add app_utils for motion_assert, contextMenu og GraphItem, further fixes

ModuleFixTarget.py

@@ -220,7 +220,7 @@ class WndFixTarget(QWidget):
     # def contextMenuEvent(self, event) is called... but this requests to overload the function
     # and to build an own context menu
     # much simpler is to use Qt.ActionsContextMenu
-    # and to handle the context in the parent plass
+    # and to handle the context in the parent class
 
     tree.setContextMenuPolicy(Qt.ActionsContextMenu)
 

Readme.md

@@ -325,6 +325,12 @@ avoid constand RBV event:
 caput SAR-ESPMX:MOT_FX 0.001
 caput SAR-ESPMX:MOT_FY 0.001
 ---------- TODO ----------
+
+caput SAR-ESPMX:MOT_FX.VELO 16
+caput SAR-ESPMX:MOT_FY.VELO 16
+
+
+
 -faster autofocus:
    - move at constant speed and acquire as fast as possible instead stop and go motion
 
@@ -335,8 +341,18 @@ caput SAR-ESPMX:MOT_FY 0.001
 
 - automation: towards automatic alignement
 
-
+    if idx==0:
-
+      #go=UsrGO.Fiducial(bm_pos+bm_sz/2-(20, 20), (40, 40),(fx,fy,bz))
+      l=.120
+      go=UsrGO.Fiducial((fx-l/2,fy-l/2), (l, l),bz)
+      go.sigRegionChangeFinished.connect(self.cb_fiducial_update_z)
+    grp=self._goTracked
+    grp.addItem(go)
+    mft._tree.setData(grp.childItems())
+
+
+  ="geometry/find_fiducial"
+  GEO_FND_FID,GEO_AUTOFOC="geometry/autofocus"
 
 
 

app_config.py

@@ -92,7 +92,7 @@ class AppCfg(QSettings):
     if AppCfg.GEO_BEAM_SZ not in keys:
       dflt.append((AppCfg.GEO_BEAM_SZ, [30.2, 25.6]))
     if AppCfg.GEO_BEAM_POS not in keys:
-      dflt.append((AppCfg.GEO_BEAM_POS, [23.4, -54.2]))
+      dflt.append((AppCfg.GEO_BEAM_POS, [23.4, 54.2]))
     if AppCfg.GEO_FND_FID not in keys:
       dflt.append((AppCfg.GEO_FND_FID, {'sz':101, 'brd':8, 'pitch':120, 'mode':0}))
     if AppCfg.GEO_AUTOFOC not in keys:
@@ -308,11 +308,12 @@ verbose bits:
       ]},
       {'name': AppCfg.DFT_POS_BKLGT, 'title':'Back Light reference positions', 'type':'group','expanded':False, 'children':[
         {'name':'pos_in',   'title':'In position',  'value':dft_pos_bklgt.get('pos_in',0),     'type':'float', 'limits':(-30000, 10 ),'step':10, 'decimals':5, 'suffix':'ustep'},
-        {'name':'pos_out','title':'Out position', 'value':dft_pos_bklgt.get('pos_out',0), 'type':'float', 'limits':(-1000,  10 ),'step':10, 'decimals':5, 'suffix':'ustep'},
+        {'name':'pos_out',  'title':'Out position', 'value':dft_pos_bklgt.get('pos_out',0),    'type':'float', 'limits':(-30000,  10 ),'step':10, 'decimals':5, 'suffix':'ustep'},
+        {'name':'pos_diode','title':'Diode pos',    'value':dft_pos_bklgt.get('pos_diode', 0), 'type':'float','limits':(-30000, 10), 'step':10, 'decimals':5, 'suffix':'ustep'},
       ]},
       {'name': AppCfg.DFT_POS_DET, 'title':'detector reference positions', 'type':'group','expanded':False, 'children':[
-        {'name':'pos_in', 'title':'In position',  'value':dft_pos_det.get('pos_in',0),  'type':'float', 'limits':(-20, 20 ),'step':0.1, 'decimals':5, 'suffix':' mm'},
+        {'name':'pos_in', 'title':'In position',  'value':dft_pos_det.get('pos_in',0),  'type':'float', 'limits':(-200, 200),'step':0.1, 'decimals':5, 'suffix':' mm'},
-        {'name':'pos_out','title':'Out position', 'value':dft_pos_det.get('pos_out',0), 'type':'float', 'limits':(-20, 20 ),'step':0.1, 'decimals':5, 'suffix':' mm'},
+        {'name':'pos_out','title':'Out position', 'value':dft_pos_det.get('pos_out',0), 'type':'float', 'limits':(-200, 200),'step':0.1, 'decimals':5, 'suffix':' mm'},
         {'name':'set_in', 'title':'use current position as "in"', 'type':'action'},
         {'name':'set_out', 'title':'use current position as "out"', 'type':'action'},
       ]},

app_utils.py

@@ -1,36 +1,16 @@
 import time
 
 import logging
-import enum
 
-logger = logging.getLogger(__name__)
+_log=logging.getLogger(__name__)
-logger.setLevel(logging.DEBUG)
 
 from epics.ca import pend_event
 
-class DeltatauMotorStatus(enum.Flag):
-    """names are taken from motorx_all.ui"""
-    DIRECTION = enum.auto()
-    MOTION_IS_COMPLETE = enum.auto()
-    PLUS_LIMIT_SWITCH = enum.auto()
-    HOME_SWITCH = enum.auto()
-    UNUSED_1 = enum.auto()
-    CLOSED_LOOP_POSITION = enum.auto()
-    SLIP_STALL_DETECTED = enum.auto()
-    AT_HOME_POSITION = enum.auto()
-    ENCODER_IS_PRESENT = enum.auto()
-    PROBLEM = enum.auto()
-    MOVING = enum.auto()
-    GAIN_SUPPORT = enum.auto()
-    COMMUNICATION_ERROR = enum.auto()
-    MINUS_LIMIT_SWITCH = enum.auto()
-    MOTOR_HAS_BEEN_HOMED = enum.auto()
-
-    AT_SWITCH = MINUS_LIMIT_SWITCH | PLUS_LIMIT_SWITCH
 
 class PositionsNotReached(Exception):
   pass
 
+
 def assert_tweaker_positions(targets, timeout=60.0):
   """
       wait for each of the given motors to have specified positions within tolerance
@@ -41,32 +21,33 @@ def assert_tweaker_positions(targets, timeout=60.0):
   :return: None
   :raises: PositionsNotReached
   """
-    num_motors = len(targets)
+  num_motors=len(targets)
 
-    timeisup = timeout + time.time()
+  timeisup=timeout+time.time()
 
-    while time.time() < timeisup:
+  while time.time()<timeisup:
-        count = 0
+    count=0
-        summary = []
+    summary=[]
     for i, m in enumerate(targets):
-            motor, target, tolerance = m
+      motor, target, tolerance=m
-            #name = motor.short_name
+      name=motor.short_name
-            #pend_event()
+      pend_event()
-            cur = motor.get_rbv()
+      cur=motor.get_position()
-            done = motor.is_done()
+      done=motor.is_done()
-            #logger.debug("check {}[done={}]: {} == {}".format(name, done, cur, target))
+      _log.debug("check {}[done={}]: {} == {}".format(name, done, cur, target))
-            #summary.append("{}[done={}]: {} == {}".format(name, done, cur, target))
+      summary.append("{}[done={}]: {} == {}".format(name, done, cur, target))
-            if done and tolerance >= abs(cur - target):
+      if done and tolerance>=abs(cur-target):
-                count += 1
+        count+=1
-            #pend_event(0.1)
+      pend_event(0.1)
 
-        if count == num_motors:
+    if count==num_motors:
       break
-        #pend_event(0.1)
+    pend_event(0.1)
 
-    if count != num_motors:
+  if count!=num_motors:
     raise PositionsNotReached("failed to reach target positions: {}".format("#".join(summary)))
 
+
 def assert_motor_positions(targets, timeout=60.0):
   """
       wait for each of the given motors to have specified positions within tolerance
@@ -77,28 +58,28 @@ def assert_motor_positions(targets, timeout=60.0):
   :return: None
   :raises: PositionsNotReached
   """
-    num_motors = len(targets)
+  num_motors=len(targets)
 
-    timeisup = timeout + time.time()
+  timeisup=timeout+time.time()
 
-    while time.time() < timeisup:
+  while time.time()<timeisup:
-        count = 0
+    count=0
-        summary = []
+    summary=[]
     for i, m in enumerate(targets):
-            motor, target, tolerance = m
+      motor, target, tolerance=m
-            name = motor._prefix
+      name=motor._prefix
       pend_event()
-            cur = motor.get_position(readback=True)
+      cur=motor.get_position(readback=True)
-            done = motor.done_moving
+      done=motor.done_moving
-            logger.debug("check {}[done={}]: {} == {}".format(name, done, cur, target))
+      _log.debug("check {}[done={}]: {} == {}".format(name, done, cur, target))
       summary.append("{}[done={}]: {} == {}".format(name, done, cur, target))
-            if done and tolerance >= abs(cur - target):
+      if done and tolerance>=abs(cur-target):
-                count += 1
+        count+=1
       pend_event(0.1)
 
-        if count == num_motors:
+    if count==num_motors:
       break
     pend_event()
 
-    if count != num_motors:
+  if count!=num_motors:
     raise PositionsNotReached("failed to reach target positions: {}".format("#".join(summary)))

backlight.py

@@ -14,13 +14,13 @@ import epics
 #from app_utils import assert_motor_positions
 
 class Backlight(object):
-  def __init__(self, prefix: str='SAR-EXPMX:MOT_BLGT'):
+  def __init__(self, prefix: str='SAR-EXPMX:MOT_BLGT',pos={'pos_in':-29000,'pos_out':0,'pos_diode':0}):
     if prefix is None:
       self._sim={'pos':'out'}
       _log.info('simulated mode:{}'.format(self._sim))
       return #simulated mode
     self._mot = epics.Motor(prefix)
-    self._pos = {'in':-29000,'out':0}
+    self._pos = pos
 
   def is_pos(self,strPos):
     try:
@@ -29,7 +29,7 @@ class Backlight(object):
       _log.info('simulated mode:{}'.format(strPos))
       return self._sim['pos']==strPos
     m.refresh()
-    return abs(m.readback - self._pos[strPos]) < 10
+    return abs(m.readback - self._pos['pos_'+strPos]) < 10
 
   def move(self, strPos, wait=False):
     try:
@@ -40,7 +40,7 @@ class Backlight(object):
       return
     m=self._mot
     _log.debug("backlight to {}".format(strPos))
-    target=self._pos[strPos]
+    target=self._pos['pos_'+strPos]
     m.move(target, ignore_limits=True, wait=wait)
 
 
@@ -55,7 +55,7 @@ if __name__ == "__main__":
   parser.add_argument("-t", "--test", help="test sequence", action="store_true")
 
   args = parser.parse_args()
-  os.environ['EPICS_CA_ADDR_LIST'] = '129.129.244.255 sf-saresc-cagw.psi.ch:5062 sf-saresc-cagw.psi.ch:5066'
+  os.environ['EPICS_CA_ADDR_LIST']='129.129.244.255 sf-saresc-cagw.psi.ch:5062 sf-saresc-cagw.psi.ch:5066'
   _log.info('Arguments:{}'.format(args.__dict__))
 
   bl = Backlight()

camera.py

@@ -217,7 +217,8 @@ class epics_cam(object):
       _log.info('simulated mode:{}'.format(exp))
       self._sim['exp']=exp
       return
-    pv_exp.put(exp, wait=True)
+    self.update_params((pv_exp,exp))
+    #pv_exp.put(exp, wait=True)
 
   def get_exposure(self):
     try:

epics_widgets/MotorTweak.py

@@ -10,7 +10,7 @@ from PyQt5.uic import loadUiType
 from epics import Motor
 from epics.ca import pend_event
 
-from app_utils import DeltatauMotorStatus, assert_motor_positions
+from app_utils import assert_motor_positions
 
 Ui_MotorTweak, QWidget = loadUiType('epics_widgets/MotorTweak.ui')
 SPMG_STOP = 0
@@ -138,12 +138,6 @@ class MotorTweak(QWidget, Ui_MotorTweak):
       self._val=v=m.get('VAL')
     return v
 
-  def is_homed(self):
-    m=self._motor
-    m.refresh()
-    status = DeltatauMotorStatus(m.motor_status)
-    return bool(DeltatauMotorStatus.MOTOR_HAS_BEEN_HOMED & status)
-
   def move_abs(self, drive=None, wait=False, assert_position=False):
     if drive is None:
       drive = float(self._drive_val.text())

epics_widgets/SmaractMotorTweak.py

@@ -7,8 +7,7 @@ from PyQt5.QtWidgets import QMenu, QInputDialog, QAction
 from PyQt5.uic import loadUiType
 from epics import PV
 from epics.ca import pend_event
-
+from motor_utils import assert_tweaker_positions
-#from app_utils import assert_tweaker_positions #ZAC: orig. code
 
 Ui_MotorTweak, QWidget = loadUiType('epics_widgets/MotorTweak.ui')
 logger = logging.getLogger(__name__)

psi_device.py

@@ -85,7 +85,7 @@ class Jungfrau:
       _log.warning(f'Jungfrau not connected: {e}')
       self._daq=None
     self._pv_pulse_id=epics.PV('SAR-EXPMX-EVR0:RX-PULSEID')
-
+    self._pv_pulse_id.connect()
 
   def acquire(self,run_name, n_pulses, wait=False):
     if self._daq is not None:
@@ -94,4 +94,6 @@ class Jungfrau:
 
   def gather_upload(self):
     self._pulse_id_end=self._pv_pulse_id.value
+    _log.debug(f'pulse_id: {self._pulse_id_start}..{self._pulse_id_end}')
+
 

pyqtUsrObj.py

@@ -20,6 +20,8 @@ from pyqtgraph.Qt import QtCore, QtGui
 import numpy as np
 from PyQt5.QtGui import QPolygon,QPolygonF
 from PyQt5.QtCore import Qt,QPointF,QLineF
+from PyQt5.QtWidgets import QMenu
+
 
 def itr2str(itr):
   return '('+', '.join(tuple(map(lambda x:f'{x:.6g}', itr)))+')'
@@ -145,10 +147,28 @@ class Marker(pg.ROI):
     p.setTransform(tr)
     return ofx,ofy
 
-
+class UsrROI(pg.ROI):
-class Fiducial(pg.ROI):
+  def __init__(self, pos, size, **kargs):
-  def __init__(self, pos, size, z:float, **kargs):
     pg.ROI.__init__(self, pos, size, **kargs)
+
+  def cb_toggle_movable(self):
+    self.translatable=not self.translatable
+
+  def contextMenuEvent(self, event):
+    #pg.ROI.contextMenuEvent(self,event)
+    _log.debug('ContextMenu')
+    menu = QMenu("ctx")
+    act=menu.addAction('locked')
+    act.setCheckable(True)
+    act.setChecked(not self.translatable)
+    act.triggered.connect(self.cb_toggle_movable)
+    #menu.addAction('center in view')
+    #menu.addAction('delete')
+    menu.exec(event.screenPos())
+
+class Fiducial(UsrROI):
+  def __init__(self, pos, size, z:float, **kargs):
+    UsrROI.__init__(self, pos, size, **kargs)
     self._z=z
 
   def paint(self, p, *args):
@@ -195,7 +215,7 @@ class Fiducial(pg.ROI):
     return jsn
 
 
-class Grid(pg.ROI):
+class Grid(UsrROI):
   '''a grid'''
 
   def __init__( self, pos=(0,0), size=(30,20), cnt=(6,4), fiducialSize=.2, **kargs):
@@ -271,7 +291,7 @@ class Grid(pg.ROI):
     return pts
 
 
-class Path(pg.ROI):
+class Path(UsrROI):
   '''
   a path object with fiducials
   path=np.array(n,2) of path points
@@ -347,7 +367,7 @@ class Path(pg.ROI):
     }
     return jsn
 
-class FixTargetFrame(pg.ROI):
+class FixTargetFrame(UsrROI):
   '''fixed target frame'''
   tpl={
     'test':{
@@ -664,7 +684,7 @@ if __name__=='__main__':
       pass
     else:
       obj_info(o)
-      print(o.state)
+      #print(o.state)
 
 
   ## Create image to display
@@ -689,7 +709,7 @@ if __name__=='__main__':
   w=pg.GraphicsLayoutWidget(show=True, size=(1000, 800), border=True)
   w.setWindowTitle('pyqtgraph example: ROI Examples')
 
-  vb=w.addViewBox(row=1, col=0, lockAspect=True,invertY=False)
+  vb=w.addViewBox(row=1, col=0, lockAspect=True,invertY=False,enableMenu=False)
   vb.enableAutoRange(enable=False)
   try:
     g=pg.GridItem(pen=(0, 255, 0), textPen=(0, 255, 0))  # green grid and labels
@@ -748,9 +768,13 @@ if __name__=='__main__':
   vi=FixTargetFrame((400,-200),(400,400),tpl='12.5x12.5')
   vb.addItem(vi)
 
-  vi=Fiducial((0,200),(40,40),3)
+  vi=Fiducial((0,200),(40,40),3,movable=False,removable=True)
   vb.addItem(vi)
 
+  vi=pg.PolyLineROI([(22, -19), (40, -30), (23, -10), (22, -19)], closed=True)
+  vb.addItem(vi)
+
+
   viRoi=pg.ROI([-200, -200], [100, 80],movable=True, rotatable=True, resizable=True)
 
   viRoi.addFreeHandle(pos=[.7, .5], axes=None, item=None, name=None, index=None) # rechteck , frei beweglich ??? verschwinden anch bewegung

swissmx.py

@@ -5,7 +5,7 @@
 # |              Based on Zac great first implementation                  |
 # |              Author Thierry Zamofing (thierry.zamofing@psi.ch)        |
 # *-----------------------------------------------------------------------*
-'''
+"""
 SwissMx experiment application.
   Based on Zac great first implementation
 
@@ -18,7 +18,7 @@ bitmask for simulation:
   0x10: Deltatau motors
   0x20: SmarAct motors
 
-'''
+"""
 import logging
 logging.basicConfig(level=logging.DEBUG, format='%(levelname)s:%(module)s:%(lineno)d:%(funcName)s:%(message)s ')
 
@@ -439,9 +439,6 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
     self.shortcut = QShortcut(QKeySequence(Qt.CTRL + Qt.Key_S), self)
     self.shortcut.activated.connect(self.cb_save_cam_image)
 
-    self.shortcut = QShortcut(QKeySequence(Qt.CTRL + Qt.SHIFT + Qt.Key_T), self)
-    self.shortcut.activated.connect(lambda: qutilities.toggle_warn(SKIP_ESCAPE_TRANSITIONS_IF_SAFE))
-
     for k in range(10):
       qkey = k + Qt.Key_0
       self.shortcut = QShortcut(QKeySequence(Qt.CTRL + Qt.SHIFT + qkey), self)
@@ -632,11 +629,12 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
     _log.debug('TODO: check to not connect smultiple igNewCamImg')
     if index > 0:  # not showing camera image
       _log.warning("listening to zescape")
-      self.timer.stop()
+      pass
-      zescape.start_listening()
+      #self.timer.stop()
-      self.timer = QtCore.QTimer(self)
+      #zescape.start_listening()
-      self.timer.timeout.connect(self.check_zescape)
+      #self.timer = QtCore.QTimer(self)
-      self.timer.start(20)
+      #self.timer.timeout.connect(self.check_zescape)
+      #self.timer.start(20)
     else:
       app=QApplication.instance()
       try:
@@ -1461,15 +1459,16 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
             vb.removeItem(go)
           tmpGoLst.clear()
 
-        n=int(p.shape[0]/100)+1
+        # adding debug fiducials
-        for i in range(0,p.shape[0],n):
+        #n=int(p.shape[0]/100)+1
-          fx,fy=p[i, :]/1000
+        #for i in range(0,p.shape[0],n):
-          fx=-fx #X axis has inverted sign !
+        #  fx,fy=p[i, :]/1000
-          l=.06
+        #  fx=-fx #X axis has inverted sign !
-          go=UsrGO.Fiducial((fx-l/2, fy-l/2), (l, l), i)
+        #  l=.06
-          grp.addItem(go)
+        #  go=UsrGO.Fiducial((fx-l/2, fy-l/2), (l, l), i)
-          tmpGoLst.append(go)
+        #  grp.addItem(go)
-        mft._tree.setData(grp.childItems())
+        #  tmpGoLst.append(go)
+        #mft._tree.setData(grp.childItems())
 
         #_log.debug(f'first point:{p[0,:]}')
         #_log.debug(f'step to 2nd point:{p[1,:]-p[0,:]}')
@@ -1541,7 +1540,7 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
     app=QApplication.instance()
     steps = [
       # lambda: sample_selection.tell.set_current(30.0),
-      lambda: self.move_collimator("ready"),
+      lambda: self.move_collimator("out"),
       lambda:self.move_detector("out"),
       lambda:self.move_post_tube("out"),
       lambda:app._backlight.move("in"),
@@ -2080,14 +2079,20 @@ Author Thierry Zamofing (thierry.zamofing@psi.ch)
 
           j=0
       elif type(go)==UsrGO.Fiducial and go.size()[0]==0.12:
+        if j<ptFitTrf.shape[0]:
           ptFitTrf[j]=go.pos()+go.size()/2
+          j+=1
         ptFitPlane[i]=go.ctr()
-        i+=1;j+=1
+        i+=1
     app=QApplication.instance()
     geo=app._geometry
     if n>=3:
       geo.least_square_plane(ptFitPlane)
 
+  def cb_progress(self,i,sz,dlg):
+    dlg.setValue(int(sz*90/i))
+    if dlg.wasCanceled():
+      raise AttributeError('canceled')
 
   def daq_collect(self, **kwargs):# points, visualizer_method, visualizer_params):
     #def _OLD_daq_collect_points(self, points, visualizer_method, visualizer_params):
@@ -2134,14 +2139,21 @@ Author Thierry Zamofing (thierry.zamofing@psi.ch)
         sp.setup_coord_trf()  # reset to shape path system
       # sp.meta['pt2pt_time']=10 #put between setup_sync and setup_motion to have more motion points than FEL syncs
       dlg.setLabelText("Download motion program");dlg+=5
+
+      try:
+        sp.comm.gpascii._cb_func=lambda i, sz:self.cb_progress(i, sz, dlg)
+      except AttributeError:
+        pass
+
       sp.setup_motion(fnPrg=fn+'.prg', mode=3, scale=1., dwell=10)
-      dlg.setLabelText("Homing and get ready");dlg+=35
+      if dlg.wasCanceled():
+        return
+      dlg.setLabelText("Homing and get ready");dlg+=5
       sp.homing()  # homing if needed
       sp.run()  # start motion program
       sp.wait_armed()  # wait until motors are at first position
+
       sp.trigger(0.5)  # send a start trigger (if needed) after given time
-      #PV with the current pulse
-      # [sf-lc7a ~]$ caget
       jf.acquire('filename.tmp',sp.points.shape[0])
       if not dt._comm is None:
         dlg.setLabelText("run motion/acquisition")
@@ -3906,10 +3918,13 @@ if __name__=="__main__":
     app._geometry._opt_ctr=cfg.value(cfg.GEO_OPT_CTR)
 
     startupWin.set(15, f'connect backlight')
+    pfx=app._cfg.value(AppCfg.GBL_DEV_PREFIX)[0]
+    dft_pos_bklgt=app._cfg.value(AppCfg.DFT_POS_BKLGT)
+
     if args.sim&0x01:
-      app._backlight = backlight.Backlight(None)
+      app._backlight = backlight.Backlight(None,dft_pos_bklgt)
     else:
-      app._backlight = backlight.Backlight()
+      app._backlight = backlight.Backlight(f'{pfx}:MOT_BLGT',dft_pos_bklgt)
     startupWin.set(20, f'connect illumination')
     if args.sim&0x02:
       app._illumination = illumination.IlluminationControl(None)