From a1ceef7de9a53775fa911497e42e1c68dd7f9ac6 Mon Sep 17 00:00:00 2001
From: Thierry Zamofing <thierry.zamofing@psi.ch>
Date: Fri, 16 Sep 2022 18:36:05 +0200
Subject: [PATCH] sign changes for collect

---
 Readme.md  | 36 +++++++++++++++++++++++++++++++++++-
 swissmx.py | 14 ++++++++++++--
 2 files changed, 47 insertions(+), 3 deletions(-)

diff --git a/Readme.md b/Readme.md
index 4b240cc..d15beac 100644
--- a/Readme.md
+++ b/Readme.md
@@ -284,4 +284,38 @@ caput SAR-EXPMX:MOT_CZ.RBV 1.509
  #ZAC: orig. code
 
  git dt 98297263 swissmx.py
- git dt 7445a5aa CustomROI.py app_config.py app_utils.py epics_widgets/MotorTweak.py epics_widgets/SmaractMotorTweak.py
\ No newline at end of file
+ git dt 7445a5aa CustomROI.py app_config.py app_utils.py epics_widgets/MotorTweak.py epics_widgets/SmaractMotorTweak.py
+
+
+zamofing_t@ganymede:~$ PPMAC=SAR-CPPM-EXPMX1
+zamofing_t@ganymede:~$ gpasciiCommander --host $PPMAC -i
+
+
+> &1p
+X10194.8 Y-88923
+
+-8892.32 10193.94 1000.950000000004
+
+> #1..8->
+&1#1->y
+#2->x
+&1#5->0.08084227555726195x+0.0370261645412808399y+157.349115566995778
+
+
+plane=0.0808X+0.037Y+0.15
+
+0.0808*10193.94-8892.32+  0.037* + 1000.950000000004
+
+plane=0.0808*-8.8923 +0.037Y+0.15
+
+
+> cpx X10194 Y-8892
+
+> &1p
+X10193.88 Y-8892
+
+> #1,2,5p
+-8892.02 10193.9 -996.5999999999985
+
+
+-> z has wrong sign !
\ No newline at end of file
diff --git a/swissmx.py b/swissmx.py
index 59670fc..78d79c3 100755
--- a/swissmx.py
+++ b/swissmx.py
@@ -1114,7 +1114,10 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
         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)
+          if cz:
+            cz_motor.move_abs(cz)
+          else:
+            _log.critical(f'{cz}  {pTrk} {pln}')
           _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:
@@ -1432,6 +1435,8 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
         # Same but much faster !
         m=np.hstack((p*pitch+pos,np.ones((p.shape[0],1))))
         p=(np.asmatrix(m)*trf).A
+
+        p[:,0]*=-1 #X axis has inverted sign !
         param['points']=p
 
         # add up to 100 test fiducial
@@ -1450,6 +1455,7 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
         n=int(p.shape[0]/100)+1
         for i in range(0,p.shape[0],n):
           fx,fy=p[i, :]/1000
+          fx=-fx #X axis has inverted sign !
           l=.06
           go=UsrGO.Fiducial((fx-l/2, fy-l/2), (l, l), i)
           grp.addItem(go)
@@ -2086,7 +2092,11 @@ Author Thierry Zamofing (thierry.zamofing@psi.ch)
       sp.setup_sync(verbose=sp.verbose&0x40, timeOfs=0.05)
       try:
         p=geo._fitPlane
-        sp.setup_coord_trf(cz=f'{p[0]:+.18g}X{p[1]:+.18g}Y{p[2]:+.18g}')  # reset to shape path system
+        #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
       except AttributeError:
         _log.warning('no plane fitting done. z does not move')
         sp.setup_coord_trf()  # reset to shape path system