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magnet_logic.py
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magnet_logic.py
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# -*- coding: utf-8 -*-
"""
This file contains the general logic for magnet control.
Qudi is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Qudi is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Qudi. If not, see <http://www.gnu.org/licenses/>.
Copyright (c) the Qudi Developers. See the COPYRIGHT.txt file at the
top-level directory of this distribution and at <https://github.com/Ulm-IQO/qudi/>
"""
import datetime
import numpy as np
import time
from collections import OrderedDict
from core.connector import Connector
from core.statusvariable import StatusVar
from logic.generic_logic import GenericLogic
from qtpy import QtCore
from interface.slow_counter_interface import CountingMode
class MagnetLogic(GenericLogic):
""" A general magnet logic to control an magnetic stage with an arbitrary
set of axis.
DISCLAIMER:
===========
The current status of the magnet logic is highly experimental and not well
tested. The implementation has some considerable imperfections. The state of
this module is considered to be UNSTABLE.
This module has two major issues:
- a lack of proper documentation of all the methods
- usage of tasks is not implemented and therefore direct connection to
all the modules is used (I tried to compress as good as possible all
the part, where access to other modules occurs so that a later
replacement would be easier and one does not have to search throughout
the whole file.)
However, the 'high-level state maschine' for the alignment should be rather
general and very powerful to use. The different state were divided in
several consecutive methods, where each method can be implemented
separately and can be extended for custom needs. (I have drawn a diagram,
which is much more telling then the documentation I can write down here.)
I am currently working on that and will from time to time improve the status
of this module. So if you want to use it, be aware that there might appear
drastic changes.
---
"""
# declare connectors
magnetstage = Connector(interface='MagnetInterface')
optimizerlogic = Connector(interface='OptimizerLogic')
counterlogic = Connector(interface='CounterLogic')
odmrlogic = Connector(interface='ODMRLogic')
savelogic = Connector(interface='SaveLogic')
scannerlogic = Connector(interface='ConfocalLogic')
traceanalysis = Connector(interface='TraceAnalysisLogic')
gatedcounterlogic = Connector(interface='CounterLogic')
sequencegeneratorlogic = Connector(interface='SequenceGeneratorLogic')
align_2d_axis0_range = StatusVar('align_2d_axis0_range', 10e-3)
align_2d_axis0_step = StatusVar('align_2d_axis0_step', 1e-3)
align_2d_axis0_vel = StatusVar('align_2d_axis0_vel', 10e-6)
align_2d_axis1_range = StatusVar('align_2d_axis1_range', 10e-3)
align_2d_axis1_step = StatusVar('align_2d_axis1_step', 1e-3)
align_2d_axis1_vel = StatusVar('align_2d_axis1_vel', 10e-6)
curr_2d_pathway_mode = StatusVar('curr_2d_pathway_mode', 'snake-wise')
_checktime = StatusVar('_checktime', 2.5)
_1D_axis0_data = StatusVar('_1D_axis0_data', default=np.arange(3))
_2D_axis0_data = StatusVar('_2D_axis0_data', default=np.arange(3))
_2D_axis1_data = StatusVar('_2D_axis1_data', default=np.arange(2))
_3D_axis0_data = StatusVar('_3D_axis0_data', default=np.arange(2))
_3D_axis1_data = StatusVar('_3D_axis1_data', default=np.arange(2))
_3D_axis2_data = StatusVar('_3D_axis2_data', default=np.arange(2))
_2D_data_matrix = StatusVar('_2D_data_matrix', np.zeros((3, 2)))
_3D_data_matrix = StatusVar('_3D_data_matrix', np.zeros((2, 2, 2)))
curr_alignment_method = StatusVar('curr_alignment_method', '2d_fluorescence')
_optimize_pos_freq = StatusVar('_optimize_pos_freq', 1)
_fluorescence_integration_time = StatusVar('_fluorescence_integration_time', 5)
odmr_2d_low_center_freq = StatusVar('odmr_2d_low_center_freq', 11028e6)
odmr_2d_low_step_freq = StatusVar('odmr_2d_low_step_freq', 0.15e6)
odmr_2d_low_range_freq = StatusVar('odmr_2d_low_range_freq', 25e6)
odmr_2d_low_power = StatusVar('odmr_2d_low_power', 4)
odmr_2d_low_runtime = StatusVar('odmr_2d_low_runtime', 40)
odmr_2d_high_center_freq = StatusVar('odmr_2d_high_center_freq', 16768e6)
odmr_2d_high_step_freq = StatusVar('odmr_2d_high_step_freq', 0.15e6)
odmr_2d_high_range_freq = StatusVar('odmr_2d_high_range_freq', 25e6)
odmr_2d_high_power = StatusVar('odmr_2d_high_power', 2)
odmr_2d_high_runtime = StatusVar('odmr_2d_high_runtime', 40)
odmr_2d_save_after_measure = StatusVar('odmr_2d_save_after_measure', True)
odmr_2d_peak_axis0_move_ratio = StatusVar('odmr_2d_peak_axis0_move_ratio', 0)
odmr_2d_peak_axis1_move_ratio = StatusVar('odmr_2d_peak_axis1_move_ratio', 0)
nuclear_2d_rabi_periode = StatusVar('nuclear_2d_rabi_periode', 1000e-9)
nuclear_2d_mw_freq = StatusVar('nuclear_2d_mw_freq', 100e6)
nuclear_2d_mw_channel = StatusVar('nuclear_2d_mw_channel', -1)
nuclear_2d_mw_power = StatusVar('nuclear_2d_mw_power', -30)
nuclear_2d_laser_time = StatusVar('nuclear_2d_laser_time', 900e-9)
nuclear_2d_laser_channel = StatusVar('nuclear_2d_laser_channel', 2)
nuclear_2d_detect_channel = StatusVar('nuclear_2d_detect_channel', 1)
nuclear_2d_idle_time = StatusVar('nuclear_2d_idle_time', 1500e-9)
nuclear_2d_reps_within_ssr = StatusVar('nuclear_2d_reps_within_ssr', 1000)
nuclear_2d_num_ssr = StatusVar('nuclear_2d_num_ssr', 3000)
# General Signals, used everywhere:
sigIdleStateChanged = QtCore.Signal(bool)
sigPosChanged = QtCore.Signal(dict)
sigMeasurementStarted = QtCore.Signal()
sigMeasurementContinued = QtCore.Signal()
sigMeasurementStopped = QtCore.Signal()
sigMeasurementFinished = QtCore.Signal()
# Signals for making the move_abs, move_rel and abort independent:
sigMoveAbs = QtCore.Signal(dict)
sigMoveRel = QtCore.Signal(dict)
sigAbort = QtCore.Signal()
sigVelChanged = QtCore.Signal(dict)
# Alignment Signals, remember do not touch or connect from outer logic or
# GUI to the leading underscore signals!
_sigStepwiseAlignmentNext = QtCore.Signal()
_sigContinuousAlignmentNext = QtCore.Signal()
_sigInitializeMeasPos = QtCore.Signal(bool) # signal to go to the initial measurement position
sigPosReached = QtCore.Signal()
# signals if new data are writen to the data arrays (during measurement):
sig1DMatrixChanged = QtCore.Signal()
sig2DMatrixChanged = QtCore.Signal()
sig3DMatrixChanged = QtCore.Signal()
# signals if the axis for the alignment are changed/renewed (before a measurement):
sig1DAxisChanged = QtCore.Signal()
sig2DAxisChanged = QtCore.Signal()
sig3DAxisChanged = QtCore.Signal()
# signals for 2d alignemnt general
sig2DAxis0NameChanged = QtCore.Signal(str)
sig2DAxis0RangeChanged = QtCore.Signal(float)
sig2DAxis0StepChanged = QtCore.Signal(float)
sig2DAxis0VelChanged = QtCore.Signal(float)
sig2DAxis1NameChanged = QtCore.Signal(str)
sig2DAxis1RangeChanged = QtCore.Signal(float)
sig2DAxis1StepChanged = QtCore.Signal(float)
sig2DAxis1VelChanged = QtCore.Signal(float)
sigMoveRelChanged = QtCore.Signal(dict)
# signals for fluorescence alignment
sigFluoIntTimeChanged = QtCore.Signal(float)
sigOptPosFreqChanged = QtCore.Signal(float)
# signal for ODMR alignment
sigODMRLowFreqChanged = QtCore.Signal()
sigODMRHighFreqChanged = QtCore.Signal()
sigTest = QtCore.Signal()
def __init__(self, config, **kwargs):
super().__init__(config=config, **kwargs)
self._stop_measure = False
def on_activate(self):
""" Definition and initialisation of the GUI.
"""
self._magnet_device = self.magnetstage()
self._save_logic = self.savelogic()
# FIXME: THAT IS JUST A TEMPORARY SOLUTION! Implement the access on the
# needed methods via the TaskRunner!
self._optimizer_logic = self.optimizerlogic()
self._confocal_logic = self.scannerlogic()
self._counter_logic = self.counterlogic()
self._odmr_logic = self.odmrlogic()
self._gc_logic = self.gatedcounterlogic()
self._ta_logic = self.traceanalysis()
self._seq_gen_logic = self.sequencegeneratorlogic()
# EXPERIMENTAL:
# connect now directly signals to the interface methods, so that
# the logic object will be not blocks and can react on changes or abort
self.sigMoveAbs.connect(self._magnet_device.move_abs)
self.sigMoveRel.connect(self._magnet_device.move_rel)
self.sigAbort.connect(self._magnet_device.abort)
self.sigVelChanged.connect(self._magnet_device.set_velocity)
# signal connect for alignment:
self._sigInitializeMeasPos.connect(self._move_to_curr_pathway_index)
self._sigStepwiseAlignmentNext.connect(self._stepwise_loop_body,
QtCore.Qt.QueuedConnection)
self.pathway_modes = ['spiral-in', 'spiral-out', 'snake-wise', 'diagonal-snake-wise']
# relative movement settings
constraints = self._magnet_device.get_constraints()
self.move_rel_dict = {}
for axis_label in constraints:
if ('move_rel_' + axis_label) in self._statusVariables:
self.move_rel_dict[axis_label] = self._statusVariables[('move_rel_' + axis_label)]
else:
self.move_rel_dict[axis_label] = 1e-3
# 2D alignment settings
if 'align_2d_axis0_name' in self._statusVariables:
self.align_2d_axis0_name = self._statusVariables['align_2d_axis0_name']
else:
axes = list(self._magnet_device.get_constraints())
self.align_2d_axis0_name = axes[0]
if 'align_2d_axis1_name' in self._statusVariables:
self.align_2d_axis1_name = self._statusVariables['align_2d_axis1_name']
else:
axes = list(self._magnet_device.get_constraints())
self.align_2d_axis1_name = axes[1]
self.sigTest.connect(self._do_premeasurement_proc)
if '_1D_add_data_matrix' in self._statusVariables:
self._1D_add_data_matrix = self._statusVariables['_1D_add_data_matrix']
else:
self._1D_add_data_matrix = np.zeros(shape=np.shape(self._1D_axis0_data), dtype=object)
if '_2D_add_data_matrix' in self._statusVariables:
self._2D_add_data_matrix = self._statusVariables['_2D_add_data_matrix']
else:
self._2D_add_data_matrix = np.zeros(shape=np.shape(self._2D_data_matrix), dtype=object)
if '_3D_add_data_matrix' in self._statusVariables:
self._3D_add_data_matrix = self._statusVariables['_3D_add_data_matrix']
else:
self._3D_add_data_matrix = np.zeros(shape=np.shape(self._3D_data_matrix), dtype=object)
self.alignment_methods = ['2d_fluorescence', '2d_odmr', '2d_nuclear']
self.odmr_2d_low_fitfunction_list = self._odmr_logic.get_fit_functions()
if 'odmr_2d_low_fitfunction' in self._statusVariables:
self.odmr_2d_low_fitfunction = self._statusVariables['odmr_2d_low_fitfunction']
else:
self.odmr_2d_low_fitfunction = list(self.odmr_2d_low_fitfunction_list)[1]
self.odmr_2d_high_fitfunction_list = self._odmr_logic.get_fit_functions()
if 'odmr_2d_high_fitfunction' in self._statusVariables:
self.odmr_2d_high_fitfunction = self._statusVariables['odmr_2d_high_fitfunction']
else:
self.odmr_2d_high_fitfunction = list(self.odmr_2d_high_fitfunction_list)[1]
# that is just a normalization value, which is needed for the ODMR
# alignment, since the colorbar cannot display values greater (2**32)/2.
# A solution has to found for that!
self.norm = 1000
# use that if only one ODMR transition is available.
self.odmr_2d_single_trans = False
def on_deactivate(self):
""" Deactivate the module properly.
"""
constraints = self.get_hardware_constraints()
for axis_label in constraints:
self._statusVariables[('move_rel_' + axis_label)] = self.move_rel_dict[axis_label]
self._statusVariables['align_2d_axis0_name'] = self.align_2d_axis0_name
self._statusVariables['align_2d_axis1_name'] = self.align_2d_axis1_name
self._statusVariables['odmr_2d_low_fitfunction'] = self.odmr_2d_low_fitfunction
self._statusVariables['odmr_2d_high_fitfunction'] = self.odmr_2d_high_fitfunction
return 0
def get_hardware_constraints(self):
""" Retrieve the hardware constraints.
@return dict: dict with constraints for the magnet hardware. The keys
are the labels for the axis and the items are again dicts
which contain all the limiting parameters.
"""
return self._magnet_device.get_constraints()
def move_rel(self, param_dict):
""" Move the specified axis in the param_dict relative with an assigned
value.
@param dict param_dict: dictionary, which passes all the relevant
parameters. E.g., for a movement of an axis
labeled with 'x' by 23 the dict should have the
form:
param_dict = { 'x' : 23 }
@return param dict: dictionary, which passes all the relevant
parameters. E.g., for a movement of an axis
labeled with 'x' by 23 the dict should have the
form:
param_dict = { 'x' : 23 }
"""
self.sigMoveRel.emit(param_dict)
# self._check_position_reached_loop(start_pos, end_pos)
# self.sigPosChanged.emit(param_dict)
return param_dict
def move_abs(self, param_dict):
""" Moves stage to absolute position (absolute movement)
@param dict param_dict: dictionary, which passes all the relevant
parameters, which should be changed. Usage:
{'axis_label': <a-value>}.
'axis_label' must correspond to a label given
to one of the axis.
@return param dict: dictionary, which passes all the relevant
parameters. E.g., for a movement of an axis
labeled with 'x' by 23 the dict should have the
form:
param_dict = { 'x' : 23 }
"""
# self._magnet_device.move_abs(param_dict)
# start_pos = self.get_pos(list(param_dict))
self.sigMoveAbs.emit(param_dict)
# self._check_position_reached_loop(start_pos, param_dict)
# self.sigPosChanged.emit(param_dict)
return param_dict
def get_pos(self, param_list=None):
""" Gets current position of the stage.
@param list param_list: optional, if a specific position of an axis
is desired, then the labels of the needed
axis should be passed as the param_list.
If nothing is passed, then from each axis the
position is asked.
@return dict: with keys being the axis labels and item the current
position.
"""
pos_dict = self._magnet_device.get_pos(param_list)
return pos_dict
def get_status(self, param_list=None):
""" Get the status of the position
@param list param_list: optional, if a specific status of an axis
is desired, then the labels of the needed
axis should be passed in the param_list.
If nothing is passed, then from each axis the
status is asked.
@return dict: with the axis label as key and a tuple of a status
number and a status dict as the item.
"""
status = self._magnet_device.get_status(param_list)
return status
def stop_movement(self):
""" Stops movement of the stage. """
self._stop_measure = True
self.sigAbort.emit()
return self._stop_measure
def set_velocity(self, param_dict):
""" Write new value for velocity.
@param dict param_dict: dictionary, which passes all the relevant
parameters, which should be changed. Usage:
{'axis_label': <the-velocity-value>}.
'axis_label' must correspond to a label given
to one of the axis.
"""
self.sigVelChanged.emit()
return param_dict
def _create_1d_pathway(self, axis_name, axis_range, axis_step, axis_vel):
""" Create a path along with the magnet should move with one axis
@param str axis_name:
@param float axis_range:
@param float axis_step:
@return:
Here you can also create fancy 1D pathways, not only linear but also
in any kind on nonlinear fashion.
"""
pass
def _create_2d_pathway(self, axis0_name, axis0_range, axis0_step,
axis1_name, axis1_range, axis1_step, init_pos,
axis0_vel=None, axis1_vel=None):
""" Create a path along with the magnet should move.
@param str axis0_name:
@param float axis0_range:
@param float axis0_step:
@param str axis1_name:
@param float axis1_range:
@param float axis1_step:
@return array: 1D np.array, which has dictionary as entries. In this
dictionary, it will be specified, how the magnet is going
from the present point to the next.
That should be quite a general function, which maps from a given matrix
and axes information a 2D array into a 1D path with steps being the
relative movements.
All kind of standard and fancy pathways through the array should be
implemented here!
The movement is not restricted to relative movements!
The entry dicts have the following structure:
pathway = [ dict1, dict2, dict3, ...]
whereas the dictionary can only have one or two key entries:
dict1[axis0_name] = {'move_rel': 123, 'move_vel': 3 }
dict1[axis1_name] = {'move_abs': 29.5}
Note that the entries may either have a relative OR an absolute movement!
Never both! Absolute movement will be taken always before relative
movement. Moreover you can specify in each movement step the velocity
and the acceleration of the movement.
E.g. if no velocity is specified, then nothing will be changed in terms
of speed during the move.
"""
# calculate number of steps (those are NOT the number of points!)
axis0_num_of_steps = int(axis0_range / axis0_step)
axis1_num_of_steps = int(axis1_range / axis1_step)
# make an array of movement steps
axis0_steparray = [axis0_step] * axis0_num_of_steps
axis1_steparray = [axis1_step] * axis1_num_of_steps
pathway = []
# FIXME: create these path modes:
if self.curr_2d_pathway_mode == 'spiral-in':
self.log.error('The pathway creation method "{0}" through the '
'matrix is not implemented yet!\nReturn an empty '
'patharray.'.format(self.curr_2d_pathway_mode))
return [], []
elif self.curr_2d_pathway_mode == 'spiral-out':
self.log.error('The pathway creation method "{0}" through the '
'matrix is not implemented yet!\nReturn an empty '
'patharray.'.format(self.curr_2d_pathway_mode))
return [], []
elif self.curr_2d_pathway_mode == 'diagonal-snake-wise':
self.log.error('The pathway creation method "{0}" through the '
'matrix is not implemented yet!\nReturn an empty '
'patharray.'.format(self.current_2d_pathway_mode))
return [], []
elif self.curr_2d_pathway_mode == 'selected-points':
self.log.error('The pathway creation method "{0}" through the '
'matrix is not implemented yet!\nReturn an empty '
'patharray.'.format(self.current_2d_pathway_mode))
return [], []
# choose the snake-wise as default for now.
else:
# create a snake-wise stepping procedure through the matrix:
self.log.debug(axis0_name)
self.log.debug(axis0_range)
self.log.debug(init_pos[axis0_name])
axis0_pos = round(init_pos[axis0_name] - axis0_range / 2, 7)
axis1_pos = round(init_pos[axis1_name] - axis1_range / 2, 7)
# append again so that the for loop later will run once again
# through the axis0 array but the last value of axis1_steparray will
# not be performed.
axis1_steparray.append(axis1_num_of_steps)
# step_config is the dict containing the commands for one pathway
# entry. Move at first to start position:
step_config = dict()
if axis0_vel is None:
step_config[axis0_name] = {'move_abs': axis0_pos}
else:
step_config[axis0_name] = {'move_abs': axis0_pos, 'move_vel': axis0_vel}
if axis1_vel is None:
step_config[axis1_name] = {'move_abs': axis1_pos}
else:
step_config[axis1_name] = {'move_abs': axis1_pos, 'move_vel': axis1_vel}
pathway.append(step_config)
path_index = 0
# these indices should be used to facilitate the mapping to a 2D
# array, since the
axis0_index = 0
axis1_index = 0
# that is a map to transform a pathway index value back to an
# absolute position and index. That will be important for saving the
# data corresponding to a certain path_index value.
back_map = dict()
back_map[path_index] = {axis0_name: axis0_pos,
axis1_name: axis1_pos,
'index': (axis0_index, axis1_index)}
path_index += 1
# axis0_index += 1
go_pos_dir = True
for step_in_axis1 in axis1_steparray:
if go_pos_dir:
go_pos_dir = False
direction = +1
else:
go_pos_dir = True
direction = -1
for step_in_axis0 in axis0_steparray:
axis0_index += direction
# make move along axis0:
step_config = dict()
# relative movement:
# step_config[axis0_name] = {'move_rel': direction*step_in_axis0}
# absolute movement:
axis0_pos = round(axis0_pos + direction * step_in_axis0, 7)
# if axis0_vel is None:
# step_config[axis0_name] = {'move_abs': axis0_pos}
# step_config[axis1_name] = {'move_abs': axis1_pos}
# else:
# step_config[axis0_name] = {'move_abs': axis0_pos,
# 'move_vel': axis0_vel}
if axis1_vel is None and axis0_vel is None:
step_config[axis0_name] = {'move_abs': axis0_pos}
step_config[axis1_name] = {'move_abs': axis1_pos}
else:
step_config[axis0_name] = {'move_abs': axis0_pos}
step_config[axis1_name] = {'move_abs': axis1_pos}
if axis0_vel is not None:
step_config[axis0_name] = {'move_abs': axis0_pos, 'move_vel': axis0_vel}
if axis1_vel is not None:
step_config[axis1_name] = {'move_abs': axis1_pos, 'move_vel': axis1_vel}
# append to the pathway
pathway.append(step_config)
back_map[path_index] = {axis0_name: axis0_pos,
axis1_name: axis1_pos,
'index': (axis0_index, axis1_index)}
path_index += 1
if (axis1_index + 1) >= len(axis1_steparray):
break
# make a move along axis1:
step_config = dict()
# relative movement:
# step_config[axis1_name] = {'move_rel' : step_in_axis1}
# absolute movement:
axis1_pos = round(axis1_pos + step_in_axis1, 7)
if axis1_vel is None and axis0_vel is None:
step_config[axis0_name] = {'move_abs': axis0_pos}
step_config[axis1_name] = {'move_abs': axis1_pos}
else:
step_config[axis0_name] = {'move_abs': axis0_pos}
step_config[axis1_name] = {'move_abs': axis1_pos}
if axis0_vel is not None:
step_config[axis0_name] = {'move_abs': axis0_pos, 'move_vel': axis0_vel}
if axis1_vel is not None:
step_config[axis1_name] = {'move_abs': axis1_pos, 'move_vel': axis1_vel}
pathway.append(step_config)
axis1_index += 1
back_map[path_index] = {axis0_name: axis0_pos,
axis1_name: axis1_pos,
'index': (axis0_index, axis1_index)}
path_index += 1
return pathway, back_map
def _create_2d_cont_pathway(self, pathway):
# go through the passed 1D path and reduce the whole movement just to
# corner points
pathway_cont = dict()
return pathway_cont
def _prepare_2d_graph(self, axis0_start, axis0_range, axis0_step,
axis1_start, axis1_range, axis1_step):
# set up a matrix where measurement points are save to
# general method to prepare 2d images, and their axes.
# that is for the matrix image. +1 because number of points and not
# number of steps are needed:
num_points_axis0 = int(axis0_range / axis0_step) + 1
num_points_axis1 = int(axis1_range / axis1_step) + 1
matrix = np.zeros((num_points_axis0, num_points_axis1))
# Decrease/increase lower/higher bound of axes by half of the step length
# in order to display the rectangles in the 2d plot in the gui such that the
# measurement position is in the center of the rectangle.
# data axis0:
data_axis0 = np.linspace(axis0_start, axis0_start + (num_points_axis0 - 1) * axis0_step, num_points_axis0)
# data axis1:
data_axis1 = np.linspace(axis1_start, axis1_start + (num_points_axis1 - 1) * axis1_step, num_points_axis1)
return matrix, data_axis0, data_axis1
def _prepare_1d_graph(self, axis_range, axis_step):
pass
def start_1d_alignment(self, axis_name, axis_range, axis_step, axis_vel,
stepwise_meas=True, continue_meas=False):
# actual measurement routine, which is called to start the measurement
if not continue_meas:
# to perform the '_do_measure_after_stop' routine from the beginning
# (which means e.g. an optimize pos)
self._prepare_1d_graph()
self._pathway = self._create_1d_pathway()
if stepwise_meas:
# just make it to an empty dict
self._pathway_cont = dict()
else:
# create from the path_points the continoues points
self._pathway_cont = self._create_1d_cont_pathway(self._pathway)
else:
# tell all the connected instances that measurement is continuing:
self.sigMeasurementContinued.emit()
# run at first the _move_to_curr_pathway_index method to go to the
# index position:
self._sigInitializeMeasPos.emit(stepwise_meas)
def start_2d_alignment(self, stepwise_meas=True, continue_meas=False):
# before starting the measurement you should convince yourself that the
# passed traveling range is possible. Otherwise the measurement will be
# aborted and an error is raised.
#
# actual measurement routine, which is called to start the measurement
# start measurement value
self._start_measurement_time = datetime.datetime.now()
self._stop_measurement_time = None
self._stop_measure = False
# self._axis0_name = axis0_name
# self._axis1_name = axis1_name
# get name of other axis to control their values
self._control_dict = {}
pos_dict = self.get_pos()
key_set1 = set(pos_dict.keys())
key_set2 = set([self.align_2d_axis1_name, self.align_2d_axis0_name])
key_complement = key_set1 - key_set2
self._control_dict = {key: pos_dict[key] for key in key_complement}
# additional values to save
self._2d_error = []
self._2d_measured_fields = []
self._2d_intended_fields = []
# save only the position of the axis, which are going to be moved
# during alignment, the return will be a dict!
self._saved_pos_before_align = self.get_pos([self.align_2d_axis0_name, self.align_2d_axis1_name])
if not continue_meas:
self.sigMeasurementStarted.emit()
# the index, which run through the _pathway list and selects the
# current measurement point
self._pathway_index = 0
self._pathway, self._backmap = self._create_2d_pathway(self.align_2d_axis0_name,
self.align_2d_axis0_range,
self.align_2d_axis0_step,
self.align_2d_axis1_name,
self.align_2d_axis1_range,
self.align_2d_axis1_step,
self._saved_pos_before_align,
self.align_2d_axis0_vel,
self.align_2d_axis1_vel)
# determine the start point, either relative or absolute!
# Now the absolute position will be used:
axis0_start = self._backmap[0][self.align_2d_axis0_name]
axis1_start = self._backmap[0][self.align_2d_axis1_name]
prepared_graph = self._prepare_2d_graph(
axis0_start,
self.align_2d_axis0_range,
self.align_2d_axis0_step,
axis1_start,
self.align_2d_axis1_range,
self.align_2d_axis1_step)
self._2D_data_matrix, self._2D_axis0_data, self._2D_axis1_data = prepared_graph
self._2D_add_data_matrix = np.zeros(shape=np.shape(self._2D_data_matrix), dtype=object)
if stepwise_meas:
# just make it to an empty dict
self._pathway_cont = dict()
else:
# create from the path_points the continuous points
self._pathway_cont = self._create_2d_cont_pathway(self._pathway)
# TODO: include here another mode, where a new defined pathway can be
# created, along which the measurement should be repeated.
# You have to follow the procedure:
# - Create for continuing the measurement just a proper
# pathway and a proper back_map in self._create_2d_pathway,
# => Then the whole measurement can be just run with the new
# pathway and back_map, and you do not have to adjust other
# things.
else:
# tell all the connected instances that measurement is continuing:
self.sigMeasurementContinued.emit()
# run at first the _move_to_curr_pathway_index method to go to the
# index position:
self._sigInitializeMeasPos.emit(stepwise_meas)
return 0
def _move_to_curr_pathway_index(self, stepwise_meas):
# move to the passed pathway index in the list _pathway and start the
# proper loop for that:
# move absolute to the index position, which is currently given
move_dict_vel, \
move_dict_abs, \
move_dict_rel = self._move_to_index(self._pathway_index, self._pathway)
self.log.debug("I'm in _move_to_curr_pathway_index: {0}".format(move_dict_abs))
# self.set_velocity(move_dict_vel)
self._magnet_device.move_abs(move_dict_abs)
# self.move_rel(move_dict_rel)
while self._check_is_moving():
time.sleep(self._checktime)
self.log.debug("Went into while loop in _move_to_curr_pathway_index")
# this function will return to this function if position is reached:
start_pos = self._saved_pos_before_align
end_pos = dict()
for axis_name in self._saved_pos_before_align:
end_pos[axis_name] = self._backmap[self._pathway_index][axis_name]
self.log.debug("(first movement) magnet moving ? {0}".format(self._check_is_moving()))
if stepwise_meas:
# start the Stepwise alignment loop body self._stepwise_loop_body:
self._sigStepwiseAlignmentNext.emit()
else:
# start the continuous alignment loop body self._continuous_loop_body:
self._sigContinuousAlignmentNext.emit()
def _stepwise_loop_body(self):
""" Go one by one through the created path
@return:
The loop body goes through the 1D array
"""
if self._stop_measure:
self._end_alignment_procedure()
return
self._do_premeasurement_proc()
pos = self._magnet_device.get_pos()
end_pos = self._pathway[self._pathway_index]
self.log.debug('end_pos {0}'.format(end_pos))
differences = []
for key in end_pos:
differences.append((pos[key] - end_pos[key]['move_abs']) ** 2)
for key in self._control_dict:
differences.append((pos[key] - self._control_dict[key]) ** 2)
distance = 0
for difference in differences:
distance += difference
# this is not the actual distance (in a physical sense), just some sort of mean of the
# variation of the measurement variables. ( Don't know which coordinates are used ... spheric, cartesian ... )
distance = np.sqrt(distance)
self._2d_error.append(distance)
self._2d_measured_fields.append(pos)
# the desired field
act_pos = {key: self._pathway[self._pathway_index][key]['move_abs'] for key in
self._pathway[self._pathway_index]}
# wanted_pos = {**self._control_dict, **act_pos}
# Workaround for Python 3.4.4
self._control_dict.update(act_pos)
wanted_pos = self._control_dict
self._2d_intended_fields.append(wanted_pos)
self.log.debug("Distance from desired position: {0}".format(distance))
# perform here one of the chosen alignment measurements
meas_val, add_meas_val = self._do_alignment_measurement()
# set the measurement point to the proper array and the proper position:
# save also all additional measurement information, which have been
# done during the measurement in add_meas_val.
self._set_meas_point(meas_val, add_meas_val, self._pathway_index, self._backmap)
# increase the index
self._pathway_index += 1
if self._pathway_index < len(self._pathway):
#
self._do_postmeasurement_proc()
move_dict_vel, \
move_dict_abs, \
move_dict_rel = self._move_to_index(self._pathway_index, self._pathway)
# commenting this out for now, because it is kind of useless for us
# self.set_velocity(move_dict_vel)
self._magnet_device.move_abs(move_dict_abs)
while self._check_is_moving():
time.sleep(self._checktime)
self.log.debug("Went into while loop in stepwise_loop_body")
self.log.debug("stepwise_loop_body reports magnet moving ? {0}".format(self._check_is_moving()))
# this function will return to this function if position is reached:
start_pos = dict()
end_pos = dict()
for axis_name in self._saved_pos_before_align:
start_pos[axis_name] = self._backmap[self._pathway_index - 1][axis_name]
end_pos[axis_name] = self._backmap[self._pathway_index][axis_name]
# rerun this loop again
self._sigStepwiseAlignmentNext.emit()
else:
self._end_alignment_procedure()
return
def _continuous_loop_body(self):
""" Go as much as possible in one direction
@return:
The loop body goes through the 1D array
"""
pass
def stop_alignment(self):
""" Stops any kind of ongoing alignment measurement by setting a flag.
"""
self._stop_measure = True
# abort the movement or check whether immediate abortion of measurement
# was needed.
# check whether an alignment measurement is currently going on and send
# a signal to stop that.
def _end_alignment_procedure(self):
# 1 check if magnet is moving and stop it
# move back to the first position before the alignment has started:
#
constraints = self.get_hardware_constraints()
last_pos = dict()
for axis_name in self._saved_pos_before_align:
last_pos[axis_name] = self._backmap[self._pathway_index - 1][axis_name]
self._magnet_device.move_abs(self._saved_pos_before_align)
while self._check_is_moving():
time.sleep(self._checktime)
self.sigMeasurementFinished.emit()
self._pathway_index = 0
self._stop_measurement_time = datetime.datetime.now()
self.log.info('Alignment Complete!')
pass
def _check_position_reached_loop(self, start_pos_dict, end_pos_dict):
""" Perform just a while loop, which checks everytime the conditions
@param dict start_pos_dict: the position in this dictionary must be
absolute positions!
@param dict end_pos_dict:
@param float checktime: the checktime in seconds
@return:
Whenever the magnet has passed 95% of the way, the method will return.
Check also whether the difference in position increases again, and if so
stop the measurement and raise an error, since either the velocity was
too fast or the magnet does not move further.
"""
distance_init = 0.0
constraints = self.get_hardware_constraints()
minimal_distance = 0.0
for axis_label in start_pos_dict:
distance_init = (end_pos_dict[axis_label] - start_pos_dict[axis_label]) ** 2
minimal_distance = minimal_distance + (constraints[axis_label]['pos_step']) ** 2
distance_init = np.sqrt(distance_init)
minimal_distance = np.sqrt(minimal_distance)
# take 97% distance tolerance:
distance_tolerance = 0.03 * distance_init
current_dist = 0.0
while True:
time.sleep(self._checktime)
curr_pos = self.get_pos(list(end_pos_dict))
for axis_label in start_pos_dict:
current_dist = (end_pos_dict[axis_label] - curr_pos[axis_label]) ** 2
current_dist = np.sqrt(current_dist)
self.sigPosChanged.emit(curr_pos)
if (current_dist <= distance_tolerance) or (current_dist <= minimal_distance) or self._stop_measure:
self.sigPosReached.emit()
break
# return either pos reached signal of check position
def _check_is_moving(self):