Magnet-Rotation/Positions_MARC0.py at main · B311s/Magnet-Rotation · GitHub

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####################
# Positions of MARC0 by loading fiducials
# 20250122
#
####################

fidu = []
import csv
import numpy as np
with open('MARC0_6_Fiducial_solutions.csv', newline='') as csvfile:
     reader = csv.reader(csvfile, delimiter=",")
     for row in reader:
         fidu.append(row)
flist = []
#[NumberOfFidu,[ProbeCS],[FiduCoord],[FitParams],creationdate]
for i in range(len(fidu)):
    frow = [eval(fidu[i][j]) for j in range(len(fidu[0]))]

    flistrow = [frow[0],[frow[1],frow[2],frow[3]],[frow[4],frow[5],frow[6]],[frow[7],frow[8],frow[9],frow[10],frow[11],frow[12]],frow[13]]
    flist.append(flistrow)

# In MARC0_4,MARC0_5 and MARC0_6 only F2,F5,F6 are commonly accesilble, others, Fidu does not fit.
# Center of Magnet obtained from F2 and F5
Fidulst = ["F1","F2","F3","F4","F5","F6"]
Fidudict = {
        "F1":1, "F2":2, "F3":3, "F4":4, "F5":5, "F6":6
}

Fidumiddledict = {
        "F1":1, "F2":2, "F3":3, "F4":4, "F5":5, "F6":6
}
countR = [[flist[k][0] for k in range(len(fidu))].count(i+1) for i in range(6)] #count how often identical fiducial occurs in file (repeated measurements)

for i in range(6):
    if countR[i]>0:
        fidu_ProbeCS_2D = np.array([np.array([flist[j][2][0],flist[j][2][1]]) for j in range(len(flist)) if flist[j][0] == i+1])
        fidu_fit2D = np.array([np.array([flist[j][3][1],flist[j][3][2]]) for j in range(len(flist)) if flist[j][0] == i+1])
        fiduposlst = fidu_ProbeCS_2D+fidu_fit2D
        #print(np.std(fiduposlst,axis=0))
        #print(np.mean(fiduposlst,axis=0))
        Fidudict[Fidulst[i]] = np.mean(fiduposlst,axis=0)
    #fidu_ProbeCS_2 = np.array([flist[i][2][0],flist[i][2][1]])
    #fidu_fit2D = np.array([flist[i][3][1],flist[i][3][2]])
    #for j in range(2):
    #    fidupos2Dlst.append(fidu_ProbeCS_2D+fidu_fit2D)
    #    fidumeanpos = sum(np.array(fidupos2Dlst))/countR
    #    print(fidu_ProbeCS_2D+fidu_fit2D)

normF5F6=np.linalg.norm((Fidudict["F5"]-Fidudict["F6"]))
normF2F6=np.linalg.norm((Fidudict["F2"]-Fidudict["F6"]))

F56 = (Fidudict["F5"]-Fidudict["F6"])/normF5F6
F26 = (Fidudict["F2"]-Fidudict["F6"])/normF2F6
vM3 = np.array([-1.,0.])

print("pi/2-F5F6.F2F6",np.pi/2.-np.arccos(np.dot(np.transpose(F56),F26)))
print("deg F5F6.F2F6",180/np.pi*np.arccos(np.dot(np.transpose(F56),F26)))

print("pi/2-M3.F2F6",np.pi/2.-np.arccos(np.dot(np.transpose(vM3),F26)))
print("deg M3.F2F6",180/np.pi*np.arccos(np.dot(np.transpose(vM3),F26)))

print("M3.F5F6",np.arccos(np.dot(np.transpose(vM3),F56)))
print("deg M3.F5F6",180/np.pi*np.arccos(np.dot(np.transpose(vM3),F56)))
offset_magvolume = np.array([0,-197.5/2.])
offset_enter = np.array([-100,-147.3])

rot    = np.array([[np.cos(np.pi/4),-np.sin(np.pi/4)],[ np.sin(np.pi/4),np.cos(np.pi/4)]])
rotinv = np.array([[np.cos(np.pi/4), np.sin(np.pi/4)],[-np.sin(np.pi/4),np.cos(np.pi/4)]])
for i in range(6):
    if countR[i]>0:
        Fidudict[Fidulst[i]] = Fidudict[Fidulst[i]] + offset_magvolume

        Fidudict[Fidulst[i]] = np.matmul(rot,Fidudict[Fidulst[i]])

        Fidudict[Fidulst[i]] = Fidudict[Fidulst[i]] + offset_enter

        Fidumiddledict[Fidulst[i]] = np.matmul(rotinv,Fidudict[Fidulst[i]])

        Center = .5*(Fidumiddledict["F2"]+Fidumiddledict["F5"])


#rot = np.array([[np.cos(np.pi/8),-np.sin(np.pi/8)],[np.sin(np.pi/8),np.cos(np.pi/8)]])