def main(args=None):
if isinstance(args, str):
import shlex
args = shlex.split(args)
import argparse
parser = argparse.ArgumentParser('calibrateMotorFrequencies',
add_help=True)
parser.add_argument(
'moduleName',
type=str,
help='the name of the module (e.g. "SC03", "Spare1", or "PFI")')
parser.add_argument(
'--initOntimes',
action='store_true',
help='set the model ontimes to some sane initial value.')
parser.add_argument(
'--fpgaHost',
type=str,
default='localhost',
help='connect to the given FPGA host instead of the simulator.')
parser.add_argument('--modelVersion',
type=str,
default='init',
help='specify the version of the input model.')
parser.add_argument('--saveModelFile',
type=pathlib.Path,
default=None,
help='save the updated model in the given file.')
opts = parser.parse_args(args)
print(opts)
output = butler.RunTree()
pfi = pfiModule.PFI(fpgaHost=opts.fpgaHost,
logDir=output.logDir,
doLoadModel=False)
mapPath = butler.mapPathForModule(opts.moduleName, opts.modelVersion)
print(mapPath)
pfi.loadModel(mapPath)
pfi = calibrateMotorFrequencies(pfi=pfi, updateModel=True)
if opts.initOntimes:
thetaOntimes = np.full(57, 0.065)
phiOntimes = np.full(57, 0.045)
pfi.calibModel.updateOntimes(thtFwd=thetaOntimes,
thtRev=thetaOntimes,
phiFwd=phiOntimes,
phiRev=phiOntimes)
if opts.saveModelFile is not None:
if opts.saveModelFile.is_absolute():
outputPath = opts.saveModelFile
else:
outputPath = output.outputDir / opts.saveModelFile
pfi.calibModel.createCalibrationFile(outputPath)
print(f"wrote updated map file to {outputPath}")
def makeTablefromXML(XML, filename):
XMLfile = XML
tablename = filename
pfi = pfiControl.PFI(fpgaHost='localhost',
doConnect=False) #'fpga' for real device.
pfi.loadModel(XMLfile)
model = pfi.calibModel
pid = np.arange(1, 58, 1)
# Formaing XY from complex number to string
centers = []
for num in pfi.calibModel.centers:
cen = f'({num.real:.2f} {num.imag:.2f})'
centers.append(cen)
#centerX = pfi.calibModel.centers.real
#centerY = pfi.calibModel.centers.imag
t = Table([
pid, centers, model.L1,
np.rad2deg(model.tht0),
np.rad2deg(model.tht1), model.motorOntimeFwd1, model.motorOntimeRev1,
model.L2,
np.rad2deg(model.phiIn + np.pi),
np.rad2deg(model.phiOut + np.pi), model.motorOntimeFwd2,
model.motorOntimeRev2
],
names=('Fiber No.', 'Center', 'L1', 'ThetaCCWLimit',
'ThetaCWLimit', 'ThetaOntimeFwd', 'ThetaOntimeRev', 'L2',
'PhiCCWLimit', 'PhiCWLimit', 'PhiOntimeFwd',
'PhiOntimeRev'))
t.write(tablename,
format='ascii.ecsv',
overwrite=True,
formats={
'Fiber No.': '%i',
'Center': '%s',
'L1': '%f',
'ThetaCCWLimit': '%f',
'ThetaCWLimit': '%f',
'ThetaOntimeFwd': '%f',
'ThetaOntimeRev': '%f',
'L2': '%f',
'PhiCCWLimit': '%f',
'PhiCWLimit': '%f',
'PhiOntimeFwd': '%f',
'PhiOntimeRev': '%f'
})
def __init__(self):
super().__init__()
self.pfi = pfiControl.PFI(fpgaHost='localhost', doLoadModel=False)
self.setWindowTitle('Cobra controller')
self.statusBar().showMessage('Please load XML file')
block1 = QHBoxLayout()
self.xml = QLineEdit()
self.xml.setMinimumWidth(240)
block1.addWidget(self.xml)
self.btn_xml = QPushButton('Load XML file')
self.btn_xml.clicked.connect(self.click_load)
block1.addWidget(self.btn_xml)
block1.addWidget(QSplitter(Qt.Vertical), QSizePolicy.Expanding)
btn = QPushButton('Move Up/Down')
btn.clicked.connect(self.move_up_down)
block1.addWidget(btn)
block2 = QHBoxLayout()
self.btn_go = QPushButton('Go')
block2.addWidget(self.btn_go, QSizePolicy.Expanding)
self.btn_go.clicked.connect(self.click_go)
onlyInt = QIntValidator()
block2.addWidget(QLabel('theta:'))
self.theta = QLineEdit('0')
self.theta.setValidator(onlyInt)
block2.addWidget(self.theta)
block2.addWidget(QLabel('phi:'))
self.phi = QLineEdit('0')
self.phi.setValidator(onlyInt)
block2.addWidget(self.phi)
block3 = QHBoxLayout()
btn_odd = QPushButton('Odd')
btn_odd.setCheckable(True)
btn_odd.clicked[bool].connect(self.click_odd)
block3.addWidget(btn_odd)
block4 = QHBoxLayout()
btn_even = QPushButton('Even')
btn_even.setCheckable(True)
btn_even.clicked[bool].connect(self.click_even)
block4.addWidget(btn_even)
self.btn_cobras = []
for idx in range(57):
btn_c = CobraButton(idx)
self.btn_cobras.append(btn_c)
if idx % 2 == 0:
block3.addWidget(btn_c, QSizePolicy.Minimum)
else:
block4.addWidget(btn_c, QSizePolicy.Minimum)
btn_c = QPushButton()
btn_c.setMaximumWidth(20)
block4.addWidget(btn_c)
block5 = QHBoxLayout()
block5.addWidget(QLabel('Right click to mark bad cobras'),
QSizePolicy.Expanding)
self.cb_use_bad = QCheckBox('Use bad cobras')
block5.addWidget(self.cb_use_bad)
self.btn_speed = QPushButton('Fast')
self.btn_speed.setCheckable(True)
self.btn_speed.clicked[bool].connect(self.click_speed)
block5.addWidget(self.btn_speed)
layout = QVBoxLayout()
layout.addLayout(block1)
layout.addWidget(QSplitter())
layout.addLayout(block2)
layout.addLayout(block5)
layout.addLayout(block3)
layout.addLayout(block4)
cw = QWidget()
cw.setLayout(layout)
self.setCentralWidget(cw)
def geometryStat(XMLarray, tablename, skipfiber=False):
Xarray = []
Yarray = []
L1array = []
L2array = []
tht0array = []
tht1array = []
phiInarray = []
phiOutarray = []
for count, file in enumerate(XMLarray):
print(file)
pfi = pfiControl.PFI(fpgaHost='localhost',
doConnect=False) #'fpga' for real device.
pfi.loadModel(file)
model = pfi.calibModel
if count == 0:
L1array = model.L1
L2array = model.L2
tht0array = np.rad2deg(model.tht0)
tht1array = np.rad2deg(model.tht1)
phiInarray = np.rad2deg(model.phiIn + np.pi)
phiOutarray = np.rad2deg(model.phiOut + np.pi)
Xarray = pfi.calibModel.centers.real
Yarray = pfi.calibModel.centers.imag
else:
L1array = np.vstack((L1array, model.L1))
L2array = np.vstack((L2array, model.L2))
tht0array = np.vstack((tht0array, np.rad2deg(model.tht0)))
tht1array = np.vstack((tht1array, np.rad2deg(model.tht1)))
phiInarray = np.vstack(
(phiInarray, np.rad2deg(model.phiIn + np.pi)))
phiOutarray = np.vstack(
(phiOutarray, np.rad2deg(model.phiOut + np.pi)))
Xarray = np.vstack((Xarray, pfi.calibModel.centers.real))
Yarray = np.vstack((Yarray, pfi.calibModel.centers.imag))
L1mean = np.mean(L1array, axis=0)
L1std = np.std(L1array, axis=0)
L2mean = np.mean(L2array, axis=0)
L2std = np.std(L2array, axis=0)
tht0mean = np.mean(tht0array, axis=0)
tht0std = np.std(tht0array, axis=0)
tht1mean = np.mean(tht1array, axis=0)
tht1std = np.std(tht1array, axis=0)
phiInmean = np.mean(phiInarray, axis=0)
PhiInstd = np.std(phiInarray, axis=0)
phiOutmean = np.mean(phiOutarray, axis=0)
PhiOutstd = np.std(phiOutarray, axis=0)
Xmean = np.mean(Xarray, axis=0)
Xstd = np.std(Xarray, axis=0)
Ymean = np.mean(Yarray, axis=0)
Ystd = np.std(Yarray, axis=0)
print(tht0std)
print(tht1std)
pid = np.arange(1, 58, 1)
t = Table([
pid, Xmean, Xstd, Ymean, Ystd, L1mean, L1std, L2mean, L2std, tht0mean,
tht0std, tht1mean, tht1std, phiInmean, PhiInstd, phiOutmean, PhiOutstd
],
names=('Fiber No.', 'X', 'Xstd', 'Y', 'Ystd', 'L1mean', 'L1std',
'L2mean', 'L2std', 'ThetaCCWLimitMean',
'ThetaCCWLimitStd', 'ThetaCWLimitMean', 'ThetaCWLimitStd',
'PhiCCWLimitMean', 'PhiCCWLimitStd', 'PhiCWLimitMean',
'PhiCWLimitStd'))
if skipfiber is not False:
t.remove_rows(skipfiber)
t.write(tablename,
format='ascii.ecsv',
overwrite=True,
formats={
'Fiber No.': '%i',
'X': '%f',
'Xstd': '%f',
'Y': '%f',
'Ystd': '%f',
'L1mean': '%f',
'L1std': '%f',
'L2mean': '%f',
'L2std': '%f',
'ThetaCCWLimitMean': '%f',
'ThetaCCWLimitStd': '%f',
'ThetaCWLimitMean': '%f',
'ThetaCWLimitStd': '%f',
'PhiCCWLimitMean': '%f',
'PhiCCWLimitStd': '%f',
'PhiCWLimitMean': '%f',
'PhiCWLimitStd': '%f'
})
def bootstrapModule(moduleName, initialXml=None, outputName=None,
fpgaHost='fpga',
simulationPath=None,
setCenters=True,
clearGeometry=True,
brokenFibers=(),
doCalibrate=True,
numberCobrasFromRight=False,
setModuleId=True):
run = butler.RunTree()
if fpgaHost == 'fpga':
fpgaHost = '128.149.77.24' # See INSTRM-464
elif fpgaHost == 'None' or fpgaHost == '':
fpgaHost = None
if initialXml is None:
initialXml = butler.mapPathForModule(moduleName, 'init')
if outputName is None:
outputName = f"{moduleName}_bootstrap.xml"
cam = camera.cameraFactory(runManager=run, simulationPath=simulationPath,
doClear=True)
cam.resetStack(doStack=False)
_ = cam.expose() # Just to record in case calibrartion moves far.
nCobras = 57
if fpgaHost is None:
pfi = None
pfiModel = pfiDesign.PFIDesign(initialXml)
else:
pfi = pfiControl.PFI(fpgaHost=fpgaHost, logDir=run.logDir,
doLoadModel=False)
pfi.loadModel(initialXml)
pfiModel = pfi.calibModel
pfi.reset()
# Override undependable ontimes. We want fast defaults which will drive full range
pfi.calibModel.updateOntimes(phiFwd=[0.07]*nCobras, phiRev=[0.07]*nCobras, fast=True)
pfi.calibModel.updateOntimes(phiFwd=[0.05]*nCobras, phiRev=[0.05]*nCobras, fast=False)
pfi.calibModel.updateOntimes(thetaFwd=[0.08]*nCobras, thetaRev=[0.08]*nCobras, fast=True)
pfi.calibModel.updateOntimes(thetaFwd=[0.06]*nCobras, thetaRev=[0.06]*nCobras, fast=False)
# if we need to calibrate motor frequencies , assume the worst
# (as seen in the assembly station init files): the values
# would leave the motors not safe to run. So calibrate phi now, so
# that we can reliably move it to home.
if doCalibrate:
calibrateMotorFrequencies.calibrateMotorFrequencies(pfi,
enabled=(False, True))
pfi.moveAllSteps(None, 0, -4000)
else:
pfi.setFreq()
if setModuleId:
moduleId = pfiModel.setModuleId(moduleName)
cs, im, _ = cam.expose()
imCenters = np.stack((cs['x'], cs['y']), 1)
# Needs to come from pfiDesign.nVisibleCobras, etc.
nspots = len(cs)
if nspots != nCobras - len(brokenFibers):
raise RuntimeError(f'expect {nCobras - len(brokenFibers)} spots, got {nspots}')
visibleIdx = list(pfiModel.findAllCobras())
for b in brokenFibers:
pfiModel.setCobraStatus(b, moduleId, invisible=True)
visibleIdx.remove(pfiModel.findCobraByModuleAndPositioner(moduleId, b))
visibleIdx = np.array(visibleIdx, 'i4')
oldCenters = pfiModel.centers[visibleIdx]
modelCenters = np.stack((np.real(oldCenters), np.imag(oldCenters)), 1)
# The _only_ point of this step is to match up the fiber
# numbers with the spots.
# Forcing the images to have the boards run horizontally is a robust way
# to do this.
imIdx, _ = coordinates.laydown(imCenters)
modelIdx, _ = coordinates.laydown(modelCenters)
# These are now sorted descending by x, alternating between top
# and bottom cobras. But the cobras centers in the xml files can
# have real trash coordinates. For all the existing science
# modules at CIT, several cobras have the same coordinates. So do
# _not_ use the model coordinates by default. Simply assign the
# cobras by increasing/decreasing X.
#
# We want the cobras to be numbered from the left by default.
#
if numberCobrasFromRight:
imIdx = imIdx[::-1] # The ASRD camera has cobra 1 in the top-right.
homes = imCenters[imIdx,0] + imCenters[imIdx,1]*(1j)
# Usually only use scale from this. Only use the reset if we neither assign new centers nor
# clear the geometry.
offset1, scale1, tilt1, convert1 = coordinates.makeTransform(oldCenters[modelIdx], homes)
if setCenters:
centers = pfiModel.centers[:] * 0
centers[visibleIdx] = homes
else:
centers = convert1(pfiModel.centers)
if clearGeometry:
tht0 = pfiModel.tht0[:] * 0.0
tht1 = pfiModel.tht1[:] * 0.0 + 20.0 * np.pi/180
phiIn = pfiModel.phiIn[:] * 0.0
phiOut = pfiModel.phiOut[:] * 0.0 + 180.0 * np.pi/180
else:
tht0 = (pfiModel.tht0+tilt1)%(2*np.pi)
tht1 = (pfiModel.tht1+tilt1)%(2*np.pi)
phiIn = pfiModel.phiIn
phiOut = pfiModel.phiOut
L1 = pfiModel.L1*scale1
L2 = pfiModel.L2*scale1
pfiModel.updateGeometry(centers, L1, L2)
pfiModel.updateThetaHardStops(tht0, tht1)
pfiModel.updatePhiHardStops(phiIn, phiOut)
if doCalibrate:
# Now can calibrate theta motors.
calibrateMotorFrequencies.calibrateMotorFrequencies(pfi,
enabled=(True, False))
xmlDir = run.outputDir
outPath = xmlDir / outputName
pfiModel.createCalibrationFile(outPath, name='bootstrap')
pfiModel.createCalibrationFile(butler.mapPathForModule(moduleName, version='bootstrap'),
name='bootstrap')
return outPath