Merge branch 'shorter-move-spiral-path' into 'v3'

Add a scan path planner that prioritises shorter moves

See merge request openflexure/openflexure-microscope-server!245

src/openflexure_microscope_server/scan_planners.py

@@ -241,7 +241,9 @@ class ScanPlanner:
 
 class SmartSpiral(ScanPlanner):
     """
-    This is a smart spiral scan that spirals out from the centre.
+    This is a smart spiral scan that spirals out from the centre, but prioritises
+    short moves over rigidly sticking to minimising radius from the centre of the
+    scan.
 
     Each time and image is taken the four neighbouring images are added
     to the list of poisitions to image (unless they are already listed or
@@ -335,29 +337,33 @@ class SmartSpiral(ScanPlanner):
 
         # Defined rather than use a lambda for readability
         def sort_key(pos):
-            return self.moves_from_centre(pos), distance_between(current_pos, pos)
+            return (
+                self.moves_between(current_pos, pos),
+                self.moves_between(self._initial_position, pos),
+                distance_between(current_pos, pos),
+            )
 
         self._remaining_locations.sort(key=sort_key)
 
-    def moves_from_centre(
+    def moves_between(
         self,
-        xy_pos: XYPos,
+        starting_pos: XYPos | np.ndarray,
+        ending_pos: XYPos | np.ndarray,
     ) -> float:
         """
-        Return the number of moves from the centre in the x or y direction
+        Return the number of moves between two xy positions in the x or y direction
         whichever is largest
 
         Args:
-        xy_pos: the position
-
-        Note this has been renamed from `steps_from_centre` as that implied
-        stepper motor steps not number of moves in a scan
+        starting_pos: the position to measure from
+        ending_pos: the position to measure to
         """
         move_size = np.array([self._dx, self._dy])
-        starting_pos = np.array(self._initial_position, dtype="float64")
-        current_pos = np.array(xy_pos, dtype="float64")
 
-        displacement_in_moves = (current_pos - starting_pos) / move_size
+        starting_pos = np.array(starting_pos, dtype="float64")
+        ending_pos = np.array(ending_pos, dtype="float64")
+
+        displacement_in_moves = (ending_pos - starting_pos) / move_size
 
         return np.max(np.abs(displacement_in_moves))
 

tests/test_scan_planners.py

@@ -253,7 +253,20 @@ def test_closest_focus_wth_large_numbers():
 
 
 def test_example_smart_spiral():
-    _, planner = scan_test_helpers.example_smart_spiral()
-    expected_planner = scan_test_helpers.get_expected_result_for_example_smart_spiral()
-    assert planner.path_history == expected_planner.path_history
-    assert planner.imaged_locations == expected_planner.imaged_locations
+    """Test the smart spiral scan algorithm on the sample types listed
+    below and defined in scan_test_helpers.load_sample_points
+
+    Will fail if the locations or path between locations visited has changed
+    for any of the samples listed"""
+    example_samples = [
+        "regular",
+        "lobed",
+        "core",
+    ]
+    for sample_name in example_samples:
+        _, planner = scan_test_helpers.example_smart_spiral(sample_name)
+        expected_planner = (
+            scan_test_helpers.get_expected_result_for_example_smart_spiral(sample_name)
+        )
+        assert planner.path_history == expected_planner.path_history
+        assert planner.imaged_locations == expected_planner.imaged_locations

tests/utilities/scan_test_helpers.py

@@ -111,22 +111,18 @@ def interp_closed_path(xy_points: list[tuple[int, int]], n_points: int) -> MatPa
     return MatPath(path_points, closed=True)
 
 
-def example_smart_spiral() -> tuple[FakeSample, scan_planners.ScanPlanner]:
+def example_smart_spiral(
+    sample_name: str = "lobed",
+) -> tuple[FakeSample, scan_planners.ScanPlanner]:
     """
     Run an example scan and return the sample scanned and the planner object
     after scan is complete
     """
-    xy_sample_points = [
-        (-5000, -5000),
-        (-2000, 10000),
-        (1000, 2000),
-        (6000, 7000),
-        (9000, 2000),
-    ]
+    xy_sample_points = load_sample_points(sample_name)
     sample = FakeSample(xy_sample_points)
     img_size = (1000, 1000)
     intial_position = (0, 0)
-    planner_settings = {"dx": 700, "dy": 700, "max_dist": 100000}
+    planner_settings = {"dx": 1200, "dy": 800, "max_dist": 100000}
     planner = scan_planners.SmartSpiral(
         intial_position=intial_position, planner_settings=planner_settings
     )
@@ -166,7 +162,7 @@ def profile_and_save_plot_for_example_smart_spiral():
     run_stats.print_stats("scan_planners.py")
 
 
-def update_example_smart_spiral_pickle():
+def update_example_smart_spiral_pickle(sample_name: str):
     """
     Pickle the ScanPlanner for the example_smart_spiral(),
     this is done so the history can be compared by testing to check
@@ -174,23 +170,64 @@ def update_example_smart_spiral_pickle():
 
     If the algorithm is purposefully changed then this will need to be
     run to update the pickle for the test to pass.
+
+    Takes sample, the sample type we have generated, so we can make a
+    pickle for each sample type
     """
-    pkl_fname = os.path.join(THIS_DIR, "example_smart_spiral.pkl")
+    pkl_fname = os.path.join(THIS_DIR, f"example_smart_spiral_{sample_name}.pkl")
+    _, planner = example_smart_spiral(sample_name)
     with open(pkl_fname, "wb") as pkl_file_obj:
-        _, planner = example_smart_spiral()
         pickle.dump(planner, pkl_file_obj, pickle.HIGHEST_PROTOCOL)
 
 
-def get_expected_result_for_example_smart_spiral():
+def get_expected_result_for_example_smart_spiral(
+    sample_name: str,
+) -> scan_planners.ScanPlanner:
     """
     Return the expected ScanPlanner object for the example_smart_spiral(),
     this is pickled, so that it can be committed.
     """
-    pkl_fname = os.path.join(THIS_DIR, "example_smart_spiral.pkl")
+    pkl_fname = os.path.join(THIS_DIR, f"example_smart_spiral_{sample_name}.pkl")
     with open(pkl_fname, "rb") as pkl_file_obj:
         planner = pickle.load(pkl_file_obj)
     return planner
 
 
+def load_sample_points(sample_name: str):
+    """Return the points to generate the FakeSample corresponding to the given input name
+
+    Options are "lobed", "regular", and "core".
+    """
+    sample_options = {
+        "lobed": [
+            (-5000, -5000),
+            (-2000, 16000),
+            (1000, 2000),
+            (6000, 7000),
+            (9000, 2000),
+        ],
+        "regular": [
+            (-5000, -5000),
+            (-5000, 5000),
+            (5000, 5000),
+            (5000, -5000),
+        ],
+        "core": [
+            (-12000, 2000),
+            (-12000, 1000),
+            (0, -2000),
+            (10000, -2000),
+            (10000, -1000),
+            (1000, 0),
+        ],
+    }
+    if sample_name not in sample_options:
+        all_samples = ", ".join(sample_options.keys())
+        raise ValueError(
+            f"{sample_name} is not a valid sample name. Valid names : {all_samples}"
+        )
+    return sample_options[sample_name]
+
+
 if __name__ == "__main__":
     profile_and_save_plot_for_example_smart_spiral()