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path and codegen

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zamofing_t
2023-06-20 13:23:15 +02:00
parent 523a154cd7
commit 7659226aa2
3 changed files with 113 additions and 28 deletions
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3
Readme.md
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@@ -124,7 +124,8 @@ pw: ValToira_2021
```
zamofing_t@ganymede:~$ ssh gac-cristall@saresc-cons-03
cd /sf/cristallina/applications/mx/zamofing_t/ESB_MX/python/SwissMX/
conda activate /sf/cristallina/applications/conda/envs/crmx38
# conda env list
conda activate crmx38
python swissmx.py

39
pyqtUsrObj.py
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@@ -301,19 +301,32 @@ class Path(UsrROI):
a circle is plot at the path 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, **kargs):
def __init__( self, pos=(0,0), path=np.array(((6,4),(16,24),(-5,7),(3,12))), fiducial=None, ficucialScale=5, **kwargs):
trf=kwargs.pop('trf',None)
if type(path)==list:
path=np.array(path)
if fiducial is None:
all=path
else:
if type(fiducial)==list:
fiducial=np.array(fiducial)
all=np.vstack((fiducial,path))
mn=all.min(0)
mx=all.max(0)
sz=mx-mn
pg.ROI.__init__(self, pos, sz, **kargs)
size=self.szOrig=mx-mn
pg.ROI.__init__(self, pos, size, **kwargs)
if trf is not None:
t=self.transform()
t.setMatrix(trf[0][0], trf[0][1], 0,
trf[1][0], trf[1][1], 0,
0, 0, 1)
self.setTransform(t)
self._fiducial=fiducial
self._path=path
self._fidScl=ficucialScale
self._rect=r=QtCore.QRectF(mn[0], mn[1], sz[0], sz[1])
self._rect=r=QtCore.QRectF(mn[0]-5*ficucialScale, mn[1]-5*ficucialScale, size[0]+10*ficucialScale, size[1]+10*ficucialScale)
self._qpath=qPth=QPolygonF()
for pt in path:
qPth.append(QPointF(*pt))
@@ -331,8 +344,8 @@ class Path(UsrROI):
p.setRenderHint(QtGui.QPainter.Antialiasing)
p.setPen(self.currentPen)
#p.drawEllipse(0, 0, int(sz[0]), int(sz[1]))
p.drawRect(0, 0, int(sz[0]), int(sz[1]))
#p.drawRect(0, 0, int(sz[0]), int(sz[1]))
p.drawRect(QtCore.QRectF(0, 0, sz[0], sz[1]).normalized())
#obj_info(p)
p.scale(sz[0]/r.width(), sz[1]/r.height())
p.translate(-r.left(), -r.top())
@@ -362,10 +375,18 @@ class Path(UsrROI):
jsn= {
'__class__':self.__class__.__name__,
'pos':tuple(self.pos()),
'fiducial': repr(self._fiducial),
'path': repr(self._path),
'fiducial': self._fiducial.tolist(),
'path': self._path.tolist(),
'ficucialScale':self._fidScl
}
so=pg.Point(self.szOrig)
sn=self.size()
trf=self.transform()
if not trf.isIdentity() or so!=sn:
scl=sn/so
#obj_info(trf)
trf=((trf.m11()*scl[0],trf.m12()*scl[0]),(trf.m21()*scl[1],trf.m22()*scl[1]))
jsn['trf']=trf
return jsn
class FixTargetFrame(UsrROI):
@@ -532,7 +553,7 @@ class FixTargetFrame(UsrROI):
pts=np.array([xx.reshape(-1), yy.reshape(-1)], dtype=np.float).transpose() #*pitch
param={'grid':grid, 'points':pts}
param={'grid':grid, 'points':pts, 'mode':mode}
t=self.transform()
p=np.array(self.pos())
s=self.size()/self._dscr['size']

99
swissmx.py
View File

@@ -1443,7 +1443,9 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
p=(np.asmatrix(m)*trf).A
p[:,0]*=-1 #X axis has inverted sign !
param['points']=p
param['ptsTrf']=p # transformed points
param['numPts']=p.shape[0]
#param['points']=p
# add up to 100 test fiducial
vb=self.vb
@@ -1473,6 +1475,9 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
#_log.debug(f'step to 2nd point:{p[1,:]-p[0,:]}')
#print('DEBUG: difference from point to point:')
#print(np.diff(p, axis=0))
#param['codeGen']=0
param['codeGen']=1
param['codeGen']=2
self.daq_collect(**param)
elif task == TASK_GRID:
@@ -1891,7 +1896,7 @@ Author Thierry Zamofing (thierry.zamofing@psi.ch)
mft.setAccessibleName(TASK_FIX_TARGET)
self._tabs_daq_methods.setCurrentWidget(mft) #set this as the active tabs
mft._cbType.addItems(["Fiducial", "FixTarget(12.5x12.5)", "FixTarget(23.0x23.0)", "FixTarget(<param>)", "Grid(<param>)"])
mft._cbType.addItems(["Fiducial", "FixTarget(12.5x12.5)", "FixTarget(23.0x23.0)", "FixTarget(<param>)", "Grid(<param>)", "SwissMX(<param>)", "SwissFEL(<param>)"])
mft._btnAdd.clicked.connect(self.module_fix_target_add_obj)
mft._btnDelAll.clicked.connect(self.module_fix_target_del_all_obj)
mft._btnFit.clicked.connect(self.module_fix_target_fit_fiducial)
@@ -2005,8 +2010,7 @@ Author Thierry Zamofing (thierry.zamofing@psi.ch)
idx=mft._cbType.currentIndex()
param=mft._txtParam.text()
#cb.addItems(["Fiducial", "FixTarget(12.5x12.5)", "FixTarget(23.0x23.0)", "FixTarget(<param>)", "Grid(<param>)"])
#mft._cbType.addItems(["Fiducial", "FixTarget(12.5x12.5)", "FixTarget(23.0x23.0)", "FixTarget(<param>)", "Grid(<param>)", "SwissMX-path"])
#bm_pos_eu=self._goBeamMarker._pos_eu
#bm_size_eu=self._goBeamMarker._size_eu
@@ -2032,6 +2036,27 @@ Author Thierry Zamofing (thierry.zamofing@psi.ch)
elif idx==4:
w,h=(30, 22)
go=UsrGO.Grid((fx-w/2,fy-h/2), (w, h), (30, 22), .1)
elif idx==5:
ofs=(0, 0);
width=10;
fidScl=.02
fiducial=((-.2, -.2), (-.2, 2.4), (10.2, -.2), (10.2, 2.4))
if param:
p=json.loads('{'+param+'}') # "ofs":[10, 5],"width":200,"fidScl":0.5,"fiducial":[[18,7],[25,16],[70, 20]]
locals().update(p)
fiducial=np.array(fiducial)
gp=psi_device.shapepath.GenPath();
gp.swissmx_points(ofs=ofs, width=width, flipy=True)
go=UsrGO.Path((fx-width/2, fy-1.2), gp.points, fiducial, fidScl)
elif idx==6:
ofs=(0, 0); width=10; fidScl=.02
fiducial=((-.2, -.2), (-.2, 2.0), (10.2, -.2), (10.2, 2.0))
if param:
p=json.loads('{'+param+'}') # "ofs":[10, 5],"width":200,"fidScl":0.5,"fiducial":[[18,7],[25,16],[70, 20]]
locals().update(p)
fiducial=np.array(fiducial)
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)
else:
_log.error('index not handeled')
@@ -2084,7 +2109,23 @@ Author Thierry Zamofing (thierry.zamofing@psi.ch)
#go.setSize((1,1))
sz=(trf[0,0],trf[1,1])
go.setSize(sz)
j=0
elif type(go)==UsrGO.Path:
if j==4:
fid=go._fiducial
sz=go.szOrig
fid=fid/sz
trf=geometry.geometry.least_square_trf(ptFitTrf, fid)
print(trf)
tr=go.transform()
tr.setMatrix(1, trf[1, 0]/trf[0, 0], 0,
trf[0, 1]/trf[1, 1], 1, 0,
0, 0, 1)
go.setTransform(tr)
go.setPos(trf[:, 2])
# go.setSize((1,1))
sz=(trf[0, 0], trf[1, 1])
go.setSize(sz)
j=0
elif type(go)==UsrGO.Fiducial and go.size()[0]==0.12:
if j<ptFitTrf.shape[0]:
@@ -2103,7 +2144,16 @@ Author Thierry Zamofing (thierry.zamofing@psi.ch)
raise AttributeError('canceled')
def daq_collect(self, **kwargs):# points, visualizer_method, visualizer_params):
#def _OLD_daq_collect_points(self, points, visualizer_method, visualizer_params):
'''
kwargs:
codeGen: 0 pvt motion using ptsTrf
1 pvt motion using trf and points
2 pvt motion, compact grid code
grid: grid dictionary with orig, pitch, count
trf: transformation matrix
points: list of points without transformation
ptsTrf: list of points with transformation
'''
app = QApplication.instance()
cfg = app._cfg
dt_misc = cfg.value(AppCfg.DT_MISC)
@@ -2121,7 +2171,7 @@ Author Thierry Zamofing (thierry.zamofing@psi.ch)
app._jungfrau=jf=psi_device.Jungfrau()
sp=dt._shapepath
sp.verbose=dt_misc['verbose']
sp.points=kwargs['points']
sp.meta['pt2pt_time']=dt_misc['pt2pt_time']
sp.meta['sync_mode']=dt_misc['sync_mode']
sp.meta['sync_flag']=dt_misc['sync_flag']
@@ -2133,29 +2183,42 @@ Author Thierry Zamofing (thierry.zamofing@psi.ch)
#dlg.canceled.connect(self.complete_daq)
#dlg.setAutoClose(True)
#dlg.show()
dlg.setLabelText("Setup Gather/Sync");dlg+=5
sp.setup_gather()
sp.setup_gather(kwargs['numPts'])
sp.setup_sync(verbose=sp.verbose&0x40, timeOfs=dt_misc['time_ofs'], timeCor=dt_misc['time_cor'])
dlg.setLabelText("Download motion program");dlg+=5
codeGen=kwargs['codeGen']
if codeGen==0:
sp.setup_motion(fnPrg=fn+'.prg', mode=3, scale=1., dwell=10, points=kwargs['ptsTrf'])
elif codeGen==1:
sp.setup_motion(fnPrg=fn+'.prg', mode=3, scale=1., dwell=10, points=kwargs['points'])
elif codeGen==2:
sp.setup_motion(fnPrg=fn+'.prg', mode=4, scale=1., dwell=10, grid=kwargs['grid'])
try:
p=geo._fitPlane
#X has inverted sign !
#Z is in um -> therefore the offset must be multiplied with 1000!
#Z motor has opposite sign !!!
#sp.setup_coord_trf(cz=f'{-p[0]:+.18g}X{p[1]:+.18g}Y{p[2]*1000:+.18g}') # reset to shape path system
sp.setup_coord_trf(cz=f'{+p[0]:+.18g}X{-p[1]:+.18g}Y{-p[2]*1000:+.18g}') # reset to shape path system
if codeGen==0:
# X has inverted 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}'
else:
trf=kwargs['trf']
cz=f'{+p[0]:+.18g}X{-p[1]:+.18g}Y{-p[2]*1000:+.18g}'
except AttributeError:
cz='0'
if codeGen==0:
fx='X';fy='Y'
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}'
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')
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
sp.setup_coord_trf(fx, fy, cz) # reset to shape path system
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)
if dlg.wasCanceled():
return
dlg.setLabelText("Homing and get ready");dlg+=5