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

refactoring and log of coorinate work

Browse Source
This commit is contained in:
zamofing_t
2022-09-02 12:46:51 +02:00
parent a54e580664
commit 45e8ab680f
8 changed files with 215 additions and 154 deletions
Download Patch File Download Diff File Expand all files Collapse all files

234
swissmx.py
View File

@@ -659,7 +659,7 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
if type(v)==tuple:
if v==tuple(paramSv[k]):
continue
#cam.set_param(paramSv)
cam.set_param(**paramSv)
#cfg.setValue(AppCfg.GEO_CAM_PARAM, param)
#break
_log.debug(f'diff:{k},{v} != {paramSv[k]}')
@@ -773,6 +773,7 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
obj._pos_eu=bm_pos=-geo.pix2pos(bm_pos+opt_ctr+bm_sz/2)
_log.debug(f'{obj}->{bm_pos} !!! NOT SAVED IN CONFIG !!!')
#cfg.setValue(AppCfg.GEO_BEAM_POS,bm_pos)
self.track_objects()
def cb_zoom_changed(self, value):
#self.zoomChanged.emit(value)
@@ -962,15 +963,22 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
pTrk=pg.Point(self._goTracked.mapFromScene(pos))
fx=self.tweakers["fast_x"].get_val()
fy=self.tweakers["fast_y"].get_val()
pTrk=pTrk-(fx,fy)
pRel=pTrk-(fx,fy)
#s=f'pImg{pImg} pTrk{pTrk} bm._pos_eu{bm._pos_eu}'
try:
pln=geo._fitPlane
except AttributeError:
cz=np.nan
else:
cz=pln[0]*pTrk[0]+pln[1]*pTrk[1]+pln[2] # z=ax+by+c
s=\
f'img pix ({pImg[0]:>0.1f} {pImg[1]:>0.1f})px \u23A2 ' \
f'dist to beam ({pTrk[0]:>0.6g} {pTrk[1]:>0.6g}mm) '
f'img pix ({pImg[0]:0.1f} {pImg[1]:0.1f})px \u23A2 ' \
f'stage ({pTrk[0]:0.4f} {pTrk[1]:>0.4f} {cz:>0.4f})mm \u23A2 ' \
f'dist to beam ({pRel[0]:>0.4f} {pRel[1]:>0.4f})mm '
#f'dist to beam ({pRel[0]:>0.6g} {pRel[1]:>0.6g}mm) '
_log.debug(s)
#_log.debug(s)
self._lb_coords.setText(s)
#self._lb_coords.setText(
# "\u23FA{:>}:{:>6.0f} {:<.0f}"
@@ -986,6 +994,33 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
# )
#)
def cb_mouse_click_geometry_calib(self, event):
app=QApplication.instance()
zoom = app._zoom.get_val()
fast_x=self.tweakers["fast_x"];fast_y=self.tweakers["fast_y"]
if self._btn_pix2pos.isChecked():
try:
raw=app._raw_pix2pos[zoom]
except KeyError as e:
raw=app._raw_pix2pos[zoom]=list()
imgPos=self._goImg.mapFromScene(event.scenePos())
fx=fast_x.get_rbv();
fy=fast_y.get_rbv()
x=imgPos.x();y=imgPos.y()
_log.debug('append calib: zoom:{} stage_x_y:{}/{} cam_pix_x_y:{}/{}'.format(zoom, fx, fy, x, y))
raw.append((fx, fy, x, y))
elif self._btn_opt_ctr.isChecked():
try:
raw=app._raw_opt_ctr[zoom]
except KeyError as e:
raw=app._raw_opt_ctr[zoom]=list()
imgPos=self._goImg.mapFromScene(event.scenePos())
x=imgPos.x();y=imgPos.y()
_log.debug('append calib: zoom:{} cam_pix_x_y:{}/{}'.format(zoom, x, y))
raw.append(( x, y))
else:
QMessageBox.warning(self, "calibration", "no calibration started yet.\nPress 'pix2pos' or 'opt_ctr' button first")
def cb_mouse_click(self, event):
#_log.debug("{}".format(event))
#_log.debug("screen pos {}".format(event.screenPos())) #pixel position on the whole screen
@@ -997,19 +1032,20 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
# _log.debug(f"{type(o)} pos {o.mapFromScene(p)}") #pixel position on the scene (including black frame)
#_log.debug(f"currentItem:{event.currentItem}")
app=QApplication.instance()
mod=event.modifiers()
btn=event.button()
task = self.active_task()
if task==TASK_SETUP_GEOMETRY_CALIB:
self.mouse_click_event_geometry_calib(event)
return
if btn==Qt.LeftButton and not mod&Qt.ControlModifier:
self.cb_mouse_click_geometry_calib(event)
return
################################
# Ctrl-left : move to position
# Ctrl-right : object tree
################################
#dblclick = event.double()
app=QApplication.instance()
mod=event.modifiers()
btn=event.button()
if btn==Qt.LeftButton:
if mod&Qt.ShiftModifier:
pass
@@ -1017,28 +1053,28 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
pos=event.scenePos()
_log.debug(f'move to position :scene pos {pos}')
geo=app._geometry
#geo.interp_zoom(1)
bm=self._goBeamMarker
p1=self._goImg.mapFromScene(pos)
p2=bm.pos()+bm.size()/2
px=p2+p1
mm=geo.pix2pos(px)
_log.debug(f'{px} -> {mm}')
pImg=pg.Point(self._goImg.mapFromScene(pos))
pTrk=pg.Point(self._goTracked.mapFromScene(pos))
fx=self.tweakers["fast_x"].get_val()
fy=self.tweakers["fast_y"].get_val()
pRel=pTrk-(fx, fy)
_log.debug(f'dist to beam ({pTrk[0]:>0.6g} {pTrk[1]:>0.6g}mm)')
fx_motor=self.tweakers["fast_x"]
fy_motor=self.tweakers["fast_y"]
#bz=self.tweakers["base_z"].get_rbv()
#fx_motor, fy_motor, bx_motor, bz_motor, omega_motor=self.get_gonio_tweakers()
#fx=fx_motor.get_position()
#fy=fy_motor.get_position()
#dx=(x-bx)/ppm
#dy=-(y-by)/ppm
#fx+=dx
#fy+=dy
fx_motor.move_relative(-mm[0])
fy_motor.move_relative(-mm[1])
#self.fast_dx_position.emit(dx)
#self.fast_dy_position.emit(dy)
#fx_motor.move_rel(pRel[0])
#fy_motor.move_rel(pRel[1])
fx_motor.move_abs(pTrk[0])
fy_motor.move_abs(pTrk[1])
try:
pln=geo._fitPlane
except AttributeError: pass
else:
cz_motor=self.tweakers["base_z"]
cz=pln[0]*pTrk[0]+pln[1]*pTrk[1]+pln[2] #z=ax+by+c
cz_motor.move_abs(cz)
_log.debug(f'cz={pln[0]:.4g}*{pTrk[0]:.4g}+{pln[1]:.4g}*{pTrk[1]:.4g}+{pln[2]:.4g}={cz}')
pass
elif mod&Qt.AltModifier:
pass
@@ -1118,14 +1154,14 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
dx = (x - bx) / ppm
dy = -(y - by) / ppm
_log.info("moving base_X, fast_Y {:.3f}, {:.3f}".format(dx, dy))
bx_motor.move_relative(dx)
fy_motor.move_relative(dy)
bx_motor.move_rel(dx)
fy_motor.move_rel(dy)
else:
dx = np.cos(omega * np.pi / 180) * (x - bx) / ppm
dy = -(y - by) / ppm
_log.info("moving fast x/y to {:.3f}, {:.3f}".format(dx, dy))
fx_motor.move_relative(dx)
fy_motor.move_relative(dy)
fx_motor.move_rel(dx)
fy_motor.move_rel(dy)
self.fast_dx_position.emit(dx)
self.fast_dy_position.emit(dy)
return
@@ -1134,7 +1170,7 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
if ctrl and not (shft or alt):
mm = np.sign(y - by) * pixel_dist / 10000.
_log.debug("moving Z stage by {:.3f} mm".format(mm))
bz_motor.move_relative(mm)
bz_motor.move_rel(mm)
return
if task in (TASK_SETUP_PPM_CALIBRATION, TASK_SETUP_BEAM_CENTER):
@@ -1335,30 +1371,36 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
except AttributeError as e:
_log.warning(f'no scan parameters for object->skipped:{go}')
continue
# names consists of abrevations
# part 0: po=position dt=delta
# part 1: px=pixel eu=engineering units (e.g. mm)
po_px=go.pos()
dt_px=-opt_ctr-po_px
po_eu=geo.pix2pos(dt_px)+(fx,fy) # position of the 0/0 poit of the ROI in engineering units
p=param['points']
trf=np.asmatrix(param['trf']*1000) #fix shear/rotation um->um
pos=np.array(param['grid']['pos']) #in um
pitch=np.array(param['grid']['pitch']) #in um
trf=param['trf'] #fix shear/rotation um->um
trf=np.asmatrix(np.diag(pitch))*np.asmatrix(trf)*geo._pix2pos
po_eu*=1000 #mm to um
trf*=1000 #mm to um
#pix2pos: return np.asarray(self._pix2pos*np.mat(p).T).ravel()
for i in range(p.shape[0]):
p[i,:]=po_eu+(trf*np.asmatrix(p[i,:]).T).A.ravel()
#t=np.matrix((0,0,1)).T
#for i in range(p.shape[0]):
# t.A[:2,0]=pos+p[i,:]*pitch
# p[i,:]=(trf*t).A.ravel()
# Same but much faster !
m=np.hstack((p*pitch+pos,np.ones((p.shape[0],1))))
p=(trf*np.asmatrix(m).T).T.A
# add up to 100 test fiducial
grp=self._goTracked
mft=self._moduleFixTarget
n=int(p.shape[0]/100)+1
for i in range(0,p.shape[0],n):
fx,fy=p[i, :]/1000
l=.06
go=UsrGO.Fiducial((fx-l/2, fy-l/2), (l, l), i)
grp.addItem(go)
mft._tree.setData(grp.childItems())
print('DEBUG: first point:')
print(p[0,:])
print('DEBUG: difference from point to point:')
print(np.diff(p, axis=0))
self.daq_collect(**param)
#self.daq_collect(**param)
elif task == TASK_GRID:
self.re_connect_collect_button(
@@ -1623,7 +1665,7 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
<li>for each zoom level:
<li>choose a good fiducial mark
<li>move the stage x/y at min. 3 different locations
<li>CTRL-Click (left mouse button) on the fiducial mark
<li>Click (left mouse button) on the fiducial mark
<li>un-click: <b>pix2pos</b></li>
</ol>
<h2>optical center calibration</h2>
@@ -1631,7 +1673,7 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
<li>press: <b>opt_ctr</b></li>
<li>choose at least 3 fiducial mark visible at various zoom levels
<li>for at least two zoom level:
<li>CTRL-Click (left mouse button) on the fiducial marks
<li>Click (left mouse button) on the fiducial marks
<li>un-click: <b>opt_ctr</b></li>
</ol>
</body>
@@ -1722,7 +1764,7 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
res=QMessageBox.question(self, "calibration", f"use calibration\n{s} ? ")
if res==QMessageBox.Yes:
geo=app._geometry
geo.cb_update_pix2pos(app._raw_pix2pos)
geo.update_pix2pos(app._raw_pix2pos)
app._cfg.setValue(AppCfg.GEO_PIX2POS, geo._lut_pix2pos)
del app._raw_pix2pos
@@ -1766,7 +1808,7 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
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),(fx,fy,bz))
go=UsrGO.Fiducial((fx-l/2,fy-l/2), (l, l),bz)
elif idx==1:
v=geo.pos2pix((12.5, 0))
l=np.linalg.norm(v)
@@ -1834,7 +1876,7 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
j=0
elif type(go)==UsrGO.Fiducial:
ptFitTrf[j]=go.pos()+go.size()/2
ptFitPlane[i]=go._xyz
ptFitPlane[i]=go.ctr()
i+=1;j+=1
app=QApplication.instance()
geo=app._geometry
@@ -2366,33 +2408,6 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
self._mouse_tracking = False
self._lb_coords.setText("")
def _OLD_mouse_click_event_geometry_calib(self, event):
app=QApplication.instance()
zoom = app._zoom.get_val()
fast_x=self.tweakers["fast_x"];fast_y=self.tweakers["fast_y"]
if self._btn_pix2pos.isChecked():
try:
raw=app._raw_pix2pos[zoom]
except KeyError as e:
raw=app._raw_pix2pos[zoom]=list()
imgPos=self._goImg.mapFromScene(event.scenePos())
fx=fast_x.get_rbv();
fy=fast_y.get_rbv()
x=imgPos.x();y=imgPos.y()
_log.debug('append calib: zoom:{} stage_x_y:{}/{} cam_pix_x_y:{}/{}'.format(zoom, fx, fy, x, y))
raw.append((fx, fy, x, y))
elif self._btn_opt_ctr.isChecked():
try:
raw=app._raw_opt_ctr[zoom]
except KeyError as e:
raw=app._raw_opt_ctr[zoom]=list()
imgPos=self._goImg.mapFromScene(event.scenePos())
x=imgPos.x();y=imgPos.y()
_log.debug('append calib: zoom:{} cam_pix_x_y:{}/{}'.format(zoom, x, y))
raw.append(( x, y))
else:
QMessageBox.warning(self, "calibration", "no calibration started yet.\nPress 'pix2pos' or 'opt_ctr' button first")
def _OLD_get_beam_mark_on_camera_xy(self):
app=QApplication.instance()
z = app._zoom.get_val()
@@ -2580,14 +2595,14 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
_log.info("moving collimator {} to X,Y = {:.3f}, {:.3f}".format(pos, x_pos, y_pos))
if pos == "out":
cy.move_motor_to_position(y_pos + dy, assert_position=True)
cx.move_motor_to_position(x_pos + dx, assert_position=True)
cy.move_abs(y_pos+dy, assert_position=True)
cx.move_abs(x_pos+dx, assert_position=True)
elif pos == "in":
cx.move_motor_to_position(x_pos, assert_position=True)
cy.move_motor_to_position(y_pos, assert_position=True)
cx.move_abs(x_pos, assert_position=True)
cy.move_abs(y_pos, assert_position=True)
elif pos == "ready":
cx.move_motor_to_position(x_pos, assert_position=True)
cy.move_motor_to_position(y_pos + dy, assert_position=True)
cx.move_abs(x_pos, assert_position=True)
cy.move_abs(y_pos+dy, assert_position=True)
else:
raise UnknownLabeledPosition("Collimator position *{}* is not known!!")
@@ -2601,7 +2616,7 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
to_pos = settings.value(key, 1e10, type=float)
if to_pos > 1e9:
raise IncompleteConfiguration(f"CRYOJET configuration is incomplete! Missing {key}")
cx.move_motor_to_position(to_pos, assert_position=True)
cx.move_abs(to_pos, assert_position=True)
def _OLD_build_cryo_group(self, toolbox):
qutilities.add_item_to_toolbox(
@@ -2706,10 +2721,10 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
if dir == "in":
_log.info("move post sample tube in")
usy.move_motor_to_position(y_up)
dsy.move_motor_to_position(y_down)
usx.move_motor_to_position(x_up)
dsx.move_motor_to_position(x_down)
usy.move_abs(y_up)
dsy.move_abs(y_down)
usx.move_abs(x_up)
dsx.move_abs(x_down)
try:
app_utils.assert_tweaker_positions([
(usy, y_up, 0.1),
@@ -2722,7 +2737,7 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
_log.warning(e)
QMessageBox.warning(self, "failed to move post sample tube XY {in}", "failed to move post sample tube XY {in}",)
raise
tube_z.move_motor_to_position(tz_in, wait=True)
tube_z.move_abs(tz_in, wait=True)
try:
app_utils.assert_tweaker_positions([(tube_z, tz_in, 0.1)])
except app_utils.PositionsNotReached as e:
@@ -2733,7 +2748,7 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
elif dir == "out":
_log.info("move post sample tube out")
tube_z.move_motor_to_position(tz_out, wait=True)
tube_z.move_abs(tz_out, wait=True)
try:
app_utils.assert_tweaker_positions([(tube_z, tz_out, 0.1)])
except app_utils.PositionsNotReached as e:
@@ -2741,10 +2756,10 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
_log.warning(e)
QMessageBox.warning(self,"failed to move post sample tube Z {out}","failed to move post sample tube Z {out}",)
raise
usy.move_motor_to_position(y_up + dy)
dsy.move_motor_to_position(y_down + dy)
usx.move_motor_to_position(x_up + dx)
dsx.move_motor_to_position(x_down + dx)
usy.move_abs(y_up+dy)
dsy.move_abs(y_down+dy)
usx.move_abs(x_up+dx)
dsx.move_abs(x_down+dx)
try:
app_utils.assert_tweaker_positions([
(usy, y_up + dy, 0.1),
@@ -2759,20 +2774,20 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
raise
elif dir == "x-pos":
_log.info("tamdem move post sample tube X-pos by {} mm".format(tandem_twv))
usx.move_relative(tandem_twv)
dsx.move_relative(tandem_twv)
usx.move_rel(tandem_twv)
dsx.move_rel(tandem_twv)
elif dir == "x-neg":
_log.info("tamdem move post sample tube X-neg {} mm".format(tandem_twv))
usx.move_relative(-tandem_twv)
dsx.move_relative(-tandem_twv)
usx.move_rel(-tandem_twv)
dsx.move_rel(-tandem_twv)
elif dir == "up":
_log.info("tamdem move post sample tube UP {} mm".format(tandem_twv))
usy.move_relative(tandem_twv)
dsy.move_relative(tandem_twv)
usy.move_rel(tandem_twv)
dsy.move_rel(tandem_twv)
elif dir == "down":
_log.info("tamdem move post sample tube DOWN {} mm".format(tandem_twv))
usy.move_relative(-tandem_twv)
dsy.move_relative(-tandem_twv)
usy.move_rel(-tandem_twv)
dsy.move_rel(-tandem_twv)
def _OLD_add_tweaker(self, pv, alias=None, label=None, mtype="epics_motor", layout=None):
if layout is None:
@@ -3520,8 +3535,8 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
def _OLD_move_fast_stage(self, x, y):
_log.info(f"received request to move gonio to x, y = {x:.3f}, {y:.3f} mm")
fx_motor, fy_motor, bx_motor, bz_motor, omega_motor = self.get_gonio_tweakers()
fx_motor.move_motor_to_position(x)
fy_motor.move_motor_to_position(y)
fx_motor.move_abs(x)
fy_motor.move_abs(y)
def _OLD_toggle_maximized(self):
if self.isMaximized():
@@ -3657,6 +3672,7 @@ if __name__=="__main__":
app._geometry=geometry.geometry()
app._geometry._lut_pix2pos=cfg.value(cfg.GEO_PIX2POS)
app._geometry._opt_ctr=cfg.value(cfg.GEO_OPT_CTR)
startupWin.set(15, f'connect backlight')