# WPS_1.txt, an Acquisifier script for the WPS1 Instrument.
# Copyright (C) 2007-2008 Kevan Hashemi, Open Source Instruments Inc. 
#
# This program is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
# as published by the Free Software Foundation; either version 2
# of the License, or (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.

# This Acquisifier script takes images from the two cameras of a WPS1. For a 
# description of the WPS1 see: http://www.opensourceinstruments.com/WPS/WPS1/
# The script produces a result file called WPS_Results.txt. This file appears
# in the same directory as the the script itself. If the file already exists,
# the script appends new lines of data to the end of the file.
#
# Each line in WPS_Results.txt contains nine numbers and represents one
# execution of the entire script. The first number is a timestamp
# in seconds. You can calculate the time in seconds since the beginning
# of your experiment by subtracting the timestamp of the first line in
# the results file from the timestamp of the subsequent lines.
#
# The second number in each line is the center of the wire image in Camera 1.
# We find the center position by taking the average of the two wire edges. The 
# positions of the wire edges given in the result string we obtain from
# the WPS Instrument. We give the position is in microns from the left edge 
# of the image.
#
# The third number in each line is the width of the wire image in microns. We
# calculate the width by subtracting the position of the right edge from that 
# of the left edge.
#
# The fourth number is the rotation of the wire image in milliradians, with anti-
# clockwise positive. We obtain the image rotation by taking the average of the 
# rotations of its two edges.
#
# The fifth number is the center of the wire image in Camera 2, the sixth is 
# the width of the wire image in Camera 2, and the seventh number is the rotation
# of the wire image in Camera 2, all of which we calculate in exactly the same
# way as for Camera 1.
#
# The eighth number is the horizontal position in microns of the wire with 
# respect to the intersection of the WPS1 camera axese. This intersectgion is 
# the center of the WPS1's field of view. The ninth and final number is the
# vertical position of the wire in microns, also with respect to the intersection
# of the two axese. Thuse (0.0 0.0) means the wire is at the intersection,
# (1.0 -2.0) means the wire is 1.0 mm to the left (as seen from the back RJ-45
# end of the WPS) of the intersection and 2.0 mm below.
#
# For more information about the Acquisifier that runs this script, see
# http://alignment.hep.brandeis.edu/Electronics/LWDAQ/Manual.html#Acquisifier
#
# Kevan Hashemi 26-MAR-08, Open Source Instruments Inc.
#

acquisifier:
post_processing: {
	set config(run_result) "[clock seconds] "
	set destination [file dirname $config(daq_script)]
	if {![file exists $destination]} {
		error "Results destination directory \"$destination\" does not exist."
	}
	set config(run_results) [file join $destination WPS_Results.txt]
}
config:
end.

default:
instrument: WPS
default_post_processing: {
	# Check to make sure that both edges of the wire are visible. This
	# we do by checking to see if there are at least $mp pixels in the
	# wire edge.
	if {![LWDAQ_is_error_result $result]} {
		set mp 100
		if {([lindex $result 3] < $mp) || ([lindex $result 9] < $mp)} {
			set result "ERROR: Wire is out of bounds."
			LWDAQ_print $info(text) $result
		}
	}

	# We prepare an output line that has the position of the center
	# of the image, the width of the image, and the rotation. We obtain
	# the center as the average of the left and right edge positions,
	# the width as their difference, and the rotation as the average
	# of the two rotations.
	if {![LWDAQ_is_error_result $result]} {
		append config(run_result) " \
			[format %8.2f [expr ([lindex $result 7] + [lindex $result 1]) / 2]] \
			[format %8.2f [expr ([lindex $result 7] - [lindex $result 1])]] \
			[format %8.2f [expr ([lindex $result 8] + [lindex $result 2]) / 2]]"
	} {
		append config(run_result) " -1 -1 -1"
	}
}
config:
	daq_adjust_flash 1
	daq_ip_addr 129.64.37.88
	daq_driver_socket 1
	daq_mux_socket 7
end.


acquire:
name: Camera_1
instrument: WPS
result: None
time: 0
config:
	daq_flash_seconds 0.05
	daq_device_element 1
end.

acquire:
name: Camera_2
instrument: WPS
result: None
time: 0
config:
	daq_flash_seconds 0.05
	daq_device_element 2
end.


acquisifier:
post_processing: {
	# We have the following calibration constants. Our constants are in microns. To
	# make sense of our formulas, consult the WPS1 Geometry Drawing in the WPS1
	# manual.
	
	# The center x-value for both CCDs we define as follows.
	set center_ccd_x 1700
	
	# The first two constants give the distance frome the camera pivot points to their 
	# CCD centers.
	set ccd_to_pivot_1 11400
	set ccd_to_pivot_2 11400
	
	# The axis inclination is the angle made with the vertical by the camera axis. The camera
	# axis is the line from the center of the CCD to the pivot point. We specify this angle
	# in milliradians, which is why we divide it by 1000 in later calculations.
	set axis_inclination_1 1030
	set axis_inclination_2 1030
	
	# The pivot-to-pivot separation is the distance between the two camera pivots. This line
	# defines the vertical for our calculations. Up is from Camera 2 to Camera 1.
	set pivot_to_pivot 50000
	
	# The offsets give the position of the WPS center with respect to the Camera 2 pivot
	# point.
	set offset_x 42500
	set offset_y 25000
	
	# We scan the x, width, and rotation of both images. This version of the code does not
	# use the width or rotation, but it uses x.
	scan $config(run_result) "%s %f %f %f %f %f %f" ts ccd_x_1 ccd_w_1 ccd_rot_1 ccd_x_2 ccd_w_2 ccd_rot_2
	
	# We determine the inclination of the line from the center of the wire to each camera
	# pivot point. We subtract the center_ccd_x from both ccd x-positions before we determine
	# the off-axis bearing of each image.
	set angle_1 [expr $axis_inclination_1/1000 + atan(($ccd_x_1-$center_ccd_x)/$ccd_to_pivot_1)]
	set angle_2 [expr $axis_inclination_2/1000 + atan(($ccd_x_2-$center_ccd_x)/$ccd_to_pivot_2)]
	
	# We triangulate to the wire center, and get its position to the left (x) and up (y)
	# from the Camera 2 pivot point.
	set y [expr $pivot_to_pivot / (1 + tan($angle_2) / tan($angle_1))]
	set x [expr $y * tan($angle_2)]
	
	# We now offset our x and y by the nominal distance from the WPS center to the pivot point
	# of Camera 2, so we get the WPS measurement or wire positions.
	set x [format %8.1f [expr $x - $offset_x]]
	set y [format %8.1f [expr $y - $offset_y]]
	append config(run_result) " $x $y"

	LWDAQ_print $info(text) "X Position = $x"
	LWDAQ_print $info(text) "Y Position = $y"
	LWDAQ_print $config(run_results) $config(run_result)
}
config:
end.