fixing coordinate transformation

2023-12-12 14:17:07 +01:00
parent 9e63ff0718
commit e41a3ed7ed
3 changed files with 29 additions and 22 deletions
--- a/app_config.py
+++ b/app_config.py
@@ -95,7 +95,7 @@ class AppCfg(QSettings):

    dflt=[]
    if AppCfg.GBL_MISC not in keys:
-      dflt.append((AppCfg.GBL_MISC,{'img_trace_len':4}))
+      dflt.append((AppCfg.GBL_MISC,{'live_on_collect':False,'img_trace_len':8}))
    if AppCfg.GBL_DEV_PREFIX not in keys:
      dflt.append((AppCfg.GBL_DEV_PREFIX, ['SAR-EXPMX','SARES30-ESBMX']))
    if AppCfg.GEO_BEAM_SZ not in keys:
@@ -111,14 +111,14 @@ class AppCfg(QSettings):
    if AppCfg.GEO_CAM_TRF not in keys:
      dflt.append((AppCfg.GEO_CAM_TRF, np.array(((-1, 0, 0), (0, -1, 0), (0, 0, 1))) ))
    if AppCfg.GEO_PIX2POS not in keys:
-      # rough data for binning=1,1
+      # rough data
      z=np.array((1.0, 200.0, 400.0, 600.0, 800.0, 1000.0))
      t1=np.array(([1, 0.0000], [0.0000, -1])).reshape(1, -1)
-      t2=np.array((0.001214,0.000821,0.000495,0.000299,0.000182,0.000108)).reshape(-1, 1)
+      #t2=np.array((0.001214,0.000821,0.000495,0.000299,0.000182,0.000108)).reshape(-1, 1) # for binning=1,1
+      t2=np.array((0.002413,0.001632,0.000994,0.000594,0.000363,0.000205)).reshape(-1, 1) # for binning=2,2
      trf=(t1*t2).reshape((-1, 2, 2))
      lut_pix2pos=(z, trf)
      dflt.append((AppCfg.GEO_PIX2POS, lut_pix2pos))
-
    if AppCfg.DT_HOST not in keys:
      dflt.append((AppCfg.DT_HOST, 'SAR-CPPM-EXPMX1'))
    if AppCfg.DT_MISC not in keys:
@@ -176,6 +176,8 @@ class AppCfg(QSettings):
      dflt.append((AppCfg.DFT_POS_GONIO, {'pos_mount':(0.,0.,0.,0.),'pos_align':(0.,0.,0.,0.)}))#default positions
    if AppCfg.DFT_POS_BKLGT not in keys:
      dflt.append((AppCfg.DFT_POS_BKLGT, {'pos_in': -30000.0, 'pos_out': 1000.0, 'pos_diode': -30000.0}))#default positions
+    if AppCfg.DFT_POS_PST not in keys:
+      dflt.append((AppCfg.DFT_POS_PST, {'x_in_us': 0.0, 'y_in_us': 0.0, 'x_in_ds': 0.0, 'y_in_ds': 0.0, 'x_out_delta': 0.0, 'y_out_delta': 0.0, 'z_in': 0.0, 'z_out': 0.0}))#default positions

    for k,v in dflt:
      _log.warning(f'{k} not defined. use default')
@@ -327,7 +329,8 @@ verbose bits:
          {'name':'smaract motors', 'value':gbl_dev_prefix[1], 'type':'str'},
        ]},
        {'name':AppCfg.GBL_MISC, 'title':'miscellaneous', 'type':'group', 'children':[
-          {'name':'img_trace_len', 'value':gbl_misc['img_trace_len'], 'type':'int', 'tip':tip_sync_flag},
+          {'name':'live_on_collect', 'value':gbl_misc['live_on_collect'], 'type':'bool','tip':'live view update during collection (may crash if on)'},
+          {'name':'img_trace_len', 'value':gbl_misc['img_trace_len'], 'type':'int'},
          #{'name':'verbose', 'value':gbl_misc['verbose'], 'type':'int', 'tip':tip_verbose},
        ]},
      #  {'name':AppCfg.GEO_CAM_TRF, 'value':cfg.value(AppCfg.GEO_CAM_TRF), 'type':'str'},
--- a/pyqtUsrObj.py
+++ b/pyqtUsrObj.py
@@ -575,22 +575,26 @@ class FixTargetFrame(UsrROI):
    param={'grid':grid, 'points':pts, 'code_gen': self.code_gen}

    # TODO: simplify !!!
-    t=self.transform()
+    t=self.transform() #obj_info(t)
    p=np.array(self.pos())
    s=self.size()/self._dscr['size']
    trf=np.array(((t.m11(),t.m12()),(t.m21(),t.m22()),(0,0)))
    trf[2,:]=p  # shift origin
    trf[:2,:]=(trf[:2,:].T*s).T # same as np.asmatrix(np.diag(s))*trf[:2,:], trf[:2,:]*=s not working, scale before rot / shear

-    # trf*'gridpos in um' -> motor pos in mm
    pos=np.array(param['grid']['pos'])  # in um
    pitch=np.array(param['grid']['pitch'])  # in um
    trf2=np.asmatrix(np.identity(3))
    trf2[:, :2]=trf
-    trf2*=np.asmatrix(((-1000, 0, 0), (0, 1000, 0), (0, 0, 1)))
+    trf2*=np.asmatrix(((1000, 0, 0), (0, 1000, 0), (0, 0, 1)))
    trf3=np.asmatrix(((pitch[0], 0, 0), (0, pitch[1], 0), (pos[0], pos[1], 1)))
    trf=(trf3*trf2)[:, :2]
    param['trf']=trf
+    # trf*'gridpos' -> motor pos in mm
+    # {'pos': [2080, 2080], 'pitch': [120, 120], 'count': [162, 162]}
+    #np.array((0,0,1))*trf grid 0,0 (top left)
+    #np.array((161,0,1))*trf # grid 161,0 (top right)
+    #np.array((161,161,1))*trf # grid 161,161 (bottom right)
    return param


--- a/swissmx.py
+++ b/swissmx.py
@@ -887,10 +887,7 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
    app=QApplication.instance()
    bl=app._backlight
    # any move of backlight requires post sample tube out
-    try:
-      self.assert_post_tube_position(pos="out")
-    except:
-      self.move_post_tube("out")
+    self.move_post_tube("out")
    bl.move(pos)

  def get_tweaker(self, rec, mtype=0, **kwargs):
@@ -995,7 +992,7 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
      else:
        _log.warning(f'{e},{w},{pv}')
      sim=app._args.sim
-      assert(sim&0x10,'assuming simulated motors')
+      assert sim&0x10,'assuming simulated motors'


  def build_group_faststage(self, toolbox):
@@ -2290,9 +2287,10 @@ Author Thierry Zamofing (thierry.zamofing@psi.ch)
    sp.meta['sync_flag']=dt_misc['sync_flag']

    #pv-monitor-func: stop monitors
-    pv_mon_lst=app._pv_mon_lst
-    for pv in pv_mon_lst:
-      pv.auto_monitor=False
+    if not cfg.value(AppCfg.GBL_MISC)['live_on_collect']:
+      pv_mon_lst=app._pv_mon_lst
+      for pv in pv_mon_lst:
+        pv.auto_monitor=False

    with pg.ProgressDialog('Progress', 0, 100) as dlg:
      dlg.setWindowModality(Qt.WindowModal)
@@ -2320,7 +2318,7 @@ Author Thierry Zamofing (thierry.zamofing@psi.ch)
          # 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))
+          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
@@ -2329,7 +2327,7 @@ Author Thierry Zamofing (thierry.zamofing@psi.ch)
          trf2=np.asmatrix(np.identity(3))
          trf2[:, :2]=trf
          #p1=(0,0,1)*trf2 # =matrix([[-2376.8,  1376.8,     1. ]]) um
-          trf3=np.matrix( ((p[0],0,0),(-p[1],0,0),(-1000*p[2],0,1)) )
+          trf3=np.matrix( ((-p[0],0,0),(-p[1],0,0),(-1000*p[2],0,1)) )
          #(0, 0, 1)*trf2*trf3
          t=(trf2*trf3)[:,0].A.ravel()
          cz=f'{t[0]:+.18g}X{t[1]:+.18g}Y{t[2]:+.18g}'
@@ -2358,8 +2356,9 @@ Author Thierry Zamofing (thierry.zamofing@psi.ch)

      if dlg.wasCanceled():
        # pv-monitor-func: start monitors
-        for pv in pv_mon_lst:
-          pv.auto_monitor=True
+        if not cfg.value(AppCfg.GBL_MISC)['live_on_collect']:
+          for pv in pv_mon_lst:
+            pv.auto_monitor=True
        return
      dlg.setLabelText("Homing and get ready");dlg+=5
      sp.homing()  # homing if needed
@@ -2401,8 +2400,9 @@ Author Thierry Zamofing (thierry.zamofing@psi.ch)

      shutter.close()
    # pv-monitor-func: start monitors
-    for pv in pv_mon_lst:
-      pv.auto_monitor=True
+    if not cfg.value(AppCfg.GBL_MISC)['live_on_collect']:
+      for pv in pv_mon_lst:
+        pv.auto_monitor=True

  def esc_run_steps(self, steps, title, esc_state):
    self._esc_state ="busy"