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Split the logic for deciding how to move in recentre from the moves and the main loop

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Julian Stirling 2025-11-05 11:43:25 +00:00
parent 7f0e7c52f9
commit dcf4b0b383
2 changed files with 109 additions and 17 deletions
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58
src/openflexure_microscope_server/things/stage_measure.py
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@ -331,7 +331,11 @@ class RangeofMotionThing(lt.Thing):
rom_deps.stage.move_absolute(**starting_position, block_cancellation=True)
def _recentre_axis(self, axis: Literal["x", "y"], rom_deps: RomDeps) -> None:
"""Recentre a single axis."""
"""Recentre a single axis.
:param axis: The axis to recentre
:param rom_deps: All dependencies that were passed to the calling Action.
"""
rom_deps.logger.info(f"Finding centre in {axis}.")
# A new tracker for this axis.
self._rom_data = RomDataTracker()
@ -356,22 +360,9 @@ class RangeofMotionThing(lt.Thing):
# Try to estimate position/direction the first time, skip to making a big
# move in the same direction
if i > 1:
estimate = self._rom_data.find_turning_point(axis=axis)
img_perc = self._distance_in_img_percentage(estimate, axis, rom_deps)
# if the distance is less than 1 big step away then move to it and exit
if abs(img_perc) < BIG_STEP:
rom_deps.logger.info(
f"Estimated centre of {axis}-axis is {estimate[axis]}"
)
rom_deps.stage.move_absolute(**estimate)
centred, direction = self._recentre_decision(axis, rom_deps)
if centred:
break
rom_deps.logger.info(
f"Estimated centre {abs(img_perc):.0f}% of a field of view away, "
"that is too far to move in one move."
)
# Else calculate the desired direction in image coordinates.
direction = self._img_dir_from_stage_coords(estimate, axis, rom_deps)
# If still going at iteration 9 exit
if i > 9:
@ -380,6 +371,41 @@ class RangeofMotionThing(lt.Thing):
# Make a big z-corrected move towards estimate of centre.
self._big_z_corrected_movement(axis, direction, rom_deps)
def _recentre_decision(
self, axis: Literal["x", "y"], rom_deps: RomDeps
) -> tuple[bool, Literal[1, -1]]:
"""Decide what to do next during recentreing.
The algorithm here:
* Estimate turning point location
* Check if distance to point is further than a "BIG_STEP"
* If smaller, move to estimated centre, and return that it is centred
* If larger, return that it is not centred, and the direction to move in.
:param axis: The axis to recentre
:param rom_deps: All dependencies that were passed to the calling Action.
:return: A tuple. The first value is True for "the stage is now centred" and
False for "the stage is not centred". The second value is the direction to
move in, this only has meaning if the first value is False.
"""
estimate = self._rom_data.find_turning_point(axis=axis)
img_perc = self._distance_in_img_percentage(estimate, axis, rom_deps)
# if the distance is less than 1 big step away then move to it and exit
if abs(img_perc) < BIG_STEP:
rom_deps.logger.info(f"Estimated centre of {axis}-axis is {estimate[axis]}")
rom_deps.stage.move_absolute(**estimate)
# Note the second return, the direction, is meaningless here.
return True, 1
rom_deps.logger.info(
f"Estimated centre {abs(img_perc):.0f}% of a field of view away, "
"that is too far to move in one move."
)
# Else calculate the desired direction in image coordinates.
direction = self._img_dir_from_stage_coords(estimate, axis, rom_deps)
return False, direction
def _img_percentage_to_img_coords(
self, fov_perc: int, axis: Literal["x", "y"]
) -> float: