1500,MaxInt=1000)
//PhaseFreq=20000,PhasePerServo=1 -> Kvfb=220*4 Ki/=4,Kvff*=4,Kaff*=4*4 //PhaseFreq=20000,PhasePerServo=1 -> Kvfb=220*4 Ki/=4,Kvff*=4,Kaff*=4*4
!motor(mot=2,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=1,IiGain=1,IpfGain=0,IpbGain=2,JogSpeed=10.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./81250,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=200,WarnFeLimit=100,InPosBand=2,homing='enc-index') !motor(mot=2,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=1,IiGain=1,IpfGain=0,IpbGain=2,JogSpeed=10.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./81250,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=200,WarnFeLimit=100,InPosBand=2,homing='enc-index')

14
python/MAxyPlot.py
View File

@@ -66,13 +66,13 @@ class MPLCanvasImg(FigureCanvas):
idx.extend(np.where(l2<1)[0].tolist()) idx.extend(np.where(l2<1)[0].tolist())
#print idx #print idx
recPts=rec[idx,:] recPts=rec[idx,:]
f2 = plt.figure() #f2 = plt.figure()
a2 = f2.add_axes([0.075,0.075,0.85,0.85]) #a2 = f2.add_axes([0.075,0.075,0.85,0.85])
a2.plot(rec[:,1],'r-',label='ptsDot') #,picker=5 default value #a2.plot(rec[:,1],'r-',label='ptsDot') #,picker=5 default value
a2.plot(rec[:,2],'g-',label='ptsDot') #,picker=5 default value #a2.plot(rec[:,2],'g-',label='ptsDot') #,picker=5 default value
a2.plot(rec[:,4],'r--',label='ptsDot') #,picker=5 default value #a2.plot(rec[:,4],'r--',label='ptsDot') #,picker=5 default value
a2.plot(rec[:,5],'g--',label='ptsDot') #,picker=5 default value #a2.plot(rec[:,5],'g--',label='ptsDot') #,picker=5 default value
plt.show() #plt.show()
hl=[] hl=[]

226
python/findxtal.py Executable file
View File

@@ -0,0 +1,226 @@
#!/usr/bin/env python
#*-----------------------------------------------------------------------*
#| |
#| Copyright (c) 2018 by Paul Scherrer Institute (http://www.psi.ch) |
#| |
#| Author Thierry Zamofing (thierry.zamofing@psi.ch) |
#*-----------------------------------------------------------------------*
'''
implements an image alalyser for ESB MX
'''
from scipy import fftpack, ndimage
import scipy.ndimage as ndi
import matplotlib.pyplot as plt
import numpy as np
#plt.ion()
def ffttest():
#find the main frequency and phase in 1-D
d2r=np.pi/180.
n=16.
x=np.arange(n)
amp=1.
frq=4.5
phi=40.*d2r
y=amp*np.cos(phi+frq*x/n*2.*np.pi)
#y*=np.hamming(n)
y*=np.hanning(n)
#y*=1.-np.cos(x/(n-1.)*2.*np.pi)
#y=[1,-1,1,-1,1,-1,1,-1,1,-1,1,-1,1,-1,1,-1]
plt.ion()
plt.figure()
plt.stem(x,y)
fy=np.fft.fft(y)
fya=np.abs(fy)
plt.figure()
plt.subplot(211)
plt.stem(x,fya)
plt.subplot(212)
plt.stem(x,np.angle(fy)/d2r)
print(np.angle(fy[frq])/d2r)
i=(fya.reshape(2,-1)[0,:]).argmax()
(vn,v0,vp)=fya[i-1:i+2]
frq2=i+(vn-vp)/(2.*(vp+vn-2*v0))
print('freq: %g phase %g'%(frq2,np.angle(fy[i])/d2r))
#TODO: THE PHASE CALCULATION IS NOT YET WORKING!!!
#y_inv=np.fft.fft(fy)
#plt.figure()
#plt.plot(x,np.abs(y_inv))
pass
def findGrid(image,numPeak=2):
#image = ndimage.imread('/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/images/grid_20180409_115332.png', flatten=True) # flatten=True gives a greyscale image
s=image.shape
w1=np.hamming(s[0]).reshape((-1,1))
w2=np.hamming(s[1]).reshape((1,-1))
wnd=w1*w2
#plt.figure(num='hamming window')
#plt.imshow(wnd, interpolation="nearest")
image=wnd*image
#plt.figure(num='hamming window*img')
#plt.imshow(image, interpolation="nearest")
fft2 = fftpack.fft2(image)
fft2=np.fft.fftshift(fft2)
fa =abs(fft2)
fal =np.log(fa)
#img=fft3;
ofs=int(fal.min())
mx2=(image.shape[0]/2,image.shape[1]/2)
fal[mx2[0] - 1:mx2[0] + 2, mx2[1] - 1:mx2[1] + 2]=ofs
for i in range(numPeak*2):
mx=fal .argmax()
mx2=divmod(mx,fal .shape[1])
peakPos=(mx2[0] - image.shape[0] / 2, mx2[1] - image.shape[1] / 2)
peak=fal[mx2[0] - 1:mx2[0] + 2, mx2[1] - 1:mx2[1] + 2]
print(peakPos)
print(peak)
(vn, v0, vp)=fal[mx2[0], mx2[1] - 1:mx2[1] + 2]
frq1x=peakPos[1]+(vn-vp)/(2.*(vp+vn-2*v0))
(vn, v0, vp)=fal[mx2[0]-1:mx2[0]+2,mx2[1]]
frq1y=peakPos[0]+(vn-vp)/(2.*(vp+vn-2*v0))
print((frq1x,frq1y))
fal[mx2[0]-1:mx2[0]+2,mx2[1]-1:mx2[1]+2]=i+ofs
plt.figure(num='fft of hamming window*img')
plt.imshow(fal, interpolation="nearest")
plt.xlim(s[1]/2-50, s[1]/2+50)
plt.ylim(s[0]/2-50, s[0]/2+50)
plt.show()
pass
def findObj(image,objSize=150,tol=0,viz=0):
#objSiz is the rough diameter of the searched features in pixels
#tol = tolerance in object size (not yet implemented)
#tolShape = roudness tolerance in object roundness (not yet implemented)
from scipy.signal import convolve2d
#plt.ion()
s=image.shape
#box=np.ones((1,objSize*3),dtype=np.float32)/500.
#img2=ndi.filters.convolve1d(image,box.reshape(-1),0)
#img2=ndi.filters.convolve1d(img2,box.reshape(-1),1)
img2=ndi.filters.uniform_filter(np.float32(image),objSize*2)
if viz&32:
plt.imshow(image, interpolation="nearest", cmap='gray')
plt.figure()
plt.imshow(img2, interpolation="nearest", cmap='gray')
#plt.show()
w=np.where(img2>image)
img2[w]=image[w]
img3=image-img2
if viz&16:
plt.figure()
plt.imshow(img3, interpolation="nearest", cmap='gray')
#plt.show()
l=int(objSize/30)
if l>0:
img4=ndi.binary_fill_holes(img3, structure=np.ones((l,l)))
if viz&8:
plt.figure()
plt.imshow(img4, interpolation="nearest", cmap='gray')
#plt.show()
else:
img4=img3
l=int(objSize/5)#=int(objSize/10)
if l>=3:
#img5=ndi.binary_opening(img4, structure=np.ones((l,l)))
#img5=ndi.binary_erosion(img4, structure=np.ones((l,l)))
img5=ndi.binary_erosion(img4, iterations=l)
if viz&4:
plt.figure()
plt.imshow(img5, interpolation="nearest", cmap='gray')
#plt.show()
else:
img5=img4
import cv2
#cvi1=np.zeros(shape=img5.shape+(3,), dtype=np.uint8)
#cvi1[:,:,0]=image
#image*np.array([1,1,1]).reshape(-1,1,1)
s=image.shape+(1,)
cvi1=image.reshape(s)*np.ones((1,1,3),dtype=np.uint8)
#cvi1=np.ones((3,1,1),dtype=np.uint8)image
contours, hierarchy=cv2.findContours(np.uint8(img5),cv2.RETR_TREE,cv2.CHAIN_APPROX_SIMPLE)
#contours,hierarchy=cv2.findContours(np.uint8(img5),1,2)
cv2.drawContours(cvi1, contours, -1, (0,255,0), 3)
plt.figure()
plt.imshow(cvi1 , interpolation="nearest", cmap='gray')
m=cv2.moments(contours[0])
lbl = ndi.label(img5)
if viz&2:
plt.figure()
plt.imshow(lbl[0], interpolation="nearest")
#plt.show()
ctr=ndi.measurements.center_of_mass(image, lbl[0],range(lbl[1]))
ctr=np.array(ctr)
ctr2=np.ndarray(shape=(len(contours),2),dtype=np.uint16)
i=0
for c in contours:
m=cv2.moments(c)
try:
m00=m['m00']
m10=m['m10']
m01=m['m01']
print m00
if m00>1000 and m00<7000:
ctr2[i,:]=(m10/m00,m01/m00)
i+=1
except ZeroDivisionError:
pass
#ctr2[i, :]=c[0,0]
if viz&1:
plt.figure()
plt.imshow(image, interpolation="nearest", cmap='gray')
plt.plot(ctr[:,1],ctr[:,0],'or',markeredgewidth=2, markersize=10)
plt.plot(ctr2[:i,0],ctr2[:i,1],'+y',markeredgewidth=2, markersize=10)
plt.show()
return ctr
def genImg(shape,*args):
'''args is a list of tuples (freq_x,freq_y, phase) multiple args can be added'''
image=np.ndarray(shape)#,dtype=np.uint8)
x=np.linspace(0,2*np.pi,shape[1])
y=np.linspace(0,2*np.pi,shape[0])
#xx, yy = np.meshgrid(x, y, sparse=True)
xx, yy = np.meshgrid(x, y)
for i,f in enumerate(args):
(freq_x, freq_y, phase)=f
if i==0:
image = np.cos(freq_x*xx + freq_y*yy + phase)
else:
image += np.cos(freq_x * xx + freq_y * yy + phase)
plt.imshow(image, interpolation="nearest")
plt.show()
return image
if __name__ == '__main__':
#ffttest()
#image = ndimage.imread('/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/images/grid_20180409_115332.png')
#image = ndimage.imread('/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/images/grid_20180409_115332_45deg.png')
#image=-image
image=genImg((600,800),(9.5,.2,0))
#image=genImg((600,800),(9.5,.2,0),(.4,5.2,0))
#image=genImg((600,800),(9.5,.2,0),(.4,5.2,0),(4,8,0))
findGrid(image,numPeak=1)
#findObj(image,viz=1)
#findObj(image,viz=255)
#print(findObj(image))