def __init__(self):
try:
self.controller = MirrorControllerPython()
print 'Mirror python initialization succeeded.'
except Exception as e:
print 'Mirror python initialization failed:',e
try:
self.controller = MirrorControllerPythonOld()
print 'Mirror python (old style) initialization succeeded.'
except Exception as e:
print 'Mirror python (old style) initialization failed:',e
try:
self.controller = MirrorControllerCtypes()
print 'Mirror c initialization succeeded.'
except Exception as e:
print e
print 'No mirror driver found. Using virtual mirror.'
self.controller = MirrorController()
self.mirror_mask = np.loadtxt(ccfg.mirror_mask_filename)
self.n_actuators = ccfg.mirror_n_actuators
self.flat = np.loadtxt(ccfg.mirror_flat_filename)
self.flat0 = np.loadtxt(ccfg.mirror_flat_filename)
self.command_max = ccfg.mirror_command_max
self.command_min = ccfg.mirror_command_min
self.settling_time = ccfg.mirror_settling_time_s
self.update_rate = ccfg.mirror_update_rate
self.flatten()
self.frame_timer = FrameTimer('Mirror',verbose=False)
self.logging = False
self.paused = False
def __init__(self, loop):
super(UI, self).__init__()
self.loop = loop
self.loop.finished.connect(self.update)
self.init_UI()
self.frame_timer = FrameTimer('UI', verbose=False)
self.show()
def __init__(self, camera):
super(Sensor, self).__init__()
self.image_width_px = ccfg.image_width_px
self.image_height_px = ccfg.image_height_px
self.lenslet_pitch_m = ccfg.lenslet_pitch_m
self.lenslet_focal_length_m = ccfg.lenslet_focal_length_m
self.pixel_size_m = ccfg.pixel_size_m
self.beam_diameter_m = ccfg.beam_diameter_m
self.wavelength_m = ccfg.wavelength_m
self.background_correction = ccfg.background_correction
self.centroiding_iterations = ccfg.centroiding_iterations
self.iterative_centroiding_step = ccfg.iterative_centroiding_step
self.filter_lenslets = ccfg.sensor_filter_lenslets
self.estimate_background = ccfg.estimate_background
self.reconstruct_wavefront = ccfg.sensor_reconstruct_wavefront
self.remove_tip_tilt = ccfg.sensor_remove_tip_tilt
try:
xy = np.loadtxt(ccfg.reference_coordinates_filename)
except Exception as e:
xy = np.loadtxt(ccfg.reference_coordinates_bootstrap_filename)
print 'Bootstrapping with %s' % ccfg.reference_coordinates_bootstrap_filename
self.search_boxes = SearchBoxes(xy[:, 0], xy[:, 1],
ccfg.search_box_half_width)
self.sensor_mask = np.loadtxt(ccfg.reference_mask_filename)
self.x0 = np.zeros(self.search_boxes.x.shape)
self.y0 = np.zeros(self.search_boxes.y.shape)
self.x0[:] = self.search_boxes.x[:]
self.y0[:] = self.search_boxes.y[:]
self.n_lenslets = self.search_boxes.n
n_lenslets = self.n_lenslets
self.image = np.zeros((ccfg.image_height_px, ccfg.image_width_px))
self.x_slopes = np.zeros(n_lenslets)
self.y_slopes = np.zeros(n_lenslets)
self.x_centroids = np.zeros(n_lenslets)
self.y_centroids = np.zeros(n_lenslets)
self.box_maxes = np.zeros(n_lenslets)
self.box_mins = np.zeros(n_lenslets)
self.box_means = np.zeros(n_lenslets)
self.box_backgrounds = np.zeros(n_lenslets)
self.error = 0.0
self.tip = 0.0
self.tilt = 0.0
self.zernikes = None
self.wavefront = np.zeros(self.sensor_mask.shape)
self.cam = camera
self.frame_timer = FrameTimer('Sensor', verbose=False)
self.reconstructor = Reconstructor(self.search_boxes.x,
self.search_boxes.y,
self.sensor_mask)
self.logging = False
self.paused = False
def __init__(self, loop):
super(UI, self).__init__()
self.sensor_mutex = QMutex() #loop.sensor_mutex
self.mirror_mutex = QMutex() #loop.mirror_mutex
self.loop = loop
try:
self.loop.finished.connect(self.update)
except Exception as e:
pass
self.draw_boxes = ccfg.show_search_boxes
self.draw_lines = ccfg.show_slope_lines
self.init_UI()
self.frame_timer = FrameTimer('UI', verbose=False)
self.show()
def __init__(self,camera):
self.image_width_px = ccfg.image_width_px
self.image_height_px = ccfg.image_height_px
self.dark_image = np.zeros((ccfg.image_height_px,ccfg.image_width_px),dtype=np.int16)
self.dark_subtract = False
self.n_dark = 10
self.lenslet_pitch_m = ccfg.lenslet_pitch_m
self.lenslet_focal_length_m = ccfg.lenslet_focal_length_m
self.pixel_size_m = ccfg.pixel_size_m
self.beam_diameter_m = ccfg.beam_diameter_m
self.wavelength_m = ccfg.wavelength_m
self.background_correction = ccfg.background_correction
self.centroiding_iterations = ccfg.centroiding_iterations
self.iterative_centroiding_step = ccfg.iterative_centroiding_step
self.filter_lenslets = ccfg.sensor_filter_lenslets
self.estimate_background = ccfg.estimate_background
self.reconstruct_wavefront = ccfg.sensor_reconstruct_wavefront
self.remove_tip_tilt = ccfg.sensor_remove_tip_tilt
# calculate diffraction limited spot size on sensor, to determine
# the centroiding window size
lenslet_dlss = 1.22*self.wavelength_m*self.lenslet_focal_length_m/self.lenslet_pitch_m
lenslet_dlss_px = lenslet_dlss/self.pixel_size_m
# now we need to account for smearing of spots due to axial displacement of retinal layers
extent = 500e-6 # retinal thickness
smear = extent*6.75/16.67 # pupil diameter and focal length; use diameter in case beacon is at edge of field
try:
magnification = ccfg.retina_sensor_magnification
except Exception as e:
magnification = 1.0
total_size = lenslet_dlss+smear*magnification
total_size_px = total_size/self.pixel_size_m
self.centroiding_half_width = int(np.floor(total_size_px/2.0))*2
try:
xy = np.loadtxt(ccfg.reference_coordinates_filename)
except Exception as e:
xy = np.loadtxt(ccfg.reference_coordinates_bootstrap_filename)
print 'Bootstrapping with %s'%ccfg.reference_coordinates_bootstrap_filename
self.search_boxes = SearchBoxes(xy[:,0],xy[:,1],ccfg.search_box_half_width)
self.sensor_mask = np.loadtxt(ccfg.reference_mask_filename)
self.x0 = np.zeros(self.search_boxes.x.shape)
self.y0 = np.zeros(self.search_boxes.y.shape)
self.x0[:] = self.search_boxes.x[:]
self.y0[:] = self.search_boxes.y[:]
self.n_lenslets = self.search_boxes.n
n_lenslets = self.n_lenslets
self.image = np.zeros((ccfg.image_height_px,ccfg.image_width_px))
self.x_slopes = np.zeros(n_lenslets)
self.y_slopes = np.zeros(n_lenslets)
self.x_centroids = np.zeros(n_lenslets)
self.y_centroids = np.zeros(n_lenslets)
self.box_maxes = np.zeros(n_lenslets)
self.box_mins = np.zeros(n_lenslets)
self.box_means = np.zeros(n_lenslets)
self.valid_centroids = np.zeros(n_lenslets,dtype=np.int16)
try:
self.fast_centroiding = ccfg.fast_centroiding
except Exception as e:
self.fast_centroiding = False
self.box_backgrounds = np.zeros(n_lenslets)
self.error = 0.0
self.tip = 0.0
self.tilt = 0.0
self.zernikes = np.zeros(ccfg.n_zernike_terms)
self.wavefront = np.zeros(self.sensor_mask.shape)
self.image_max = -1
self.image_min = -1
self.image_mean = -1
self.cam = camera
self.frame_timer = FrameTimer('Sensor',verbose=False)
self.reconstructor = Reconstructor(self.search_boxes.x,
self.search_boxes.y,self.sensor_mask)
self.n_zernike_orders_corrected=self.reconstructor.N_orders
self.centroiding_time = -1.0
self.beeper = Beeper()
self.logging = False
self.paused = False
self.sense_timer = BlockTimer('Sensor sense method')
try:
self.profile_update_method = ccfg.profile_sensor_update_method
except:
self.profile_update_method = False
class Sensor:
def __init__(self,camera):
self.image_width_px = ccfg.image_width_px
self.image_height_px = ccfg.image_height_px
self.dark_image = np.zeros((ccfg.image_height_px,ccfg.image_width_px),dtype=np.int16)
self.dark_subtract = False
self.n_dark = 10
self.lenslet_pitch_m = ccfg.lenslet_pitch_m
self.lenslet_focal_length_m = ccfg.lenslet_focal_length_m
self.pixel_size_m = ccfg.pixel_size_m
self.beam_diameter_m = ccfg.beam_diameter_m
self.wavelength_m = ccfg.wavelength_m
self.background_correction = ccfg.background_correction
self.centroiding_iterations = ccfg.centroiding_iterations
self.iterative_centroiding_step = ccfg.iterative_centroiding_step
self.filter_lenslets = ccfg.sensor_filter_lenslets
self.estimate_background = ccfg.estimate_background
self.reconstruct_wavefront = ccfg.sensor_reconstruct_wavefront
self.remove_tip_tilt = ccfg.sensor_remove_tip_tilt
# calculate diffraction limited spot size on sensor, to determine
# the centroiding window size
lenslet_dlss = 1.22*self.wavelength_m*self.lenslet_focal_length_m/self.lenslet_pitch_m
lenslet_dlss_px = lenslet_dlss/self.pixel_size_m
# now we need to account for smearing of spots due to axial displacement of retinal layers
extent = 500e-6 # retinal thickness
smear = extent*6.75/16.67 # pupil diameter and focal length; use diameter in case beacon is at edge of field
try:
magnification = ccfg.retina_sensor_magnification
except Exception as e:
magnification = 1.0
total_size = lenslet_dlss+smear*magnification
total_size_px = total_size/self.pixel_size_m
self.centroiding_half_width = int(np.floor(total_size_px/2.0))*2
try:
xy = np.loadtxt(ccfg.reference_coordinates_filename)
except Exception as e:
xy = np.loadtxt(ccfg.reference_coordinates_bootstrap_filename)
print 'Bootstrapping with %s'%ccfg.reference_coordinates_bootstrap_filename
self.search_boxes = SearchBoxes(xy[:,0],xy[:,1],ccfg.search_box_half_width)
self.sensor_mask = np.loadtxt(ccfg.reference_mask_filename)
self.x0 = np.zeros(self.search_boxes.x.shape)
self.y0 = np.zeros(self.search_boxes.y.shape)
self.x0[:] = self.search_boxes.x[:]
self.y0[:] = self.search_boxes.y[:]
self.n_lenslets = self.search_boxes.n
n_lenslets = self.n_lenslets
self.image = np.zeros((ccfg.image_height_px,ccfg.image_width_px))
self.x_slopes = np.zeros(n_lenslets)
self.y_slopes = np.zeros(n_lenslets)
self.x_centroids = np.zeros(n_lenslets)
self.y_centroids = np.zeros(n_lenslets)
self.box_maxes = np.zeros(n_lenslets)
self.box_mins = np.zeros(n_lenslets)
self.box_means = np.zeros(n_lenslets)
self.valid_centroids = np.zeros(n_lenslets,dtype=np.int16)
try:
self.fast_centroiding = ccfg.fast_centroiding
except Exception as e:
self.fast_centroiding = False
self.box_backgrounds = np.zeros(n_lenslets)
self.error = 0.0
self.tip = 0.0
self.tilt = 0.0
self.zernikes = np.zeros(ccfg.n_zernike_terms)
self.wavefront = np.zeros(self.sensor_mask.shape)
self.image_max = -1
self.image_min = -1
self.image_mean = -1
self.cam = camera
self.frame_timer = FrameTimer('Sensor',verbose=False)
self.reconstructor = Reconstructor(self.search_boxes.x,
self.search_boxes.y,self.sensor_mask)
self.n_zernike_orders_corrected=self.reconstructor.N_orders
self.centroiding_time = -1.0
self.beeper = Beeper()
self.logging = False
self.paused = False
self.sense_timer = BlockTimer('Sensor sense method')
try:
self.profile_update_method = ccfg.profile_sensor_update_method
except:
self.profile_update_method = False
def update(self):
if not self.paused:
try:
self.sense()
except Exception as e:
print 'Sensor update exception:',e
if self.logging:
self.log()
self.frame_timer.tick()
def pause(self):
print 'sensor paused'
self.paused = True
def unpause(self):
print 'sensor unpaused'
self.paused = False
def get_average_background(self):
return np.mean(self.box_backgrounds)
def get_n_zernike_orders_corrected(self):
return self.n_zernike_orders_corrected
def set_n_zernike_orders_corrected(self,n):
self.n_zernike_orders_corrected = n
def set_dark_subtraction(self,val):
self.dark_subtract = val
def set_n_dark(self,val):
self.n_dark = val
def set_dark(self):
self.pause()
temp = np.zeros(self.dark_image.shape)
for k in range(self.n_dark):
temp = temp + self.cam.get_image()
temp = np.round(temp/float(self.n_dark)).astype(np.int16)
self.dark_image[...] = temp[...]
self.unpause()
def log0(self):
t_string = now_string(True)
#seconds = float(datetime.datetime.strptime(t_string,'%Y%m%d%H%M%S.%f').strftime('%s.%f'))
outfn = os.path.join(ccfg.logging_directory,'sensor_%s.mat'%(t_string))
d = {}
#d['time_seconds'] = seconds
d['x_slopes'] = self.x_slopes
d['y_slopes'] = self.y_slopes
d['x_centroids'] = self.x_centroids
d['y_centroids'] = self.y_centroids
d['search_box_x1'] = self.search_boxes.x1
d['search_box_x2'] = self.search_boxes.x2
d['search_box_y1'] = self.search_boxes.y1
d['search_box_y2'] = self.search_boxes.y2
d['ref_x'] = self.search_boxes.x
d['ref_y'] = self.search_boxes.y
d['error'] = np.squeeze(self.error)
d['tip'] = self.tip
d['tilt'] = self.tilt
d['wavefront'] = self.wavefront
d['zernikes'] = np.squeeze(self.zernikes)
#d['spots_image'] = self.image
sio.savemat(outfn,d)
def log(self):
t_string = now_string(True)
#seconds = float(datetime.datetime.strptime(t_string,'%Y%m%d%H%M%S.%f').strftime('%s.%f'))
d = {}
#d['time_seconds'] = np.array([seconds])
d['x_slopes'] = self.x_slopes
d['y_slopes'] = self.y_slopes
d['x_centroids'] = self.x_centroids
d['y_centroids'] = self.y_centroids
d['search_box_x1'] = self.search_boxes.x1
d['search_box_x2'] = self.search_boxes.x2
d['search_box_y1'] = self.search_boxes.y1
d['search_box_y2'] = self.search_boxes.y2
d['ref_x'] = self.search_boxes.x
d['ref_y'] = self.search_boxes.y
d['error'] = np.array([np.squeeze(self.error)])
#d['tip'] = self.tip
#d['tilt'] = self.tilt
d['wavefront'] = self.wavefront
d['zernikes'] = np.squeeze(self.zernikes)
d['spots_image'] = self.image.astype(np.uint16)
for k in d.keys():
outfn = os.path.join(ccfg.logging_directory,'sensor_%s_%s.txt'%(k,t_string))
if k=='spots_image':
np.savetxt(outfn,d[k],fmt='%d')
else:
np.savetxt(outfn,d[k])
#sio.savemat(outfn,d)
def set_background_correction(self,val):
#sensor_mutex.lock()
self.background_correction = val
#sensor_mutex.unlock()
def set_fast_centroiding(self,val):
self.fast_centroiding = val
def set_logging(self,val):
self.logging = val
def set_defocus(self,val):
self.pause()
newx = self.search_boxes.x0 + self.reconstructor.defocus_dx*val*ccfg.zernike_dioptric_equivalent
newy = self.search_boxes.y0 + self.reconstructor.defocus_dy*val*ccfg.zernike_dioptric_equivalent
self.search_boxes.move(newx,newy)
self.unpause()
def set_astig0(self,val):
self.pause()
newx = self.search_boxes.x + self.reconstructor.astig0_dx*val*ccfg.zernike_dioptric_equivalent
newy = self.search_boxes.y + self.reconstructor.astig0_dy*val*ccfg.zernike_dioptric_equivalent
self.search_boxes.move(newx,newy)
self.unpause()
def set_astig1(self,val):
self.pause()
newx = self.search_boxes.x + self.reconstructor.astig1_dx*val*ccfg.zernike_dioptric_equivalent
newy = self.search_boxes.y + self.reconstructor.astig1_dy*val*ccfg.zernike_dioptric_equivalent
self.search_boxes.move(newx,newy)
self.unpause()
def aberration_reset(self):
self.pause()
self.search_boxes.move(self.x0,self.y0)
self.unpause()
def set_centroiding_half_width(self,val):
self.centroiding_half_width = val
def sense(self,debug=False):
if self.profile_update_method:
self.sense_timer.tick('start')
self.image = self.cam.get_image()
if self.profile_update_method:
self.sense_timer.tick('cam.get_image')
if self.dark_subtract:
self.image = self.image - self.dark_image
self.image_min = self.image.min()
self.image_mean = self.image.mean()
self.image_max = self.image.max()
if self.profile_update_method:
self.sense_timer.tick('image stats')
t0 = time.time()
if not self.fast_centroiding:
if self.estimate_background:
centroid.estimate_backgrounds(spots_image=self.image,
sb_x_vec = self.search_boxes.x,
sb_y_vec = self.search_boxes.y,
sb_bg_vec = self.box_backgrounds,
sb_half_width_p = self.search_boxes.half_width)
self.box_backgrounds = self.box_backgrounds + self.background_correction
if self.profile_update_method:
self.sense_timer.tick('estimate background')
centroid.compute_centroids(spots_image=self.image,
sb_x_vec = self.search_boxes.x,
sb_y_vec = self.search_boxes.y,
sb_bg_vec = self.box_backgrounds,
sb_half_width_p = self.search_boxes.half_width,
iterations_p = self.centroiding_iterations,
iteration_step_px_p = self.iterative_centroiding_step,
x_out = self.x_centroids,
y_out = self.y_centroids,
mean_intensity = self.box_means,
maximum_intensity = self.box_maxes,
minimum_intensity = self.box_mins,
num_threads_p = 1)
if self.profile_update_method:
self.sense_timer.tick('centroid')
else:
centroid.fast_centroids(spots_image=self.image,
sb_x_vec = self.search_boxes.x,
sb_y_vec = self.search_boxes.y,
sb_half_width_p = self.search_boxes.half_width,
centroiding_half_width_p = self.centroiding_half_width,
x_out = self.x_centroids,
y_out = self.y_centroids,
sb_max_vec = self.box_maxes,
valid_vec = self.valid_centroids,
verbose_p = 0,
num_threads_p = 1)
self.centroiding_time = time.time()-t0
self.x_slopes = (self.x_centroids-self.search_boxes.x)*self.pixel_size_m/self.lenslet_focal_length_m
self.y_slopes = (self.y_centroids-self.search_boxes.y)*self.pixel_size_m/self.lenslet_focal_length_m
self.tilt = np.mean(self.x_slopes)
self.tip = np.mean(self.y_slopes)
if self.remove_tip_tilt:
self.x_slopes-=self.tilt
self.y_slopes-=self.tip
if self.reconstruct_wavefront:
self.zernikes,self.wavefront,self.error = self.reconstructor.get_wavefront(self.x_slopes,self.y_slopes)
if self.profile_update_method:
self.sense_timer.tick('reconstruct wavefront')
self.filter_slopes = self.n_zernike_orders_corrected<self.reconstructor.N_orders
if self.filter_slopes:
# Outline of approach: the basic idea is to filter the residual error
# slopes by Zernike mode before multiplying by the mirror command
# matrix.
# 1. multiply the slopes by a wavefront reconstructor matrix
# to get Zernike coefficients; these are already output by
# the call to self.reconstructor.get_wavefront above
# 2. zero the desired modes
# 3. multiply the modes by the inverse of that matrix, which is stored
# in the Reconstructor object as reconstructor.slope_matrix
# convert the order into a number of terms:
n_terms = self.reconstructor.Z.nm2j(self.n_zernike_orders_corrected,self.n_zernike_orders_corrected)
# get the slope matrix (inverse of zernike matrix, which maps slopes onto zernikes)
slope_matrix = self.reconstructor.slope_matrix
# create a filtered set of zernike terms
# not sure if we should zero piston here
z_filt = np.zeros(len(self.zernikes))
z_filt[:n_terms+1] = self.zernikes[:n_terms+1]
zero_piston = True
if zero_piston:
z_filt[0] = 0.0
# filter the slopes, and assign them to this sensor object:
filtered_slopes = np.dot(slope_matrix,z_filt)
self.x_slopes = filtered_slopes[:self.n_lenslets]
self.y_slopes = filtered_slopes[self.n_lenslets:]
if self.profile_update_method:
self.sense_timer.tick('end sense')
self.sense_timer.tock()
try:
self.beeper.beep(self.error)
except Exception as e:
print e
print self.error
sys.exit()
def record_reference(self):
print 'recording reference'
self.pause()
xcent = []
ycent = []
for k in range(ccfg.reference_n_measurements):
print 'measurement %d of %d'%(k+1,ccfg.reference_n_measurements),
self.sense()
print '...done'
xcent.append(self.x_centroids)
ycent.append(self.y_centroids)
xcent = np.array(xcent)
ycent = np.array(ycent)
x_ref = xcent.mean(0)
y_ref = ycent.mean(0)
x_var = xcent.var(0)
y_var = ycent.var(0)
err = np.sqrt(np.mean([x_var,y_var]))
print 'reference coordinate error %0.3e px RMS'%err
self.search_boxes = SearchBoxes(x_ref,y_ref,self.search_boxes.half_width)
refxy = np.array((x_ref,y_ref)).T
# Record the new reference set to two locations, the
# filename specified by reference_coordinates_filename
# in ciao config, and also an archival filename to keep
# track of the history.
archive_fn = os.path.join(ccfg.reference_directory,prepend('reference.txt',now_string()))
np.savetxt(archive_fn,refxy,fmt='%0.3f')
np.savetxt(ccfg.reference_coordinates_filename,refxy,fmt='%0.3f')
self.unpause()
time.sleep(1)
class UI(QWidget):
def __init__(self, loop):
super(UI, self).__init__()
self.loop = loop
self.loop.finished.connect(self.update)
self.init_UI()
self.frame_timer = FrameTimer('UI', verbose=False)
self.show()
def init_UI(self):
self.setWindowIcon(QIcon('./icons/kungpao.png'))
self.setWindowTitle('kungpao')
layout = QHBoxLayout()
imax = 2**ccfg.bit_depth - 1
imin = 0
self.id_spots = ImageDisplay('spots',
downsample=2,
clim=None,
colormap=ccfg.spots_colormap,
image_min=imin,
image_max=imax,
draw_boxes=ccfg.show_search_boxes,
draw_lines=ccfg.show_slope_lines,
zoomable=True)
#self.id_spots = ImageDisplay('spots',downsample=2,clim=(50,1000),colormap=ccfg.spots_colormap,image_min=imin,image_max=imax,draw_boxes=ccfg.show_search_boxes,draw_lines=ccfg.show_slope_lines,zoomable=True)
layout.addWidget(self.id_spots)
self.id_mirror = ImageDisplay('mirror',
downsample=1,
clim=(-0.5, 0.5),
colormap=ccfg.mirror_colormap,
image_min=ccfg.mirror_command_min,
image_max=ccfg.mirror_command_max,
width=256,
height=256)
beam_d = ccfg.beam_diameter_m
errmax = beam_d * 1e-4
self.id_wavefront = ImageDisplay('wavefront',
downsample=1,
clim=(-1.0e-8, 1.0e-8),
colormap=ccfg.wavefront_colormap,
image_min=-errmax,
image_max=errmax,
width=256,
height=256)
column_1 = QVBoxLayout()
column_1.setAlignment(Qt.AlignTop)
column_1.addWidget(self.id_mirror)
column_1.addWidget(self.id_wavefront)
layout.addLayout(column_1)
column_2 = QVBoxLayout()
column_2.setAlignment(Qt.AlignTop)
self.cb_closed = QCheckBox('Loop &closed')
self.cb_closed.setChecked(self.loop.closed)
self.cb_closed.stateChanged.connect(self.loop.set_closed)
self.cb_draw_boxes = QCheckBox('Draw boxes')
self.cb_draw_boxes.setChecked(self.id_spots.draw_boxes)
self.cb_draw_boxes.stateChanged.connect(self.id_spots.set_draw_boxes)
self.cb_draw_lines = QCheckBox('Draw lines')
self.cb_draw_lines.setChecked(self.id_spots.draw_lines)
self.cb_draw_lines.stateChanged.connect(self.id_spots.set_draw_lines)
self.cb_logging = QCheckBox('Logging')
self.cb_logging.setChecked(False)
self.cb_logging.stateChanged.connect(self.loop.sensor.set_logging)
self.cb_logging.stateChanged.connect(self.loop.mirror.set_logging)
self.pb_poke = QPushButton('Poke')
self.pb_poke.clicked.connect(self.loop.run_poke)
self.pb_record_reference = QPushButton('Record reference')
self.pb_record_reference.clicked.connect(
self.loop.sensor.record_reference)
self.pb_flatten = QPushButton('&Flatten')
self.pb_flatten.clicked.connect(self.loop.mirror.flatten)
self.pb_quit = QPushButton('&Quit')
self.pb_quit.clicked.connect(sys.exit)
poke_layout = QHBoxLayout()
poke_layout.addWidget(QLabel('Modes:'))
self.modes_spinbox = QSpinBox()
self.modes_spinbox.setMaximum(ccfg.mirror_n_actuators)
self.modes_spinbox.setMinimum(0)
self.modes_spinbox.valueChanged.connect(self.loop.set_n_modes)
self.modes_spinbox.setValue(self.loop.get_n_modes())
poke_layout.addWidget(self.modes_spinbox)
self.pb_invert = QPushButton('Invert')
self.pb_invert.clicked.connect(self.loop.invert)
poke_layout.addWidget(self.pb_invert)
bg_layout = QHBoxLayout()
bg_layout.addWidget(QLabel('Background correction:'))
self.bg_spinbox = QSpinBox()
self.bg_spinbox.setValue(self.loop.sensor.background_correction)
self.bg_spinbox.setMaximum(500)
self.bg_spinbox.setMinimum(-500)
self.bg_spinbox.valueChanged.connect(
self.loop.sensor.set_background_correction)
bg_layout.addWidget(self.bg_spinbox)
f_layout = QHBoxLayout()
f_layout.addWidget(QLabel('Defocus:'))
self.f_spinbox = QDoubleSpinBox()
self.f_spinbox.setValue(0.0)
self.f_spinbox.setSingleStep(0.01)
self.f_spinbox.setMaximum(1.0)
self.f_spinbox.setMinimum(-1.0)
self.f_spinbox.valueChanged.connect(self.loop.sensor.set_defocus)
f_layout.addWidget(self.f_spinbox)
self.lbl_error = QLabel()
self.lbl_error.setAlignment(Qt.AlignRight)
self.lbl_tip = QLabel()
self.lbl_tip.setAlignment(Qt.AlignRight)
self.lbl_tilt = QLabel()
self.lbl_tilt.setAlignment(Qt.AlignRight)
self.lbl_cond = QLabel()
self.lbl_cond.setAlignment(Qt.AlignRight)
self.lbl_sensor_fps = QLabel()
self.lbl_sensor_fps.setAlignment(Qt.AlignRight)
self.lbl_mirror_fps = QLabel()
self.lbl_mirror_fps.setAlignment(Qt.AlignRight)
self.lbl_ui_fps = QLabel()
self.lbl_ui_fps.setAlignment(Qt.AlignRight)
column_2.addWidget(self.pb_flatten)
column_2.addWidget(self.cb_closed)
column_2.addLayout(f_layout)
column_2.addLayout(bg_layout)
column_2.addLayout(poke_layout)
column_2.addWidget(self.cb_draw_boxes)
column_2.addWidget(self.cb_draw_lines)
column_2.addWidget(self.pb_quit)
column_2.addWidget(self.lbl_error)
column_2.addWidget(self.lbl_tip)
column_2.addWidget(self.lbl_tilt)
column_2.addWidget(self.lbl_cond)
column_2.addWidget(self.lbl_sensor_fps)
column_2.addWidget(self.lbl_mirror_fps)
column_2.addWidget(self.lbl_ui_fps)
column_2.addWidget(self.pb_poke)
column_2.addWidget(self.pb_record_reference)
column_2.addWidget(self.cb_logging)
layout.addLayout(column_2)
self.setLayout(layout)
@pyqtSlot()
def update(self):
try:
sensor = self.loop.sensor
mirror = self.loop.mirror
sb = sensor.search_boxes
if self.id_spots.draw_boxes:
boxes = [sb.x1, sb.x2, sb.y1, sb.y2]
else:
boxes = None
if self.id_spots.draw_lines:
lines = [
sb.x,
sb.x + sensor.x_slopes * ccfg.slope_line_magnification,
sb.y,
sb.y + sensor.y_slopes * ccfg.slope_line_magnification
]
else:
lines = None
self.id_spots.show(sensor.image,
boxes=boxes,
lines=lines,
mask=self.loop.active_lenslets)
mirror_map = np.zeros(mirror.mask.shape)
mirror_map[np.where(mirror.mask)] = mirror.get_command()[:]
self.id_mirror.show(mirror_map)
self.id_wavefront.show(sensor.wavefront)
self.lbl_error.setText(ccfg.wavefront_error_fmt %
(sensor.error * 1e9))
self.lbl_tip.setText(ccfg.tip_fmt % (sensor.tip * 1000000))
self.lbl_tilt.setText(ccfg.tilt_fmt % (sensor.tilt * 1000000))
self.lbl_cond.setText(ccfg.cond_fmt %
(self.loop.get_condition_number()))
self.lbl_sensor_fps.setText(ccfg.sensor_fps_fmt %
sensor.frame_timer.fps)
self.lbl_mirror_fps.setText(ccfg.mirror_fps_fmt %
mirror.frame_timer.fps)
self.lbl_ui_fps.setText(ccfg.ui_fps_fmt % self.frame_timer.fps)
except Exception as e:
print e
def select_single_spot(self, click):
print 'foo'
x = click.x() * self.downsample
y = click.y() * self.downsample
self.single_spot_index = self.loop.sensor.search_boxes.get_lenslet_index(
x, y)
def paintEvent(self, event):
self.frame_timer.tick()
class Sensor(QObject):
finished = pyqtSignal()
def __init__(self, camera):
super(Sensor, self).__init__()
self.image_width_px = ccfg.image_width_px
self.image_height_px = ccfg.image_height_px
self.lenslet_pitch_m = ccfg.lenslet_pitch_m
self.lenslet_focal_length_m = ccfg.lenslet_focal_length_m
self.pixel_size_m = ccfg.pixel_size_m
self.beam_diameter_m = ccfg.beam_diameter_m
self.wavelength_m = ccfg.wavelength_m
self.background_correction = ccfg.background_correction
self.centroiding_iterations = ccfg.centroiding_iterations
self.iterative_centroiding_step = ccfg.iterative_centroiding_step
self.filter_lenslets = ccfg.sensor_filter_lenslets
self.estimate_background = ccfg.estimate_background
self.reconstruct_wavefront = ccfg.sensor_reconstruct_wavefront
self.remove_tip_tilt = ccfg.sensor_remove_tip_tilt
try:
xy = np.loadtxt(ccfg.reference_coordinates_filename)
except Exception as e:
xy = np.loadtxt(ccfg.reference_coordinates_bootstrap_filename)
print 'Bootstrapping with %s' % ccfg.reference_coordinates_bootstrap_filename
self.search_boxes = SearchBoxes(xy[:, 0], xy[:, 1],
ccfg.search_box_half_width)
self.sensor_mask = np.loadtxt(ccfg.reference_mask_filename)
self.x0 = np.zeros(self.search_boxes.x.shape)
self.y0 = np.zeros(self.search_boxes.y.shape)
self.x0[:] = self.search_boxes.x[:]
self.y0[:] = self.search_boxes.y[:]
self.n_lenslets = self.search_boxes.n
n_lenslets = self.n_lenslets
self.image = np.zeros((ccfg.image_height_px, ccfg.image_width_px))
self.x_slopes = np.zeros(n_lenslets)
self.y_slopes = np.zeros(n_lenslets)
self.x_centroids = np.zeros(n_lenslets)
self.y_centroids = np.zeros(n_lenslets)
self.box_maxes = np.zeros(n_lenslets)
self.box_mins = np.zeros(n_lenslets)
self.box_means = np.zeros(n_lenslets)
self.box_backgrounds = np.zeros(n_lenslets)
self.error = 0.0
self.tip = 0.0
self.tilt = 0.0
self.zernikes = None
self.wavefront = np.zeros(self.sensor_mask.shape)
self.cam = camera
self.frame_timer = FrameTimer('Sensor', verbose=False)
self.reconstructor = Reconstructor(self.search_boxes.x,
self.search_boxes.y,
self.sensor_mask)
self.logging = False
self.paused = False
@pyqtSlot()
def update(self):
if not self.paused:
try:
self.sense()
except Exception as e:
print 'Sensor update exception:', e
if self.logging:
self.log()
self.finished.emit()
self.frame_timer.tick()
@pyqtSlot()
def pause(self):
print 'sensor paused'
self.paused = True
@pyqtSlot()
def unpause(self):
print 'sensor unpaused'
self.paused = False
#self.sense()
def log(self):
outfn = os.path.join(ccfg.logging_directory,
'sensor_%s.mat' % (now_string(True)))
d = {}
d['x_slopes'] = self.x_slopes
d['y_slopes'] = self.y_slopes
d['x_centroids'] = self.x_centroids
d['y_centroids'] = self.y_centroids
d['search_box_x1'] = self.search_boxes.x1
d['search_box_x2'] = self.search_boxes.x2
d['search_box_y1'] = self.search_boxes.y1
d['search_box_y2'] = self.search_boxes.y2
d['ref_x'] = self.search_boxes.x
d['ref_y'] = self.search_boxes.y
d['error'] = self.error
d['tip'] = self.tip
d['tilt'] = self.tilt
d['wavefront'] = self.wavefront
d['zernikes'] = self.zernikes
sio.savemat(outfn, d)
def set_background_correction(self, val):
#sensor_mutex.lock()
self.background_correction = val
#sensor_mutex.unlock()
def set_logging(self, val):
self.logging = val
def set_defocus(self, val):
self.pause()
newx = self.x0 + self.reconstructor.defocus_dx * val * ccfg.zernike_dioptric_equivalent
newy = self.y0 + self.reconstructor.defocus_dy * val * ccfg.zernike_dioptric_equivalent
self.search_boxes.move(newx, newy)
self.unpause()
def sense(self, debug=False):
self.image = self.cam.get_image()
centroid.estimate_backgrounds(
spots_image=self.image,
sb_x_vec=self.search_boxes.x,
sb_y_vec=self.search_boxes.y,
sb_bg_vec=self.box_backgrounds,
sb_half_width_p=self.search_boxes.half_width)
centroid.compute_centroids(
spots_image=self.image,
sb_x_vec=self.search_boxes.x,
sb_y_vec=self.search_boxes.y,
sb_bg_vec=self.box_backgrounds,
sb_half_width_p=self.search_boxes.half_width,
iterations_p=self.centroiding_iterations,
iteration_step_px_p=self.iterative_centroiding_step,
x_out=self.x_centroids,
y_out=self.y_centroids,
mean_intensity=self.box_means,
maximum_intensity=self.box_maxes,
minimum_intensity=self.box_mins,
num_threads_p=1)
self.x_slopes = (self.x_centroids - self.search_boxes.x
) * self.pixel_size_m / self.lenslet_focal_length_m
self.y_slopes = (self.y_centroids - self.search_boxes.y
) * self.pixel_size_m / self.lenslet_focal_length_m
self.tilt = np.mean(self.x_slopes)
self.tip = np.mean(self.y_slopes)
if self.remove_tip_tilt:
self.x_slopes -= self.tilt
self.y_slopes -= self.tip
if self.reconstruct_wavefront:
self.zernikes, self.wavefront, self.error = self.reconstructor.get_wavefront(
self.x_slopes, self.y_slopes)
def sense0(self, debug=False):
image = self.cam.get_image()
sb = self.search_boxes
xr = np.zeros(self.search_boxes.x.shape)
xr[:] = self.search_boxes.x[:]
yr = np.zeros(self.search_boxes.y.shape)
yr[:] = self.search_boxes.y[:]
half_width = sb.half_width
for iteration in range(self.centroiding_iterations):
#QApplication.processEvents()
msi = iteration == self.centroiding_iterations - 1
if debug:
plt.figure()
plt.imshow(image)
plt.title('iteration %d' % iteration)
centroid.compute_centroids(
spots_image=image,
sb_x1_vec=sb.x1,
sb_x2_vec=sb.x2,
sb_y1_vec=sb.y1,
sb_y2_vec=sb.y2,
x_out=xr,
y_out=yr,
mean_intensity=self.box_means,
maximum_intensity=self.box_maxes,
minimum_intensity=self.box_mins,
background_intensity=self.box_backgrounds,
estimate_background=self.estimate_background,
background_correction=self.background_correction,
num_threads=1,
modify_spots_image=msi)
half_width -= self.iterative_centroiding_step
sb = SearchBoxes(xr, yr, half_width)
if debug:
plt.figure()
plt.imshow(image)
plt.show()
sys.exit()
self.x_centroids[:] = xr[:]
self.y_centroids[:] = yr[:]
self.x_slopes = (self.x_centroids - self.search_boxes.x
) * self.pixel_size_m / self.lenslet_focal_length_m
self.y_slopes = (self.y_centroids - self.search_boxes.y
) * self.pixel_size_m / self.lenslet_focal_length_m
self.tilt = np.mean(self.x_slopes)
self.tip = np.mean(self.y_slopes)
if self.remove_tip_tilt:
self.x_slopes -= self.tilt
self.y_slopes -= self.tip
self.image = image
if self.reconstruct_wavefront:
self.zernikes, self.wavefront, self.error = self.reconstructor.get_wavefront(
self.x_slopes, self.y_slopes)
def record_reference(self):
print 'recording reference'
self.pause()
xcent = []
ycent = []
for k in range(ccfg.reference_n_measurements):
print 'measurement %d of %d' % (k + 1,
ccfg.reference_n_measurements),
self.sense()
print '...done'
xcent.append(self.x_centroids)
ycent.append(self.y_centroids)
xcent = np.array(xcent)
ycent = np.array(ycent)
x_ref = xcent.mean(0)
y_ref = ycent.mean(0)
x_var = xcent.var(0)
y_var = ycent.var(0)
err = np.sqrt(np.mean([x_var, y_var]))
print 'reference coordinate error %0.3e px RMS' % err
self.search_boxes = SearchBoxes(x_ref, y_ref,
self.search_boxes.half_width)
refxy = np.array((x_ref, y_ref)).T
# Record the new reference set to two locations, the
# filename specified by reference_coordinates_filename
# in ciao config, and also an archival filename to keep
# track of the history.
archive_fn = os.path.join(ccfg.reference_directory,
prepend('reference.txt', now_string()))
np.savetxt(archive_fn, refxy, fmt='%0.3f')
np.savetxt(ccfg.reference_coordinates_filename, refxy, fmt='%0.3f')
self.unpause()
time.sleep(1)
class Sensor(QObject):
finished = pyqtSignal()
def __init__(self, camera):
super(Sensor, self).__init__()
self.image_width_px = ccfg.image_width_px
self.image_height_px = ccfg.image_height_px
self.lenslet_pitch_m = ccfg.lenslet_pitch_m
self.lenslet_focal_length_m = ccfg.lenslet_focal_length_m
self.pixel_size_m = ccfg.pixel_size_m
self.beam_diameter_m = ccfg.beam_diameter_m
self.wavelength_m = ccfg.wavelength_m
self.background_correction = ccfg.background_correction
self.centroiding_iterations = ccfg.centroiding_iterations
self.iterative_centroiding_step = ccfg.iterative_centroiding_step
self.filter_lenslets = ccfg.sensor_filter_lenslets
self.estimate_background = ccfg.estimate_background
self.reconstruct_wavefront = ccfg.sensor_reconstruct_wavefront
self.remove_tip_tilt = ccfg.sensor_remove_tip_tilt
try:
# check to see if the camera object produced its own
# search boxes, and if not, use reference coordinates
self.search_boxes = camera.search_boxes
self.mask = camera.lenslet_mask
except Exception as e:
xy = np.loadtxt(ccfg.reference_coordinates_filename)
self.search_boxes = SearchBoxes(xy[:, 0], xy[:, 1],
ccfg.search_box_half_width)
self.mask = np.loadtxt(ccfg.reference_mask_filename)
self.x0 = np.zeros(self.search_boxes.x.shape)
self.y0 = np.zeros(self.search_boxes.y.shape)
self.x0[:] = self.search_boxes.x[:]
self.y0[:] = self.search_boxes.y[:]
self.n_lenslets = self.search_boxes.n
n_lenslets = self.n_lenslets
self.image = np.zeros((ccfg.image_height_px, ccfg.image_width_px))
self.x_slopes = np.zeros(n_lenslets)
self.y_slopes = np.zeros(n_lenslets)
self.x_centroids = np.zeros(n_lenslets)
self.y_centroids = np.zeros(n_lenslets)
self.box_maxes = np.zeros(n_lenslets)
self.box_mins = np.zeros(n_lenslets)
self.box_means = np.zeros(n_lenslets)
self.box_backgrounds = np.zeros(n_lenslets)
self.error = 0.0
self.tip = 0.0
self.tilt = 0.0
self.zernikes = None
self.wavefront = None
self.cam = camera
self.frame_timer = FrameTimer('Sensor', verbose=False)
self.reconstructor = Reconstructor(self.search_boxes.x,
self.search_boxes.y, self.mask)
self.logging = False
self.paused = False
@pyqtSlot()
def update(self):
if not self.paused:
try:
self.sense()
except Exception as e:
print e
if self.logging:
self.log()
self.finished.emit()
self.frame_timer.tick()
@pyqtSlot()
def pause(self):
print 'sensor paused'
self.paused = True
@pyqtSlot()
def unpause(self):
print 'sensor unpaused'
self.paused = False
#self.sense()
def log(self):
outfn = os.path.join(ccfg.logging_directory,
'sensor_%s.mat' % (now_string(True)))
d = {}
d['x_slopes'] = self.x_slopes
d['y_slopes'] = self.y_slopes
d['x_centroids'] = self.x_centroids
d['y_centroids'] = self.y_centroids
d['search_box_x1'] = self.search_boxes.x1
d['search_box_x2'] = self.search_boxes.x2
d['search_box_y1'] = self.search_boxes.y1
d['search_box_y2'] = self.search_boxes.y2
d['ref_x'] = self.search_boxes.x
d['ref_y'] = self.search_boxes.y
d['error'] = self.error
d['tip'] = self.tip
d['tilt'] = self.tilt
d['wavefront'] = self.wavefront
d['zernikes'] = self.zernikes
sio.savemat(outfn, d)
def set_background_correction(self, val):
#sensor_mutex.lock()
self.background_correction = val
#sensor_mutex.unlock()
def set_logging(self, val):
self.logging = val
def set_defocus(self, val):
self.pause()
newx = self.x0 + self.reconstructor.defocus_dx * val * ccfg.zernike_dioptric_equivalent
newy = self.y0 + self.reconstructor.defocus_dy * val * ccfg.zernike_dioptric_equivalent
self.search_boxes.move(newx, newy)
self.unpause()
def sense(self):
image = self.cam.get_image()
sb = self.search_boxes
xr = np.zeros(self.search_boxes.x.shape)
xr[:] = self.search_boxes.x[:]
yr = np.zeros(self.search_boxes.y.shape)
yr[:] = self.search_boxes.y[:]
half_width = sb.half_width
for iteration in range(self.centroiding_iterations):
#QApplication.processEvents()
msi = iteration == self.centroiding_iterations - 1
centroid.compute_centroids(
spots_image=image,
sb_x1_vec=sb.x1,
sb_x2_vec=sb.x2,
sb_y1_vec=sb.y1,
sb_y2_vec=sb.y2,
x_out=xr,
y_out=yr,
mean_intensity=self.box_means,
maximum_intensity=self.box_maxes,
minimum_intensity=self.box_mins,
background_intensity=self.box_backgrounds,
estimate_background=self.estimate_background,
background_correction=self.background_correction,
num_threads=1,
modify_spots_image=msi)
half_width -= self.iterative_centroiding_step
sb = SearchBoxes(xr, yr, half_width)
self.x_centroids[:] = xr[:]
self.y_centroids[:] = yr[:]
self.x_slopes = (self.x_centroids - self.search_boxes.x
) * self.pixel_size_m / self.lenslet_focal_length_m
self.y_slopes = (self.y_centroids - self.search_boxes.y
) * self.pixel_size_m / self.lenslet_focal_length_m
self.tilt = np.mean(self.x_slopes)
self.tip = np.mean(self.y_slopes)
if self.remove_tip_tilt:
self.x_slopes -= self.tilt
self.y_slopes -= self.tip
self.image = image
if self.reconstruct_wavefront:
self.zernikes, self.wavefront, self.error = self.reconstructor.get_wavefront(
self.x_slopes, self.y_slopes)
def record_reference(self):
print 'recording reference'
self.pause()
xcent = []
ycent = []
for k in range(ccfg.reference_n_measurements):
print 'measurement %d of %d' % (k + 1,
ccfg.reference_n_measurements),
self.sense()
print '...done'
xcent.append(self.x_centroids)
ycent.append(self.y_centroids)
x_ref = np.array(xcent).mean(0)
y_ref = np.array(ycent).mean(0)
self.search_boxes = SearchBoxes(x_ref, y_ref,
self.search_boxes.half_width)
outfn = os.path.join(ccfg.reference_directory,
prepend('coords.txt', now_string()))
refxy = np.array((x_ref, y_ref)).T
np.savetxt(outfn, refxy, fmt='%0.2f')
self.unpause()
time.sleep(1)
def __init__(self):
"""The Simulator object simulates the camera, mirror, and dynamic aberrations
of the system. CIAO can be run in simulation mode by instantiating a simulator
object, then a sensor object using the simulator as its camera, and then a
loop object using that sensor and the simulator in place of the mirror."""
self.frame_timer = FrameTimer('simulator')
# We need to define a meshes on which to build the simulated spots images
# and the simulated wavefront:
self.sy = ccfg.image_height_px
self.sx = ccfg.image_width_px
self.wavefront = np.zeros((self.sy, self.sx))
# Some parameters for the spots image:
self.dc = 100
self.spots_range = 2000
self.spots = np.ones((self.sy, self.sx)) * self.dc
self.spots = self.noise(self.spots)
self.pixel_size_m = ccfg.pixel_size_m
# compute single spot
self.lenslet_pitch_m = ccfg.lenslet_pitch_m
self.f = ccfg.lenslet_focal_length_m
self.L = ccfg.wavelength_m
fwhm_px = (1.22 * self.L * self.f /
self.lenslet_pitch_m) / self.pixel_size_m
xvec = np.arange(self.sx)
yvec = np.arange(self.sy)
xvec = xvec - xvec.mean()
yvec = yvec - yvec.mean()
XX, YY = np.meshgrid(xvec, yvec)
d = np.sqrt(XX**2 + YY**2)
self.beam_diameter_m = ccfg.beam_diameter_m
self.beam_radius_m = self.beam_diameter_m / 2.0
self.disc_diameter = 170
#self.disc_diameter = ccfg.beam_diameter_m/self.pixel_size_m # was just set to 110
self.disc = np.zeros((self.sy, self.sx))
self.disc[np.where(d <= self.disc_diameter)] = 1.0
self.X = np.arange(self.sx, dtype=np.float) * self.pixel_size_m
self.Y = np.arange(self.sy, dtype=np.float) * self.pixel_size_m
self.X = self.X - self.X.mean()
self.Y = self.Y - self.Y.mean()
self.XX, self.YY = np.meshgrid(self.X, self.Y)
self.RR = np.sqrt(self.XX**2 + self.YY**2)
self.mask = np.zeros(self.RR.shape)
self.mask[np.where(self.RR <= self.beam_radius_m)] = 1.0
use_partially_illuminated_lenslets = True
if use_partially_illuminated_lenslets:
d_lenslets = int(
np.ceil(self.beam_diameter_m / self.lenslet_pitch_m))
else:
d_lenslets = int(
np.floor(self.beam_diameter_m / self.lenslet_pitch_m))
rad = float(d_lenslets) / 2.0
xx, yy = np.meshgrid(np.arange(d_lenslets), np.arange(d_lenslets))
xx = xx - float(d_lenslets - 1) / 2.0
yy = yy - float(d_lenslets - 1) / 2.0
d = np.sqrt(xx**2 + yy**2)
self.lenslet_mask = np.zeros(xx.shape, dtype=np.uint8)
self.lenslet_mask[np.where(d <= rad)] = 1
self.n_lenslets = int(np.sum(self.lenslet_mask))
self.x_lenslet_coords = xx * self.lenslet_pitch_m / self.pixel_size_m + self.sx / 2.0
self.y_lenslet_coords = yy * self.lenslet_pitch_m / self.pixel_size_m + self.sy / 2.0
in_pupil = np.where(self.lenslet_mask)
self.x_lenslet_coords = self.x_lenslet_coords[in_pupil]
self.y_lenslet_coords = self.y_lenslet_coords[in_pupil]
self.lenslet_boxes = SearchBoxes(self.x_lenslet_coords,
self.y_lenslet_coords,
ccfg.search_box_half_width)
#plt.plot(self.x_lenslet_coords,self.y_lenslet_coords,'ks')
#plt.show()
self.mirror_mask = np.loadtxt(ccfg.mirror_mask_filename)
self.n_actuators = int(np.sum(self.mirror_mask))
self.command = np.zeros(self.n_actuators)
# virtual actuator spacing in magnified or demagnified
# plane of camera
actuator_spacing = ccfg.beam_diameter_m / float(
self.mirror_mask.shape[0])
ay, ax = np.where(self.mirror_mask)
ay = ay * actuator_spacing
ax = ax * actuator_spacing
ay = ay - ay.mean()
ax = ax - ax.mean()
self.flat = np.loadtxt(ccfg.mirror_flat_filename)
self.flat0 = np.loadtxt(ccfg.mirror_flat_filename)
self.n_zernike_terms = ccfg.n_zernike_terms
#actuator_sigma = actuator_spacing*0.75
actuator_sigma = actuator_spacing * 1.5
self.exposure = 10000 # microseconds
key = '%d' % hash((tuple(ax), tuple(ay), actuator_sigma, tuple(
self.X), tuple(self.Y), self.n_zernike_terms))
key = key.replace('-', 'm')
try:
os.mkdir(ccfg.simulator_cache_directory)
except OSError as e:
pass
cfn = os.path.join(ccfg.simulator_cache_directory,
'%s_actuator_basis.npy' % key)
try:
self.actuator_basis = np.load(cfn)
print 'Loading cached actuator basis set...'
except Exception as e:
actuator_basis = []
print 'Building actuator basis set...'
for x, y in zip(ax, ay):
xx = self.XX - x
yy = self.YY - y
surf = np.exp((-(xx**2 + yy**2) / (2 * actuator_sigma**2)))
surf = (surf - surf.min()) / (surf.max() - surf.min())
actuator_basis.append(surf.ravel())
plt.clf()
plt.imshow(surf)
plt.title('generating actuator basis\n%0.2e,%0.2e' % (x, y))
plt.pause(.1)
self.actuator_basis = np.array(actuator_basis)
np.save(cfn, self.actuator_basis)
zfn = os.path.join(ccfg.simulator_cache_directory,
'%s_zernike_basis.npy' % key)
self.zernike = Zernike()
try:
self.zernike_basis = np.load(zfn)
print 'Loading cached zernike basis set...'
except Exception as e:
zernike_basis = []
print 'Building zernike basis set...'
#zernike = Zernike()
for z in range(self.n_zernike_terms):
surf = self.zernike.get_j_surface(z, self.XX, self.YY)
zernike_basis.append(surf.ravel())
self.zernike_basis = np.array(zernike_basis)
np.save(zfn, self.zernike_basis)
#self.new_error_sigma = np.ones(self.n_zernike_terms)*100.0
self.zernike_orders = np.zeros(self.n_zernike_terms)
for j in range(self.n_zernike_terms):
self.zernike_orders[j] = self.zernike.j2nm(j)[0]
self.baseline_error_sigma = 1.0 / (1.0 + self.zernike_orders) * 10.0
self.baseline_error_sigma[3:6] = 150.0
self.new_error_sigma = self.zernike_orders / 10.0 / 100.0
# don't generate any piston, tip, or tilt:
self.baseline_error_sigma[:3] = 0.0
self.new_error_sigma[:3] = 0.0
self.error = self.get_error(self.baseline_error_sigma)
self.paused = False
class Simulator:
def __init__(self):
"""The Simulator object simulates the camera, mirror, and dynamic aberrations
of the system. CIAO can be run in simulation mode by instantiating a simulator
object, then a sensor object using the simulator as its camera, and then a
loop object using that sensor and the simulator in place of the mirror."""
self.frame_timer = FrameTimer('simulator')
# We need to define a meshes on which to build the simulated spots images
# and the simulated wavefront:
self.sy = ccfg.image_height_px
self.sx = ccfg.image_width_px
self.wavefront = np.zeros((self.sy, self.sx))
# Some parameters for the spots image:
self.dc = 100
self.spots_range = 2000
self.spots = np.ones((self.sy, self.sx)) * self.dc
self.spots = self.noise(self.spots)
self.pixel_size_m = ccfg.pixel_size_m
# compute single spot
self.lenslet_pitch_m = ccfg.lenslet_pitch_m
self.f = ccfg.lenslet_focal_length_m
self.L = ccfg.wavelength_m
fwhm_px = (1.22 * self.L * self.f /
self.lenslet_pitch_m) / self.pixel_size_m
xvec = np.arange(self.sx)
yvec = np.arange(self.sy)
xvec = xvec - xvec.mean()
yvec = yvec - yvec.mean()
XX, YY = np.meshgrid(xvec, yvec)
d = np.sqrt(XX**2 + YY**2)
self.beam_diameter_m = ccfg.beam_diameter_m
self.beam_radius_m = self.beam_diameter_m / 2.0
self.disc_diameter = 170
#self.disc_diameter = ccfg.beam_diameter_m/self.pixel_size_m # was just set to 110
self.disc = np.zeros((self.sy, self.sx))
self.disc[np.where(d <= self.disc_diameter)] = 1.0
self.X = np.arange(self.sx, dtype=np.float) * self.pixel_size_m
self.Y = np.arange(self.sy, dtype=np.float) * self.pixel_size_m
self.X = self.X - self.X.mean()
self.Y = self.Y - self.Y.mean()
self.XX, self.YY = np.meshgrid(self.X, self.Y)
self.RR = np.sqrt(self.XX**2 + self.YY**2)
self.mask = np.zeros(self.RR.shape)
self.mask[np.where(self.RR <= self.beam_radius_m)] = 1.0
use_partially_illuminated_lenslets = True
if use_partially_illuminated_lenslets:
d_lenslets = int(
np.ceil(self.beam_diameter_m / self.lenslet_pitch_m))
else:
d_lenslets = int(
np.floor(self.beam_diameter_m / self.lenslet_pitch_m))
rad = float(d_lenslets) / 2.0
xx, yy = np.meshgrid(np.arange(d_lenslets), np.arange(d_lenslets))
xx = xx - float(d_lenslets - 1) / 2.0
yy = yy - float(d_lenslets - 1) / 2.0
d = np.sqrt(xx**2 + yy**2)
self.lenslet_mask = np.zeros(xx.shape, dtype=np.uint8)
self.lenslet_mask[np.where(d <= rad)] = 1
self.n_lenslets = int(np.sum(self.lenslet_mask))
self.x_lenslet_coords = xx * self.lenslet_pitch_m / self.pixel_size_m + self.sx / 2.0
self.y_lenslet_coords = yy * self.lenslet_pitch_m / self.pixel_size_m + self.sy / 2.0
in_pupil = np.where(self.lenslet_mask)
self.x_lenslet_coords = self.x_lenslet_coords[in_pupil]
self.y_lenslet_coords = self.y_lenslet_coords[in_pupil]
self.lenslet_boxes = SearchBoxes(self.x_lenslet_coords,
self.y_lenslet_coords,
ccfg.search_box_half_width)
#plt.plot(self.x_lenslet_coords,self.y_lenslet_coords,'ks')
#plt.show()
self.mirror_mask = np.loadtxt(ccfg.mirror_mask_filename)
self.n_actuators = int(np.sum(self.mirror_mask))
self.command = np.zeros(self.n_actuators)
# virtual actuator spacing in magnified or demagnified
# plane of camera
actuator_spacing = ccfg.beam_diameter_m / float(
self.mirror_mask.shape[0])
ay, ax = np.where(self.mirror_mask)
ay = ay * actuator_spacing
ax = ax * actuator_spacing
ay = ay - ay.mean()
ax = ax - ax.mean()
self.flat = np.loadtxt(ccfg.mirror_flat_filename)
self.flat0 = np.loadtxt(ccfg.mirror_flat_filename)
self.n_zernike_terms = ccfg.n_zernike_terms
#actuator_sigma = actuator_spacing*0.75
actuator_sigma = actuator_spacing * 1.5
self.exposure = 10000 # microseconds
key = '%d' % hash((tuple(ax), tuple(ay), actuator_sigma, tuple(
self.X), tuple(self.Y), self.n_zernike_terms))
key = key.replace('-', 'm')
try:
os.mkdir(ccfg.simulator_cache_directory)
except OSError as e:
pass
cfn = os.path.join(ccfg.simulator_cache_directory,
'%s_actuator_basis.npy' % key)
try:
self.actuator_basis = np.load(cfn)
print 'Loading cached actuator basis set...'
except Exception as e:
actuator_basis = []
print 'Building actuator basis set...'
for x, y in zip(ax, ay):
xx = self.XX - x
yy = self.YY - y
surf = np.exp((-(xx**2 + yy**2) / (2 * actuator_sigma**2)))
surf = (surf - surf.min()) / (surf.max() - surf.min())
actuator_basis.append(surf.ravel())
plt.clf()
plt.imshow(surf)
plt.title('generating actuator basis\n%0.2e,%0.2e' % (x, y))
plt.pause(.1)
self.actuator_basis = np.array(actuator_basis)
np.save(cfn, self.actuator_basis)
zfn = os.path.join(ccfg.simulator_cache_directory,
'%s_zernike_basis.npy' % key)
self.zernike = Zernike()
try:
self.zernike_basis = np.load(zfn)
print 'Loading cached zernike basis set...'
except Exception as e:
zernike_basis = []
print 'Building zernike basis set...'
#zernike = Zernike()
for z in range(self.n_zernike_terms):
surf = self.zernike.get_j_surface(z, self.XX, self.YY)
zernike_basis.append(surf.ravel())
self.zernike_basis = np.array(zernike_basis)
np.save(zfn, self.zernike_basis)
#self.new_error_sigma = np.ones(self.n_zernike_terms)*100.0
self.zernike_orders = np.zeros(self.n_zernike_terms)
for j in range(self.n_zernike_terms):
self.zernike_orders[j] = self.zernike.j2nm(j)[0]
self.baseline_error_sigma = 1.0 / (1.0 + self.zernike_orders) * 10.0
self.baseline_error_sigma[3:6] = 150.0
self.new_error_sigma = self.zernike_orders / 10.0 / 100.0
# don't generate any piston, tip, or tilt:
self.baseline_error_sigma[:3] = 0.0
self.new_error_sigma[:3] = 0.0
self.error = self.get_error(self.baseline_error_sigma)
self.paused = False
def pause(self):
self.paused = True
def unpause(self):
self.paused = False
def set_logging(self, val):
self.logging = val
def flatten(self):
self.command[:] = self.flat[:]
#self.update()
def set_exposure(self, val):
self.exposure = val
def get_exposure(self):
return self.exposure
def restore_flat(self):
self.flat[:] = self.flat0[:]
def set_flat(self):
self.flat[:] = self.get_command()[:]
def get_command(self):
return self.command
def set_command(self, vec):
self.command[:] = vec[:]
#self.update()
def set_actuator(self, index, value):
self.command[index] = value
self.update()
def noise(self, im):
noiserms = np.random.randn(im.shape[0], im.shape[1]) * np.sqrt(im)
return im + noiserms
def get_error(self, sigma):
coefs = np.random.randn(self.n_zernike_terms) * sigma
return np.reshape(np.dot(coefs, self.zernike_basis),
(self.sy, self.sx))
def defocus_animation(self):
err = np.zeros(self.n_zernike_terms)
for k in np.arange(0.0, 100.0):
err[4] = np.random.randn()
im = np.reshape(np.dot(err, self.zernike_basis),
(self.sy, self.sx))
plt.clf()
plt.imshow(im - im.min())
plt.colorbar()
plt.pause(.1)
def plot_actuators(self):
edge = self.XX.min()
wid = self.XX.max() - edge
plt.imshow(self.mask, extent=[edge, edge + wid, edge, edge + wid])
plt.autoscale(False)
plt.plot(ax, ay, 'ks')
plt.show()
def update(self):
mirror = np.reshape(np.dot(self.command, self.actuator_basis),
(self.sy, self.sx))
err = self.error + self.get_error(self.new_error_sigma)
dx = np.diff(err, axis=1)
dy = np.diff(err, axis=0)
sy, sx = err.shape
col = np.zeros((sy, 1))
row = np.zeros((1, sx))
dx = np.hstack((col, dx))
dy = np.vstack((row, dy))
#err = err - dx - dy
self.wavefront = mirror + err
y_slope_vec = []
x_slope_vec = []
self.spots[:] = 0.0
for idx, (x, y, x1, x2, y1, y2) in enumerate(
zip(self.lenslet_boxes.x, self.lenslet_boxes.y,
self.lenslet_boxes.x1, self.lenslet_boxes.x2,
self.lenslet_boxes.y1, self.lenslet_boxes.y2)):
subwf = self.wavefront[y1:y2 + 1, x1:x2 + 1]
yslope = np.mean(np.diff(subwf.mean(1)))
dy = yslope * self.f / self.pixel_size_m
ycentroid = y + dy
ypx = int(round(y + dy))
xslope = np.mean(np.diff(subwf.mean(0)))
dx = xslope * self.f / self.pixel_size_m
xcentroid = x + dx
#if idx==20:
# continue
self.spots = self.interpolate_dirac(xcentroid, ycentroid,
self.spots)
x_slope_vec.append(xslope)
y_slope_vec.append(yslope)
#QApplication.processEvents()
self.spots = np.abs(
np.fft.ifft2(np.fft.fftshift(np.fft.fft2(self.spots)) * self.disc))
self.x_slopes = np.array(x_slope_vec)
self.y_slopes = np.array(y_slope_vec)
def get_image(self):
self.update()
self.frame_timer.tick()
spots = (self.spots - self.spots.min()) / (
self.spots.max() - self.spots.min()) * self.spots_range + self.dc
nspots = self.noise(spots) * (self.exposure / 10000)
nspots = np.clip(nspots, 0, 4095)
nspots = np.round(nspots).astype(np.int16)
return nspots
def interpolate_dirac(self, x, y, frame):
# take subpixel precision locations x and y and insert an interpolated
# delta w/ amplitude 1 there
#no interpolation case:
#frame[int(round(y)),int(round(x))] = 1.0
#return frame
x1 = int(np.floor(x))
x2 = x1 + 1
y1 = int(np.floor(y))
y2 = y1 + 1
for yi in [y1, y2]:
for xi in [x1, x2]:
yweight = 1.0 - (abs(yi - y))
xweight = 1.0 - (abs(xi - x))
try:
frame[yi, xi] = yweight * xweight
except Exception as e:
pass
return frame
def wavefront_to_spots(self):
pass
def show_zernikes(self):
for k in range(self.n_zernike_terms):
b = np.reshape(self.zernike_basis[k, :], (self.sy, self.sx))
plt.clf()
plt.imshow(b)
plt.colorbar()
plt.pause(.5)
def close(self):
print 'Closing simulator.'
class Mirror:
def __init__(self):
try:
self.controller = MirrorControllerPython()
print 'Mirror python initialization succeeded.'
except Exception as e:
print 'Mirror python initialization failed:',e
try:
self.controller = MirrorControllerPythonOld()
print 'Mirror python (old style) initialization succeeded.'
except Exception as e:
print 'Mirror python (old style) initialization failed:',e
try:
self.controller = MirrorControllerCtypes()
print 'Mirror c initialization succeeded.'
except Exception as e:
print e
print 'No mirror driver found. Using virtual mirror.'
self.controller = MirrorController()
self.mirror_mask = np.loadtxt(ccfg.mirror_mask_filename)
self.n_actuators = ccfg.mirror_n_actuators
self.flat = np.loadtxt(ccfg.mirror_flat_filename)
self.flat0 = np.loadtxt(ccfg.mirror_flat_filename)
self.command_max = ccfg.mirror_command_max
self.command_min = ccfg.mirror_command_min
self.settling_time = ccfg.mirror_settling_time_s
self.update_rate = ccfg.mirror_update_rate
self.flatten()
self.frame_timer = FrameTimer('Mirror',verbose=False)
self.logging = False
self.paused = False
def update(self):
if not self.paused:
self.send()
if self.logging:
self.log()
self.frame_timer.tick()
def pause(self):
print 'mirror paused'
self.paused = True
def unpause(self):
print 'mirror unpaused'
self.paused = False
def send(self):
self.controller.send()
def flatten(self):
self.controller.set(self.flat)
self.send()
def set_actuator(self,index,value):
self.controller.command[index] = value
self.send()
def set_command(self,vec):
self.controller.set(vec)
def get_command(self):
return self.controller.command
def restore_flat(self):
self.flat[:] = self.flat0[:]
def set_flat(self):
self.flat[:] = self.get_command()[:]
def log(self):
#outfn = os.path.join(ccfg.logging_directory,'mirror_%s.mat'%(now_string(True)))
#d = {}
#d['command'] = self.controller.command
#sio.savemat(outfn,d)
outfn = os.path.join(ccfg.logging_directory,'mirror_%s.txt'%(now_string(True)))
np.savetxt(outfn,self.controller.command)
def set_logging(self,val):
self.logging = val
class UI(QWidget):
def __init__(self, loop):
super(UI, self).__init__()
self.sensor_mutex = QMutex() #loop.sensor_mutex
self.mirror_mutex = QMutex() #loop.mirror_mutex
self.loop = loop
try:
pass
self.loop.finished.connect(self.update)
except Exception as e:
pass
self.draw_boxes = ccfg.show_search_boxes
self.draw_lines = ccfg.show_slope_lines
self.init_UI()
self.frame_timer = FrameTimer('UI', verbose=False)
self.update_timer = BlockTimer('UI update method')
try:
self.profile_update_method = ccfg.profile_ui_update_method
except:
self.profile_update_method = False
self.show()
#def get_draw_boxes(self):
# return self.draw_boxes
def __del__(self):
print "hello?"
self.update_timer.tock()
def keyPressEvent(self, event):
if event.key() == Qt.Key_W:
self.loop.sensor.search_boxes.up()
if event.key() == Qt.Key_Z:
self.loop.sensor.search_boxes.down()
if event.key() == Qt.Key_A:
self.loop.sensor.search_boxes.left()
if event.key() == Qt.Key_S:
self.loop.sensor.search_boxes.right()
self.update_box_coords()
def update_box_coords(self):
self.boxes_coords = []
for x1, x2, y1, y2 in zip(self.loop.sensor.search_boxes.x1,
self.loop.sensor.search_boxes.x2,
self.loop.sensor.search_boxes.y1,
self.loop.sensor.search_boxes.y2):
self.boxes_coords.append((x1, x2, y1, y2))
self.overlay_boxes.coords = self.boxes_coords
def update_focus(self, val):
self.loop.sensor.set_defocus(val)
self.update_box_coords()
def set_draw_boxes(self, val):
self.draw_boxes = val
self.overlay_boxes.visible = val
#def get_draw_lines(self):
# return self.draw_lines
def set_draw_lines(self, val):
self.draw_lines = val
self.overlay_slopes.visible = val
def init_UI(self):
self.setWindowIcon(QIcon('./icons/ciao.png'))
self.setWindowTitle('CIAO')
self.setMinimumWidth(ccfg.ui_width_px)
self.setMinimumHeight(ccfg.ui_height_px)
layout = QGridLayout()
imax = 2**ccfg.bit_depth - 1
imin = 0
self.boxes_coords = []
for x1, x2, y1, y2 in zip(self.loop.sensor.search_boxes.x1,
self.loop.sensor.search_boxes.x2,
self.loop.sensor.search_boxes.y1,
self.loop.sensor.search_boxes.y2):
self.boxes_coords.append((x1, x2, y1, y2))
self.overlay_boxes = Overlay(coords=self.boxes_coords,
mode='rects',
color=ccfg.search_box_color,
thickness=ccfg.search_box_thickness)
self.overlay_slopes = Overlay(coords=[],
mode='lines',
color=ccfg.slope_line_color,
thickness=ccfg.slope_line_thickness)
self.id_spots = ZoomDisplay(
'Spots',
clim=ccfg.spots_contrast_limits,
colormap=ccfg.spots_colormap,
zoom=0.25,
overlays=[self.overlay_boxes, self.overlay_slopes],
downsample=ccfg.spots_image_downsampling)
layout.addWidget(self.id_spots, 0, 0, 3, 3)
self.id_mirror = ZoomDisplay('Mirror',
clim=ccfg.mirror_contrast_limits,
colormap=ccfg.mirror_colormap,
zoom=1.0)
self.id_wavefront = ZoomDisplay('Wavefront',
clim=ccfg.wavefront_contrast_limits,
colormap=ccfg.wavefront_colormap,
zoom=1.0)
self.id_zoomed_spots = ZoomDisplay('Zoomed spots',
clim=ccfg.spots_contrast_limits,
colormap=ccfg.spots_colormap,
zoom=5.0)
layout.addWidget(self.id_mirror, 0, 3, 1, 1)
layout.addWidget(self.id_wavefront, 1, 3, 1, 1)
layout.addWidget(self.id_zoomed_spots, 2, 3, 1, 1)
column_2 = QVBoxLayout()
column_2.setAlignment(Qt.AlignTop)
self.cb_closed = QCheckBox('Loop &closed')
self.cb_closed.setChecked(self.loop.closed)
self.cb_closed.stateChanged.connect(self.loop.set_closed)
self.cb_paused = QCheckBox('Loop &paused')
self.cb_paused.setChecked(self.loop.paused)
self.cb_paused.stateChanged.connect(self.loop.set_paused)
self.cb_safe = QCheckBox('Loop safe')
self.cb_safe.setChecked(self.loop.safe)
self.cb_safe.stateChanged.connect(self.loop.set_safe)
loop_control_layout = QHBoxLayout()
loop_control_layout.addWidget(self.cb_closed)
loop_control_layout.addWidget(self.cb_paused)
loop_control_layout.addWidget(self.cb_safe)
self.cb_draw_boxes = QCheckBox('Draw boxes')
self.cb_draw_boxes.setChecked(self.draw_boxes)
self.cb_draw_boxes.stateChanged.connect(self.set_draw_boxes)
self.cb_draw_lines = QCheckBox('Draw lines')
self.cb_draw_lines.setChecked(self.draw_lines)
self.cb_draw_lines.stateChanged.connect(self.set_draw_lines)
self.cb_logging = QCheckBox('Logging')
self.cb_logging.setChecked(False)
self.cb_logging.stateChanged.connect(self.loop.sensor.set_logging)
self.cb_logging.stateChanged.connect(self.loop.mirror.set_logging)
self.pb_poke = QPushButton('Measure poke matrix')
self.pb_poke.clicked.connect(self.loop.run_poke)
self.pb_record_reference = QPushButton('Record reference')
self.pb_record_reference.clicked.connect(
self.loop.sensor.record_reference)
self.pb_flatten = QPushButton('&Flatten')
self.pb_flatten.clicked.connect(self.loop.mirror.flatten)
self.pb_restore_flat = QPushButton('Restore flat')
self.pb_restore_flat.clicked.connect(self.restore_flat)
self.pb_restore_flat.setEnabled(False)
self.pb_set_flat = QPushButton('Set flat')
self.pb_set_flat.clicked.connect(self.set_flat)
self.pb_set_flat.setCheckable(True)
#print dir(self.pb_set_flat)
#sys.exit()
self.pb_quit = QPushButton('&Quit')
self.pb_quit.clicked.connect(self.quit)
poke_layout = QHBoxLayout()
poke_layout.addWidget(QLabel('Modes:'))
self.modes_spinbox = QSpinBox()
n_actuators = int(np.sum(self.loop.mirror.mirror_mask))
self.modes_spinbox.setMaximum(n_actuators)
self.modes_spinbox.setMinimum(0)
self.modes_spinbox.valueChanged.connect(self.loop.set_n_modes)
self.modes_spinbox.setValue(self.loop.get_n_modes())
poke_layout.addWidget(self.modes_spinbox)
self.pb_invert = QPushButton('Invert')
self.pb_invert.clicked.connect(self.loop.invert)
poke_layout.addWidget(self.pb_invert)
modal_layout = QHBoxLayout()
modal_layout.addWidget(QLabel('Corrected Zernike orders:'))
self.corrected_order_spinbox = QSpinBox()
max_order = self.loop.sensor.reconstructor.N_orders
self.corrected_order_spinbox.setMaximum(max_order)
self.corrected_order_spinbox.setMinimum(0)
self.corrected_order_spinbox.valueChanged.connect(
self.loop.sensor.set_n_zernike_orders_corrected)
self.corrected_order_spinbox.setValue(
self.loop.sensor.get_n_zernike_orders_corrected())
modal_layout.addWidget(self.corrected_order_spinbox)
modal_layout.addWidget(QLabel('(%d -> no filtering)' % max_order))
dark_layout = QHBoxLayout()
self.cb_dark_subtraction = QCheckBox('Subtract dark')
self.cb_dark_subtraction.setChecked(self.loop.sensor.dark_subtract)
self.cb_dark_subtraction.stateChanged.connect(
self.loop.sensor.set_dark_subtraction)
dark_layout.addWidget(self.cb_dark_subtraction)
dark_layout.addWidget(QLabel('Dark subtract N:'))
self.n_dark_spinbox = QSpinBox()
self.n_dark_spinbox.setMinimum(1)
self.n_dark_spinbox.setMaximum(9999)
self.n_dark_spinbox.valueChanged.connect(self.loop.sensor.set_n_dark)
self.n_dark_spinbox.setValue(self.loop.sensor.n_dark)
dark_layout.addWidget(self.n_dark_spinbox)
self.pb_set_dark = QPushButton('Set dark')
self.pb_set_dark.clicked.connect(self.loop.sensor.set_dark)
dark_layout.addWidget(self.pb_set_dark)
centroiding_layout = QHBoxLayout()
centroiding_layout.addWidget(QLabel('Centroiding:'))
self.cb_fast_centroiding = QCheckBox('Fast centroiding')
self.cb_fast_centroiding.setChecked(self.loop.sensor.fast_centroiding)
self.cb_fast_centroiding.stateChanged.connect(
self.loop.sensor.set_fast_centroiding)
centroiding_layout.addWidget(self.cb_fast_centroiding)
self.centroiding_width_spinbox = QSpinBox()
self.centroiding_width_spinbox.setMaximum(
self.loop.sensor.search_boxes.half_width)
self.centroiding_width_spinbox.setMinimum(0)
self.centroiding_width_spinbox.valueChanged.connect(
self.loop.sensor.set_centroiding_half_width)
self.centroiding_width_spinbox.setValue(
self.loop.sensor.centroiding_half_width)
centroiding_layout.addWidget(self.centroiding_width_spinbox)
bg_layout = QHBoxLayout()
bg_layout.addWidget(QLabel('Background adjustment:'))
self.bg_spinbox = QSpinBox()
self.bg_spinbox.setValue(self.loop.sensor.background_correction)
self.bg_spinbox.setMaximum(500)
self.bg_spinbox.setMinimum(-500)
self.bg_spinbox.valueChanged.connect(
self.loop.sensor.set_background_correction)
bg_layout.addWidget(self.bg_spinbox)
aberration_layout = QHBoxLayout()
aberration_layout.addWidget(QLabel('Defocus:'))
self.f_spinbox = QDoubleSpinBox()
self.f_spinbox.setValue(0.0)
self.f_spinbox.setSingleStep(0.01)
self.f_spinbox.setMaximum(10.0)
self.f_spinbox.setMinimum(-10.0)
#self.f_spinbox.valueChanged.connect(self.loop.sensor.set_defocus)
self.f_spinbox.valueChanged.connect(self.update_focus)
aberration_layout.addWidget(self.f_spinbox)
aberration_layout.addWidget(QLabel('Astig 0:'))
self.a0_spinbox = QDoubleSpinBox()
self.a0_spinbox.setValue(0.0)
self.a0_spinbox.setSingleStep(0.01)
self.a0_spinbox.setMaximum(10.0)
self.a0_spinbox.setMinimum(-10.0)
self.a0_spinbox.valueChanged.connect(self.loop.sensor.set_astig0)
aberration_layout.addWidget(self.a0_spinbox)
aberration_layout.addWidget(QLabel('Astig 45:'))
self.a1_spinbox = QDoubleSpinBox()
self.a1_spinbox.setValue(0.0)
self.a1_spinbox.setSingleStep(0.01)
self.a1_spinbox.setMaximum(10.0)
self.a1_spinbox.setMinimum(-10.0)
self.a1_spinbox.valueChanged.connect(self.loop.sensor.set_astig1)
aberration_layout.addWidget(self.a1_spinbox)
self.pb_aberration_reset = QPushButton('Reset')
def reset():
self.f_spinbox.setValue(0.0)
self.a0_spinbox.setValue(0.0)
self.a1_spinbox.setValue(0.0)
self.loop.sensor.aberration_reset()
self.pb_aberration_reset.clicked.connect(reset)
aberration_layout.addWidget(self.pb_aberration_reset)
exp_layout = QHBoxLayout()
exp_layout.addWidget(QLabel('Exposure (us):'))
self.exp_spinbox = QSpinBox()
self.exp_spinbox.setValue(self.loop.sensor.cam.get_exposure())
self.exp_spinbox.setSingleStep(100)
self.exp_spinbox.setMaximum(1000000)
self.exp_spinbox.setMinimum(100)
self.exp_spinbox.valueChanged.connect(
self.loop.sensor.cam.set_exposure)
exp_layout.addWidget(self.exp_spinbox)
self.stripchart_error = StripChart(
ylim=ccfg.error_plot_ylim,
ytick_interval=ccfg.error_plot_ytick_interval,
print_function=ccfg.error_plot_print_func,
hlines=[0.0, ccfg.wavelength_m / 14.0],
buffer_length=ccfg.error_plot_buffer_length)
self.stripchart_error.setAlignment(Qt.AlignRight)
#self.stripchart_defocus = StripChart(ylim=ccfg.zernike_plot_ylim,ytick_interval=ccfg.zernike_plot_ytick_interval,print_function=ccfg.zernike_plot_print_func,buffer_length=ccfg.zernike_plot_buffer_length)
#self.stripchart_defocus.setAlignment(Qt.AlignRight)
self.lbl_tip = QLabel()
self.lbl_tip.setAlignment(Qt.AlignRight)
self.lbl_tilt = QLabel()
self.lbl_tilt.setAlignment(Qt.AlignRight)
self.lbl_cond = QLabel()
self.lbl_cond.setAlignment(Qt.AlignRight)
self.lbl_sensor_fps = QLabel()
self.lbl_sensor_fps.setAlignment(Qt.AlignRight)
self.ind_centroiding_time = Indicator(
buffer_length=50,
print_function=lambda x: '%0.0f us (centroiding)' % (x * 1e6))
self.ind_centroiding_time.setAlignment(Qt.AlignRight)
self.ind_image_max = Indicator(
buffer_length=10, print_function=lambda x: '%d ADU (max)' % x)
self.ind_image_mean = Indicator(
buffer_length=10, print_function=lambda x: '%d ADU (mean)' % x)
self.ind_image_min = Indicator(
buffer_length=10, print_function=lambda x: '%d ADU (min)' % x)
self.ind_mean_box_background = Indicator(
buffer_length=10,
print_function=lambda x: '%d ADU (background)' % x)
self.ind_image_max.setAlignment(Qt.AlignRight)
self.ind_image_mean.setAlignment(Qt.AlignRight)
self.ind_image_min.setAlignment(Qt.AlignRight)
self.ind_mean_box_background.setAlignment(Qt.AlignRight)
self.lbl_mirror_fps = QLabel()
self.lbl_mirror_fps.setAlignment(Qt.AlignRight)
self.lbl_ui_fps = QLabel()
self.lbl_ui_fps.setAlignment(Qt.AlignRight)
flatten_layout = QHBoxLayout()
flatten_layout.addWidget(self.pb_flatten)
flatten_layout.addWidget(self.pb_restore_flat)
flatten_layout.addWidget(self.pb_set_flat)
column_2.addLayout(flatten_layout)
column_2.addLayout(loop_control_layout)
#column_2.addWidget(self.cb_fast_centroiding)
column_2.addLayout(aberration_layout)
#column_2.addLayout(exp_layout)
#column_2.addLayout(centroiding_layout)
if ccfg.estimate_background:
column_2.addLayout(bg_layout)
#column_2.addLayout(poke_layout)
#column_2.addLayout(modal_layout)
if ccfg.use_dark_subtraction:
column_2.addLayout(dark_layout)
column_2.addWidget(self.cb_draw_boxes)
column_2.addWidget(self.cb_draw_lines)
column_2.addWidget(self.pb_quit)
column_2.addWidget(self.stripchart_error)
#column_2.addWidget(self.stripchart_defocus)
column_2.addWidget(self.lbl_tip)
column_2.addWidget(self.lbl_tilt)
column_2.addWidget(self.lbl_cond)
column_2.addWidget(self.ind_image_max)
column_2.addWidget(self.ind_image_mean)
column_2.addWidget(self.ind_image_min)
column_2.addWidget(self.ind_mean_box_background)
column_2.addWidget(self.ind_centroiding_time)
column_2.addWidget(self.lbl_sensor_fps)
column_2.addWidget(self.lbl_mirror_fps)
column_2.addWidget(self.lbl_ui_fps)
column_2.addWidget(self.pb_poke)
column_2.addWidget(self.pb_record_reference)
column_2.addWidget(self.cb_logging)
layout.addLayout(column_2, 0, 6, 3, 1)
self.setLayout(layout)
def quit(self):
self.loop.sensor.cam.close()
sys.exit()
def flatten(self):
self.mirror_mutex.lock()
self.loop.mirror.flatten()
self.mirror_mutex.unlock()
def restore_flat(self):
self.loop.mirror.restore_flat()
self.pb_set_flat.setChecked(False)
self.pb_set_flat.setFocus(False)
self.pb_restore_flat.setEnabled(False)
def set_flat(self):
self.loop.mirror.set_flat()
self.pb_set_flat.setChecked(True)
self.pb_restore_flat.setEnabled(True)
@pyqtSlot()
def update(self):
if self.profile_update_method:
self.update_timer.tick('start')
#self.mirror_mutex.lock()
#self.sensor_mutex.lock()
sensor = self.loop.sensor
mirror = self.loop.mirror
temp = [(x, xerr, y, yerr) for x, xerr, y, yerr in zip(
sensor.search_boxes.x, sensor.x_centroids, sensor.search_boxes.y,
sensor.y_centroids)]
self.overlay_slopes.coords = []
for x, xerr, y, yerr in temp:
dx = (xerr - x) * ccfg.slope_line_magnification
dy = (yerr - y) * ccfg.slope_line_magnification
x2 = x + dx
y2 = y + dy
self.overlay_slopes.coords.append((x, x2, y, y2))
if self.profile_update_method:
self.update_timer.tick('create slope lines overlay')
self.id_spots.show(sensor.image, self.loop.active_lenslets)
if self.profile_update_method:
self.update_timer.tick('show spots')
mirror_map = np.zeros(mirror.mirror_mask.shape)
mirror_map[np.where(mirror.mirror_mask)] = mirror.get_command()[:]
self.id_mirror.show(mirror_map)
self.id_wavefront.show(sensor.wavefront)
self.id_zoomed_spots.show(self.id_spots.zoomed())
#self.lbl_error.setText(ccfg.wavefront_error_fmt%(sensor.error*1e9))
self.stripchart_error.setValue(sensor.error)
#self.stripchart_defocus.setValue(sensor.zernikes[4]*ccfg.beam_diameter_m)
self.lbl_tip.setText(ccfg.tip_fmt % (sensor.tip * 1000000))
self.lbl_tilt.setText(ccfg.tilt_fmt % (sensor.tilt * 1000000))
self.lbl_cond.setText(ccfg.cond_fmt %
(self.loop.get_condition_number()))
self.ind_image_max.setValue(sensor.image_max)
self.ind_image_mean.setValue(sensor.image_mean)
self.ind_image_min.setValue(sensor.image_min)
self.ind_mean_box_background.setValue(sensor.get_average_background())
self.ind_centroiding_time.setValue(sensor.centroiding_time)
self.lbl_sensor_fps.setText(ccfg.sensor_fps_fmt %
sensor.frame_timer.fps)
self.lbl_mirror_fps.setText(ccfg.mirror_fps_fmt %
mirror.frame_timer.fps)
self.lbl_ui_fps.setText(ccfg.ui_fps_fmt % self.frame_timer.fps)
if self.loop.close_ok:
self.cb_closed.setEnabled(True)
else:
self.cb_closed.setEnabled(False)
self.cb_closed.setChecked(False)
self.loop.closed = False
if self.profile_update_method:
self.update_timer.tick('end update')
self.update_timer.tock()
#self.mirror_mutex.unlock()
#self.sensor_mutex.unlock()
def select_single_spot(self, click):
x = click.x() * self.downsample
y = click.y() * self.downsample
self.single_spot_index = self.loop.sensor.search_boxes.get_lenslet_index(
x, y)
def paintEvent(self, event):
self.frame_timer.tick()
class Mirror(QObject):
finished = pyqtSignal(QObject)
def __init__(self):
super(Mirror, self).__init__()
try:
self.controller = MirrorControllerPython()
print 'Mirror python initialization succeeded.'
except Exception as e:
print 'Mirror python initialization failed:', e
try:
self.controller = MirrorControllerPythonOld()
print 'Mirror python (old style) initialization succeeded.'
except Exception as e:
print 'Mirror python (old style) initialization failed:', e
try:
self.controller = MirrorControllerCtypes()
print 'Mirror c initialization succeeded.'
except Exception as e:
print e
print 'No mirror driver found. Using virtual mirror.'
self.controller = MirrorController()
self.mirror_mask = np.loadtxt(ccfg.mirror_mask_filename)
self.n_actuators = ccfg.mirror_n_actuators
self.flat = np.loadtxt(ccfg.mirror_flat_filename)
self.command_max = ccfg.mirror_command_max
self.command_min = ccfg.mirror_command_min
self.settling_time = ccfg.mirror_settling_time_s
self.update_rate = ccfg.mirror_update_rate
self.flatten()
self.timer = QTimer()
#self.timer.timeout.connect(self.update)
#self.timer.start(1.0/self.update_rate*1000.0)
self.frame_timer = FrameTimer('Mirror', verbose=False)
self.logging = False
self.paused = False
@pyqtSlot()
def update(self):
if not self.paused:
self.send()
if self.logging:
self.log()
self.frame_timer.tick()
@pyqtSlot()
def pause(self):
print 'mirror paused'
self.paused = True
@pyqtSlot()
def unpause(self):
print 'mirror unpaused'
self.paused = False
def send(self):
self.controller.send()
def flatten(self):
self.controller.set(self.flat)
self.send()
def set_actuator(self, index, value):
self.controller.command[index] = value
self.send()
def set_command(self, vec):
self.controller.set(vec)
def get_command(self):
return self.controller.command
def log(self):
outfn = os.path.join(ccfg.logging_directory,
'mirror_%s.mat' % (now_string(True)))
d = {}
d['command'] = self.controller.command
sio.savemat(outfn, d)
def set_logging(self, val):
self.logging = val
class UI(QWidget):
def __init__(self, loop):
super(UI, self).__init__()
self.sensor_mutex = QMutex() #loop.sensor_mutex
self.mirror_mutex = QMutex() #loop.mirror_mutex
self.loop = loop
try:
self.loop.finished.connect(self.update)
except Exception as e:
pass
self.draw_boxes = ccfg.show_search_boxes
self.draw_lines = ccfg.show_slope_lines
self.init_UI()
self.frame_timer = FrameTimer('UI', verbose=False)
self.show()
#def get_draw_boxes(self):
# return self.draw_boxes
def keyPressEvent(self, event):
if event.key() == Qt.Key_W:
self.loop.sensor.search_boxes.up()
if event.key() == Qt.Key_Z:
self.loop.sensor.search_boxes.down()
if event.key() == Qt.Key_A:
self.loop.sensor.search_boxes.left()
if event.key() == Qt.Key_S:
self.loop.sensor.search_boxes.right()
self.update_box_coords()
def update_box_coords(self):
self.boxes_coords = []
for x1, x2, y1, y2 in zip(self.loop.sensor.search_boxes.x1,
self.loop.sensor.search_boxes.x2,
self.loop.sensor.search_boxes.y1,
self.loop.sensor.search_boxes.y2):
self.boxes_coords.append((x1, x2, y1, y2))
self.overlay_boxes.coords = self.boxes_coords
def set_draw_boxes(self, val):
self.draw_boxes = val
self.overlay_boxes.visible = val
#def get_draw_lines(self):
# return self.draw_lines
def set_draw_lines(self, val):
self.draw_lines = val
self.overlay_slopes.visible = val
def init_UI(self):
self.setWindowIcon(QIcon('./icons/ciao.png'))
self.setWindowTitle('CIAO')
layout = QGridLayout()
imax = 2**ccfg.bit_depth - 1
imin = 0
self.boxes_coords = []
for x1, x2, y1, y2 in zip(self.loop.sensor.search_boxes.x1,
self.loop.sensor.search_boxes.x2,
self.loop.sensor.search_boxes.y1,
self.loop.sensor.search_boxes.y2):
self.boxes_coords.append((x1, x2, y1, y2))
self.overlay_boxes = Overlay(coords=self.boxes_coords,
mode='rects',
color=ccfg.search_box_color,
thickness=ccfg.search_box_thickness)
self.overlay_slopes = Overlay(coords=[],
mode='lines',
color=ccfg.slope_line_color,
thickness=ccfg.slope_line_thickness)
self.id_spots = ZoomDisplay(
'spots',
clim=(0, 4095),
colormap=ccfg.spots_colormap,
zoom=0.25,
overlays=[self.overlay_boxes, self.overlay_slopes],
downsample=ccfg.spots_image_downsampling)
layout.addWidget(self.id_spots, 0, 0, 3, 3)
self.id_mirror = ZoomDisplay('mirror',
clim=ccfg.mirror_clim,
colormap=ccfg.mirror_colormap,
zoom=1.0)
self.id_wavefront = ZoomDisplay('wavefront',
clim=ccfg.wavefront_clim,
colormap=ccfg.wavefront_colormap,
zoom=1.0)
self.id_zoomed_spots = ZoomDisplay('zoomed_spots',
clim=(0, 4095),
colormap=ccfg.spots_colormap,
zoom=5.0)
layout.addWidget(self.id_mirror, 0, 3, 1, 1)
layout.addWidget(self.id_wavefront, 1, 3, 1, 1)
layout.addWidget(self.id_zoomed_spots, 2, 3, 1, 1)
column_2 = QVBoxLayout()
column_2.setAlignment(Qt.AlignTop)
self.cb_closed = QCheckBox('Loop &closed')
self.cb_closed.setChecked(self.loop.closed)
self.cb_closed.stateChanged.connect(self.loop.set_closed)
self.cb_draw_boxes = QCheckBox('Draw boxes')
self.cb_draw_boxes.setChecked(self.draw_boxes)
self.cb_draw_boxes.stateChanged.connect(self.set_draw_boxes)
self.cb_draw_lines = QCheckBox('Draw lines')
self.cb_draw_lines.setChecked(self.draw_lines)
self.cb_draw_lines.stateChanged.connect(self.set_draw_lines)
self.cb_logging = QCheckBox('Logging')
self.cb_logging.setChecked(False)
self.cb_logging.stateChanged.connect(self.loop.sensor.set_logging)
self.cb_logging.stateChanged.connect(self.loop.mirror.set_logging)
self.pb_poke = QPushButton('Poke')
self.pb_poke.clicked.connect(self.loop.run_poke)
self.pb_record_reference = QPushButton('Record reference')
self.pb_record_reference.clicked.connect(
self.loop.sensor.record_reference)
self.pb_flatten = QPushButton('&Flatten')
self.pb_flatten.clicked.connect(self.flatten)
self.pb_quit = QPushButton('&Quit')
self.pb_quit.clicked.connect(self.quit)
poke_layout = QHBoxLayout()
poke_layout.addWidget(QLabel('Modes:'))
self.modes_spinbox = QSpinBox()
n_actuators = int(np.sum(self.loop.mirror.mirror_mask))
self.modes_spinbox.setMaximum(n_actuators)
self.modes_spinbox.setMinimum(0)
self.modes_spinbox.valueChanged.connect(self.loop.set_n_modes)
self.modes_spinbox.setValue(self.loop.get_n_modes())
poke_layout.addWidget(self.modes_spinbox)
self.pb_invert = QPushButton('Invert')
self.pb_invert.clicked.connect(self.loop.invert)
poke_layout.addWidget(self.pb_invert)
bg_layout = QHBoxLayout()
bg_layout.addWidget(QLabel('Background correction:'))
self.bg_spinbox = QSpinBox()
self.bg_spinbox.setValue(self.loop.sensor.background_correction)
self.bg_spinbox.setMaximum(500)
self.bg_spinbox.setMinimum(-500)
self.bg_spinbox.valueChanged.connect(
self.loop.sensor.set_background_correction)
bg_layout.addWidget(self.bg_spinbox)
f_layout = QHBoxLayout()
f_layout.addWidget(QLabel('Defocus:'))
self.f_spinbox = QDoubleSpinBox()
self.f_spinbox.setValue(0.0)
self.f_spinbox.setSingleStep(0.01)
self.f_spinbox.setMaximum(1.0)
self.f_spinbox.setMinimum(-1.0)
self.f_spinbox.valueChanged.connect(self.loop.sensor.set_defocus)
f_layout.addWidget(self.f_spinbox)
self.lbl_error = QLabel()
self.lbl_error.setAlignment(Qt.AlignRight)
self.lbl_tip = QLabel()
self.lbl_tip.setAlignment(Qt.AlignRight)
self.lbl_tilt = QLabel()
self.lbl_tilt.setAlignment(Qt.AlignRight)
self.lbl_cond = QLabel()
self.lbl_cond.setAlignment(Qt.AlignRight)
self.lbl_sensor_fps = QLabel()
self.lbl_sensor_fps.setAlignment(Qt.AlignRight)
self.lbl_mirror_fps = QLabel()
self.lbl_mirror_fps.setAlignment(Qt.AlignRight)
self.lbl_ui_fps = QLabel()
self.lbl_ui_fps.setAlignment(Qt.AlignRight)
column_2.addWidget(self.pb_flatten)
column_2.addWidget(self.cb_closed)
column_2.addLayout(f_layout)
column_2.addLayout(bg_layout)
column_2.addLayout(poke_layout)
column_2.addWidget(self.cb_draw_boxes)
column_2.addWidget(self.cb_draw_lines)
column_2.addWidget(self.pb_quit)
column_2.addWidget(self.lbl_error)
column_2.addWidget(self.lbl_tip)
column_2.addWidget(self.lbl_tilt)
column_2.addWidget(self.lbl_cond)
column_2.addWidget(self.lbl_sensor_fps)
column_2.addWidget(self.lbl_mirror_fps)
column_2.addWidget(self.lbl_ui_fps)
column_2.addWidget(self.pb_poke)
column_2.addWidget(self.pb_record_reference)
column_2.addWidget(self.cb_logging)
layout.addLayout(column_2, 0, 6, 3, 1)
self.setLayout(layout)
def quit(self):
self.loop.sensor.cam.close()
sys.exit()
def flatten(self):
self.mirror_mutex.lock()
self.loop.mirror.flatten()
self.mirror_mutex.unlock()
@pyqtSlot()
def update(self):
self.mirror_mutex.lock()
self.sensor_mutex.lock()
sensor = self.loop.sensor
mirror = self.loop.mirror
temp = [(x, xerr, y, yerr) for x, xerr, y, yerr in zip(
sensor.search_boxes.x, sensor.x_centroids, sensor.search_boxes.y,
sensor.y_centroids)]
self.overlay_slopes.coords = []
for x, xerr, y, yerr in temp:
dx = (xerr - x) * ccfg.slope_line_magnification
dy = (yerr - y) * ccfg.slope_line_magnification
x2 = x + dx
y2 = y + dy
self.overlay_slopes.coords.append((x, x2, y, y2))
self.id_spots.show(sensor.image)
mirror_map = np.zeros(mirror.mirror_mask.shape)
mirror_map[np.where(mirror.mirror_mask)] = mirror.get_command()[:]
self.id_mirror.show(mirror_map)
self.id_wavefront.show(sensor.wavefront)
self.id_zoomed_spots.show(self.id_spots.zoomed())
self.lbl_error.setText(ccfg.wavefront_error_fmt % (sensor.error * 1e9))
self.lbl_tip.setText(ccfg.tip_fmt % (sensor.tip * 1000000))
self.lbl_tilt.setText(ccfg.tilt_fmt % (sensor.tilt * 1000000))
self.lbl_cond.setText(ccfg.cond_fmt %
(self.loop.get_condition_number()))
self.lbl_sensor_fps.setText(ccfg.sensor_fps_fmt %
sensor.frame_timer.fps)
self.lbl_mirror_fps.setText(ccfg.mirror_fps_fmt %
mirror.frame_timer.fps)
self.lbl_ui_fps.setText(ccfg.ui_fps_fmt % self.frame_timer.fps)
self.mirror_mutex.unlock()
self.sensor_mutex.unlock()
def select_single_spot(self, click):
x = click.x() * self.downsample
y = click.y() * self.downsample
self.single_spot_index = self.loop.sensor.search_boxes.get_lenslet_index(
x, y)
def paintEvent(self, event):
self.frame_timer.tick()