# WPS_2.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 eleven numbers and represents one
# execution of the entire script. 
#
# The 1st 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 2nd 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 3rd 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 4th number is the center of the wire image in Camera 2, 5th is the rotation
# of the wire.
#
# The 2nd to 4th numbers give the coordinates of a point on the wire center
# in WPS coordinates. We define WPS coordinates in the same way as BCAM
# coordinates. We choose the point where the wire center intersects the
# z=-5mm plane, because this plane contains the nominal pivot points and
# CCD centers. The coordinates are in millimeters.
#
# The 5th to 7th numbers are the direction of the wire, expressed as a unit
# vector in WPS coordinates. The wires are almost parallel to the z-axis, so
# the x and y coordinates of the vector are the direction cosines of the
# wire direction.
# 
# The remaining numbers in the results line give the position and rotation of
# each wire image. The wire images are vertical in the image. We pick
# a reference line at y-coordinate analysis_reference_um and take the wire
# position as the intersection of the wire center and the reference line, 
# measured from the left side of the sensor. We express the position in
# millimeters. The rotation of each center-line is in milliradians counter-
# clockwise in the image. The position and rotation of each wire add four 
# more numbers to the result line, and so we arrive at eleven in all.
#
# To obtain our measurement of the wire position and direction, we use the
# calibration constants of both cameras. These are declared in the post-
# processing of the final acquisifier step. 
#
# For more information about the Acquisifier that runs this script, see
# http://alignment.hep.brandeis.edu/Electronics/LWDAQ/Manual.html#Acquisifier
#
# Kevan Hashemi 16-JAN-09, 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."
		}
	}

	# We prepare an output line that has the position of the center
	# of the image in mm and the rotation in mrad. We obtain
	# the center as the average of the left and right edge positions,
	# and the rotation as the average of the two rotations.
	if {![LWDAQ_is_error_result $result]} {
		append config(run_result) "\
			[format %6.4f [expr ([lindex $result 7] + [lindex $result 1]) / 2000]]\
			[format %6.4f [expr ([lindex $result 8] + [lindex $result 2]) / 2]]"
	} {
		append config(run_result) " -1 -1"
	}
}
config:
	daq_adjust_flash 1
	daq_ip_addr 129.64.37.88
	daq_driver_socket 1
	daq_mux_socket 7
	analysis_reference_um 1220
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. To make sense of the constants
	# consult the WPS1 Calibration Manual. Here we include the constants for the
	# default WPS1-A cameras and some other specific cameras, which we identify by
	# their serial numbers. Comment out the cameras you don't want to use and un-comment
	# those you want to use.
	set camera_1 "WPS1_A_1 -4.500 87.400 -5.000 -14.272 93.271 -5.000 -1570.796 0.000 -541.000"
	set camera_2 "WPS1_A_2 -4.500 37.400 -5.000 -14.272 31.529 -5.000 1570.796 0.000 541.000"
	# set camera_1 "Q0129_1 -7.042 89.787 -3.590 -17.226 95.844 -3.894 -1573.266  33.136 -551.365"
	# set camera_2 "Q0129_2 -6.936 37.604 -4.029 -17.316 31.139 -4.009  1569.173  62.729  535.665"
	# set camera_1 "Q0130_1 -5.062 88.701 -1.794 -15.766 94.982 -1.320 -1567.197 -35.028 -508.767"
	# set camera_2 "Q0130_2 -2.081 39.930 -6.049 -11.844 34.235 -6.762  1568.043  -0.144  652.383"
	# set camera_1 "Q0131_1 -3.871 88.557 -4.489 -13.947 95.017 -4.568 -1575.956  -1.148 -588.152"
	# set camera_2 "Q0131_2 -2.660 40.571 -4.675 -12.279 35.009 -5.323  1584.284  38.425  660.036"

	# The reference line the wire crosses to obtain the x-coordinate in the image. This value
	# is in millimeters, and should match the micron value we give about in analysis_reference_um
	# and the value we used when we determined the calibration constants.
	set ref_y 1.220
	
	# We scan the x and rotation of both images.
	scan $config(run_result) "%s %f %f %f %f" ts x_1 rot_1 x_2 rot_2
	
	# We obtain the two planes in which the wire must lie, as determined by the images
	# and the camera constants.
	set plane_1 [lwdaq wps_wire_plane "$x_1 $ref_y" $rot_1 $camera_1]
	set plane_2 [lwdaq wps_wire_plane "$x_2 $ref_y" $rot_2 $camera_2]
	
	# We intersect the two planes, and so obtain the wire center-line.
	set wire [lwdaq xyz_plane_plane_intersection $plane_2 $plane_1 ]
	
	# We find the intersection of the wire center-line and the z=-5mm plane.
	set point [lwdaq xyz_line_plane_intersection $wire "0 0 -5 0 0 1"]
	
	# Compose a new result string.
	set r $point
	append r " [lrange $wire 3 5]"
	append r " $x_1 $rot_1 $x_2 $rot_2"
	
	# Re-format the data.
	set result "$ts"
	foreach p $r {append result " [format %6.4f $p]"}
	
	# Print the run result to the screen and the result file.
	LWDAQ_print $config(run_results) $result
}
config:
end.