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SFELPHOTON-1409: hit-and-return, yaml as param

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zamofing_t
2024-11-27 07:55:57 +01:00
parent a548b005f7
commit b029cd62be
1 changed files with 80 additions and 48 deletions
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128
swissmx.py
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@@ -100,7 +100,7 @@ class timestamp():
ts=timestamp()
ts.log('Import part 1/8:')
import sys, os
import json, re
import yaml
import signal, subprocess
import matplotlib as mpl
import matplotlib.pyplot as plt
@@ -1516,7 +1516,7 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
#self._inspect = self._grid_inspect_area
#self._inspect.setPlainText("")
fast_x=self.tweakers["fast_x"];
fast_x=self.tweakers["fast_x"]
fast_y=self.tweakers["fast_y"]
fx=fast_x.get_val()
fy=fast_y.get_val()
@@ -1986,6 +1986,53 @@ Author Thierry Zamofing (thierry.zamofing@psi.ch)
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(test)", "Grid()", "SwissMX()", "SwissFEL()"])
#print(psi_device.shapepath.ShapePath.setup_motion.__doc__)
mft._txtParam.setToolTip('''\
additional parameter as yaml for object settings and motion generation:
full example for grid() object and motion settings:
size:[3.6,2.664],cnt:[30,22],fiducialSize:0.05,mode:6,scale:.5,ssz:[7,4],smv:[6,4],sdelay:9
further examples:
object settings:
for Grid(): size:[4,3],cnt:[30,22],fiducialSize:0.1
motion param:
for continous: cnt:2,scale:.3,dwell:100
for stop-and-go: tmove:10,twait:20
for hit-and-return: ssz:(4,6)
motion generation:
For details read: psi_device.shapepath.ShapePath.setup_motion.__doc__
mode: select one of following modes: 1,3,4,5,6
mode settings:
all: cnt:1
scale:1.
dwell:10
5: tmove:10
twait:20
6: ssz:(7,4)
smv:(6,4) (delault defined)
sdelay:9 (delault defined)
object settings:
Fiducial:
no param
FixTarget(12.5x12.5), FixTarget(23.0x23.0), FixTarget(test):
no param
Grid():
size:[30,20]
cnt:[30,22]
fiducialSize:0.1
SwissMX():
ofs:[.2,.2]
width:10
fidScl:.02
fiducial:[[.1,.1],[.1,2.7],[10.3,.1],[10.3, 2.7]]
SwissFEL():
ofs:[.2,.2]
width:10
fidScl:.02
fiducial:[[.1,.1],[[.1,2.2],[10.3,.1],[10.3,2.2]]
''')
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)
@@ -2097,8 +2144,9 @@ Author Thierry Zamofing (thierry.zamofing@psi.ch)
bm_pos=self._goBeamMarker.pos()
bm_sz=self._goBeamMarker.size()
idx=mft._cbType.currentIndex()
param=mft._txtParam.text()
param=mft._txtParam.text().replace('(','[').replace(')',']').strip()
if param=='' or param[0]!='{':
param='{'+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
@@ -2126,17 +2174,9 @@ Author Thierry Zamofing (thierry.zamofing@psi.ch)
# fidScl:.02
# fiducial:((.1, .1), (.1, 2.2), (10.3, .1), (10.3, 2.2))
pLst=param.split('|')
pStr=list()
for p in pLst:
if not p: continue
m=re.match('\s*(.*?)\s*[=:]\s*(.*)\s*', p)
k, v=m.groups()
v=v.replace('(', '[').replace(')', ']')
pStr.append(f'"{k}":{v}')
pStr='{'+','.join(pStr)+'}'
param=json.loads(pStr) # "ofs":[10, 5],"width":200,"fidScl":0.5,"fiducial":[[18,7],[25,16],[70, 20]]
except json.decoder.JSONDecodeError as e:
param=param.replace(':', ': ') # allow gen:4 without space
param=yaml.safe_load(param) # "ofs":[10, 5],"width":200,"fidScl":0.5,"fiducial":[[18,7],[25,16],[70, 20]]
except BaseException as e:
_log.error(f'{e}:{param}')
param=dict()
if idx==0:
@@ -2271,18 +2311,10 @@ Author Thierry Zamofing (thierry.zamofing@psi.ch)
def daq_collect(self, **kwargs):# points, visualizer_method, visualizer_params):
'''
kwargs:
code_gen: 0 pvt motion using ptsTrf
1 pvt motion using trf and points
2 pvt motion, compact grid code
3 pvt motion, compact grid code move and wait
tmove: time to move
twait: time to wait
grid: grid dictionary with orig, pitch, count
trf: transformation matrix
points: list of points without transformation
pts_trf: list of points with transformation
pts_trf: list of points with transformation
'''
app = QApplication.instance()
cfg = app._cfg
@@ -2322,28 +2354,22 @@ Author Thierry Zamofing (thierry.zamofing@psi.ch)
#dlg.setAutoClose(True)
#dlg.show()
dlg.setLabelText("Setup Gather/Sync");dlg+=5
code_gen=kwargs.get('code_gen',0)
use_trf=kwargs.get('use_trf', True) # do not use coordinate transformation
if not 'mode' in kwargs:
kwargs['mode']=1
if not use_trf:
trf=kwargs.pop('trf')
points=kwargs['points']
kwargs['points']=kwargs.pop('pts_trf')
sp.setup_sync(verbose=sp.verbose&0x40, timeOfs=dt_misc['time_ofs'], timeCor=dt_misc['time_cor'])
dlg.setLabelText("Download motion program");dlg+=5
if code_gen==0:
sp.setup_motion(fnPrg=fn+'.prg', mode=3, scale=1., dwell=10, points=kwargs['pts_trf'])
elif code_gen==1:
sp.setup_motion(fnPrg=fn+'.prg', mode=3, scale=1., dwell=10, points=kwargs['points'],trf=kwargs['trf'])
elif code_gen==2:
sp.setup_motion(fnPrg=fn+'.prg', mode=4, scale=1., dwell=10, grid=kwargs['grid'], trf=kwargs['trf'])
elif code_gen==3:
sp.setup_motion(fnPrg=fn+'.prg', mode=5, dwell=10, tmove=kwargs['tmove'] ,twait=kwargs['twait'], grid=kwargs['grid'],trf=kwargs['trf'])
sp.setup_motion(fnPrg=fn+'.prg', **kwargs)
sp.setup_gather()
try:
p=geo._fitPlane
# TODO: Cleanup
if code_gen==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}'
t=p*np.array((1,1,1000))
cz=f'{t[0]:+.18g}X{t[1]:+.18g}Y{t[2]:+.18g}'
else:
#TODO: cleanup
if use_trf:
trf=kwargs['trf'] # grid-coord -> motor-um
#(0,0,1)*trf
# trf*'gridpos in um' -> motor pos in mm
@@ -2354,25 +2380,31 @@ Author Thierry Zamofing (thierry.zamofing@psi.ch)
#(0, 0, 1)*trf2*trf3 -> z in um of gridpos(0,0)
t=(trf2*trf3)[:,0].A.ravel()
cz=f'{t[0]:+.18g}X{t[1]:+.18g}Y{t[2]:+.18g}'
else:
# 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}'
t=p*np.array((1,1,1000))
cz=f'{t[0]:+.18g}X{t[1]:+.18g}Y{t[2]:+.18g}'
except AttributeError:
cz='0'
_log.warning('no plane fitting done. z does not move')
trf=kwargs['trf']
if code_gen==0:
fx='X';fy='Y'
if use_trf:
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}'
else:
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}'
fx='X';fy='Y'
if _log.level==logging.DEBUG:
try: t
except NameError: t=(np.nan,np.nan,np.nan)
fn='/tmp/coord.log'
_log.debug(f'write all coordinates to {fn}')
if code_gen==0:
xy1=np.hstack((kwargs["pts_trf"],np.ones((kwargs["pts_trf"].shape[0],1))))
else:
if use_trf:
xy1=np.hstack((kwargs["points"],np.ones((kwargs["points"].shape[0],1))))
else:
xy1=np.hstack((kwargs["pts_trf"],np.ones((kwargs["pts_trf"].shape[0],1))))
pcz=np.matrix(((t[0],t[1],t[2])))*xy1.T
x_y_fx_fy_cz=np.vstack((kwargs["points"].T, kwargs["pts_trf"].T, pcz)).A
with open('/tmp/coord.log','w') as fh: