# WPS.txt, an Acquisifier script for the WPS1 Instrument.
# Copyright (C) 2008 Kevan Hashemi, Brandeis University 
#

# This Acquisifier script takes images from two BCAMs that face one another
# and can view one another's sources. It calculates the distance between
# the two BCAMS based upon the source calibration lines included as data
# in the post-processing of the final step. The script defines the distance 
# between the two BCAMs is the separation of the cone balls upon which they 
# mount.
#
# For more information about the Acquisifier that runs this script, see
# http://alignment.hep.brandeis.edu/Electronics/LWDAQ/Acquisifier.html
#
# Kevan Hashemi 06-NOV-08, Brandeis University
#

acquisifier:
name: Initialize
post_processing: {
	set config(run_result) "[clock seconds] "
}
config:
end.

default:
name: Configure_BCAM
instrument: BCAM
default_post_processing: {
	if {![LWDAQ_is_error_result $result]} {
		foreach i {1 2 7 8} {append config(run_result) "[lindex $result $i] "}
	} {
		append config(run_result) " -1 -1 -1 -1"
	}
}
config:
	daq_adjust_flash 1
	daq_ip_addr 129.64.37.79
end.


acquire:
name: Camera_1
instrument: BCAM
result: None
time: 0
config:
	daq_driver_socket 5
	daq_source_driver_socket 8
	daq_source_device_element "3 4"
end.

acquire:
name: Camera_2
instrument: BCAM
result: None
time: 0
config:
	daq_driver_socket 8
	daq_source_driver_socket 5
	daq_source_device_element "3 4"
end.


acquisifier:
name: Calculate
post_processing: {
	#
	# We have the following calibration constants for the two cameras. In our demonstration 
	# stand, the BCAM that contains Camera_1 and Sources_1 is a blue azimuthal BCAM with 
	# serial number 20MABNDB000304. The second BCAM is a black azimuthal BCAM with serial
	# number 20MABNDA000088. We looked up their most recent calibration constants in the
	# BCAM calibration database:
	#
	# http://alignment.hep.brandeis.edu/Devices/Calibration/BCAM_Parameters.txt
	# 
	# For an explanation of the source and camera calibration constants, see the BCAM
	# User Manual.
	#
	# http://alignment.hep.brandeis.edu/Devices/BCAM/User_Manual.html
	#
	set camera_1 \
		"20MABNDB000304 20080729115535 -12.562 -13.233 3.236 -2.487 -0.276 1 74.959 -27.201"
	set sources_1 \
		"20MABNDB000304 20080729115810 -20.684 -13.164 -4.647 -13.082 0.360"
	set camera_2 \
		"20MABNDA000088 20031209132937 -12.681 13.074 2.080 0.132 -0.331 1 75.160 3123.789"
	set sources_2 \
		"20MABNDA000088 20031212110244 -20.657 13.087 -4.638 13.106 0.360"
	
	#
	# Each BCAM measures the range of the other BCAM's pair of lasers. To measure the
	# range, we need to know the separation of the lasers, the separation of their image
	# spots, and the distance from the camera pivot point to ccd distance. Let us 
	# start with the distance between the images. Our config(run_result) string already 
	# contains the x and y positions of the four laser spots we obtained from two images.
	#
	scan $config(run_result) %d%f%f%f%f%f%f%f%f t x11 y11 x12 y12 x21 y21 x22 y22
	set ss1 [expr sqrt(($x11 - $x12)*($x11 - $x12)+($y11-$y12)*($y11-$y12))]
	set ss2 [expr sqrt(($x21 - $x22)*($x21 - $x22)+($y21-$y22)*($y21-$y22))]
	
	LWDAQ_print $info(text) "$ss1 $ss2" green

	#
	# Now we have the separation in microns of the image spots in ss1 and ss2. We must 
	# extract the laser separations from the calibration constants. The source calibration 
	# constants give the x and y positions of the sources in millimeters. While we are
	# calculating the laser separation, we also extract the z-position of the lasers,
	# which is how far forward they are from the cone ball upon which the BCAM mounts.
	#
	scan $sources_1 %s%u%f%f%f%f%f id date x11 y11 x12 y12 zl1
	set ls1 [expr sqrt(($x11 - $x12)*($x11 - $x12)+($y11-$y12)*($y11-$y12))]
	scan $sources_2 %s%u%f%f%f%f%f id date x21 y21 x22 y22 zl2
	set ls2 [expr sqrt(($x21 - $x22)*($x21 - $x22)+($y21-$y22)*($y21-$y22))]
	
	LWDAQ_print $info(text) "$ls1 $ls2" green
	
	#
	# We need the pivot-ccd distance for each camera and the z-coordinate of the pivot
	# point with respect to the cone ball.
	#
	set pc1 [lindex $camera_1 8]
	set zp1 [lindex $camera_1 4]
	set pc2 [lindex $camera_2 8]
	set zp2 [lindex $camera_2 4]
	
	#
	# The distance from the pivot point of camera_1 to the lasers on camera 2 is equal
	# to the ratio of the laser separation to the spot separation multiplied by the
	# camera_1 pivot-ccd distance. We convert the microns of spot separation into millimeters
	# to get the range in millimeters.
	#
	set range_1 [expr $pc1 * $ls1 * 1000 / $ss1]
	set range_2 [expr $pc2 * $ls2 * 1000 / $ss2]
	
	#
	# To obtain the distance between the cone balls upon which the cameras mount, we
	# must subtract from the first range the z-coordinate of the camara_1 pivot point
	# and the z-coordinate of the sources_2 lasers. Note that the z-axis for the first
	# BCAM faces the opposite direction from the z-axis of the second BCAM.
	#
	set range_1 [expr $range_1 - $zp1 - $zl2]
	set range_2 [expr $range_2 - $zp2 - $zl1]
	
	#
	# Now we print the two range measurements to the Acquisifier panel. The absolute
	# accuracy of these range measurements is limited by the absolute accuracy of
	# the pivot point z-position as measured by the BCAM calibration. The z-position
	# is accurate to 1 mm rms. We find that precision and linearity at range 1 m is better
	# than 100 um. At range 10 m, the precision is a hundred times worse, at 10 mm.
	#
	LWDAQ_print $info(text) "Range calculated with Camera_1: [format %.3f $range_1]"
	LWDAQ_print $info(text) "Range calculated with Camera_2: [format %.3f $range_2]"
	
}
config:
end.