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Remove repeated moves_from_centre() code

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This commit is contained in:
jaknapper 2025-04-17 10:10:13 +01:00
parent c18472dc8a
commit c895383a83
1 changed files with 12 additions and 35 deletions
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47
src/openflexure_microscope_server/scan_planners.py
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@ -338,31 +338,31 @@ class SmartSpiral(ScanPlanner):
# Defined rather than use a lambda for readability # Defined rather than use a lambda for readability
def sort_key(pos): def sort_key(pos):
return ( return (
moves_between(current_pos, pos, [self._dx, self._dy]), self.moves_between(current_pos, pos),
self.moves_from_centre(pos), self.moves_between(self._initial_position, pos),
) )
self._remaining_locations.sort(key=sort_key) self._remaining_locations.sort(key=sort_key)
def moves_from_centre( def moves_between(
self, self,
xy_pos: XYPos, starting_pos: XYPos | np.ndarray,
ending_pos: XYPos | np.ndarray,
) -> float: ) -> 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 whichever is largest
Args: Args:
xy_pos: the position starting_pos: the position to measure from
ending_pos: the position to measure to
Note this has been renamed from `steps_from_centre` as that implied
stepper motor steps not number of moves in a scan
""" """
move_size = np.array([self._dx, self._dy]) 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)) return np.max(np.abs(displacement_in_moves))
@ -378,26 +378,3 @@ def distance_between(
next_pos = np.array(next_pos, dtype="float64") next_pos = np.array(next_pos, dtype="float64")
current_pos = np.array(current_pos, dtype="float64") current_pos = np.array(current_pos, dtype="float64")
return float(np.linalg.norm(next_pos - current_pos)) return float(np.linalg.norm(next_pos - current_pos))
def moves_between(
starting_pos: XYPos | np.ndarray,
ending_pos: XYPos | np.ndarray,
move_size: XYPos | np.ndarray | list[int, int],
) -> float:
"""
Return the number of moves between two xy positions in the x or y direction
whichever is largest
Args:
starting_pos: the position to measure from
ending_pos: the position to measure to
move_size: the step size for the scan, both in x and y
"""
starting_pos = np.array(starting_pos, dtype="float64")
ending_pos = np.array(ending_pos, dtype="float64")
move_size = np.array(move_size)
displacement_in_moves = (ending_pos - starting_pos) / move_size
return np.max(np.abs(displacement_in_moves))