class PIDModelMichelsonDemo(PIDModelGeneric):
params = [
{
'title':
'Stabilization',
'name':
'stabilization',
'type':
'group',
'children': [
{
'title': 'Set as zero:',
'name': 'set_zero',
'type': 'bool',
'value': False
},
{
'title': 'Laser wavelength (nm):',
'name': 'laser_wl',
'type': 'float',
'value': 632.0
},
{
'title': 'Interfero phase (deg):',
'name': 'interfero_phase',
'type': 'float',
'value': 0
},
{
'title': 'Interfero position (nm):',
'name': 'interfero_position',
'type': 'float',
'value': 0
},
{
'title': 'phase sign:',
'name': 'phase_sign',
'type': 'int',
'value': 1,
'min': -1,
'max': 1,
'step': 2
},
{
'title':
'Offsets',
'name':
'offsets',
'type':
'group',
'children': [
{
'title': 'Phase offset (deg):',
'name': 'phase_offset',
'type': 'float',
'value': 0
},
{
'title': 'Interfero (nm):',
'name': 'interfero_offset',
'type': 'float',
'value': 0
},
{
'title': 'Piezo (nm):',
'name': 'piezo_offset',
'type': 'float',
'value': 0
},
]
},
]
},
{
'title':
'Calibration',
'name':
'calibration',
'type':
'group',
'expanded':
True,
'visible':
True,
'children': [
{
'title': 'Do calibration:',
'name': 'do_calibration',
'type': 'bool',
'value': False
},
{
'title': 'Timeout:',
'name': 'timeout',
'type': 'int',
'value': 10000
},
{
'title':
'Calibration',
'name':
'calibration_move',
'type':
'group',
'expanded':
True,
'visible':
True,
'children': [
{
'title': 'Start pos:',
'name': 'start',
'type': 'float',
'value': 7.
},
{
'title': 'Stop pos:',
'name': 'stop',
'type': 'float',
'value': 8.
},
{
'title': 'Step size:',
'name': 'step',
'type': 'float',
'value': 0.04
},
{
'title': 'Averaging:',
'name': 'average',
'type': 'int',
'value': 1
},
]
},
{
'title':
'Ellipse params',
'name':
'calibration_ellipse',
'type':
'group',
'expanded':
True,
'visible':
True,
'children': [
{
'title': 'Dx:',
'name': 'dx',
'type': 'float',
'value': 0.0
},
{
'title': 'Dy:',
'name': 'dy',
'type': 'float',
'value': 0.0
},
{
'title': 'x0:',
'name': 'x0',
'type': 'float',
'value': 0.00
},
{
'title': 'y0:',
'name': 'y0',
'type': 'float',
'value': 0.00
},
{
'title': 'phi (°):',
'name': 'theta',
'type': 'float',
'value': 0.00
},
]
},
]
},
]
actuators = ['PI']
actuators_name = ['Axis test PID']
detectors_type = [
'DAQ2D'
] # with entries either 'DAQ0D', 'DAQ1D' or 'DAQ2D'or 'DAQND'
detectors = ['OpenCVCam']
detectors_name = ['Testing PID']
def __init__(self, pid_controller):
super().__init__(pid_controller)
self.running = False
self.det_done_flag = False
self.move_done_flag = False
self.timeout_scan_flag = False
self.curr_time = time.perf_counter()
self.lsqe = LSqEllipse()
self.phases = np.zeros((100, ))
self.curr_phase = 0
self.curr_position = 0
self.dock_calib = Dock('Calibration')
widget_calib = QtWidgets.QWidget()
self.viewer_calib = Viewer1D(widget_calib)
widget_ellipse = QtWidgets.QWidget()
self.viewer_ellipse = Viewer1D(widget_ellipse)
self.viewer_ellipse.show_data([np.zeros((10, )), np.zeros((10, ))])
self.dock_calib.addWidget(widget_calib)
self.dock_calib.addWidget(widget_ellipse, row=0, col=1)
self.pid_controller.dock_area.addDock(self.dock_calib)
self.dock_calib.float()
self.timer = QTimer()
self.timer.setSingleShot(True)
self.timer.timeout.connect(self.timeout)
def ini_model(self):
"""
Defines all the action to be performed on the initialized modules (main pid, actuators, detectors)
Either here for specific things (ROI, ...) or within the preset of the current model
"""
model_name = self.pid_controller.settings.child(
'models', 'model_class').value()
self.pid_controller.detector_modules[0].ui.viewers[0].ui.roiBtn.click()
#try to get corresponding roi file
filename = os.path.join(get_set_pid_path(), model_name + '.roi2D')
if os.path.isfile(filename):
self.pid_controller.detector_modules[0].ui.viewers[0].load_ROI(
filename)
QtWidgets.QApplication.processEvents()
if self.pid_controller.detector_modules[0].Initialized_state:
#self.pid_controller.detector_modules[0].settings.child('main_settings', 'wait_time').setValue(0)
self.pid_controller.detector_modules[0].grab_data()
QThread.msleep(500)
QtWidgets.QApplication.processEvents()
self.pid_controller.settings.child('main_settings',
'update_modules').setValue(True)
QtWidgets.QApplication.processEvents()
QThread.msleep(500)
QtWidgets.QApplication.processEvents()
items = self.pid_controller.settings.child(
'main_settings', 'detector_modules').value().copy()
if items is not None:
items['selected'] = items['all_items'][0:2]
self.pid_controller.settings.child(
'main_settings', 'detector_modules').setValue(items)
self.pid_controller.settings.child(
'main_settings', 'pid_controls', 'output_limits',
'output_limit_min').setValue(0) #in microns
self.pid_controller.settings.child(
'main_settings', 'pid_controls', 'output_limits',
'output_limit_min_enabled').setValue(True)
self.pid_controller.settings.child(
'main_settings', 'pid_controls', 'output_limits',
'output_limit_max').setValue(15) #in microns
self.pid_controller.settings.child(
'main_settings', 'pid_controls', 'output_limits',
'output_limit_max_enabled').setValue(True)
self.pid_controller.settings.child('main_settings', 'pid_controls',
'pid_constants', 'kp').setValue(0.5)
self.pid_controller.settings.child('main_settings', 'pid_controls',
'pid_constants', 'ki').setValue(0.2)
self.pid_controller.settings.child('main_settings', 'pid_controls',
'pid_constants',
'kd').setValue(0.0001)
self.pid_controller.settings.child('main_settings', 'pid_controls',
'filter',
'filter_enable').setValue(True)
self.pid_controller.settings.child(
'main_settings', 'pid_controls', 'filter', 'filter_step').setValue(
self.settings.child('stabilization', 'laser_wl').value() /
1000 / 6 / 2) #in microns
self.pid_controller.setpoint_sb.setValue(7.5)
self.pid_controller.settings.child('main_settings', 'pid_controls',
'sample_time').setValue(50)
def get_ellipse_fit(self, center, width, height, theta):
t = np.linspace(0, 2 * np.pi, 1000)
ellipse_x = center[0] + width * np.cos(t) * np.cos(
theta) - height * np.sin(t) * np.sin(theta)
ellipse_y = center[1] + width * np.cos(t) * np.sin(
theta) + height * np.sin(t) * np.cos(theta)
return ellipse_x, ellipse_y
def update_settings(self, param):
"""
Get a parameter instance whose value has been modified by a user on the UI
Parameters
----------
param: (Parameter) instance of Parameter object
"""
if param.name() == 'do_calibration':
if param.value():
self.running = True
self.do_calibration()
QtWidgets.QApplication.processEvents()
else:
self.running = False
elif param.name() == 'set_zero':
self.phases = np.zeros((100, ))
position = self.pid_controller.actuator_modules[0].current_position
self.settings.child('stabilization', 'offsets',
'phase_offset').setValue(self.curr_phase)
self.settings.child('stabilization', 'offsets',
'interfero_offset').setValue(position * 1000)
self.settings.child('stabilization', 'offsets',
'piezo_offset').setValue(position * 1000)
data = self.pid_controller.detector_modules[0].data_to_save_export
data_export = OrderedDict()
data_export[data['name']] = data
self.pid_controller.command_pid.emit(
ThreadCommand('input', [data_export]))
QtWidgets.QApplication.processEvents()
self.settings.child('stabilization', 'set_zero').setValue(False)
def do_calibration(self):
Naverage = self.settings.child('calibration', 'calibration_move',
'average').value()
steps = linspace_step(
self.settings.child('calibration', 'calibration_move',
'start').value(),
self.settings.child('calibration', 'calibration_move',
'stop').value(),
self.settings.child('calibration', 'calibration_move',
'step').value())
self.detector_data = np.zeros((steps.size, 2))
self.detector_data_average = np.zeros((steps.size, 2))
for mod in self.pid_controller.actuator_modules:
mod.move_done_signal.connect(self.move_done)
for mod in self.pid_controller.detector_modules:
mod.grab_done_signal.connect(self.det_done)
self.viewer_calib.x_axis = steps
for ind_average in range(Naverage):
for ind_step, step in enumerate(steps):
self.move_done_flag = False
self.pid_controller.actuator_modules[0].move_Abs(step)
self.wait_for_move_done()
self.det_done_flag = False
self.pid_controller.detector_modules[0].grab_data()
self.wait_for_det_done()
for ind_data, name in enumerate(self.data_names):
self.detector_data[ind_step, ind_data] = \
self.pid_controller.detector_modules[0].data_to_save_export[name[1]][name[2]]
if not self.running:
break
self.detector_data_average = (
ind_average * self.detector_data_average +
self.detector_data) / (ind_average + 1)
self.viewer_calib.show_data([
self.detector_data_average[:, 0], self.detector_data_average[:,
1]
])
self.lsqe.fit([
self.detector_data_average[:, 0], self.detector_data_average[:,
1]
])
center, width, height, theta = self.lsqe.parameters()
ellipse_x, ellipse_y = self.get_ellipse_fit(
center, width, height, theta)
self.viewer_ellipse.plot_channels[0].setData(
x=self.detector_data_average[:, 0],
y=self.detector_data_average[:, 1])
self.viewer_ellipse.plot_channels[1].setData(x=ellipse_x,
y=ellipse_y)
self.settings.child('calibration', 'calibration_ellipse',
'x0').setValue(center[0])
self.settings.child('calibration', 'calibration_ellipse',
'y0').setValue(center[1])
self.settings.child('calibration', 'calibration_ellipse',
'dx').setValue(width)
self.settings.child('calibration', 'calibration_ellipse',
'dy').setValue(height)
self.settings.child('calibration', 'calibration_ellipse',
'theta').setValue(np.rad2deg(theta))
if not self.running:
break
QtWidgets.QApplication.processEvents()
self.pid_controller.setpoint_sb.setValue(
self.pid_controller.setpoint_sb.value())
self.settings.child('calibration', 'do_calibration').setValue(False)
for mod in self.pid_controller.actuator_modules:
mod.move_done_signal.disconnect(self.move_done)
for mod in self.pid_controller.detector_modules:
mod.grab_done_signal.disconnect(self.det_done)
def timeout(self):
"""
Send the status signal *'Time out during acquisition'* and stop the timer.
"""
self.timeout_scan_flag = True
self.timer.stop()
self.pid_controller.update_status("Timeout during acquisition",
log_type='log')
def wait_for_det_done(self):
self.timeout_scan_flag = False
self.timer.start(self.settings.child('calibration', 'timeout').value())
while not (self.det_done_flag or self.timeout_scan_flag):
#wait for grab done signals to end
QtWidgets.QApplication.processEvents()
self.timer.stop()
def det_done(self, data):
"""
| Initialize 0D/1D/2D datas from given data parameter.
| Update h5_file group and array.
| Save 0D/1D/2D datas.
=============== ============================== ======================================
**Parameters** **Type** **Description**
*data* Double precision float array The initializing data of the detector
=============== ============================== ======================================
"""
#print(data['data0D']['OpenCV_Integrated_ROI_00'])
if not (self.settings.child('calibration', 'do_calibration').value()
or self.pid_controller.run_action.isChecked()):
det_done_datas = OrderedDict()
det_done_datas[data['name']] = data
self.convert_input(det_done_datas)
self.det_done_flag = True
def wait_for_move_done(self):
self.timeout_scan_flag = False
self.timer.start(self.settings.child('calibration', 'timeout').value())
while not (self.move_done_flag or self.timeout_scan_flag):
#wait for move done signals to end
QtWidgets.QApplication.processEvents()
self.timer.stop()
def move_done(self, name, position):
#print(position)
self.curr_position = position
self.move_done_flag = True
def get_phi_from_xy(self, x, y):
x0 = self.settings.child('calibration', 'calibration_ellipse',
'x0').value()
y0 = self.settings.child('calibration', 'calibration_ellipse',
'y0').value()
dx = self.settings.child('calibration', 'calibration_ellipse',
'dx').value()
dy = self.settings.child('calibration', 'calibration_ellipse',
'dy').value()
theta = np.deg2rad(
self.settings.child('calibration', 'calibration_ellipse',
'theta').value())
#apply rotation of -theta to get ellipse on main axes
v = np.array([x, y])
rot = rot = np.array([[np.cos(-theta), -np.sin(-theta)],
[np.sin(-theta), np.cos(-theta)]])
vprim = rot @ v
phi = np.arctan2(
(vprim[1] + x0 * np.sin(theta) - y0 * np.cos(theta)) / dy,
(vprim[0] - x0 * np.cos(theta) - y0 * np.sin(theta)) / dx)
self.settings.child('stabilization', 'interfero_phase').setValue(phi)
self.curr_phase = phi
return phi
def interfero_from_phase(self, phi):
laser_wl = self.settings.child('stabilization', 'laser_wl').value()
phi_offset = self.settings.child('stabilization', 'offsets',
'phase_offset').value()
interfero_offset = self.settings.child('stabilization', 'offsets',
'interfero_offset').value()
phase_sign = self.settings.child('stabilization', 'phase_sign').value()
self.phases = np.append(self.phases, [phi])
self.phases = np.unwrap(self.phases[1:])
interfero_position = interfero_offset + phase_sign * laser_wl / (
2 * np.pi * 2) * (self.phases[-1] - phi_offset)
return interfero_position
def convert_input(self, measurements):
"""
Convert the measurements in the units to be fed to the PID (same dimensionality as the setpoint)
Parameters
----------
measurements: (list) List of object from which the model extract a value of the same units as the setpoint
Returns
-------
float: the converted input
"""
#print('input conversion done')
x = measurements[self.data_names[0][0]][self.data_names[0][1]][
self.data_names[0][2]]
y = measurements[self.data_names[1][0]][self.data_names[1][1]][
self.data_names[1][2]]
phi = self.get_phi_from_xy(x, y)
pos = self.interfero_from_phase(phi) #in nm
self.settings.child('stabilization',
'interfero_position').setValue(pos)
self.curr_input = pos / 1000
return pos / 1000 # in microns for the PI stage
def convert_output(self, output, dt, stab=True):
"""
Convert the output of the PID in units to be fed into the actuator
Parameters
----------
output: (float) output value from the PID from which the model extract a value of the same units as the actuator
Returns
-------
list: the converted output as a list (if there are a few actuators)
"""
#print('output converted')
#no conversion needed
self.curr_output = output
if stab:
offset = 0 #self.settings.child('stabilization', 'offsets', 'piezo_offset').value()
else:
offset = 0
return [output + offset]
class ChronoTimer(QObject):
def __init__(self, parent, duration=None):
"""
:param parent:
:param Nteams:
:param duration: (dict) containing optional keys : days, minutes, seconds, hours, weeks, milliseconds, microseconds
"""
super().__init__()
self.area = parent
if duration is None:
self.type = 'chrono'
self.duration = timedelta()
else:
self.type = 'timer'
self.duration = timedelta(**duration) #seconds
self.displayed_time = 0 #in seconds
self.started = False
self.timer = QTimer()
self.timer.setInterval(100)
self.timer.timeout.connect(self.display_time)
self.setup_ui()
def setup_ui(self):
self.dock_chrono_timer = Dock(self.type.capitalize())
self.area.addDock(self.dock_chrono_timer)
self.dock_chrono_timer.float()
widget_chrono_timer = QtWidgets.QWidget()
self.dock_chrono_timer.addWidget(widget_chrono_timer)
self.layout_lcd = QtWidgets.QVBoxLayout()
widget_chrono_timer.setLayout(self.layout_lcd)
self.dock_chrono_timer.setAutoFillBackground(True)
palette = self.dock_chrono_timer.palette()
palette.setColor(palette.Background, QtGui.QColor(0, 0, 0))
self.dock_chrono_timer.setPalette(palette)
self.time_lcd = QtWidgets.QLCDNumber(8)
self.set_lcd_color(self.time_lcd, 'red')
self.layout_lcd.addWidget(self.time_lcd)
hours, minutes, seconds = self.get_times(self.duration)
self.time_lcd.display('{:02d}:{:02d}:{:02d}'.format(
hours, minutes, seconds))
self.dock_controls = Dock('Chrono/Timer Controls')
self.area.addDock(self.dock_controls)
self.dock_controls.setOrientation('vertical', True)
self.dock_controls.setMaximumHeight(150)
self.widget_controls = QtWidgets.QWidget()
self.controls_layout = QtWidgets.QVBoxLayout()
self.widget_controls.setLayout(self.controls_layout)
hor_layout = QtWidgets.QHBoxLayout()
hor_widget = QtWidgets.QWidget()
hor_widget.setLayout(hor_layout)
self.controls_layout.addWidget(hor_widget)
icon = QtGui.QIcon()
icon.addPixmap(QtGui.QPixmap(":/icons/Icon_Library/run2.png"),
QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.start_pb = PushButtonShortcut(icon,
'Start',
shortcut='Home',
shortcut_widget=self.area)
self.start_pb.clicked.connect(self.start)
self.start_pb.setToolTip('home ("début") key shorcut')
hor_layout.addWidget(self.start_pb)
icon = QtGui.QIcon()
icon.addPixmap(QtGui.QPixmap(":/icons/Icon_Library/pause.png"),
QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.pause_pb = PushButtonShortcut(icon,
'Pause',
shortcut='Ctrl+p',
shortcut_widget=self.area)
self.pause_pb.setCheckable(True)
self.pause_pb.setToolTip("Ctrl+p key shortcut")
self.pause_pb.clicked.connect(self.pause)
hor_layout.addWidget(self.pause_pb)
icon = QtGui.QIcon()
icon.addPixmap(QtGui.QPixmap(":/icons/Icon_Library/Refresh2.png"),
QtGui.QIcon.Normal, QtGui.QIcon.Off)
self.reset_pb = PushButtonShortcut(icon,
'Reset',
shortcut='F5',
shortcut_widget=self.area)
self.reset_pb.setToolTip('F5 key shortcut')
self.reset_pb.clicked.connect(self.reset)
hor_layout.addWidget(self.reset_pb)
self.dock_controls.addWidget(self.widget_controls)
def get_times(self, duration):
seconds = int(duration.total_seconds() % 60)
total_minutes = duration.total_seconds() // 60
minutes = int(total_minutes % 60)
hours = int(total_minutes // 60)
return hours, minutes, seconds
def get_elapsed_time(self):
return time.perf_counter() - self.ini_time
def display_time(self):
elapsed_time = self.get_elapsed_time()
if self.type == 'timer':
display_timedelta = self.duration - timedelta(seconds=elapsed_time)
else:
display_timedelta = self.duration + timedelta(seconds=elapsed_time)
self.displayed_time = display_timedelta.total_seconds()
if display_timedelta.total_seconds() <= 0:
self.reset()
return
else:
hours, minutes, seconds = self.get_times(display_timedelta)
self.time_lcd.display('{:02d}:{:02d}:{:02d}'.format(
hours, minutes, seconds))
QtWidgets.QApplication.processEvents()
def start(self):
self.ini_time = time.perf_counter()
self.timer.start()
self.started = True
self.start_pb.setEnabled(False)
def pause(self):
if self.pause_pb.isChecked():
self.started = False
self.timer.stop()
self.paused_time = time.perf_counter()
else:
elapsed_pause_time = time.perf_counter() - self.paused_time
self.ini_time += elapsed_pause_time
self.timer.start()
self.started = True
def reset(self):
if self.pause_pb.isChecked():
self.pause_pb.setChecked(False)
QtWidgets.QApplication.processEvents()
self.timer.stop()
self.start_pb.setEnabled(True)
self.started = False
hours, minutes, seconds = self.get_times(self.duration)
self.time_lcd.display('{:02d}:{:02d}:{:02d}'.format(
hours, minutes, seconds))
def set_lcd_color(self, lcd, color):
palette = lcd.palette()
#lcd.setPalette(QtGui.QPalette(Qt.red))
if hasattr(Qt, color):
palette.setBrush(palette.WindowText, getattr(Qt, color))
palette.setColor(palette.Background, QtGui.QColor(0, 0, 0))
lcd.setPalette(palette)