def __init__(self, gui, camera, actuator, *args, **kwargs):
super().__init__(*args, **kwargs)
self.gui = gui
self.camera = camera
self.actuator = actuator
self.locked = False
self.standAlone = False
self.npoints = 400
# checks image size
rawimage = self.camera.latest_frame()
image = np.sum(rawimage, axis=2)
self.sensorSize = np.array(image.shape)
self.focusSignal = 0
# set focus update rate
self.scansPerS = 20
self.camera.start_live_video(framerate='20 Hz')
self.focusTime = 1000 / self.scansPerS
self.focusTimer = QtCore.QTimer()
self.focusTimer.timeout.connect(self.update)
self.focusTimer.start(self.focusTime)
self.currentZ = tools.convert(self.actuator.Get_FPar(52), 'UtoX')
self.currentX = tools.convert(self.actuator.Get_FPar(50), 'UtoX')
self.currentY = tools.convert(self.actuator.Get_FPar(51), 'UtoX')
self.reset()
def getPosition(self):
xPos = self.adw.Get_FPar(50)
yPos = self.adw.Get_FPar(51)
zPos = self.adw.Get_FPar(52)
self.xPos = tools.convert(xPos, 'UtoX')
self.yPos = tools.convert(yPos, 'UtoX')
self.zPos = tools.convert(zPos, 'UtoX')
def actuatorParameters(adwin, z_f, n_pixels_z=50, pixeltime=1000):
z_f = tools.convert(z_f, 'XtoU')
adwin.Set_Par(23, n_pixels_z)
adwin.Set_FPar(25, z_f)
adwin.Set_FPar(26, tools.timeToADwin(pixeltime))
def moveToParameters(self,
x_f,
y_f,
z_f,
n_pixels_x=128,
n_pixels_y=128,
n_pixels_z=128,
pixeltime=2000):
x_f = tools.convert(x_f, 'XtoU')
y_f = tools.convert(y_f, 'XtoU')
z_f = tools.convert(z_f, 'XtoU')
# print(x_f, y_f, z_f)
self.adw.Set_Par(21, n_pixels_x)
self.adw.Set_Par(22, n_pixels_y)
self.adw.Set_Par(23, n_pixels_z)
self.adw.Set_FPar(23, x_f)
self.adw.Set_FPar(24, y_f)
self.adw.Set_FPar(25, z_f)
self.adw.Set_FPar(26, tools.timeToADwin(pixeltime))
def __init__(self, gui, adwin, *args, **kwargs):
super().__init__(*args, **kwargs)
self.gui = gui
self.adw = adwin
self.edited_scan = True
# edited_scan = True --> size of the useful part of the scan
# edited_scan = False --> size of the full scan including aux parts
self.APDmaxCounts = 5 * 10**6 # 5MHz is max count rate of the P. Elmer APD
# Create a timer for the update of the liveview
self.viewtimer = QtCore.QTimer()
self.viewtimer.timeout.connect(self.updateView)
# Counter for the saved images
self.imageNumber = 0
# initialize flag for the ADwin process
self.flag = 0
# update parameters
self.paramChanged()
# initialize fpar_50, fpar_51, fpar_52 ADwin position parameters
pos_zero = tools.convert(0, 'XtoU')
self.adw.Set_FPar(50, pos_zero)
self.adw.Set_FPar(51, pos_zero)
self.adw.Set_FPar(52, pos_zero)
# move to z = 10 µm
self.moveTo(0, 0, 10)
# initial directory
self.initialDir = r'C:\Data'
dropLocation = np.array([0.0, 0.0, 0.0])
wind_vel = 5.36
wind = np.array([
wind_vel * np.cos(np.radians(30)), -wind_vel * np.sin(np.radians(30)), 0.0
])
test = PayloadPlanner(dropLocation, obstaclesList, boundariesList,
boundaryPoly, wind)
test.drop_altitude = 41.611332
test.chi_offset = np.pi / 6.
test.time_delay = 0.0
test.time_to_open_parachute = 0.5
result = test.plan(wind)
test.plot()
print(test.NED_release_location)
drop2 = convert(40.36350202, -111.9019713, 0.0, 40.36419521, -111.9023111,
41.611332)
print("Drop 2:", drop2)
difference = (-test.NED_release_location.item(0) - drop2[0],
-test.NED_release_location.item(1) - drop2[1])
print(difference)
dropLocation = np.array([0.0, 0.0, 0.0])
wind = 2.68
wind = np.array([0.0, 2.68, 0.0])
test = PayloadPlanner(dropLocation, obstaclesList, boundariesList,
boundaryPoly, wind)
test.drop_altitude = 21.141054
test.chi_offset = 3 * np.pi / 2
test.time_delay = 0.0
test.time_to_open_parachute = 0.5
if __name__ == '__main__':
print('Focus lock module running in stand-alone mode')
app = QtGui.QApplication([])
cam = uc480.UC480_Camera()
DEVICENUMBER = 0x1
adw = ADwin.ADwin(DEVICENUMBER, 1)
scan.setupDevice(adw)
# initialize fpar_52 (z) ADwin position parameters
pos_zero = tools.convert(0, 'XtoU')
adw.Set_FPar(52, pos_zero)
zMoveTo(adw, 10)
win = focusWidget(cam, adw)
win.fworker.standAlone = True
win.setWindowTitle('Focus lock')
win.resize(1500, 500)
win.show()
app.exec_()
home = [38.146269,-76.428164, 0.0] bd0 = [38.146269,-76.428164, 0.0] bd1 = [38.151625,-76.428683, 0.0] bd2 = [38.151889, -76.431467, 0.0] bd3 = [38.150594, -76.435361, 0.0] bd4 = [38.147567, -76.432342, 0.0] bd5 = [38.144667, -76.432947, 0.0] bd6 = [38.143256, -76.434767, 0.0] bd7 = [38.140464, -76.432636, 0.0] bd8 = [38.140719, -76.426014, 0.0] bd9 = [38.143761, -76.421206, 0.0] bd10 = [38.147347, -76.423211, 0.0] bd11 = [38.146131, -76.426653, 0.0] bd0_m = convert(home[0],home[1],home[2],bd0[0],bd0[1],bd0[2]) bd1_m = convert(home[0],home[1],home[2],bd1[0],bd1[1],bd1[2]) bd2_m = convert(home[0],home[1],home[2],bd2[0],bd2[1],bd2[2]) bd3_m = convert(home[0],home[1],home[2],bd3[0],bd3[1],bd3[2]) bd4_m = convert(home[0],home[1],home[2],bd4[0],bd4[1],bd4[2]) bd5_m = convert(home[0],home[1],home[2],bd5[0],bd5[1],bd5[2]) bd6_m = convert(home[0],home[1],home[2],bd6[0],bd6[1],bd6[2]) bd7_m = convert(home[0],home[1],home[2],bd7[0],bd7[1],bd7[2]) bd8_m = convert(home[0],home[1],home[2],bd8[0],bd8[1],bd8[2]) bd9_m = convert(home[0],home[1],home[2],bd9[0],bd9[1],bd9[2]) bd10_m = convert(home[0],home[1],home[2],bd10[0],bd10[1],bd10[2]) bd11_m = convert(home[0],home[1],home[2],bd11[0],bd11[1],bd11[2]) boundariesList.append(msg_ned(bd0_m[0],bd0_m[1])) boundariesList.append(msg_ned(bd1_m[0],bd1_m[1])) boundariesList.append(msg_ned(bd2_m[0],bd2_m[1]))
def updateDeviceParameters(self):
if self.detector == 'APD':
self.adw.Set_Par(30, 0) # Digital input (APD)
if self.detector == 'photodiode':
self.adw.Set_Par(30, 1) # Analog input (photodiode)
# select scan type
if self.scantype == 'xy':
self.adw.Set_FPar(10, 1)
self.adw.Set_FPar(11, 2)
if self.scantype == 'xz':
self.adw.Set_FPar(10, 1)
self.adw.Set_FPar(11, 6)
if self.scantype == 'yz':
self.adw.Set_FPar(10, 2)
self.adw.Set_FPar(11, 6)
# initial positions x and y
self.x_i = self.initialPos[0]
self.y_i = self.initialPos[1]
self.z_i = self.initialPos[2]
self.x_offset = 0
self.y_offset = 0
self.z_offset = 0
# load ADwin parameters
self.adw.Set_Par(1, self.tot_pixels)
self.data_t_adwin = tools.timeToADwin(self.data_t)
self.data_x_adwin = tools.convert(self.data_x, 'XtoU')
self.data_y_adwin = tools.convert(self.data_y, 'XtoU')
# repeat last element because time array has to have one more
# element than position array
dt = self.data_t_adwin[-1] - self.data_t_adwin[-2]
self.data_t_adwin = np.append(self.data_t_adwin,
(self.data_t_adwin[-1] + dt))
# prepare arrays for conversion into ADwin-readable data
self.time_range = np.size(self.data_t_adwin)
self.space_range = np.size(self.data_x_adwin)
self.data_t_adwin = np.array(self.data_t_adwin, dtype='int')
self.data_x_adwin = np.array(self.data_x_adwin, dtype='int')
self.data_y_adwin = np.array(self.data_y_adwin, dtype='int')
self.data_t_adwin = list(self.data_t_adwin)
self.data_x_adwin = list(self.data_x_adwin)
self.data_y_adwin = list(self.data_y_adwin)
self.adw.SetData_Long(self.data_t_adwin, 2, 1, self.time_range)
self.adw.SetData_Long(self.data_x_adwin, 3, 1, self.space_range)
self.adw.SetData_Long(self.data_y_adwin, 4, 1, self.space_range)
def updateView(self):
if self.scantype == 'xy':
dy = tools.convert(self.dy, 'ΔXtoU')
self.y_offset = int(self.y_offset + dy)
self.adw.Set_FPar(2, self.y_offset)
if self.scantype == 'xz' or self.scantype == 'yz':
dz = tools.convert(self.dz, 'ΔXtoU')
self.z_offset = int(self.z_offset + dz)
self.adw.Set_FPar(2, self.z_offset)
self.lineData = self.lineAcquisition()
if self.edited_scan is True:
c0 = self.NofAuxPixels
c1 = self.NofAuxPixels + self.NofPixels
self.lineData_edited = self.lineData[c0:c1]
self.image[:, self.NofPixels - 1 - self.i] = self.lineData_edited
else:
self.image[:, self.NofPixels - 1 - self.i] = self.lineData
if self.gui.nodisplayCheckBox.isChecked() is False:
# display image after every scanned line
self.gui.img.setImage(self.image, autoLevels=False)
if self.i < self.NofPixels - 1:
self.i = self.i + 1
else:
print('Frame ended')
if self.acquisitionMode == 'frame':
self.frameAcquisitionStop()
self.i = 0
self.y_offset = 0
self.z_offset = 0
if self.scantype == 'xy':
self.moveTo(self.x_i, self.y_i, self.z_i)
if self.scantype == 'xz':
self.moveTo(self.x_i, self.y_i + self.scanRange / 2,
self.z_i - self.scanRange / 2)
if self.scantype == 'yz':
self.moveTo(self.x_i + self.scanRange / 2, self.y_i,
self.z_i - self.scanRange / 2)
self.updateDeviceParameters()
