def scan_reference_network(command, cartesian_LTCS):
# adjust laser tracker
logger.debug('setting coordinate system type to Counter-Clockwise Spherical...')
command.SetCoordinateSystemType(ES_CS_SCC) # one of ES_CoordinateSystemType
logger.debug('Cartesian LTCS:\n{}'.format(cartesian_LTCS))
spherical_points = numpy.ndarray(numpy.shape(cartesian_LTCS))
for index,cartesian_point in enumerate(cartesian_LTCS):
spherical_points[index,2] = math.sqrt(numpy.sum(cartesian_point**2))
spherical_points[index,0] = math.atan2(cartesian_point[1], cartesian_point[0])
spherical_points[index,1] = math.acos(cartesian_point[2]/spherical_points[index,2])
logger.debug('Spherical LTCS:\n{}'.format(spherical_points))
logger.info('Measuring reference network with (both faces)...')
measurements_face1 = numpy.ndarray((numpy.shape(cartesian_LTCS)[0], 9))
measurements_face2 = numpy.ndarray((numpy.shape(cartesian_LTCS)[0], 9))
for index,spherical_point in enumerate(spherical_points):
logger.debug('Directing laser to coordinates {}...'.format(spherical_point))
command.GoPosition(int(1), spherical_point[0], spherical_point[1], spherical_point[2])
# the tracker always switches to face 1 after a GoPosition command
measurements_face1[index] = measurement_to_array(measure(command))
# the tracker always switches to face 1 after a GoPosition command
command.ChangeFace()
measurements_face2[index] = measurement_to_array(measure(command))
logger.debug('Face 2 Measurements:\n{}'.format(measurements_face2))
logger.debug('Face 1 Measurements:\n{}'.format(measurements_face1))
# calculate the average coordinates from the two-face measurements
spherical_LTCS = numpy.ndarray((numpy.shape(cartesian_LTCS)))
for index in range(numpy.shape(measurements_face1)[0]):
spherical_LTCS[index] = (measurements_face1[index,:3] + measurements_face2[index,:3]) / 2.0
return spherical_LTCS
def initialize(command, forceinit=False, manualiof=False):
units = SystemUnitsDataT()
units.lenUnitType = ES_LU_Millimeter # ES_LengthUnit
# units.angUnitType = ES_AU_Radian # ES_AngleUnit
# units.tempUnitType = ES_TU_Celsius # ES_TemperatureUnit
# units.pressUnitType = ES_PU_Mbar # ES_PressureUnit
# units.humUnitType = ES_HU_RH # ES_HumidityUnit
logger.debug('Setting units...')
command.SetUnits(units)
status = command.GetSystemStatus()
logger.debug('Tracker Processor Status: {}'.format(
status.trackerProcessorStatus))
if forceinit or status.trackerProcessorStatus != ES_TPS_Initialized: # ES_TrackerProcessorStatus
try:
init_result = command.Initialize()
logger.debug('Initialize status: {}'.format(
init_result.packetInfo.status))
except Exception as e:
logger.error('Initialize failed: {}'.format(e))
return
# At least the AT401 seems to complain about an unknown command failing due to "the sensor" not being stable
# on the next command after an initialize. The tracker is fine after that, so just ignore this as a bug in the firmware.
try:
status = command.GetSystemStatus()
logger.debug('Tracker Processor Status: {}'.format(
status.trackerProcessorStatus))
except Exception as e:
if not 'Command 64' in str(e):
raise e
logger.debug('setting measurement mode...')
command.SetMeasurementMode(
ES_MM_Stationary) # ES_MeasMode (only choice for AT4xx)
logger.debug('setting stationary mode parameters...')
mode_params = StationaryModeDataT()
mode_params.lMeasTime = 1000 # 1 second
command.SetStationaryModeParams(mode_params)
logger.debug(
'setting coordinate system type to Right-Handed Rectangular...')
command.SetCoordinateSystemType(
ES_CS_RHR) # one of ES_CoordinateSystemType
logger.debug('setting system settings...')
settings = SystemSettingsDataT()
# one of ES_WeatherMonitorStatus
if manualiof:
settings.weatherMonitorStatus = ES_WMS_ReadOnly
else:
settings.weatherMonitorStatus = ES_WMS_ReadAndCalculateRefractions
settings.bApplyStationOrientationParams = int(1)
settings.bKeepLastPosition = int(1)
settings.bSendUnsolicitedMessages = int(1)
settings.bSendReflectorPositionData = int(0)
settings.bTryMeasurementMode = int(0)
settings.bHasNivel = int(1)
settings.bHasVideoCamera = int(1)
command.SetSystemSettings(settings)
def initialize(command, forceinit=False, manualiof=False):
units = CESAPI.packet.SystemUnitsDataT()
units.lenUnitType = CESAPI.packet.ES_LU_Millimeter # ES_LengthUnit
# units.angUnitType = ES_AU_Radian # ES_AngleUnit
# units.tempUnitType = ES_TU_Celsius # ES_TemperatureUnit
# units.pressUnitType = ES_PU_Mbar # ES_PressureUnit
# units.humUnitType = ES_HU_RH # ES_HumidityUnit
logger.debug('Setting units...')
command.SetUnits(units)
status = command.GetSystemStatus()
logger.debug('Tracker Processor Status: {}'.format(
status.trackerProcessorStatus))
if forceinit or status.trackerProcessorStatus != CESAPI.packet.ES_TPS_Initialized: # ES_TrackerProcessorStatus
logger.debug('Initializing...')
command.Initialize()
logger.debug('setting measurement mode...')
command.SetMeasurementMode(
CESAPI.packet.ES_MM_Stationary) # ES_MeasMode (only choice for AT4xx)
logger.debug('setting stationary mode parameters...')
mode_params = CESAPI.packet.StationaryModeDataT()
mode_params.lMeasTime = 1000 # 1 second
command.SetStationaryModeParams(mode_params)
logger.debug(
'setting coordinate system type to Right-Handed Rectangular...')
command.SetCoordinateSystemType(
CESAPI.packet.ES_CS_SCC) # one of ES_CoordinateSystemType
logger.debug('setting system settings...')
settings = CESAPI.packet.SystemSettingsDataT()
# one of ES_WeatherMonitorStatus
if manualiof:
settings.weatherMonitorStatus = CESAPI.packet.ES_WMS_ReadOnly
else:
settings.weatherMonitorStatus = CESAPI.packet.ES_WMS_ReadAndCalculateRefractions
settings.bApplyStationOrientationParams = int(1)
settings.bKeepLastPosition = int(1)
settings.bSendUnsolicitedMessages = int(1)
settings.bSendReflectorPositionData = int(0)
settings.bTryMeasurementMode = int(0)
settings.bHasNivel = int(1)
settings.bHasVideoCamera = int(1)
command.SetSystemSettings(settings)
def scan_other_network(command,
ref_network_DSCS_filename_entry,
network_DSCS_filename_entry,
status_label=None):
ref_network_DSCS_filename = ref_network_DSCS_filename_entry.get()
reflector_names, cylindrical_DSCS, cartesian_DSCS = load_DSCS_coordinates(
ref_network_DSCS_filename)
network_LTCS_filename, reflector_names, approx_spherical_LTCS = convert_network_to_LTCS(
ref_network_DSCS_filename_entry,
network_DSCS_filename_entry,
status_label=None)
set_status(
status_label,
'Setting coordinate system type to Counter-clockwise Spherical...')
command.SetCoordinateSystemType(
ES_CS_SCC) # one of ES_CoordinateSystemType
measurements_face1 = numpy.ndarray(
(numpy.shape(approx_spherical_LTCS)[0], 9))
for index, spherical_point in enumerate(approx_spherical_LTCS):
logger.debug(
'Directing laser to coordinates {}...'.format(spherical_point))
command.GoPosition(int(1), spherical_point[0], spherical_point[1],
spherical_point[2])
# the tracker always switches to face 1 after a GoPosition command
measurements_face1[index] = measurement_to_array(measure(command))
logger.debug('Face 1 Measurements:\n{}'.format(measurements_face1))
# calculate the average coordinates from the two-face measurements
spherical_LTCS = numpy.ndarray((numpy.shape(approx_spherical_LTCS)))
for index in range(numpy.shape(measurements_face1)[0]):
spherical_LTCS[index] = measurements_face1[index, :3]
logger.debug('Spherical LTCS:\n{}'.format(spherical_LTCS))
save_coordinates(network_LTCS_filename, reflector_names, spherical_LTCS)
logger.info('Saved the spherical LTCS coordinates to\n{}'.format(
network_LTCS_filename))
set_status(status_label, 'Saved data.')
def scan_reference_network(command,
ref_network_DSCS_filename_entry,
reflector_name_selections,
initial_measurements,
labels,
status_label=None):
ref_network_DSCS_filename = ref_network_DSCS_filename_entry.get()
reflector_names, cylindrical_DSCS, cartesian_DSCS = load_DSCS_coordinates(
ref_network_DSCS_filename)
initial_reflector_names = []
for index, reflector_name_selection in enumerate(
reflector_name_selections):
reflector_name = reflector_name_selection.get()
initial_reflector_names.append(reflector_name)
logger.debug('Selected reflector {}: {}'.format(
index, initial_reflector_names[index]))
initial_reflector_names = numpy.array(initial_reflector_names)
logger.debug('Initial reflector names: {}'.format(initial_reflector_names))
if len(numpy.unique(initial_reflector_names)) != len(
initial_reflector_names):
raise Exception(
'One or more duplicates were found in the reflector selections.')
for index, label in enumerate(labels):
if label.cget('bg') != 'green':
raise Exception(
'Initial reflector measurement {} was not performed.'.format(
index))
initial_cartesian_LTCS = numpy.ndarray((len(initial_measurements), 3))
for point_index, initial_measurement in enumerate(initial_measurements):
for coordinate_index, coordinate in enumerate(initial_measurement):
initial_cartesian_LTCS[point_index, coordinate_index] = coordinate
transform_matrix = calculate_transform(reflector_names, cartesian_DSCS,\
initial_reflector_names, initial_cartesian_LTCS)
logger.debug('LTCS-to-DSCS Transform Matrix:\n{}'.format(transform_matrix))
inv_transform_matrix = linalg.inv(transform_matrix)
cartesian_LTCS = calculate_approx_LTCS(cartesian_DSCS,
inv_transform_matrix)
set_status(
status_label,
'Setting coordinate system type to Counter-clockwise Spherical...')
command.SetCoordinateSystemType(
ES_CS_SCC) # one of ES_CoordinateSystemType
logger.debug('Cartesian LTCS:\n{}'.format(cartesian_LTCS))
approx_spherical_LTCS = cartesian_to_spherical(cartesian_LTCS)
logger.debug('Spherical LTCS:\n{}'.format(approx_spherical_LTCS))
set_status(status_label, 'Ref. network 2-face measurements...')
measurements_face1 = numpy.ndarray((numpy.shape(cartesian_LTCS)[0], 9))
measurements_face2 = numpy.ndarray((numpy.shape(cartesian_LTCS)[0], 9))
for index, spherical_point in enumerate(approx_spherical_LTCS):
logger.debug(
'Directing laser to coordinates {}...'.format(spherical_point))
command.GoPosition(int(1), spherical_point[0], spherical_point[1],
spherical_point[2])
# the tracker always switches to face 1 after a GoPosition command
measurements_face1[index] = measurement_to_array(measure(command))
# the tracker always switches to face 1 after a GoPosition command
command.ChangeFace()
measurements_face2[index] = measurement_to_array(measure(command))
logger.debug('Face 1 Measurements:\n{}'.format(measurements_face1))
logger.debug('Face 2 Measurements:\n{}'.format(measurements_face2))
# calculate the average coordinates from the two-face measurements
spherical_LTCS = numpy.ndarray((numpy.shape(cartesian_LTCS)))
for index in range(numpy.shape(measurements_face1)[0]):
spherical_LTCS[index] = (measurements_face1[index, :3] +
measurements_face2[index, :3]) / 2.0
logger.debug('Spherical LTCS:\n{}'.format(spherical_LTCS))
transform_filename, inv_transform_filename, ref_network_LTCS_filename \
= generate_ref_data_filenames(ref_network_DSCS_filename)
set_status(status_label, 'Saving data...')
save_matrix(transform_filename, transform_matrix)
logger.info('Saved the LTCS-to-DSCS transform matrix to\n{}'.format(
transform_filename))
save_matrix(inv_transform_filename, inv_transform_matrix)
logger.info('Saved the DSCS-to-LTCS transform matrix to\n{}'.format(
inv_transform_filename))
save_coordinates(ref_network_LTCS_filename, reflector_names,
spherical_LTCS)
logger.info('Saved the spherical LTCS reference coordinates to\n{}'.format(
ref_network_LTCS_filename))
set_status(status_label, 'Ready...')
