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

swissmx.py

@@ -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('|')
+      param=param.replace(':', ': ')  # allow gen:4 without space
-      pStr=list()
+      param=yaml.safe_load(param)  # "ofs":[10, 5],"width":200,"fidScl":0.5,"fiducial":[[18,7],[25,16],[70, 20]]
-      for p in pLst:
+    except BaseException as e:
-        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:
       _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', **kwargs)
-        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_gather()
       try:
         p=geo._fitPlane
-        # TODO: Cleanup
+        #TODO: cleanup
-        if code_gen==0:
+        if use_trf:
-          # 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:
           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:
+      if use_trf:
-        fx='X';fy='Y'
+        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}'
+        fx='X';fy='Y'
-        fy=f'{trf[0,1]:+.18g}X{trf[1,1]:+.18g}Y{trf[2,1]:+.18g}'
       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:
+        if use_trf:
-          xy1=np.hstack((kwargs["pts_trf"],np.ones((kwargs["pts_trf"].shape[0],1))))
-        else:
           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: