first promissing implementation

python/shapepath.py

@@ -61,6 +61,7 @@ debug code:
 ssh root@$PPMAC
 sendgetsends -1
 
+cmdt.py -tpbg -p EXPMX1
 '''
 
 import logging
@@ -830,15 +831,23 @@ class ShapePath(MotionBase):
         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']
+        nx,ny=g['count']      #total count of wells
+        #TODO: rework pt calculation
+        xx, yy=np.meshgrid(range(nx), range(ny))
+        xx=xx.T
+        yy=yy.T
+        pt=np.array([xx.reshape(-1), yy.reshape(-1)], dtype=np.float64).transpose() #*pitch
+        pt=np.tile(pt,(2,1)) # not yet perfect... but at least roughly ok
         try:
           trf=kwargs['trf']
         except KeyError as e:
           ox, oy=g['pos']
           px, py=g['pitch']
+          self.mot_pts=pt*np.array(g['pitch'], np.float)+np.array(g['pos'], np.float)
         else:
           ox, oy=(0,0)
           px, py=(1,1)
-        nx,ny=g['count']      #total count of wells
+          self.mot_pts=(np.hstack((pt, np.ones((pt.shape[0], 1))))*np.asmatrix(trf)).A  # pt*trf
         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
@@ -1276,7 +1285,6 @@ if __name__=='__main__':
       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}'))