better but not yet perfect autofocus

swissmx.py

@@ -666,6 +666,7 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
   def cb_new_frame_pv(self, **kwargs):
     #thrd=threading.current_thread()
     #_log.debug(f'thread:{thrd.getName()}, {thrd.native_id}')
+    #_log.debug(f"{kwargs['timestamp']}")
 
     app=QApplication.instance()
     cam=app._camera
@@ -679,6 +680,11 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
       pic.dtype=np.uint16
     camera.epics_cam.set_fiducial(pic, 255)
     cam._pic=pic
+    cam._timestamp=kwargs['timestamp']
+    try:
+      cam.process()
+    except AttributeError as e:
+      pass
     # self._goImg.setImage(cam._pic) caused some deadlocks.
     # therefore try to update the image with signals instead
     self.sigNewCamImg.emit()
@@ -1613,14 +1619,39 @@ Author Thierry Zamofing (thierry.zamofing@psi.ch)
       af_range=misc['af_range']
       n=misc['af_steps']
       rng=(-af_range/2, af_range/2)
-      with pg.ProgressDialog('Progress', 0, n) as dlg:
-        geo.autofocus(app._camera, self.tweakers['base_z'],rng, n,dlg)
+      #geo.autofocus(app._camera, self.tweakers['base_z'],rng, n,dlg)
+      af= geometry.autofocus(app._camera, self.tweakers['base_z'])
+      #  af.run(rng, n, dlg)
+
+      #with pg.ProgressDialog('Progress', 0, n) as dlg:
+      af.run_continous(rng=(-.5, .5), velo=0.3)
 
   def cb_find_fiducial(self):
       app=QApplication.instance()
       geo=app._geometry
       #geo.autofocus(app._camera, self.tweakers['base_z'],rng=(-1, 1), n=30,saveImg=True)
       pos,corr=geo.find_fiducial(app._camera, sz=(210,210),brd=(20,20))
+
+      fx=self.tweakers["fast_x"].get_rbv()
+      fy=self.tweakers["fast_y"].get_rbv()
+      bz=self.tweakers["base_z"].get_rbv()
+
+      #oc=geo._opt_ctr
+      #bm_pos=self._goBeamMarker.pos()
+      #bm_sz=self._goBeamMarker.size()
+      #pos_eu=geo.pix2pos(pos)
+      #pImg=pg.Point(self._goImg.mapFromScene(pos))
+      #pTrk=pg.Point(self._goTracked.mapFromScene(pos))
+      pos_scn=self._goImg.mapToScene(pg.Point(pos))
+      pos_eu=self._goTracked.mapFromScene(pos_scn)
+
+      l=.120
+      #go=UsrGO.Fiducial((fx-l/2, fy-l/2), (l, l), bz)
+      go=UsrGO.Fiducial((pos_eu.x()-l/2, pos_eu.y()-l/2), (l, l), bz)
+      go.sigRegionChangeFinished.connect(self.cb_fiducial_update_z)
+      grp=self._goTracked
+      grp.addItem(go)
+      self._moduleFixTarget._tree.setData(grp.childItems())
       pass
 
   def cb_testcode(self):