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zamofing_t
2023-06-20 16:10:03 +02:00
parent 7659226aa2
commit 574605f583
2 changed files with 83 additions and 65 deletions
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51
pyqtUsrObj.py
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@@ -301,8 +301,11 @@ class Path(UsrROI):
a circle is plot at the path positions a circle is plot at the path positions
a cross is plot at the fiducial positions a cross is plot at the fiducial positions
''' '''
def __init__( self, pos=(0,0), path=np.array(((6,4),(16,24),(-5,7),(3,12))), fiducial=None, ficucialScale=5, **kwargs): def __init__( self, pos=(0,0), size=(30,20), path=np.array(((6,4),(16,24),(-5,7),(3,12))), fiducial=None, ficucialScale=5, **kwargs):
self.code_gen=kwargs.pop('code_gen',0)
trf=kwargs.pop('trf',None) trf=kwargs.pop('trf',None)
pg.ROI.__init__(self, pos, size, **kwargs)
self.szOrig=size
if type(path)==list: if type(path)==list:
path=np.array(path) path=np.array(path)
if fiducial is None: if fiducial is None:
@@ -310,12 +313,7 @@ class Path(UsrROI):
else: else:
if type(fiducial)==list: if type(fiducial)==list:
fiducial=np.array(fiducial) fiducial=np.array(fiducial)
all=np.vstack((fiducial,path))
mn=all.min(0)
mx=all.max(0)
size=self.szOrig=mx-mn
pg.ROI.__init__(self, pos, size, **kwargs)
if trf is not None: if trf is not None:
t=self.transform() t=self.transform()
t.setMatrix(trf[0][0], trf[0][1], 0, t.setMatrix(trf[0][0], trf[0][1], 0,
@@ -326,7 +324,7 @@ class Path(UsrROI):
self._fiducial=fiducial self._fiducial=fiducial
self._path=path self._path=path
self._fidScl=ficucialScale self._fidScl=ficucialScale
self._rect=r=QtCore.QRectF(mn[0]-5*ficucialScale, mn[1]-5*ficucialScale, size[0]+10*ficucialScale, size[1]+10*ficucialScale) self._rect=r=QtCore.QRectF(0, 0, size[0], size[1])
self._qpath=qPth=QPolygonF() self._qpath=qPth=QPolygonF()
for pt in path: for pt in path:
qPth.append(QPointF(*pt)) qPth.append(QPointF(*pt))
@@ -375,20 +373,37 @@ class Path(UsrROI):
jsn= { jsn= {
'__class__':self.__class__.__name__, '__class__':self.__class__.__name__,
'pos':tuple(self.pos()), 'pos':tuple(self.pos()),
'size':tuple(self.szOrig),
'code_gen':self.code_gen,
'fiducial': self._fiducial.tolist(), 'fiducial': self._fiducial.tolist(),
'path': self._path.tolist(), 'ficucialScale':self._fidScl,
'ficucialScale':self._fidScl 'path':self._path.tolist(),
} }
so=pg.Point(self.szOrig)
sn=self.size()
trf=self.transform() trf=self.transform()
if not trf.isIdentity() or so!=sn: if not trf.isIdentity():
scl=sn/so
#obj_info(trf) #obj_info(trf)
trf=((trf.m11()*scl[0],trf.m12()*scl[0]),(trf.m21()*scl[1],trf.m22()*scl[1])) trf=((trf.m11(),trf.m12()),(trf.m21(),trf.m22()))
jsn['trf']=trf jsn['trf']=trf
return jsn return jsn
def get_scan_param(self,mode=0x2):
'returns scan parameters for scanning with deltatau. the format is as used for shapepath'
#mode=pvt
#param={'points':pts, 'mode':mode}
param={'points':self._path, 'code_gen': self.code_gen}
t=self.transform()
p=np.array(self.pos())
s=self.size()/self.szOrig
trf=np.array(((t.m11(),t.m12()),(t.m21(),t.m22()),(0,0)))
trf[2,:]=p # shift origin
#trf[:2, 0]*=s[0];trf[:2, 1]*=s[1] #scaling (before rotation shear)
trf[:2,:]=(trf[:2,:].T*s).T # same as np.asmatrix(np.diag(s))*trf[:2,:], trf[:2,:]*=s not working, scale before rot / shear
# trf*'gridpos in um' -> motor pos in mm
param['trf']=trf
return param
class FixTargetFrame(UsrROI): class FixTargetFrame(UsrROI):
'''fixed target frame''' '''fixed target frame'''
tpl={ tpl={
@@ -433,6 +448,7 @@ class FixTargetFrame(UsrROI):
} }
def __init__( self, pos=(0,0), size=(100,100), tpl='test', dscr=None, **kwargs): def __init__( self, pos=(0,0), size=(100,100), tpl='test', dscr=None, **kwargs):
self.code_gen=kwargs.pop('code_gen',0)
trf=kwargs.pop('trf',None) trf=kwargs.pop('trf',None)
pg.ROI.__init__(self, pos, size, **kwargs) pg.ROI.__init__(self, pos, size, **kwargs)
if trf is not None: if trf is not None:
@@ -524,6 +540,7 @@ class FixTargetFrame(UsrROI):
'__class__':self.__class__.__name__, '__class__':self.__class__.__name__,
'pos':tuple(self.pos()), 'pos':tuple(self.pos()),
'size':tuple(self.size()), 'size':tuple(self.size()),
'code_gen':self.code_gen,
'dscr': self._dscr 'dscr': self._dscr
} }
trf=self.transform() trf=self.transform()
@@ -533,8 +550,9 @@ class FixTargetFrame(UsrROI):
jsn['trf']=trf jsn['trf']=trf
return jsn return jsn
def get_scan_param(self,mode=0x2): def get_scan_param(self):
'returns scan parameters for scanning with deltatau. the format is as used for shapepath' 'returns scan parameters for scanning with deltatau. the format is as used for shapepath'
mode=0x2 #default fast y axis
grid=self._dscr['grid'] grid=self._dscr['grid']
self._dscr['size'] self._dscr['size']
#pos=np.array(self.pos()) #pos=np.array(self.pos())
@@ -553,7 +571,8 @@ class FixTargetFrame(UsrROI):
pts=np.array([xx.reshape(-1), yy.reshape(-1)], dtype=np.float).transpose() #*pitch pts=np.array([xx.reshape(-1), yy.reshape(-1)], dtype=np.float).transpose() #*pitch
param={'grid':grid, 'points':pts, 'mode':mode} param={'grid':grid, 'points':pts, 'code_gen': self.code_gen}
t=self.transform() t=self.transform()
p=np.array(self.pos()) p=np.array(self.pos())
s=self.size()/self._dscr['size'] s=self.size()/self._dscr['size']

71
swissmx.py
View File

@@ -1421,8 +1421,9 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
for go in cldLst: for go in cldLst:
if type(go)==UsrGO.Fiducial: if type(go)==UsrGO.Fiducial:
continue continue
if type(go)!=UsrGO.FixTargetFrame: t=type(go)
_log.warning(f'for now: ONLY FixTargetFrame are supported ->skipped:{go}') if t not in(UsrGO.FixTargetFrame,UsrGO.Path):
_log.warning(f'{t} not supported for FixTargetFrame ->skipped:{go}')
continue continue
try: try:
param=go.get_scan_param() #points in coordinate system of ROI param=go.get_scan_param() #points in coordinate system of ROI
@@ -1431,23 +1432,19 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
continue continue
p=param['points'] p=param['points']
trf=np.asmatrix(param['trf']*1000) #fix shear/rotation mm->um trf=np.asmatrix(param['trf']*1000) #fix shear/rotation mm->um
trf[:,0]*=-1 #X axis has inverted sign !
if t==UsrGO.FixTargetFrame:
pos=np.array(param['grid']['pos']) #in um pos=np.array(param['grid']['pos']) #in um
pitch=np.array(param['grid']['pitch']) #in um pitch=np.array(param['grid']['pitch']) #in um
#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)))) m=np.hstack((p*pitch+pos,np.ones((p.shape[0],1))))
p=(np.asmatrix(m)*trf).A p=(np.asmatrix(m)*trf).A
param['pts_trf']=p # transformed points
else:
m=np.hstack((p,np.ones((p.shape[0],1))))
p=(np.asmatrix(m)*trf).A
param['pts_trf']=p # transformed points
p[:,0]*=-1 #X axis has inverted sign ! param['num_pts']=p.shape[0]
param['ptsTrf']=p # transformed points
param['numPts']=p.shape[0]
#param['points']=p
# add up to 100 test fiducial
vb=self.vb vb=self.vb
grp=self._goTracked grp=self._goTracked
mft=self._moduleFixTarget mft=self._moduleFixTarget
@@ -1475,9 +1472,6 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
#_log.debug(f'step to 2nd point:{p[1,:]-p[0,:]}') #_log.debug(f'step to 2nd point:{p[1,:]-p[0,:]}')
#print('DEBUG: difference from point to point:') #print('DEBUG: difference from point to point:')
#print(np.diff(p, axis=0)) #print(np.diff(p, axis=0))
#param['codeGen']=0
param['codeGen']=1
param['codeGen']=2
self.daq_collect(**param) self.daq_collect(**param)
elif task == TASK_GRID: elif task == TASK_GRID:
@@ -2037,26 +2031,25 @@ Author Thierry Zamofing (thierry.zamofing@psi.ch)
w,h=(30, 22) w,h=(30, 22)
go=UsrGO.Grid((fx-w/2,fy-h/2), (w, h), (30, 22), .1) go=UsrGO.Grid((fx-w/2,fy-h/2), (w, h), (30, 22), .1)
elif idx==5: elif idx==5:
ofs=(0, 0); ofs=(.2, .2); width=10; fidScl=.02
width=10; fiducial=((.1, .1), (.1, 2.7), (10.3, .1), (10.3, 2.7))
fidScl=.02
fiducial=((-.2, -.2), (-.2, 2.4), (10.2, -.2), (10.2, 2.4))
if param: if param:
p=json.loads('{'+param+'}') # "ofs":[10, 5],"width":200,"fidScl":0.5,"fiducial":[[18,7],[25,16],[70, 20]] p=json.loads('{'+param+'}') # "ofs":[10, 5],"width":200,"fidScl":0.5,"fiducial":[[18,7],[25,16],[70, 20]]
locals().update(p) locals().update(p)
fiducial=np.array(fiducial) fiducial=np.array(fiducial)
gp=psi_device.shapepath.GenPath(); gp=psi_device.shapepath.GenPath(); gp.swissmx_points(ofs=ofs, width=width, flipy=True)
gp.swissmx_points(ofs=ofs, width=width, flipy=True) sz=gp.points.max(0)+np.array(ofs)*2
go=UsrGO.Path((fx-width/2, fy-1.2), gp.points, fiducial, fidScl) go=UsrGO.Path((fx-sz[0]/2, fy-sz[1]/2), sz, gp.points, fiducial, fidScl)
elif idx==6: elif idx==6:
ofs=(0, 0); width=10; fidScl=.02 ofs=(.2, .2); width=10; fidScl=.02
fiducial=((-.2, -.2), (-.2, 2.0), (10.2, -.2), (10.2, 2.0)) fiducial=((.1, .1), (.1, 2.2), (10.3, .1), (10.3, 2.2))
if param: if param:
p=json.loads('{'+param+'}') # "ofs":[10, 5],"width":200,"fidScl":0.5,"fiducial":[[18,7],[25,16],[70, 20]] p=json.loads('{'+param+'}') # "ofs":[10, 5],"width":200,"fidScl":0.5,"fiducial":[[18,7],[25,16],[70, 20]]
locals().update(p) locals().update(p)
fiducial=np.array(fiducial) fiducial=np.array(fiducial)
gp=psi_device.shapepath.GenPath();gp.swissfel_points(ofs=ofs, width=width,flipy=True) gp=psi_device.shapepath.GenPath(); gp.swissfel_points(ofs=ofs, width=width,flipy=True)
go=UsrGO.Path((fx-width/2,fy-1.2), gp.points, fiducial, fidScl) sz=gp.points.max(0)+np.array(ofs)*2
go=UsrGO.Path((fx-sz[0]/2, fy-sz[1]/2), sz, gp.points, fiducial, fidScl)
else: else:
_log.error('index not handeled') _log.error('index not handeled')
@@ -2146,13 +2139,13 @@ Author Thierry Zamofing (thierry.zamofing@psi.ch)
def daq_collect(self, **kwargs):# points, visualizer_method, visualizer_params): def daq_collect(self, **kwargs):# points, visualizer_method, visualizer_params):
''' '''
kwargs: kwargs:
codeGen: 0 pvt motion using ptsTrf code_gen: 0 pvt motion using ptsTrf
1 pvt motion using trf and points 1 pvt motion using trf and points
2 pvt motion, compact grid code 2 pvt motion, compact grid code
grid: grid dictionary with orig, pitch, count grid: grid dictionary with orig, pitch, count
trf: transformation matrix trf: transformation matrix
points: list of points without transformation points: list of points without transformation
ptsTrf: list of points with transformation pts_trf: list of points with transformation
''' '''
app = QApplication.instance() app = QApplication.instance()
cfg = app._cfg cfg = app._cfg
@@ -2184,12 +2177,12 @@ Author Thierry Zamofing (thierry.zamofing@psi.ch)
#dlg.setAutoClose(True) #dlg.setAutoClose(True)
#dlg.show() #dlg.show()
dlg.setLabelText("Setup Gather/Sync");dlg+=5 dlg.setLabelText("Setup Gather/Sync");dlg+=5
sp.setup_gather(kwargs['numPts']) sp.setup_gather(kwargs['num_pts'])
sp.setup_sync(verbose=sp.verbose&0x40, timeOfs=dt_misc['time_ofs'], timeCor=dt_misc['time_cor']) sp.setup_sync(verbose=sp.verbose&0x40, timeOfs=dt_misc['time_ofs'], timeCor=dt_misc['time_cor'])
dlg.setLabelText("Download motion program");dlg+=5 dlg.setLabelText("Download motion program");dlg+=5
codeGen=kwargs['codeGen'] codeGen=kwargs['code_gen']
if codeGen==0: if codeGen==0:
sp.setup_motion(fnPrg=fn+'.prg', mode=3, scale=1., dwell=10, points=kwargs['ptsTrf']) sp.setup_motion(fnPrg=fn+'.prg', mode=3, scale=1., dwell=10, points=kwargs['pts_trf'])
elif codeGen==1: elif codeGen==1:
sp.setup_motion(fnPrg=fn+'.prg', mode=3, scale=1., dwell=10, points=kwargs['points']) sp.setup_motion(fnPrg=fn+'.prg', mode=3, scale=1., dwell=10, points=kwargs['points'])
elif codeGen==2: elif codeGen==2:
@@ -2201,17 +2194,23 @@ Author Thierry Zamofing (thierry.zamofing@psi.ch)
# Z is in um -> therefore the offset must be multiplied with 1000 ! Z motor has opposite sign ! # Z is in um -> therefore the offset must be multiplied with 1000 ! Z motor has opposite sign !
cz=f'{+p[0]:+.18g}X{-p[1]:+.18g}Y{-p[2]*1000:+.18g}' cz=f'{+p[0]:+.18g}X{-p[1]:+.18g}Y{-p[2]*1000:+.18g}'
else: else:
trf=kwargs['trf']
cz=f'{+p[0]:+.18g}X{-p[1]:+.18g}Y{-p[2]*1000:+.18g}' cz=f'{+p[0]:+.18g}X{-p[1]:+.18g}Y{-p[2]*1000:+.18g}'
except AttributeError: except AttributeError:
cz='0' cz='0'
_log.warning('no plane fitting done. z does not move')
trf=kwargs['trf']*1000 # fix shear/rotation mm->um
trf[:, 0]*=-1 # X axis has inverted sign !
if codeGen==0: if codeGen==0:
fx='X';fy='Y' fx='X';fy='Y'
else: else:
trf=kwargs['trf']*1000#fix shear/rotation mm->um
fx=f'{trf[0,0]:+.18g}X{trf[1,0]:+.18g}Y{trf[2,0]:+.18g}' fx=f'{trf[0,0]:+.18g}X{trf[1,0]:+.18g}Y{trf[2,0]:+.18g}'
fy=f'{trf[0,1]:+.18g}X{trf[1,1]:+.18g}Y{trf[2,1]:+.18g}' fy=f'{trf[0,1]:+.18g}X{trf[1,1]:+.18g}Y{trf[2,1]:+.18g}'
_log.warning('no plane fitting done. z does not move')
print(f'pts_trf[0,:]={kwargs["pts_trf"][0, :]}')
print(f'points[0,:]={kwargs["points"][0, :]}')
print(f'trf=\n{trf}')
sp.setup_coord_trf(fx, fy, cz) # reset to shape path system sp.setup_coord_trf(fx, fy, cz) # reset to shape path system
try: try: