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Get moveonclick to work #194

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merged 15 commits into from
Sep 9, 2024
Merged

Get moveonclick to work #194

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15ce963
temporary moveonclick workaround and zoomcalibrator calculation
robinowen-i24 Aug 30, 2024
9b4c6d8
Actually pass the oav device to the function
noemifrisina Aug 30, 2024
cc10395
Temporary fix for test
noemifrisina Aug 30, 2024
f737c6c
Merge branch 'main' into 44_zoomcalibrator
noemifrisina Aug 30, 2024
461497e
Tidy up
noemifrisina Aug 30, 2024
33d3442
Do not start the gui in a RunEngine but pass it around
noemifrisina Sep 2, 2024
c20bb36
Tidy up a bit
noemifrisina Sep 2, 2024
b211e6a
Try to fix test
noemifrisina Sep 2, 2024
80442d1
Fix test
noemifrisina Sep 2, 2024
01b8c36
Tidy up again
noemifrisina Sep 3, 2024
0f5638b
Add a zoomcalibrator calculation test for commonly used zoom levels
noemifrisina Sep 3, 2024
c6ebceb
Merge branch 'main' into 44_zoomcalibrator
noemifrisina Sep 5, 2024
fdba5d3
Address comment
noemifrisina Sep 5, 2024
ea3f44c
Remove unused function
noemifrisina Sep 9, 2024
1ad1e83
Merge branch 'main' into 44_zoomcalibrator
noemifrisina Sep 9, 2024
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84 changes: 51 additions & 33 deletions src/mx_bluesky/beamlines/i24/serial/fixed_target/i24ssx_moveonclick.py
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@
"""

import logging
from collections.abc import Sequence

import bluesky.plan_stubs as bps
import cv2 as cv
Expand All @@ -20,10 +21,6 @@

logger = logging.getLogger("I24ssx.moveonclick")

# Set scale.
# TODO See https://github.com/DiamondLightSource/mx_bluesky/issues/44
zoomcalibrator = 6 # 8 seems to work well for zoom 2


def _get_beam_centre(oav: OAV):
"""Extract the beam centre x/y positions from the display.configuration file.
Expand All @@ -34,20 +31,40 @@ def _get_beam_centre(oav: OAV):
return oav.parameters.beam_centre_i, oav.parameters.beam_centre_j


def _calculate_zoom_calibrator(oav: OAV):
"""Set the scale for the zoom calibrator for the pmac moves."""
currentzoom = yield from bps.rd(oav.zoom_controller.percentage)
zoomcalibrator = 1.547 - (0.03 * currentzoom) + (0.0001634 * currentzoom**2)
return zoomcalibrator


def _move_on_mouse_click_plan(
oav: OAV, pmac: PMAC, beam_centre: Sequence[int], clicked_position: Sequence[int]
):
"""A plan that calculates the zoom calibrator and moves to the clicked \
position coordinates.
"""
zoomcalibrator = yield from _calculate_zoom_calibrator(oav)
beamX, beamY = beam_centre
x, y = clicked_position
xmove = -1 * (beamX - x) * zoomcalibrator
ymove = -1 * (beamY - y) * zoomcalibrator
logger.info(f"Moving X and Y {xmove} {ymove}")
xmovepmacstring = "#1J:" + str(xmove)
ymovepmacstring = "#2J:" + str(ymove)
yield from bps.abs_set(pmac.pmac_string, xmovepmacstring, wait=True)
yield from bps.abs_set(pmac.pmac_string, ymovepmacstring, wait=True)
Comment on lines +55 to +56
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Should: Can you either use _move_to_position here or remove the unused function?



# Register clicks and move chip stages
def onMouse(event, x, y, flags, param):
if event == cv.EVENT_LBUTTONUP:
pmac = param[0]
oav = param[1]
RE = param[0]
pmac = param[1]
oav = param[2]
beamX, beamY = _get_beam_centre(oav)
logger.info(f"Clicked X and Y {x} {y}")
xmove = -1 * (beamX - x) * zoomcalibrator
ymove = -1 * (beamY - y) * zoomcalibrator
logger.info(f"Moving X and Y {xmove} {ymove}")
xmovepmacstring = "#1J:" + str(xmove)
ymovepmacstring = "#2J:" + str(ymove)
yield from bps.abs_set(pmac.pmac_string, xmovepmacstring, wait=True)
yield from bps.abs_set(pmac.pmac_string, ymovepmacstring, wait=True)
RE(_move_on_mouse_click_plan(oav, pmac, (beamX, beamY), (x, y)))


def update_ui(oav, frame):
Expand All @@ -58,7 +75,6 @@ def update_ui(oav, frame):
cv.ellipse(
frame, (beamX, beamY), (12, 8), 0.0, 0.0, 360, (0, 255, 255), thickness=2
)
# putText(frame,'text',bottomLeftCornerOfText, font, fontScale, fontColor, thickness, lineType)
cv.putText(
frame,
"Key bindings",
Expand Down Expand Up @@ -132,13 +148,13 @@ def update_ui(oav, frame):
cv.imshow("OAV1view", frame)


def start_viewer(oav: OAV, pmac: PMAC, oav1: str = OAV1_CAM):
def start_viewer(oav: OAV, pmac: PMAC, RE: RunEngine, oav1: str = OAV1_CAM):
# Create a video caputure from OAV1
cap = cv.VideoCapture(oav1)

# Create window named OAV1view and set onmouse to this
cv.namedWindow("OAV1view")
cv.setMouseCallback("OAV1view", onMouse, param=[pmac, oav]) # type: ignore
cv.setMouseCallback("OAV1view", onMouse, param=[RE, pmac, oav]) # type: ignore

logger.info("Showing camera feed. Press escape to close")
# Read captured video and store them in success and frame
Expand All @@ -152,38 +168,40 @@ def start_viewer(oav: OAV, pmac: PMAC, oav1: str = OAV1_CAM):

k = cv.waitKey(1)
if k == 113: # Q
yield from manager.moveto(Fiducials.zero, pmac)
RE(manager.moveto(Fiducials.zero, pmac))
if k == 119: # W
yield from manager.moveto(Fiducials.fid1, pmac)
RE(manager.moveto(Fiducials.fid1, pmac))
if k == 101: # E
yield from manager.moveto(Fiducials.fid2, pmac)
RE(manager.moveto(Fiducials.fid2, pmac))
if k == 97: # A
yield from bps.trigger(pmac.home, wait=True)
RE(bps.trigger(pmac.home, wait=True))
print("Current position set as origin")
if k == 115: # S
yield from manager.fiducial(1)
RE(manager.fiducial(1))
if k == 100: # D
yield from manager.fiducial(2)
RE(manager.fiducial(2))
if k == 99: # C
yield from manager.cs_maker(pmac)
RE(manager.cs_maker(pmac))
if k == 98: # B
yield from manager.block_check() # doesn't work well for blockcheck as image doesn't update
RE(
manager.block_check()
) # doesn't work well for blockcheck as image doesn't update
if k == 104: # H
yield from bps.abs_set(pmac.pmac_string, "#2J:-10", wait=True)
RE(bps.abs_set(pmac.pmac_string, "#2J:-10", wait=True))
if k == 110: # N
yield from bps.abs_set(pmac.pmac_string, "#2J:10", wait=True)
RE(bps.abs_set(pmac.pmac_string, "#2J:10", wait=True))
if k == 109: # M
yield from bps.abs_set(pmac.pmac_string, "#1J:-10", wait=True)
RE(bps.abs_set(pmac.pmac_string, "#1J:-10", wait=True))
if k == 98: # B
yield from bps.abs_set(pmac.pmac_string, "#1J:10", wait=True)
RE(bps.abs_set(pmac.pmac_string, "#1J:10", wait=True))
if k == 105: # I
yield from bps.abs_set(pmac.pmac_string, "#3J:-150", wait=True)
RE(bps.abs_set(pmac.pmac_string, "#3J:-150", wait=True))
if k == 111: # O
yield from bps.abs_set(pmac.pmac_string, "#3J:150", wait=True)
RE(bps.abs_set(pmac.pmac_string, "#3J:150", wait=True))
if k == 117: # U
yield from bps.abs_set(pmac.pmac_string, "#3J:-1000", wait=True)
RE(bps.abs_set(pmac.pmac_string, "#3J:-1000", wait=True))
if k == 112: # P
yield from bps.abs_set(pmac.pmac_string, "#3J:1000", wait=True)
RE(bps.abs_set(pmac.pmac_string, "#3J:1000", wait=True))
if k == 0x1B: # esc
cv.destroyWindow("OAV1view")
print("Pressed escape. Closing window")
Expand All @@ -198,4 +216,4 @@ def start_viewer(oav: OAV, pmac: PMAC, oav1: str = OAV1_CAM):
# Get devices out of dodal
oav: OAV = i24.oav()
pmac: PMAC = i24.pmac()
RE(start_viewer(oav, pmac))
start_viewer(oav, pmac, RE)
43 changes: 35 additions & 8 deletions tests/unit_tests/beamlines/i24/serial/fixed_target/test_moveonclick.py
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Original file line number Diff line number Diff line change
@@ -1,52 +1,65 @@
from unittest.mock import ANY, MagicMock, call, patch

import bluesky.plan_stubs as bps
import cv2 as cv
import pytest
from dodal.devices.i24.pmac import PMAC
from dodal.devices.oav.oav_detector import OAV
from ophyd_async.core import get_mock_put

from mx_bluesky.beamlines.i24.serial.fixed_target.i24ssx_moveonclick import (
_calculate_zoom_calibrator,
onMouse,
update_ui,
zoomcalibrator,
)

ZOOMCALIBRATOR = 6


def fake_generator(value):
yield from bps.null()
return value


@pytest.mark.parametrize(
"beam_position, expected_xmove, expected_ymove",
[
(
(15, 10),
"#1J:-" + str(15 * zoomcalibrator),
"#2J:-" + str(10 * zoomcalibrator),
"#1J:-" + str(15 * ZOOMCALIBRATOR),
"#2J:-" + str(10 * ZOOMCALIBRATOR),
),
(
(475, 309),
"#1J:-" + str(475 * zoomcalibrator),
"#2J:-" + str(309 * zoomcalibrator),
"#1J:-" + str(475 * ZOOMCALIBRATOR),
"#2J:-" + str(309 * ZOOMCALIBRATOR),
),
(
(638, 392),
"#1J:-" + str(638 * zoomcalibrator),
"#2J:-" + str(392 * zoomcalibrator),
"#1J:-" + str(638 * ZOOMCALIBRATOR),
"#2J:-" + str(392 * ZOOMCALIBRATOR),
),
],
)
@patch(
"mx_bluesky.beamlines.i24.serial.fixed_target.i24ssx_moveonclick._get_beam_centre"
)
@patch(
"mx_bluesky.beamlines.i24.serial.fixed_target.i24ssx_moveonclick._calculate_zoom_calibrator"
)
def test_onMouse_gets_beam_position_and_sends_correct_str(
fake_zoom_calibrator: MagicMock,
fake_get_beam_pos: MagicMock,
beam_position: tuple,
expected_xmove: str,
expected_ymove: str,
pmac: PMAC,
RE,
):
fake_zoom_calibrator.side_effect = [fake_generator(ZOOMCALIBRATOR)]
fake_get_beam_pos.side_effect = [beam_position]
fake_oav: OAV = MagicMock(spec=OAV)
RE(onMouse(cv.EVENT_LBUTTONUP, 0, 0, "", param=[pmac, fake_oav]))
onMouse(cv.EVENT_LBUTTONUP, 0, 0, "", param=[RE, pmac, fake_oav])
mock_pmac_str = get_mock_put(pmac.pmac_string)
mock_pmac_str.assert_has_calls(
[
Expand All @@ -56,6 +69,20 @@ def test_onMouse_gets_beam_position_and_sends_correct_str(
)


@pytest.mark.parametrize(
"zoom_percentage, expected_calibrator", [(1, 1.517), (20, 1.012), (50, 0.455)]
)
@patch("mx_bluesky.beamlines.i24.serial.fixed_target.i24ssx_moveonclick.bps.rd")
def test_calculate_zoom_calibrator(
fake_read: MagicMock, zoom_percentage: int, expected_calibrator: float, RE
):
fake_read.side_effect = [fake_generator(zoom_percentage)]
fake_oav: OAV = MagicMock(spec=OAV)
res = RE(_calculate_zoom_calibrator(fake_oav)).plan_result # type: ignore

assert res == pytest.approx(expected_calibrator, abs=1e-3)


@patch("mx_bluesky.beamlines.i24.serial.fixed_target.i24ssx_moveonclick.cv")
@patch(
"mx_bluesky.beamlines.i24.serial.fixed_target.i24ssx_moveonclick._get_beam_centre"
Expand Down
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