2b:null 2c:["$","title",null,{"children":"Focal Plane Inspector 2.0 | David Kirkby | Observable"}] 31:T9b2,viewof displayOptions = { // Images. const images = Inputs.checkbox(["front", "back", "minimap"], { label: "Images", value: ["front", "back", "minimap"], format: n => n=="minimap" ? n : n + "-illuminated" }); // Spots const spots = Inputs.checkbox(["measured", "predicted", "history"], { label: "Spots*", value: ["measured"] }); // Device info const device = Inputs.checkbox(["labels", "arms", "theta stops"], { label: "Device info*", value: ["labels", "arms", "theta stops"] }); // Solids const solids = Inputs.checkbox(["keepout", "theta arm", "phi arm", "GFA", "PTL-even", "PTL-odd"], { label: "Solids*", value: ["keepout"] }); // Initialize device flags. let labels = theSummary.meta?.inspect_groups.map(full => full.split(":")[0]) || [ ]; // Remove linphi and lintheta since we treat them as status bits instead. labels = labels.filter(label => !["linphi","lintheta"].includes(label)); const counts = Array(labels.length).fill(0); let nonfunc = 0, linphi_active = 0, linphi_retired = 0, lintheta_active = 0, lintheta_retired = 0; if(theSummary?.data) { theSummary.data.forEach(({INSPECT,FUNC,LINPHI,LINTHETA}) => { for(let bit=0; bit < counts.length; bit++) if(INSPECT & (1< 0) { nonfunc++; if(LINPHI == "True") linphi_retired++; if(LINTHETA == "True") lintheta_retired++; } else { if(LINPHI == "True") linphi_active++; if(LINTHETA == "True") lintheta_active++; } }); } labels = labels.map((label,i) => ({label, count:counts[i]})); labels.push(); const flags = Inputs.checkbox(labels, { label: 'Flags', value:labels.filter(d => (d.count > 0) && (d.label != "linphi") && (d.label != "lintheta")), format:d=>`${d.label}(${d.count})` }); const slabels = [ {label:"active linphi", count:linphi_active}, {label:"retired linphi", count:linphi_retired}, {label:"active lintheta", count:lintheta_active}, {label:"retired lintheta", count:lintheta_retired}, {label:"non-functional", count:nonfunc}, ]; const status = Inputs.checkbox(slabels, { label: 'Status', value: [ ], format:d=>`${d.label}(${d.count})` }); return Inputs.form( { images, spots, device, solids, status, flags }, { template: (inputs) => html`

${Object.values(inputs)} *only visible when zoomed in

` }); }32:T3fde,canvas={ console.log("Initializing the canvas"); const {PI,cos,sin,round}=Math; const twopi=2*PI; const size=800; const c=DOM.context2d(size,size); const imgSize=6000; c.font="6px sansserif"; c.textAlign="center"; c.textBaseline="middle"; c.lineWidth=1; c.lineJoin="round"; c.capStyle="round"; c.imageSmoothingEnabled=false; c.strokeStyle ="#fff"; c.fillStyle="#000"; c.canvas.targetDevice = null; c.canvas.inspectionLabels = null; c.canvas.displayOptions = {images:[], spots:[], device:[], solids:[], status:[], flags:[]}; c.canvas.front = null; c.canvas.back = null; c.canvas.summary = null; c.canvas.updatedAngles = new Map(); c.canvas.visibleDevices = [ ]; const draw = ()=>{ const {front,back,summary,inspectionLabels,targetDevice,displayOptions,updatedAngles}=c.canvas; const {dx,dy,scale,top,left,bottom,right}=c.transform; if(!front && !back && !summary) return; // do nothing c.fillRect(0,0,size,size); c.save(); c.translate(dx,dy); c.scale(scale,scale); c.globalCompositeOperation = "source-over"; if(front && displayOptions.images.includes("front")) { c.drawImage(front,0,0); c.globalCompositeOperation = "screen"; } if(back && displayOptions.images.includes("back")) { c.drawImage(back,0,0); } c.globalCompositeOperation = "source-over"; let viz=[]; if(summary && (scale>=minLabelZoom)) { // Find devices within the visible viewport. viz=summary.data.filter( ({X_FVC,Y_FVC}) => (X_FVC>left)&&(X_FVCtop)&&(Y_FVCdev.DEVICE_TYPE=="POS"); if(viz.length > 0) { // Draw arms and/or keepouts. c.lineWidth=0.5; if(displayOptions.solids.includes("keepout") || displayOptions.solids.includes("phi arm") || displayOptions.solids.includes("theta arm")) { viz.forEach(device=>{ const location = device.LOCATION; if(device.DEVICE_TYPE=="POS") { const {KEEPOUT_T,KEEPOUT_P,OFFSET_T,OFFSET_P,LENGTH_R1,LENGTH_R2, OFFSET_X,OFFSET_Y,POS_T,POS_P,PETAL_LOC,DEVICE_ID}=device; const petal=summary.meta.petals[PETAL_LOC]; // Use updated angles if specified. const {intT,intP} = updatedAngles.has(location) ? updatedAngles.get(location) : {intT:POS_T, intP:POS_P}; // Calculate poslocXY coordinates. const [T,P]=[(intT+OFFSET_T)*PI/180,(intP+OFFSET_P)*PI/180]; const [CT,ST,CTP,STP]=[cos(T),sin(T),cos(T+P),sin(T+P)]; const [xT,yT]=[LENGTH_R1*CT,LENGTH_R1*ST]; const [xP,yP]=[xT+LENGTH_R2*CTP,yT+LENGTH_R2*STP]; const makePath = ([x,y],[x0,y0],[C,S]) => { const xloc=x.map((x,i)=>x0+x*C-y[i]*S); const yloc=y.map((y,i)=>y0+x[i]*S+C*y); const [xvec,yvec]=loc2fvc(xloc,yloc,device,petal, {OFFSET_X,OFFSET_Y}); const n=xvec.length; c.beginPath(); c.moveTo(xvec[n-1],yvec[n-1]); xvec.forEach((x,i)=>c.lineTo(x,yvec[i])); } if(displayOptions.solids.includes("theta arm")) { c.fillStyle="#aaaaff"; c.globalAlpha=0.4; makePath(arms.theta.lower,[0,0],[-CT,-ST]); c.fill(); c.fillStyle="#4444ff"; c.globalAlpha=1; makePath(arms.theta.upper,[0,0],[-CT,-ST]); c.fill(); c.fillStyle="#8888ff"; makePath(arms.theta.stop,[0,0],[-CT,-ST]); c.fill(); } if(displayOptions.solids.includes("phi arm")) { c.fillStyle="#aaaaff"; c.globalAlpha=1; makePath(arms.phi.outer,[xP,yP],[CTP,STP]); c.fill(); c.fillStyle="#000088"; makePath(arms.phi.trap,[xP,yP],[CTP,STP]); c.fill(); c.strokeStyle="#000088"; makePath(arms.phi.fiber,[xP,yP],[CTP,STP]); c.stroke(); } if(displayOptions.solids.includes("keepout")) { c.strokeStyle=c.fillStyle="salmon"; c.setLineDash([0.5,2]); // Theta keepout makePath(summary.meta.keepout.theta[KEEPOUT_T],[0,0],[CT,ST]); c.stroke(); c.globalAlpha=0.2; c.fill(); c.globalAlpha=1.0; // Phi keepout makePath(summary.meta.keepout.phi[KEEPOUT_P],[xT,yT],[CTP,STP]); c.stroke(); c.globalAlpha=0.2; c.fill(); c.globalAlpha=1.0; c.setLineDash([]); } } }); } // Draw labels. if(displayOptions.device.includes("labels")) { viz.forEach(({X_FVC,Y_FVC,DEVICE_ID})=>{ c.fillStyle=(DEVICE_ID==targetDevice?.DEVICE_ID) ? "yellow":"#fff"; c.fillText(DEVICE_ID,X_FVC,Y_FVC,40); }); } // Draw measured spot locations. if(displayOptions.spots.includes("measured")) { c.strokeStyle="#00f"; c.lineWidth=0.5; viz.forEach(device=>{ if(device.DEVICE_TYPE=="POS") { const {OBS_X,OBS_Y}=device; const [x,y]=fp2fvc(OBS_X,OBS_Y,device); c.beginPath(); c.arc(x,y,2,0,twopi); c.stroke(); } }); } // Draw predicted spot locations. if(displayOptions.spots.includes("predicted")) { c.strokeStyle="#fff"; c.lineWidth=0.3; viz.forEach(device=>{ if(device.DEVICE_TYPE=="POS") { const {PRED_X,PRED_Y}=device; const [x,y]=fp2fvc(PRED_X,PRED_Y,device); c.beginPath(); c.arc(x,y,1.5,0,twopi); c.stroke(); } }); } // Draw arms and T limits. if(displayOptions.device.includes("arms") || displayOptions.device.includes("theta stops")) { viz.forEach(device=>{ const location = device.LOCATION; if(device.DEVICE_TYPE=="POS") { const {POS_T,POS_P,PETAL_LOC,DEVICE_ID}=device; // Use updated angles if specified. const {intT, intP} = updatedAngles.get(location) ?? {intT:POS_T, intP:POS_P}; const adjusted = (intT != POS_T) || (intP != POS_P); const petal=summary.meta.petals[PETAL_LOC]; const [xloc,yloc]=tp2loc(intT,intP,device); const [xvec,yvec]=loc2fvc(xloc,yloc,device,petal); if(displayOptions.device.includes("theta stops")) { c.beginPath(); c.moveTo(xvec[3],yvec[3]); c.lineTo(xvec[0],yvec[0]); c.lineTo(xvec[4],yvec[4]); c.strokeStyle="#f22"; c.lineWidth=0.25; c.stroke(); } if(displayOptions.device.includes("arms")) { c.beginPath(); c.moveTo(xvec[0],yvec[0]); c.lineTo(xvec[1],yvec[1]); c.lineTo(xvec[2],yvec[2]); c.strokeStyle="#fff"; if(adjusted) c.setLineDash([2,0.5]); c.lineWidth=1; c.stroke(); if(adjusted) c.setLineDash([]); } } }); } } // Draw GFA keepouts. if(displayOptions.solids.includes("GFA")) { c.strokeStyle=c.fillStyle="salmon"; c.setLineDash([0.5,2]); d3.range(10).forEach(petal_loc => { const [xfvc,yfvc] = summary.meta.keepout.gfa[petal_loc]; c.beginPath(); const n = xfvc.length; c.moveTo(xfvc[n-1],yfvc[n-1]); xfvc.forEach((x,i)=>c.lineTo(x,yfvc[i])); c.stroke(); c.globalAlpha=0.2; c.fill(); c.globalAlpha=1.0; }); c.setLineDash([]); } // Draw PTL keepouts. if(displayOptions.solids.includes("PTL-even") || displayOptions.solids.includes("PTL-odd")) { c.strokeStyle=c.fillStyle="salmon"; c.setLineDash([0.5,2]); d3.range(10).forEach(petal_loc => { if((petal_loc % 2 == 1) && !displayOptions.solids.includes("PTL-odd")) return; if((petal_loc % 2 == 0) && !displayOptions.solids.includes("PTL-even")) return; const [xfvc,yfvc] = summary.meta.keepout.ptl[petal_loc]; c.beginPath(); const n = xfvc.length; c.moveTo(xfvc[n-1],yfvc[n-1]); xfvc.forEach((x,i)=>c.lineTo(x,yfvc[i])); c.stroke(); c.globalAlpha=0.2; c.fill(); c.globalAlpha=1.0; }); c.setLineDash([]); } // Highlight non-functional devices. const status = displayOptions?.status.map(({label}) => label); if(summary) { if(status.includes("non-functional")) { c.strokeStyle="darkorange"; c.lineWidth=Math.max(0.5, 0.5/scale); const s=Math.min(20, 20/scale); summary.data.filter(({FUNC})=>FUNC!=0).forEach(({X_FVC:x,Y_FVC:y,FUNC})=>{ c.beginPath(); if(FUNC==1) c.arc(x,y,s,0,twopi); else if(FUNC==2) { // fiber is not intact c.moveTo(x-s,y-s); c.lineTo(x+s,y+s); c.moveTo(x+s,y-s); c.lineTo(x-s,y+s); } else { //FUNC==3: disabled by relay so has non-motor hardware issues c.moveTo(x-s,y-s); c.lineTo(x+s,y-s); c.lineTo(x+s,y+s); c.lineTo(x-s,y+s); c.lineTo(x-s,y-s); } c.stroke(); }); } if(status.includes("retired linphi") || status.includes("active linphi")) { // Draw a square for the linphi flag. c.lineWidth=Math.max(1.0, 1.0/scale); c.strokeStyle = "#ff0"; const s=Math.min(30, 30/scale), s2 = s / Math.sqrt(2); summary.data.filter(({FUNC,LINPHI}) => LINPHI == "True") .forEach(({X_FVC:x,Y_FVC:y,FUNC})=>{ if((status.includes("retired linphi") && FUNC != 0) || (status.includes("active linphi") && FUNC == 0)) { c.beginPath(); c.moveTo(x-s2, y-s2); c.lineTo(x+s2, y-s2); c.lineTo(x+s2, y+s2); c.lineTo(x-s2, y+s2); c.lineTo(x-s2, y-s2); c.stroke(); } }); } } // Highlight flagged devices for visual inspection. const flags = displayOptions.flags.map(({label}) => label); if(summary) { c.lineWidth=Math.max(1.0, 1.0/scale); const s=Math.min(30, 30/scale); // Draw a circle for flags other than linphi. let mask = 0; inspectionLabels.forEach((name,bit) => { if(flags.includes(name) && name != "linphi") mask |= (1< (INSPECT & mask) != 0) .forEach(({X_FVC:x,Y_FVC:y})=>{ c.beginPath(); c.arc(x,y,s,0,twopi); c.stroke(); }); } // Circle the targeted device when zoomed out. if(targetDevice && (scale 1.5*size/imgSize)) { c.save(); c.font='14px sansserif'; c.textAlign='center'; c.textBaseline='middle;' c.strokeStyle="#fff8"; const miniRadius=round(size/12); const [xc,yc]=[size-miniRadius,miniRadius]; c.beginPath(); c.arc(xc,yc,miniRadius,0,twopi); c.stroke(); c.fillStyle="#aaa"; c.fill(); c.fillStyle="#fff"; d3.range(5).forEach(ptl=>{ const phi=twopi*ptl/10; const [u,v]=[miniRadius*cos(phi),miniRadius*sin(phi)]; c.beginPath(); c.moveTo(xc-u,yc-v); c.lineTo(xc+u,yc+v); c.stroke(); const phit=twopi*(ptl-3+0.5)/10; const [xt,yt]=[0.85*miniRadius*cos(phit),0.85*miniRadius*sin(phit)]; c.fillText(''+ptl,xc+xt,yc-yt); c.fillText(''+(ptl+5),xc-xt,yc+yt); }); const ratio=2*miniRadius/imgSize/scale; const boxsize=size*ratio; const [xbox,ybox] = [xc-miniRadius-dx*ratio,yc-miniRadius-dy*ratio]; c.beginPath(); c.moveTo(xbox,ybox); c.lineTo(xbox+boxsize,ybox); c.lineTo(xbox+boxsize,ybox+boxsize); c.lineTo(xbox,ybox+boxsize); c.lineTo(xbox,ybox); c.fillStyle="#00004c60"; // midnight blue c.fill(); c.strokeStyle="#00004c"; c.stroke(); c.restore(); } } // Initialize pan & zoom interactions. const zoom=d3.zoom() .scaleExtent([size/imgSize,4]) .translateExtent([[0,0],[imgSize,imgSize]]) .on("zoom",({transform:T})=>{ c.transform={ dx:T.x,dy:T.y, scale:T.k, left:-T.x/T.k, top:-T.y/T.k, right:(size-T.x)/T.k, bottom:(size-T.y)/T.k, }; draw(); }); // Install the zoom handler on our canvas element // with the default double-click action disabled. const selection=d3.select(c.canvas); selection.call(zoom).on("dblclick.zoom", null); // Initialize fully zoomed out zoom.scaleTo(selection,size/imgSize); // Initialize double-click handler. c.canvas.addEventListener("dblclick", function(e) { // Convert the click coordinates from pixel offset in the canvas to FVC image pixels. const {dx,dy,scale,left,right,top,bottom} = c.transform; const x_fvc = (e.offsetX - dx) / scale, y_fvc = (e.offsetY - dy) / scale; // Calculate distance from origins of all visible positioners in FVC pixels (20 pix ~ 3 mm) const visiblePositioners = c.canvas.summary.data .filter(({DEVICE_TYPE,X_FVC,Y_FVC}) => (DEVICE_TYPE=="POS")&&(X_FVC>left)&&(X_FVCtop)&&(Y_FVC (x_fvc-X_FVC)**2+(y_fvc-Y_FVC)**2); const closestIndex = d3.minIndex(distSq); const closestDist = Math.sqrt(distSq[closestIndex]); const closest = visiblePositioners[closestIndex]; console.log("dblclick", closestDist, closest); if(closestDist < 30) { // Synchronize with the target text input, which will call our setTarget method. setTarget(closest.DEVICE_ID); } }); // Initial render. draw(); // Return canvas decorated with callbacks. return Object.assign(c.canvas, { id: "endofnight-canvas", updateDisplayOptions: function(opts) { this.displayOptions = opts; draw(); return true; }, updateAngles(angles) { this.updatedAngles = angles; draw(); return true; }, resetView() { zoom.scaleTo(selection,size/imgSize); document.getElementById("endofnight-canvas").scrollIntoView(); }, setTarget(dev) { console.log("setTarget", dev); if(dev !== null) { this.targetDevice = dev; // Zoom in to show this device unless it is already visible at sufficient magnification. const targetLoc = this.targetDevice.DEVICE_LOC+1000*this.targetDevice.PETAL_LOC; const visibleLocs = this.visibleDevices.map(dev => dev.LOCATION); if(!visibleLocs.includes(targetLoc)) { console.log("zooming to show new target at loc", targetLoc); zoom.scaleTo(selection,minLabelZoom); zoom.translateTo(selection,this.targetDevice.X_FVC,this.targetDevice.Y_FVC); } } else this.targetDevice = null; draw(); return true; }, setFrontImage(img) { console.log('setFrontImg'); this.front = img; draw(); return true; }, setBackImage(img) { console.log('setBackImg'); this.back = img; draw(); return true; }, setSummary(data) { this.summary = data; this.inspectionLabels = data?.meta?.inspect_groups.map(full => full.split(":")[0]) || [ ]; console.log('setSummary', this.inspectionLabels); this.userAngles = new Map(); draw(); return true; }, }); }33:T991,targetInfo={ return Inputs.table([targetDev], { layout: "auto", select: false, columns: [ 'DEVICE_ID','DEVICE_LOC','FIBER_ID','POS_T','POS_P','OBS_X','OBS_Y','LINPHI','LINTHETA','FLAGS', 'PETAL_ID', // dummy column for DB links 'PETAL_LOC', // dummy column for calib updates ], header: { DEVICE_ID: "POSID", DEVICE_LOC: "LOC", FIBER_ID: "FIBER", PETAL_ID: "database", // rename dummy column for DB links PETAL_LOC: "updates", // rename dummy column for calib updates }, format: { DEVICE_ID:(t,i,d)=>htl.html`

${t}`, FIBER_ID:(t,i,d)=>htl.html`

${t}`, DEVICE_LOC:(t,i,d)=>htl.html`

${1000*d[i].PETAL_LOC+t}`, POS_T:(t,i,d)=>htl.html`

${t}°`, POS_P:(p,i,d)=>htl.html`

${p}°`, OBS_X: x => htl.html`

${isFinite(x)?x.toFixed(1)+"mm":""}`, OBS_Y: y => htl.html`

${isFinite(y)?y.toFixed(1)+"mm":""}`, LINPHI: (tf,i,d) => tf == "True" ? `${d[i].LINPHI_CW}/${d[i].LINPHI_CCW}` : "False", LINTHETA: (tf,i,d) => tf == "True" ? `${d[i].LINTHETA_CW}/${d[i].LINTHETA_CCW}` : "False", FLAGS:flags=>htl.html`

${parseInt(flags,16)}`, PETAL_ID: ()=>dbLinks===null ? "" : htl.html`

moves | calib

`, PETAL_LOC: (t,i,d)=>{ const posid = d[i].DEVICE_ID; if(!theUpdates.has(posid)) return htl.html`

none`; const names = [...theUpdates.get(posid).keys()]; return htl.html`

${names.length}`; } }, }); }34:T1dc8,viewof expertForm = { const { DEVICE_ID,LOCATION,POS_T,OFFSET_T,PHYSICAL_RANGE_T,POS_P,OFFSET_P,PHYSICAL_RANGE_P, LINPHI_CW,LINPHI_CCW,LINTHETA_CW,LINTHETA_CCW, } = targetDev ?? {}; // Recall the most recent adjustment, if any. let useT = POS_T, useP = POS_P; let useCW_P = LINPHI_CW, useCCW_P = LINPHI_CCW; let useCW_T = LINTHETA_CW, useCCW_T = LINTHETA_CCW; if(viewof angleUpdates.value.has(LOCATION)) { const { intT, intP } = viewof angleUpdates.value.get(LOCATION); useT = intT; useP = intP; } if(viewof scaleUpdatesP.value.has(DEVICE_ID)) { const { setCW_P, setCCW_P } = viewof scaleUpdatesP.value.get(DEVICE_ID); useCW_P = setCW_P; useCCW_P = setCCW_P; } if(viewof scaleUpdatesT.value.has(DEVICE_ID)) { const { setCW_T, setCCW_T } = viewof scaleUpdatesT.value.get(DEVICE_ID); useCW_T = setCW_T; useCCW_T = setCCW_T; } const step = 0.1; const coerce = (x,mode='round') => parseFloat((step * Math[mode](x / step)).toFixed(1)); const posid = DEVICE_ID ?? ""; const location = LOCATION ?? -1; const T0 = coerce(targetDev ? useT : 0); const P0 = coerce(targetDev ? useP + OFFSET_P : 150); const Tlo = coerce(targetDev ? -PHYSICAL_RANGE_T/2 : -190, 'ceil'); const Thi = coerce(targetDev ? +PHYSICAL_RANGE_T/2 : +190, 'floor'); const Plo = coerce(targetDev ? 185 - PHYSICAL_RANGE_P + OFFSET_P : -5, 'ceil'); const Phi = coerce(targetDev ? 185 + OFFSET_P : 185, 'floor'); const CCW_P = targetDev && LINPHI_CCW ? useCCW_P : 1; const CW_P = targetDev && LINPHI_CW ? useCW_P : 1; const CCW_T = targetDev && LINTHETA_CCW ? useCCW_T : 1; const CW_T = targetDev && LINTHETA_CW ? useCW_T : 1; const disabled = targetDev === null; const setT = Inputs.range([Tlo,Thi], { label: `${posid} intT`, value: T0, step: 0.1, format: x=>x.toFixed(1), disabled}); const setP = Inputs.range([Plo,Phi], { label: `${posid} extP`, value: P0, step: 0.1, format: x=>x.toFixed(1), disabled}); const options = Inputs.checkbox( ["synchronized", "dobson mode"], {label: "options", disabled}); const acMode = Inputs.radio( ["freeze", "None"], {label: "anticollision", value: "freeze", disabled}); const isLinearPhi = targetDev?.LINPHI == "True"; const setCW_P = Inputs.range([0,1], { label: "CW_P scale", value: CW_P, step: 0.01, format: x=>x.toFixed(2), disabled: !isLinearPhi }); const setCCW_P = Inputs.range([0,1], { label: "CCW_P scale", value: CCW_P, step: 0.01, format: x=>x.toFixed(2), disabled: !isLinearPhi }); const isLinearTheta = targetDev?.LINTHETA == "True"; const setCW_T = Inputs.range([0,1], { label: "CW_T scale", value: CW_T, step: 0.01, format: x=>x.toFixed(2), disabled: !isLinearTheta }); const setCCW_T = Inputs.range([0,1], { label: "CCW_T scale", value: CCW_T, step: 0.01, format: x=>x.toFixed(2), disabled: !isLinearTheta }); // Implement synchronized movement that maintains dP = -2 * dT setT.addEventListener("input", () => { if(options.value.includes("synchronized")) setP.value = P0 - 2 * (setT.value - T0); viewof angleUpdates.value.set(location, {intT: setT.value, intP:getIntP()}); viewof angleUpdates.dispatchEvent(new Event("input", {bubbles: true})); }); setP.addEventListener("input", () => { if(options.value.includes("synchronized")) setT.value = T0 - 0.5 * (setP.value - P0); viewof angleUpdates.value.set(location, {intT: setT.value, intP:getIntP()}); viewof angleUpdates.dispatchEvent(new Event("input", {bubbles: true})); }); // Calculate intT on demand const Plo_int = coerce(185 - PHYSICAL_RANGE_P, 'ceil'); const Phi_int = 185; const getIntP = () => { let extP = setP.value; // Convert from extP to intP let intP = extP - OFFSET_P; // Keep within hardstop limits intP = Math.min(Math.max(intP, Plo_int), Phi_int); // Round return coerce(intP); } const buttons = [ ["set_angles", () => { viewof calibrationUpdates.value.set(posid, { intT: setT.value, intP: getIntP() }); viewof calibrationUpdates.dispatchEvent(new Event("input", {bubbles: true})); }], ["quick_move", () => { viewof consoleUpdates.value.push({ posid, location, action:"quick_move", intT:setT.value, intP:getIntP(), ac:acMode.value }); viewof consoleUpdates.dispatchEvent(new Event("input", {bubbles: true})); }], ["set_scales_P", () => { if(isLinearPhi) { viewof scaleUpdatesP.value.set(posid, { setCW: setCW_P.value, setCCW: setCCW_P.value }); viewof scaleUpdatesP.dispatchEvent(new Event("input", {bubbles: true})); } }], ["set_scales_T", () => { if(isLinearTheta) { viewof scaleUpdatesT.value.set(posid, { setCW: setCW_T.value, setCCW: setCCW_T.value }); viewof scaleUpdatesT.dispatchEvent(new Event("input", {bubbles: true})); } }], ["new_linphi", () => { if(!isLinearPhi) { viewof linphiUpdates.value.set(posid, { setCW: 0.75, setCCW: 0.75 }); viewof linphiUpdates.dispatchEvent(new Event("input", {bubbles: true})); } }], ["new_lintheta", () => { if(!isLinearTheta) { viewof linthetaUpdates.value.set(posid, { setCW: 0.75, setCCW: 0.75 }); viewof linthetaUpdates.dispatchEvent(new Event("input", {bubbles: true})); } }], ]; const buttons2 = [ ]; for(const action of ["disable", "enable", "retire", "restore"]) { buttons2.push([action, () => { viewof consoleUpdates.value.push({ posid, location, action, intT:null, intP:null, ac:null }); viewof consoleUpdates.dispatchEvent(new Event("input", {bubbles: true})); }]); } buttons2.push([`reset_${posid}`, () => { setT.value = coerce(POS_T); setP.value = coerce(POS_P + OFFSET_P); if(isLinearPhi) { setCW_P.value = CW_P; setCCW_P.value = CCW_P; } if(viewof calibrationUpdates.value.has(posid)) { viewof calibrationUpdates.value.delete(posid); viewof calibrationUpdates.dispatchEvent(new Event("input", {bubbles: true})); } const filteredConsoleUpdates = viewof consoleUpdates.value.filter(u => u.posid != posid); if(filteredConsoleUpdates.length < viewof consoleUpdates.value.length) { viewof consoleUpdates.value = filteredConsoleUpdates; viewof consoleUpdates.dispatchEvent(new Event("input", {bubbles: true})); } if(viewof angleUpdates.value.has(location)) { viewof angleUpdates.value.delete(location); viewof angleUpdates.dispatchEvent(new Event("input", {bubbles: true})); } if(viewof scaleUpdatesP.value.has(posid)) { viewof scaleUpdatesP.value.delete(posid); viewof scaleUpdatesP.dispatchEvent(new Event("input", {bubbles: true})); } if(viewof linphiUpdates.value.has(posid)) { viewof linphiUpdates.value.delete(posid); viewof linphiUpdates.dispatchEvent(new Event("input", {bubbles: true})); } }]); buttons2.push(["reset_ALL", () => { if(window.confirm("Really reset expert updates for all robots?")) resetUpdates(); }]); return Inputs.form({ setT, setP, setCW_P, setCCW_P, setCW_T, setCCW_T, options, acMode, actions: Inputs.button(buttons, {label: "actions", disabled}), actions2: Inputs.button(buttons2, {label: " ", disabled}), }, { template: (inputs) => html`

${inputs.setT} ${inputs.setP} ${inputs.setCW_P} ${inputs.setCCW_P} ${inputs.setCW_T} ${inputs.setCCW_T} ${inputs.options} ${inputs.acMode}

${inputs.actions}

${inputs.actions2}

` }); }35:Tbbc,expertCommands = { // Find petals with commands to execute const petals = new Set(consoleUpdates.map(({location}) => Math.floor(location / 1000))); if(petals.size == 0 && calibrationUpdates.size == 0 && scaleUpdatesP.size == 0 && linphiUpdates.size == 0 && scaleUpdatesT.size == 0 && linthetaUpdates.size == 0 ) return htl.html`

No expert commands to execute`; const dmode = expertForm.options.includes("dobson mode"); const prompt = dmode ? "" : "% "; const lines = [ "# Run as fpa_expert:\n", `${prompt}join_desi_instance desi_${thisNight}\n`, ]; if(petals.size) { const retirees = new Map(); lines.push("\n% Console\n"); // Loop over petals for(const P of [...petals.keys()].sort()) { lines.push(`select PETAL${P}\n`); // Loop over updates on this petal. const updates = consoleUpdates.filter(({location}) => Math.floor(location / 1000) == P); for(const {posid,action,intT,intP,ac} of updates) { if(["retire","restore","disable","enable"].includes(action)) { const key = (action == "retire" || action == "restore") ? "DEVICE_CLASSIFIED_NONFUNCTIONAL" : "CTRL_ENABLED"; const value = (action == "enable" || action == "retire") ? "True" : "False"; lines.push(`set_operability ids=${posid} key=${key} value=${value} comment='...'\n`); if(action == "retire") retirees.set(posid, null); } else if(action == "quick_move") { lines.push(`set_operability ids=${posid} key=CTRL_ENABLED value=True comment='Force enable before move'\n`); lines.push(`quick_move posids=${posid} cmd=posintTP anticollision=${ac} target=[${intT},${intP}] log_note='...'\n`); } } } lines.push(...pushCSV(retirees, "KEEPOUT_EXPANSION_THETA_RADIAL,KEEPOUT_EXPANSION_THETA_ANGULAR,KEEPOUT_EXPANSION_PHI_RADIAL,KEEPOUT_EXPANSION_PHI_ANGULAR", dmode, d => "0,0,0,0", `/tmp/clear-keepouts-${thisNight}.csv`)); } lines.push(...pushCSV(calibrationUpdates, "POS_T,POS_P", dmode, d => `${d.intT},${d.intP}`, `/tmp/angles-${thisNight}.csv`)); lines.push(...pushCSV(scaleUpdatesP, "SZ_CW_P,SZ_CCW_P", dmode, d => `${d.setCW},${d.setCCW}`, `/tmp/scalesP-${thisNight}.csv`)); lines.push(...pushCSV(scaleUpdatesT, "SZ_CW_T,SZ_CCW_T", dmode, d => `${d.setCW},${d.setCCW}`, `/tmp/scalesT-${thisNight}.csv`)); lines.push(...pushCSV(linphiUpdates, "SZ_CW_P,SZ_CCW_P,ZENO_MOTOR_P,KEEPOUT_EXPANSION_PHI_ANGULAR", dmode, d => `${d.setCW},${d.setCCW},True,5.5`, `/tmp/newlinphi-${thisNight}.csv`)); lines.push(...pushCSV(linthetaUpdates, "SZ_CW_T,SZ_CCW_T,ZENO_MOTOR_T,KEEPOUT_EXPANSION_THETA_ANGULAR", dmode, d => `${d.setCW},${d.setCCW},True,5.5`, `/tmp/newlintheta-${thisNight}.csv`)); return htl.html`

${lines}`;
}36:Tad2,viewof targetMoves = {
  let message, moves = [ ];
  if(targetDev == null) message = "No selected device.";
  else if(!theSummary) message = "No summary available.";
  else if(!theMoves) message = "No moves available.";
  else {
    const dev = targetDev;
    if(!theMoves.has(dev.LOCATION)) message = `No moves recorded for ${dev.DEVICE_ID}.`;
    else {
      // Initialize transform of (x_ptl,y_ptl) to (x_loc,y_loc)
      const phi = (dev.PETAL_LOC - 3) * Math.PI / 5;
      const cosPhi = Math.cos(phi), sinPhi = Math.sin(phi);
      // Extract moves for this device
      moves = theMoves.get(dev.LOCATION);
      // Augment table with some extra fields
      moves.forEach((row,idx,array) => {
        // Convert local hours since noon to a Date object (using UTC for local time)
        const t = getTimeRecorded(row.time_recorded);
        array[idx].date = t;
        // Construct a hover label to use.
        const timeString = t.toISOString().substring(11, 19);
        array[idx].localtime = timeString;
        const intT = row.fvc_t !== null ? row.fvc_t : row.req_t;
        const extT = intT !== null ? intT + dev.OFFSET_T : null;
        const intP = row.fvc_p !== null ? row.fvc_p : row.req_p;
        const extP = intP !== null ? intP + dev.OFFSET_P : null;
        const angleString = extT !== null ? `T=${extT.toFixed(1)},P=${extP.toFixed(1)}` : "";
        array[idx].label = `${row.exposure_id}-${row.exposure_iter}@${timeString} ${angleString}`;
        let loc_x, loc_y, loc_dx, loc_dy;
        if((row.ptl_x !== null) && (row.ptl_y !== null)) {
          // Undo ptl2fp_nominal()
          const ptl_x = cosPhi * row.ptl_x + sinPhi * row.ptl_y;
          const ptl_y = cosPhi * row.ptl_y - sinPhi * row.ptl_x;
          // Convert from ptl to loc
          loc_x = ptl_x / dev.R0_OVER_S0 - dev.OFFSET_X;
          loc_y = ptl_y / dev.R0_OVER_S0 - dev.OFFSET_Y;
          if((row.req_x !== null) && (row.req_y !== null)) {
            const req_x = cosPhi * row.req_x + sinPhi * row.req_y;
            const req_y = cosPhi * row.req_y - sinPhi * row.req_x;
            // Calculate move residuals in local tangent plane in microns
            loc_dx = 1e3 * (req_x / dev.R0_OVER_S0 - dev.OFFSET_X - loc_x);
            loc_dy = 1e3 * (req_y / dev.R0_OVER_S0 - dev.OFFSET_Y - loc_y);
          }
        }
        array[idx].loc_x = loc_x;
        array[idx].loc_y = loc_y;
        array[idx].loc_dx = loc_dx;
        array[idx].loc_dy = loc_dy;
        array[idx].loc_dr = Math.sqrt(loc_dx ** 2 + loc_dy ** 2);
      });
      message = `${dev.DEVICE_ID} has ${moves.length} moves during ${theSummary.meta.night}`;
    }
  }
  const view = html`${message}`;
  view.value = moves;
  view.dispatchEvent(new CustomEvent("input"));
  return view;
}37:T53e,dXYplot = {
  if(targetMovesFiltered.length == 0) return html``;
  // Use polar coords with log-scaled radius
  const rscale = d3.scaleLog(
    [1, 350], // microns
    [0, 1] // x,y scale domain
  );
  return Plot.plot({
    ...plotLayout,
    x: { label: "log dX [μm]", labelAnchor: "center", labelArrow: false, domain:[-1,1], ticks: [] },
    y: { label: "log dY [μm]", labelAnchor: "center", labelArrow: false, domain:[-1,1], ticks: [] },
    r: { type: "linear", domain: [0,2],
         range: [0,plotLayout.width-plotLayout.marginLeft-plotLayout.marginRight] },
    grid: true,
    marks:[
      Plot.frame(),
      Plot.dot([3, 10, 30, 100, 300], {
        x: 0, y: 0, stroke: "lightgray", r: d => rscale(d), strokeWidth: 3,
        title: d => `${d}μm` }),
      selectedMove ? Plot.dot([selectedMove], {
        x:d => d.loc_dx * rscale(d.loc_dr) / d.loc_dr,
        y:d => d.loc_dy * rscale(d.loc_dr) / d.loc_dr,
        stroke: plotLayout.selectColor, symbol: "circle", strokeWidth: 3, r: 8 }) : null,
      Plot.dot(targetMovesFiltered, {
        x:d => d.loc_dx * rscale(d.loc_dr) / d.loc_dr,
        y:d => d.loc_dy * rscale(d.loc_dr) / d.loc_dr,
        r: 3, title: "label", clip: true,
        fill: d => d.exposure_iter == 1 ? "green":"blue",
        symbol: d => d.exposure_iter == 1 ? "cross":"circle" }),
    ]
  });
}38:T8ed,XYplot = {
  if(targetMovesFiltered.length == 0) return html``;
  const rmax = 6.5;
  const { cos, sin, PI } = Math;
  const { LENGTH_R1, LENGTH_R2, OFFSET_T, OFFSET_P, PHYSICAL_RANGE_T } = targetDev;
  const circles = [0,60,90,120,150,180].map(extP => {
    const r12sq = LENGTH_R1**2 + LENGTH_R2**2 + 2*LENGTH_R1*LENGTH_R2*Math.cos(extP*Math.PI/180);
    return { r: r12sq > 0 ? Math.sqrt(r12sq) : -1, extP };
  });
  const Tp = (OFFSET_T + PHYSICAL_RANGE_T / 2) * PI / 180;
  const Tm = (OFFSET_T - PHYSICAL_RANGE_T / 2) * PI / 180;
  const ambiguous = [
    { x: LENGTH_R1 * cos(Tp), y: LENGTH_R1 * sin(Tp) },
    { x: 0, y: 0 },
    { x: LENGTH_R1 * cos(Tm), y: LENGTH_R1 * sin(Tm) },
  ];
  const arms = [];
  const deg2rad = PI / 180;
  if(selectedMove) {
    const {fvc_t,fvc_p} = selectedMove;
    if((fvc_t !== null) && (fvc_p !== null)) {
      const T = (fvc_t + OFFSET_T) * deg2rad;
      const P = (fvc_p + OFFSET_P) * deg2rad;
      const xT = LENGTH_R1 * cos(T), yT = LENGTH_R1 * sin(T);
      const xP = LENGTH_R2 * cos(T+P), yP = LENGTH_R2 * sin(T+P);
      arms.push({x1:0, y1:0, x2:xT, y2:yT});
      arms.push({x1:xT, y1:yT, x2:xT+xP, y2:yT+yP});
    }
  }
  return Plot.plot({
    ...plotLayout,
    x: { label: "poslocX [mm]", labelAnchor: "center", labelArrow: false,
         domain:[-rmax,rmax], ticks:[-6,-4,-2,0,2,4,6] },
    y: { label: "poslocY [mm]", labelAnchor: "center", labelArrow: false,
         domain:[-rmax,rmax], ticks:[-6,-4,-2,0,2,4,6] },
    r: { type: "linear", domain: [0,2*rmax],
         range: [0,plotLayout.width-plotLayout.marginLeft-plotLayout.marginRight] },
    marks:[
      Plot.frame(),
      Plot.dot(circles, { x:0, y:0, stroke:"lightgray", r: ({r}) => r, strokeWidth: 3,
                         title: ({r,extP}) => `extP=${extP}°,r=${r.toFixed(1)}mm` }),
      Plot.line(ambiguous, { x:"x", y:"y", stroke: "red" }),
      Plot.link(arms, {
        x1:"x1", y1:"y1", x2:"x2", y2:"y2", stroke: plotLayout.selectColor, strokeWidth:4, strokeOpacity:1 }),
      selectedMove ? Plot.dot([selectedMove], {
        x:"loc_x", y:"loc_y", stroke: plotLayout.selectColor, symbol: "circle", strokeWidth:3, r: 8 }) : null,
      Plot.dot(targetMovesFiltered, { x:"loc_x", y:"loc_y", fill: "blue", r: 2, title: "label" }),
    ]
  });
}39:T4b3,Pplot = {
  if(targetMovesFiltered.length == 0) return html``;
  const {OFFSET_P, PHYSICAL_RANGE_P} = targetDev;
  return Plot.plot({
    ...plotLayout,
    x: { scale:"utc", grid: true },
    y: { grid: true, label:"intP [deg]", labelAnchor: "center", labelArrow: false,
        domain:[-15,190], tickSize: 0, tickPadding: 2 },
    marks:[
      Plot.frame(),
      // hardstop locations
      Plot.ruleY([185-PHYSICAL_RANGE_P,185], {
        y:d=>d, stroke:"blue", strokeDasharray: [5,2], clip: true, title: d => "full range" }),
      // inset by [6,-3] for debounced range
      Plot.ruleY([185-PHYSICAL_RANGE_P+6,185-3], {
        y:d=>d, stroke:"blue", strokeDasharray: [2,5], clip: true, title: d => "debounced range" }),
      selectedMove ? Plot.dot([selectedMove], {
        x:"date", y: "fvc_p", stroke: plotLayout.selectColor, symbol: "circle", strokeWidth:3, r: 8 }) : null,
      Plot.dot(targetMovesFiltered, {
        x:"date", y: "req_p", title: "label",
        fill:"white", stroke:"blue", strokeWidth: 0.5, r:4}),
      Plot.dot(targetMovesFiltered, {
        x:"date", y: "fvc_p", title: "label",
        fill:d => d.blocked || !d.ctrl_enabled ? "red" : "blue", r:2}),
    ]
  });
}3a:T4af,Tplot = {
  if(targetMovesFiltered.length == 0) return html``;
  const {PHYSICAL_RANGE_T} = targetDev;
  const overlap = PHYSICAL_RANGE_T/2 - 180;
  return Plot.plot({
    ...plotLayout,
    x: { scale:"utc", grid: true },
    y: { grid: true, label:"intT [deg]", labelAnchor: "center", labelArrow: false,
         domain:[-210,210], tickSize: 0, tickPadding: 2 },
    marks:[
      Plot.frame(),
      Plot.ruleY([-PHYSICAL_RANGE_T/2, PHYSICAL_RANGE_T/2],
                 { y:d=>d, stroke:"blue", strokeDasharray: [5,2], clip: true, title: d => "full range" }),
      Plot.ruleY([-180+overlap, 180-overlap],
                 { y:d=>d, stroke:"blue", strokeDasharray: [2,5], clip: true, title: d => "ambiguous zone" }),
      selectedMove ? Plot.dot([selectedMove], {
        x:"date", y: "fvc_t", stroke: plotLayout.selectColor, symbol: "circle", strokeWidth:3, r: 8 }) : null,
      Plot.dot(targetMovesFiltered, {
        x:"date", y: "req_t", title: "label",
        fill:"white", stroke:"blue", strokeWidth: 0.5, r:4}),
      Plot.dot(targetMovesFiltered, {
        x:"date", y:d => d.fvc_t, title: "label",
        fill:d => d.blocked || !d.ctrl_enabled ? "red" : "blue", r:2}),
    ]
  });
}3b:Tc47,dPplot = {
  if(targetMovesFiltered.length == 0) return html``;
  const { DEVICE_ID, LINPHI_CW, LINPHI_CCW } = targetDev;
  const validP = targetMovesFiltered
    .filter(({req_dp, act_dp, blocked, ctrl_enabled}) =>
            (req_dp !== null) && (act_dp !== null) && (blocked == 0) && (ctrl_enabled == 1));
  const validPsel = selectedMove ?
    [selectedMove].filter(({req_dp, act_dp, blocked, ctrl_enabled}) =>
            (req_dp !== null) && (act_dp !== null) && (blocked == 0) && (ctrl_enabled == 1)) : [ ];

  // Identify any failed moves
  const ftol = 0.15, atol = 5.5; // atol = 4 deg corresponds to about 200 um
  let nfailed = 0;
  validP.forEach(({req_dp, act_dp}, k, A) => {
    A[k].failed = Math.abs(act_dp - req_dp) > Math.max(ftol * Math.abs(req_dp), atol);
    if(A[k].failed) nfailed++;
  });
  const failedMarks = [ ];
  if(nfailed > 0) failedMarks.push(Plot.text(
    [`${nfailed} / ${validP.length} outliers`],
    { frameAnchor:"top-left", fontSize: 14, dx: 8, dy:40, fill:plotLayout.failedColor }
  ));

  const scaleMarks = [ ];
  if(targetDev.linphiModel) {
    const { setCW_P, setCCW_P } = expertForm;
    const changed = (setCW_P.toFixed(2) != LINPHI_CW.toFixed(2)) || (setCCW_P.toFixed(2) != LINPHI_CCW.toFixed(2));
    if(changed) {
      const C = plotLayout.scaleColor;
      const data = [-180, -90, 0, 90, 180].map((x) => ({ x, y: targetDev.linphiModel.actualAngle(x, setCW_P, setCCW_P) }));
      // These text marks cannot be combined since (dx,dy) are constants.
      scaleMarks.push(Plot.text([`CW: ${LINPHI_CW.toFixed(2)} →`],
                                { frameAnchor: "bottom-right", fontSize: 14, dx:-40, dy:-24 }));
      scaleMarks.push(Plot.text([`${setCW_P.toFixed(2)}`],
                                { frameAnchor: "bottom-right", fontSize: 14, dx:-8, dy:-24, fill:C }));
      scaleMarks.push(Plot.text([`CCW: ${LINPHI_CCW.toFixed(2)} →`],
                                { frameAnchor: "bottom-right", fontSize: 14, dx:-40, dy:-8 }));
      scaleMarks.push(Plot.text([`${setCCW_P.toFixed(2)}`],
                                { frameAnchor: "bottom-right", fontSize: 14, dx:-8, dy:-8, fill:C }));
      scaleMarks.push(Plot.line(data, {x:"x", y:"y", stroke:C, strokeWidth: 2, strokeOpacity:0.5 }));
    }
  }
  
  return Plot.plot({
    ...plotLayout,
    x: { grid: true, label: "Requested dP [deg]", labelAnchor: "center",
         labelArrow: false, domain: [-180,180], ticks: [-180,-120,-60,0,60,120,180] },
    y: { grid: true, label: "Actual dP [deg]", labelAnchor: "center",
         labelArrow: false, domain: [-180,180], ticks: [-180,-120,-60,0,60,120,180] },
    marks:[
      Plot.frame(),
      Plot.text([DEVICE_ID], { frameAnchor: "top-left", fontSize: "large", dx:8, dy:8 }),
      Plot.line([{x:-180,y:-180}, {x:180,y:180}], {x:"x", y:"y", stroke:"lightgray"}),
      ...scaleMarks,
      ...failedMarks,
      Plot.dot(validPsel, {x:"req_dp", y:"act_dp", stroke: plotLayout.selectColor, symbol: "circle", strokeWidth:3, r: 8 }),
      Plot.dot(validP, {x:"req_dp", y:"act_dp", title:"label", fill:d=>d.failed?plotLayout.failedColor:"blue", r:2}),
    ]
  });
}3c:Tc63,dTplot = {
  if(targetMovesFiltered.length == 0) return html``;
  const { DEVICE_ID, LINTHETA_CW, LINTHETA_CCW } = targetDev;
  const validT = targetMovesFiltered
    .filter(({req_dt, act_dt, blocked, ctrl_enabled}) =>
            (req_dt !== null) && (act_dt !== null) && (blocked == 0) && (ctrl_enabled == 1));
  const validTsel = selectedMove ?
    [selectedMove].filter(({req_dt, act_dt, blocked, ctrl_enabled}) =>
            (req_dt !== null) && (act_dt !== null) && (blocked == 0) && (ctrl_enabled == 1)) : [ ];

  // Identify any failed moves
  const ftol = 0.15, atol = 5.5; // atol = 4 deg corresponds to about 200 um
  let nfailed = 0;
  validT.forEach(({req_dt, act_dt}, k, A) => {
    A[k].failed = Math.abs(act_dt - req_dt) > Math.max(ftol * Math.abs(req_dt), atol);
    if(A[k].failed) nfailed++;
  });
  const failedMarks = [ ];
  if(nfailed > 0) failedMarks.push(Plot.text(
    [`${nfailed} / ${validT.length} outliers`],
    { frameAnchor:"top-left", fontSize: 14, dx: 8, dy:40, fill:plotLayout.failedColor }
  ));

  const scaleMarks = [ ];
  if(targetDev.linthetaModel) {
    const { setCW_T, setCCW_T } = expertForm;
    const changed = (setCW_T.toFixed(2) != LINTHETA_CW.toFixed(2)) ||
      (setCCW_T.toFixed(2) != LINTHETA_CCW.toFixed(2));
    if(changed) {
      const C = plotLayout.scaleColor;
      const data = [-360, -180, 0, 180, 360].map((x) => ({ x, y: targetDev.linthetaModel.actualAngle(x, setCW_T, setCCW_T) }));
      // These text marks cannot be combined since (dx,dy) are constants.
      scaleMarks.push(Plot.text([`CW: ${LINTHETA_CW.toFixed(2)} →`],
                                { frameAnchor: "bottom-right", fontSize: 14, dx:-40, dy:-24 }));
      scaleMarks.push(Plot.text([`${setCW_T.toFixed(2)}`],
                                { frameAnchor: "bottom-right", fontSize: 14, dx:-8, dy:-24, fill:C }));
      scaleMarks.push(Plot.text([`CCW: ${LINTHETA_CCW.toFixed(2)} →`],
                                { frameAnchor: "bottom-right", fontSize: 14, dx:-40, dy:-8 }));
      scaleMarks.push(Plot.text([`${setCCW_T.toFixed(2)}`],
                                { frameAnchor: "bottom-right", fontSize: 14, dx:-8, dy:-8, fill:C }));
      scaleMarks.push(Plot.line(data, {x:"x", y:"y", stroke:C, strokeWidth: 2, strokeOpacity:0.5 }));
    }
  }
  
  return Plot.plot({
    ...plotLayout,
    x: { grid: true, label: "Requested dT [deg]", labelAnchor: "center",
         labelArrow: false, domain: [-360,360], ticks: [-360,-240,-120,0,120,240,360] },
    y: { grid: true, label: "Actual dT [deg]", labelAnchor: "center",
         labelArrow: false, domain: [-360,360], ticks: [-360,-240,-120,0,120,240,360] },
    marks:[
      Plot.frame(),
      Plot.text([DEVICE_ID], { frameAnchor: "top-left", fontSize: "large", dx:8, dy:8 }),
      Plot.line([{x:-360,y:-360}, {x:360,y:360}], {x:"x", y:"y", stroke:"lightgray"}),
      ...scaleMarks,
      ...failedMarks,
      Plot.dot(validTsel, {x:"req_dt", y:"act_dt", stroke: plotLayout.selectColor, symbol: "circle", strokeWidth:3, r: 8 }),
      Plot.dot(validT, {x:"req_dt", y:"act_dt", title:"label", fill:d=>d.failed?plotLayout.failedColor:"blue", r:2}),
    ]
  });
}3d:T5c6,class LinearPhiModel {
  constructor(
    appliedCruiseScaleCW, appliedCruiseScaleCCW,
    {cruiseStep=100, upRamp=1, downRamp=1, backlash=1.2, gearRatio=(46 / 14 + 1) ** 4}={}) {
    Object.assign(this, {appliedCruiseScaleCW, appliedCruiseScaleCCW, cruiseStep, backlash, gearRatio});
    // Compute total number of ramp up and down steps during a cruise move.
    function ramp(spinStep) {
      return [].concat(...d3.range(cruiseStep + 1).map(n => new Array(spinStep).fill(n)));
    }
    const spinUp = ramp(upRamp), spinDown = ramp(downRamp).reverse();
    this.nominalRampSteps = d3.sum(spinUp) + d3.sum(spinDown);
  }
  actualAngle(requestedAngle, trueCruiseScaleCW, trueCruiseScaleCCW) {
    // Is this move CW or CCW?
    const [ reqSign, appliedCruiseScale , trueCruiseScale ] = (requestedAngle >= 0) ?
      [ +1, this.appliedCruiseScaleCCW, trueCruiseScaleCCW ] : [ -1, this.appliedCruiseScaleCW, trueCruiseScaleCW ];
    // Calculate actual move.
    const nominalCruiseTicks = Math.round(
      (reqSign * requestedAngle * this.gearRatio * 10 - this.nominalRampSteps) / this.cruiseStep);
    const actualCruiseTicks = Math.round(nominalCruiseTicks / appliedCruiseScale);
    const disengagedDeg = reqSign * this.backlash;
    const trueRampScale = (trueCruiseScaleCW + trueCruiseScaleCCW) / 2;
    return reqSign / (10 * this.gearRatio) * (
      trueRampScale * this.nominalRampSteps + trueCruiseScale * actualCruiseTicks * this.cruiseStep) - disengagedDeg;
  }
}3e:T8d2,dbLinks={
  if(!theSummary?.meta?.moves_start || !targetDev) return null;
  let {moves_start}=theSummary.meta;
  const {DEVICE_ID,PETAL_ID}=targetDev;
  
  const round = (name,prec,alias) => `ROUND(CAST(${name} as numeric),${prec}) as ${alias || name}`;
  const NERSC="https://replicator.desi.lbl.gov/QE/DESI/app/query?";

  // List all moves starting at noon of current night.
  const sqlMoves=`select pos_id,time_recorded as UTC,
to_char(time_recorded - interval '7 hour','HH24:MI:SS') as localtime,
exposure_id as expid,exposure_iter as iter,ctrl_enabled as ctrl,move_cmd,move_val1,move_val2,
${round("pos_t",2,"POS_T")},${round("pos_p",2,"POS_P")},
${round("obs_x",3,"OBS_X")},${round("obs_y",3,"OBS_Y")},
flags,log_note
from posmovedb.positioner_moves_p${PETAL_ID} where pos_id in ('${DEVICE_ID}')
and time_recorded>=timestamp '${moves_start}'
order by time_recorded asc`;
  
  const paramsMoves=new URLSearchParams({
    sql_statement:sqlMoves,dbname:"desi",output_type:"HTML",maxrows:10000,pagerows:1000,page:0});
  const moves=new URL(NERSC + paramsMoves);

  // List most recent calibration entries in reverse chronological order.
  // Not qualified by current night.
  const sqlCalib=` select pos_id,time_recorded,
${round("length_r1",3,"r1")},${round("length_r2",3,"r2")},${round("offset_x",4)},${round("offset_y",4)},
${round("offset_t",2,"off_t")},${round("offset_p",2,"off_p")},${round("physical_range_t",2,"rng_t")},
${round("physical_range_p",2,"rng_p")},
${round("keepout_expansion_theta_radial",2,"theta_dr")},
${round("keepout_expansion_theta_angular",1,"theta_da")},
${round("keepout_expansion_phi_radial",2,"phi_dr")},
${round("keepout_expansion_phi_angular",1,"phi_da")},
zeno_motor_p as linphi, sz_cw_p as cw_p, sz_ccw_p as ccw_p,
zeno_motor_t as lintheta, sz_cw_t as cw_t, sz_ccw_t as ccw_t,
classified_as_retracted as retracted,
device_classified_nonfunctional as nonfunc,fiber_intact as fiber,calib_note
from posmovedb.positioner_calibration_p${PETAL_ID} where pos_id in ('${DEVICE_ID}')
order by time_recorded desc`;
  
  const paramsCalib=new URLSearchParams({
    sql_statement:sqlCalib,dbname:"desi",output_type:"HTML",maxrows:1000,pagerows:100,page:0});
  const calib=new URL(NERSC + paramsCalib);

  return { moves, calib };
}3f:T51b,anglesPlot = {
  const {expid, expiter} = expIdIter;
  if(!expid) return html`Select a row in the Moves DB table to view the corresponding hardware move table.`;
  const marks = [ ];
  const plans = hwData.plans.filter(d => (d.expid == expid) && (d.iter == expiter));
  if(plans.length == 0) return html`The selected Moves DB row (expid ${expid} iter ${expiter}) has no move tables for these robots. Select a different row to view.`;
  plans.forEach(({id, plan}) => {
    const {T, P} = hwAngles.initial.find(d => (d.id == id));
    const strokeDasharray = (id == targetDev.DEVICE_ID) ? null : [2, 4];
    const t1 = plan.scheduleP.atime;
    const a1 = plan.scheduleP.angle.map(p => p + P);
    marks.push(Plot.line(t1, { x: t => t, y: (_,i) => a1[i], stroke: "red", strokeDasharray, title: () => id+" phi" }));
    const t2 = plan.scheduleT.atime;
    const a2 = plan.scheduleT.angle.map(t => t + T);
    marks.push(Plot.line(t2, { x: t => t, y: (_,i) => a2[i], stroke: "blue", strokeDasharray, title: () => id+" theta" }));
  });
  marks.push(Plot.ruleX([animationFrame.t], {stroke: "black", strokeOpacity: 0.25, strokeWidth:4 }));
  return Plot.plot({
    width: width,
    grid: true,
    x: { label: "Elapsed time [s]" },
    y: { label: "Theta (blue) / Phi (red) [deg]" },
    marks
  });
}40:T71a,hwAngles = {
  const {expid, expiter} = expIdIter;
  if(!expid) return { };
  // Get the initial and final angles for each displayed robot for this (expid,iter)
  // and check that the move DB entries are consistent with the HW tables.
  const {abs} = Math;
  const initial = [ ], final = [ ];
  for(const {DEVICE_ID,LOCATION} of hwData.table) {
    // Lookup the move DB entry for this (id,expid,iter)
    let move, prev_t = null, prev_p = null;
    for(move of theMoves.get(LOCATION)) {
      if(move.exposure_id == expid && move.exposure_iter == expiter) break;
      prev_t = move.pos_t;
      prev_p = move.pos_p;
    }
    if(!move) {
      console.log(`missing move DB entry for ${DEVICE_ID} ${expid} ${expiter}`);
      continue;
    }
    const {pos_t, pos_p, req_dt, req_dp, act_dt, act_dp} = move;
    // Look up the HW table entry for this (id,expid,iter)
    const hwtable = hwData.hwtables
      .filter(d => d.id == DEVICE_ID && d.expid == expid && d.iter == expiter);
    if(hwtable.length != 1) {
      console.log(`missing HW table for ${DEVICE_ID} ${expid} ${expiter}`);
      continue;
    }
    const {dT,dP} = hwtable[0];
    // Check that HW table and move DB entry agree on the size of the move for each axis
    if(abs(req_dt - dT) > 0.1)
      console.log(`Inconsistent dT for ${DEVICE_ID}: ${req_dt} in DB but ${dT} in HW`);
    if(abs(req_dp - dP) > 0.1)
      console.log(`Inconsistent dP for ${DEVICE_ID}: ${req_dp} in DB but ${dP} in HW`);
    // Save the initial and final angles for this (id,expid,iter)    
    //initial.push({id:DEVICE_ID, T:pos_t-req_dt, P:pos_p-req_dp});
    //final.push({id:DEVICE_ID, T:pos_t, P:pos_p});
    initial.push({id:DEVICE_ID, T:prev_t, P: prev_p});
    final.push({id:DEVICE_ID, T: prev_t+req_dt, P: prev_p+req_dp});
  }
  return { initial, final };
}41:Ta05,hwData = {
  if(targetDev == null) return {};
  const {LOCATION} = targetDev;
  const C = [ theSummary.index.get(LOCATION) ];
  // Initialize label colors.
  const labelColors = new Map();
  // Add rows for this robot's neighbors to C.
  for(const n of JSON.parse(C[0].POS_NEIGHBORS)) C.push(theSummary.index.get(posid2loc.get(n)));
  const robots = [ ], plans = [ ], hwtables = [ ];
  const IAP = new IntArrayParser();
  C.forEach(({DEVICE_ID:id,POS_T:T,POS_P:P,OFFSET_X:x,OFFSET_Y:y,
      LENGTH_R1:r1,LENGTH_R2:r2,OFFSET_T:T0,OFFSET_P:P0,
      PHYSICAL_RANGE_T:rangeT,PHYSICAL_RANGE_P:rangeP,
      DEVICE_CLASSIFIED_NONFUNCTIONAL:nonfunc,LINPHI_CW,
     }) => {
    robots.push(new Robot({id,x,y,r1,r2,T,P,T0,P0,rangeT,rangeP}));
    // Set the label color for this robot based on nonfunc and linphi status.
    if(nonfunc == "True") labelColors.set(id, "red");
    else if(LINPHI_CW > 0) labelColors.set(id, "yellow");
    else labelColors.set(id, "cyan");
    // Copy the default configs
    const configT = { ...defaultConfig }, configP = { ...defaultConfig };
    // Customize the phi config for linear robots.
    if(LINPHI_CW > 0) {
      configP.cruiseRatio = 100;
      configP.spinUpDownPeriod = 1;
    }
    // Flip the wiring if necessary.
    if(["M07392","M06599","M02587","M02467"].includes(id)) configP.motorCCWDir = +1;
    if(["M07055","M02908"].includes(id)) configT.motorCCWDir = +1;
    // Loop over (expid,iter) for this robot's move tables.
    if(theHWTables.has(id)) {
      theHWTables.get(id).forEach((iters, expid) => {
        iters.forEach(([T], iter) => {
          // Reconstruct the hardware move table for (id,expid,iter)
          const hwtable = { };
          for(const col of ["speed_mode_P", "motor_steps_P", "speed_mode_T", "motor_steps_T", "postpause"]) {
            hwtable[col] = IAP.parse(T[col]);
          }
          // Calculate path for (id,expid,iter)
          const plan = new MovePlan(hwtable, { configP, configT });
          const dT = plan.scheduleT.angle[plan.scheduleT.next];
          const dP = plan.scheduleP.angle[plan.scheduleP.next];
          const dt = plan.totalTime;
          plans.push({id, expid, iter, plan});
          // Add this table to our list.
          hwtables.push({id, expid, iter, dT, dP, dt, ...hwtable});
        })
      });
    }
  });
  // Create a Layout for these robots.
  const layout = new Layout(robots);
  // Define color of each robot's label.
  const labelColor = (id) => labelColors.get(id);
  return { table:C, robots, layout, hwtables, plans, labelColor };
}42:Tb39,//import {Scrubber} from "@mbostock/scrubber"
//added the disabled option
function Scrubber(values, {
  format = value => value,
  initial = 0,
  direction = 1,
  delay = null,
  autoplay = true,
  loop = true,
  loopDelay = null,
  alternate = false,
  disabled = false
} = {}) {
  values = Array.from(values);
  const D = disabled ? "disabled" : "";
  const form = html`
  
  
    
    
  
`;
  if(disabled) {
    form.querySelector('button').disabled = true;
    form.querySelector('input').disabled = true;
  }
  let frame = null;
  let timer = null;
  let interval = null;
  function start() {
    form.b.textContent = "Pause";
    if (delay === null) frame = requestAnimationFrame(tick);
    else interval = setInterval(tick, delay);
  }
  function stop() {
    form.b.textContent = "Play";
    if (frame !== null) cancelAnimationFrame(frame), frame = null;
    if (timer !== null) clearTimeout(timer), timer = null;
    if (interval !== null) clearInterval(interval), interval = null;
  }
  function running() {
    return frame !== null || timer !== null || interval !== null;
  }
  function tick() {
    if (form.i.valueAsNumber === (direction > 0 ? values.length - 1 : direction < 0 ? 0 : NaN)) {
      if (!loop) return stop();
      if (alternate) direction = -direction;
      if (loopDelay !== null) {
        if (frame !== null) cancelAnimationFrame(frame), frame = null;
        if (interval !== null) clearInterval(interval), interval = null;
        timer = setTimeout(() => (step(), start()), loopDelay);
        return;
      }
    }
    if (delay === null) frame = requestAnimationFrame(tick);
    step();
  }
  function step() {
    form.i.valueAsNumber = (form.i.valueAsNumber + direction + values.length) % values.length;
    form.i.dispatchEvent(new CustomEvent("input", {bubbles: true}));
  }
  form.i.oninput = event => {
    if (event && event.isTrusted && running()) stop();
    form.value = values[form.i.valueAsNumber];
    form.o.value = format(form.value, form.i.valueAsNumber, values);
  };
  form.b.onclick = () => {
    if (running()) return stop();
    direction = alternate && form.i.valueAsNumber === values.length - 1 ? -1 : 1;
    form.i.valueAsNumber = (form.i.valueAsNumber + direction) % values.length;
    form.i.dispatchEvent(new CustomEvent("input", {bubbles: true}));
    start();
  };
  form.i.oninput();
  if (autoplay) start();
  else stop();
  Inputs.disposal(form).then(stop);
  return form;
}43:T723,getDevice=function(name) {
  const tag=name[0];
  if(!theSummary || !(tag in deviceGetter)) return null;
  const getter=deviceGetter[tag];
  const device=theSummary.data.filter(dev=>getter(dev)==name);
  if(device.length == 0) {
    alert(`Invalid device "${name}".`);
    return null;
  }
  if(device.length > 1) {
    console.log(`Ambiguous device "${name} selects ${device.length} entries`);
  }
  const dev = device[0];

  // Set null linphi/theta fields if they are missing (for older dates)
  if(!('LINPHI' in dev)) {
    dev.LINPHI = "False";
    dev.LINPHI_CW = 1.0;
    dev.LINPHI_CCW = 1.0;
  }
  if(!('LINTHETA' in dev)) {
    dev.LINTHETA = "False";
    dev.LINTHETA_CW = 1.0;
    dev.LINTHETA_CCW = 1.0;
  }

  if(theUpdates.has(dev.DEVICE_ID)) {
    // Scales may have been updated after the FP dump we are using.
    const updates = theUpdates.get(dev.DEVICE_ID);
    if(updates.has("LINPHI_CW")) {
      const cwUpdates = updates.get("LINPHI_CW");
      dev.LINPHI_CW = cwUpdates[cwUpdates.length-1].value;
    }
    if(updates.has("LINPHI_CCW")) {
      const ccwUpdates = updates.get("LINPHI_CCW");
      dev.LINPHI_CCW = ccwUpdates[ccwUpdates.length-1].value;
    }
    if(updates.has("LINTHETA_CW")) {
      const cwUpdates = updates.get("LINTHETA_CW");
      dev.LINTHETA_CW = cwUpdates[cwUpdates.length-1].value;
    }
    if(updates.has("LINTHETA_CCW")) {
      const ccwUpdates = updates.get("LINTHETA_CCW");
      dev.LINTHETA_CCW = ccwUpdates[ccwUpdates.length-1].value;
    }
  }
  // Initialize the linear phi/theta scale models to use for displaying any adjustments
  dev.linphiModel = (dev?.LINPHI == "True") ? new LinearPhiModel(dev.LINPHI_CW, dev.LINPHI_CCW) : null;
  dev.linthetaModel = (dev?.LINTHETA == "True") ? new LinearPhiModel(dev.LINTHETA_CW, dev.LINTHETA_CCW) : null;

  return dev;
}44:T27df,arms = ({
  phi:{
    "outer":d3.transpose([[-2.82,-1.128716],[-2.898687,-1.137096],[-2.977767,-1.139998],[-3.056857,-1.137406],[-3.135576,-1.129334],[-3.213546,-1.115821],[-3.290391,-1.096931],[-3.36574,-1.072756],[-3.439231,-1.043411],[-3.510509,-1.009039],[-3.57923,-0.969806],[-3.645064,-0.925899],[-3.707694,-0.877531],[-3.766818,-0.824935],[-3.82215,-0.768364],[-3.873425,-0.708091],[-3.920394,-0.644406],[-3.962833,-0.577616],[-4.000536,-0.508042],[-4.033321,-0.436021],[-4.061031,-0.361899],[-4.083533,-0.286033],[-4.100717,-0.208789],[-4.112501,-0.130539],[-4.118829,-0.05166],[-4.119669,0.027468],[-4.115018,0.106464],[-4.104898,0.184946],[-4.089357,0.262538],[-4.068472,0.338864],[-4.042342,0.413558],[-4.011093,0.486259],[-3.974876,0.556617],[-3.933865,0.624293],[-3.888258,0.688961],[-3.838275,0.75031],[-3.784156,0.808043],[-3.726163,0.861882],[-3.664574,0.911569],[-3.599687,0.956864],[-3.531814,0.997548],[-3.461282,1.033425],[-3.388431,1.064323],[-3.313612,1.090093],[-3.237186,1.11061],[-3.15952,1.125776],[-3.08099,1.135518],[-3.001973,1.139788],[-2.92285,1.138567],[-2.844002,1.131859],[-2.76581,1.119697],[-2.688649,1.102141],[-2.612893,1.079274],[-2.538905,1.051207],[-2.467043,1.018074],[-2.397652,0.980036],[-2.331068,0.937276],[-2.26761,0.89],[0,0.89],[0,0.89],[0.062083,0.887832],[0.123864,0.881339],[0.185041,0.870551],[0.245317,0.855523],[0.304398,0.836326],[0.361996,0.813055],[0.41783,0.785823],[0.471628,0.754763],[0.523129,0.720025],[0.572081,0.68178],[0.618246,0.640212],[0.661399,0.595526],[0.70133,0.547939],[0.737843,0.497682],[0.770763,0.445],[0.799927,0.39015],[0.825194,0.3334],[0.84644,0.275025],[0.863563,0.21531],[0.876479,0.154547],[0.885124,0.09303],[0.889458,0.031061],[0.889458,-0.031061],[0.885124,-0.09303],[0.876479,-0.154547],[0.863563,-0.21531],[0.84644,-0.275025],[0.825194,-0.3334],[0.799927,-0.39015],[0.770763,-0.445],[0.737843,-0.497682],[0.70133,-0.547939],[0.661399,-0.595526],[0.618246,-0.640212],[0.572081,-0.68178],[0.523129,-0.720025],[0.471628,-0.754763],[0.41783,-0.785823],[0.361996,-0.813055],[0.304398,-0.836326],[0.245317,-0.855523],[0.185041,-0.870551],[0.123864,-0.881339],[0.062083,-0.887832],[0,-0.89],[-2.02,-0.89],[-2.02,-1.639634],[-2.02,-1.639634],[-2.126194,-1.697355],[-2.235844,-1.748208],[-2.348504,-1.791986],[-2.463721,-1.828512],[-2.581026,-1.857638],[-2.699946,-1.879247],[-2.82,-1.893251],[-2.82,-1.128716],[-2.82,-1.128716]]),
    "trap":d3.transpose([[-0.98,0],[-0.981218,-0.034878],[-0.984866,-0.069587],[-0.990926,-0.103956],[-0.999369,-0.137819],[-1.010154,-0.17101],[-1.023227,-0.203368],[-1.038526,-0.234736],[-1.055976,-0.26496],[-1.075492,-0.293893],[-1.096978,-0.321394],[-1.12033,-0.347329],[-1.145435,-0.371572],[-1.172169,-0.394005],[-1.200404,-0.414519],[-1.23,-0.433013],[-1.260814,-0.449397],[-1.292697,-0.463592],[-1.325492,-0.475528],[-1.359039,-0.485148],[-1.393176,-0.492404],[-1.427736,-0.497261],[-1.46255,-0.499695],[-1.49745,-0.499695],[-1.532264,-0.497261],[-1.566824,-0.492404],[-1.600961,-0.485148],[-1.634508,-0.475528],[-1.667303,-0.463592],[-1.699186,-0.449397],[-1.73,-0.433013],[-1.759596,-0.414519],[-1.787831,-0.394005],[-1.814565,-0.371572],[-1.83967,-0.347329],[-1.863022,-0.321394],[-1.884508,-0.293893],[-1.904024,-0.26496],[-1.921474,-0.234736],[-1.936773,-0.203368],[-1.949846,-0.17101],[-1.960631,-0.137819],[-1.969074,-0.103956],[-1.975134,-0.069587],[-1.978782,-0.034878],[-1.98,0],[-1.978782,0.034878],[-1.975134,0.069587],[-1.969074,0.103956],[-1.960631,0.137819],[-1.949846,0.17101],[-1.936773,0.203368],[-1.921474,0.234736],[-1.904024,0.26496],[-1.884508,0.293893],[-1.863022,0.321394],[-1.83967,0.347329],[-1.814565,0.371572],[-1.787831,0.394005],[-1.759596,0.414519],[-1.73,0.433013],[-1.699186,0.449397],[-1.667303,0.463592],[-1.634508,0.475528],[-1.600961,0.485148],[-1.566824,0.492404],[-1.532264,0.497261],[-1.49745,0.499695],[-1.46255,0.499695],[-1.427736,0.497261],[-1.393176,0.492404],[-1.359039,0.485148],[-1.325492,0.475528],[-1.292697,0.463592],[-1.260814,0.449397],[-1.23,0.433013],[-1.200404,0.414519],[-1.172169,0.394005],[-1.145435,0.371572],[-1.12033,0.347329],[-1.096978,0.321394],[-1.075492,0.293893],[-1.055976,0.26496],[-1.038526,0.234736],[-1.023227,0.203368],[-1.010154,0.17101],[-0.999369,0.137819],[-0.990926,0.103956],[-0.984866,0.069587],[-0.981218,0.034878],[-0.98,0],[-0.98,0]]),
       "fiber":d3.transpose([[0.6475,0],[0.645923,-0.045167],[0.641199,-0.090115],[0.633351,-0.134623],[0.622417,-0.178475],[0.608451,-0.221458],[0.591521,-0.263362],[0.571709,-0.303983],[0.549111,-0.343123],[0.523839,-0.380591],[0.496014,-0.416205],[0.465773,-0.449791],[0.433262,-0.481186],[0.398641,-0.510237],[0.362077,-0.536802],[0.32375,-0.560751],[0.283845,-0.581969],[0.242558,-0.600352],[0.200089,-0.615809],[0.156644,-0.628266],[0.112437,-0.637663],[0.067682,-0.643953],[0.022597,-0.647106],[-0.022597,-0.647106],[-0.067682,-0.643953],[-0.112437,-0.637663],[-0.156644,-0.628266],[-0.200089,-0.615809],[-0.242558,-0.600352],[-0.283845,-0.581969],[-0.32375,-0.560751],[-0.362077,-0.536802],[-0.398641,-0.510237],[-0.433262,-0.481186],[-0.465773,-0.449791],[-0.496014,-0.416205],[-0.523839,-0.380591],[-0.549111,-0.343123],[-0.571709,-0.303983],[-0.591521,-0.263362],[-0.608451,-0.221458],[-0.622417,-0.178475],[-0.633351,-0.134623],[-0.641199,-0.090115],[-0.645923,-0.045167],[-0.6475,0],[-0.645923,0.045167],[-0.641199,0.090115],[-0.633351,0.134623],[-0.622417,0.178475],[-0.608451,0.221458],[-0.591521,0.263362],[-0.571709,0.303983],[-0.549111,0.343123],[-0.523839,0.380591],[-0.496014,0.416205],[-0.465773,0.449791],[-0.433262,0.481186],[-0.398641,0.510237],[-0.362077,0.536802],[-0.32375,0.560751],[-0.283845,0.581969],[-0.242558,0.600352],[-0.200089,0.615809],[-0.156644,0.628266],[-0.112437,0.637663],[-0.067682,0.643953],[-0.022597,0.647106],[0.022597,0.647106],[0.067682,0.643953],[0.112437,0.637663],[0.156644,0.628266],[0.200089,0.615809],[0.242558,0.600352],[0.283845,0.581969],[0.32375,0.560751],[0.362077,0.536802],[0.398641,0.510237],[0.433262,0.481186],[0.465773,0.449791],[0.496014,0.416205],[0.523839,0.380591],[0.549111,0.343123],[0.571709,0.303983],[0.591521,0.263362],[0.608451,0.221458],[0.622417,0.178475],[0.633351,0.134623],[0.641199,0.090115],[0.645923,0.045167],[0.6475,0],[0.6475,0]])
  },
theta:{
  "lower":d3.transpose([[3.135682,3.7],[3.376745,3.481393],[3.602605,3.247112],[3.812247,2.998212],[4.004725,2.735814],[4.179173,2.461099],[4.334807,2.175304],[4.470925,1.879716],[4.586914,1.575665],[4.682252,1.26452],[4.756511,0.947683],[4.809355,0.626578],[4.840548,0.302653],[4.849947,-0.022635],[4.837512,-0.347821],[4.803298,-0.671441],[4.747458,-0.992038],[4.670246,-1.308169],[4.572007,-1.61841],[4.453185,-1.921365],[4.314314,-2.21567],[4.15602,-2.5],[-4.15602,-2.5],[-4.15602,-2.5],[-4.314314,-2.21567],[-4.453185,-1.921365],[-4.572007,-1.61841],[-4.670246,-1.308169],[-4.747458,-0.992038],[-4.803298,-0.671441],[-4.837512,-0.347821],[-4.849947,-0.022635],[-4.840548,0.302653],[-4.809355,0.626578],[-4.756511,0.947683],[-4.682252,1.26452],[-4.586914,1.575665],[-4.470925,1.879716],[-4.334807,2.175304],[-4.179173,2.461099],[-4.004725,2.735814],[-3.812247,2.998212],[-3.602605,3.247112],[-3.376745,3.481393],[-3.135682,3.7],[3.135682,3.7],[3.135682,3.7]]),
  "upper":d3.transpose([[0,3.2],[0.219158,3.192486],[0.437287,3.169981],[0.653363,3.132589],[0.86637,3.080487],[1.075309,3.013919],[1.279199,2.933198],[1.477081,2.838702],[1.668027,2.730876],[1.85114,2.610226],[2.02556,2.477318],[2.190468,2.332777],[2.34509,2.177281],[2.488699,2.011561],[2.620621,1.836395],[2.740237,1.652604],[2.846985,1.461054],[2.940363,1.262642],[3.019934,1.058301],[3.085323,0.84899],[3.136223,0.635692],[3.172396,0.419409],[3.193671,0.201156],[3.199949,-0.018041],[3.1912,-0.237153],[3.167465,-0.455152],[3.128856,-0.671014],[3.075554,-0.883724],[3.007809,-1.092284],[2.925939,-1.295715],[2.83033,-1.493062],[2.721429,-1.683397],[2.599748,-1.865826],[2.465859,-2.039494],[2.320391,-2.203585],[2.164026,-2.357327],[1.997498,-2.5],[1.5,-2.5],[1.5,0.5],[-1.063508,0.5],[-1.063508,0.5],[-1.033437,0.364183],[-1.012879,0.226605],[-1.001934,0.087931],[-1.000655,-0.051169],[-1.009048,-0.190022],[-1.027072,-0.327955],[-1.05464,-0.464301],[-1.09162,-0.598402],[-1.137831,-0.729607],[-1.193051,-0.857283],[-1.257012,-0.980812],[-1.329405,-1.099596],[-1.40988,-1.213061],[-1.498047,-1.320657],[-1.59348,-1.421865],[-1.695717,-1.516194],[-1.804263,-1.603189],[-1.918595,-1.682427],[-2.038157,-1.753527],[-2.162373,-1.816144],[-2.29064,-1.869976],[-2.42234,-1.914761],[-2.556834,-1.950283],[-2.693471,-1.97637],[-2.831592,-1.992897],[-2.970527,-1.999783],[-3.109605,-1.996994],[-3.248152,-1.984545],[-3.3855,-1.962496],[-3.520982,-1.930953],[-3.653944,-1.890068],[-3.783742,-1.84004],[-3.909749,-1.781111],[-4.031355,-1.713566],[-4.147972,-1.63773],[-4.259035,-1.553973],[-4.364008,-1.462697],[-4.462382,-1.364346],[-4.553681,-1.259395],[-4.637465,-1.148351],[-4.713327,-1.031752],[-4.7809,-0.910161],[-4.839859,-0.784168],[-4.889917,-0.654381],[-4.930832,-0.521429],[-4.962407,-0.385954],[-4.984488,-0.248612],[-4.996969,-0.110067],[-4.99979,0.02901],[-4.992936,0.167947],[-4.976441,0.306071],[-4.950385,0.442715],[-4.914894,0.577217],[-4.87014,0.708927],[-4.816338,0.837207],[-4.75375,0.961437],[-4.75375,0.961437],[-4.681105,1.268761],[-4.588614,1.570706],[-4.47667,1.865992],[-4.345746,2.153367],[-4.196399,2.431612],[-4.02926,2.699549],[-3.845039,2.956041],[-3.644516,3.2],[-3.644516,3.2],[0,3.2]]),
  "stop":d3.transpose([[-3,2.400683],[-2.77,2.400683],[-2.77,2.400683],[-2.645266,2.404578],[-2.521017,2.416247],[-2.397739,2.435645],[-2.275911,2.462696],[-2.156008,2.497296],[-2.038497,2.539308],[-1.923837,2.58857],[-1.812473,2.64489],[-1.704839,2.708048],[-1.704839,2.708048],[-1.512929,2.81976],[-1.313733,2.917894],[-1.10821,3.001978],[-0.897352,3.071605],[-0.682172,3.126442],[-0.463708,3.166224],[-0.24301,3.190759],[-0.021143,3.19993],[0.200827,3.193692],[0.200827,3.193692],[0.200827,1.15],[-2.052582,1.15],[-2.052582,1.15],[-2.134016,1.212506],[-2.21956,1.269257],[-2.308809,1.319983],[-2.401339,1.364443],[-2.496711,1.402426],[-2.594472,1.433753],[-2.694157,1.458273],[-2.795295,1.475871],[-2.897404,1.486464],[-3,1.49],[-3,2.400683]])
}})45:T6f0,theUpdates = {
  const updates = [ ];
  const updateMap = new Map([
    ["offset_t", "OFFSET_T"],
    ["offset_p", "OFFSET_P"],
    ["keepout_expansion_phi_angular", "KEEPOUT_EXPANSION_PHI_ANGULAR"],
    ["keepout_expansion_phi_radial", "KEEPOUT_EXPANSION_PHI_RADIAL"],
    ["keepout_expansion_theta_angular", "KEEPOUT_EXPANSION_THETA_ANGULAR"],
    ["keepout_expansion_theta_radial", "KEEPOUT_EXPANSION_THETA_RADIAL"],
    ["device_classified_nonfunctional", "DEVICE_CLASSIFIED_NONFUNCTIONAL"],
    ["zeno_motor_p", "LINPHI"],
    ["sz_cw_p", "LINPHI_CW"],
    ["sz_ccw_p", "LINPHI_CCW"],
  ]);
  const tracking = [...updateMap.values()];
  if(!theCalib) return new Map();
  theCalib.forEach((calibs,loc) => {
    if(theSummary.index.has(loc)) {
      const C0 = theSummary.index.get(loc);
      // Get the initial state for the vars we are tracking from the offline dump
      const state = Object.fromEntries(Object.entries(C0).filter(([key, val])=>tracking.includes(key)));
      // Loop over calibration updates after the offline dump
      for(const C1 of calibs) {
        // Loop over vars we are tracking      
        for(const [n1,n0] of updateMap) {
          if((state?.[n0] !== null) && (C1?.[n1] !== null)) {
            if(state[n0] != C1[n1]) {
              // Record the update
              const when = new Date(C1.time_recorded);
              const localtime = new Date(when.getTime() - 7 * 3600 * 1000).toISOString().slice(11,19);
              const update = { posid:C0.DEVICE_ID, what:n0, value:C1[n1], prev:state[n0], when, localtime };
              updates.push(update);
              // Update our state
              state[n0] = C1[n1];
            }
          }
        }
      }
    }
  });
  return d3.group(updates, d=>d.posid, d=>d.what);
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2f:{"id":"7993be3c72034487","slug":"focal-plane-inspector-2","title":"Focal Plane Inspector 2.0","thumbnail":"bc42875d2e68924215b09f7d78e735da8a7f22fae954147469163f9a3ee95456","access_level":"public","create_time":"$D2024-10-31T00:22:35.137Z","update_time":"$D2026-01-30T21:05:49.965Z","view_time":null,"first_public_time":"$D2024-10-31T00:22:35.137Z","fork":{"id":"868263a04592abda","slug":"desi-fp-inspector","title":"Focal Plane Inspector","owner":{"id":"82762c8496f321fe","login":"dkirkby","name":"David Kirkby"}},"stars":1,"starred":false,"owner":{"type":"team","id":"82762c8496f321fe","login":"dkirkby","name":"David Kirkby","avatar_url":"https://avatars-next.observableusercontent.com/5b2c32ac920111620eb8369d40c1cd0353430f60391a4e246bc9822ab20f6f2f","tier":"starter_2024"},"version":4202,"publish_version":null,"role":null,"authored":false,"authors":[{"type":"individual","id":"b31e222c78b643d7","login":"dkirkby","name":"David Kirkby","avatar_url":"https://avatars-next.observableusercontent.com/5b2c32ac920111620eb8369d40c1cd0353430f60391a4e246bc9822ab20f6f2f","tier":null}],"members":[{"type":"team","id":"82762c8496f321fe","login":"dkirkby","name":"David Kirkby","avatar_url":"https://avatars-next.observableusercontent.com/5b2c32ac920111620eb8369d40c1cd0353430f60391a4e246bc9822ab20f6f2f","tier":"starter_2024","role":"editor"},{"type":"individual","id":"b31e222c78b643d7","login":"dkirkby","name":"David Kirkby","avatar_url":"https://avatars-next.observableusercontent.com/5b2c32ac920111620eb8369d40c1cd0353430f60391a4e246bc9822ab20f6f2f","tier":null,"role":"editor"}],"comments":[],"custom_thumbnail":false,"trashed":false,"lapsed":null,"subscribed":null,"forks":0,"collection":{"id":"5fa8f9e238592f8c","slug":"desi","title":"DESI","owner":{"id":"82762c8496f321fe","login":"dkirkby","name":"David Kirkby"}},"type":"notebook","body":{"title":"Focal Plane Inspector 2.0","cells":[{"id":0,"value":"# Focal Plane Inspector 2.0","pinned":false,"hidden":false,"mode":"md","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":1811,"value":"$31","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":8,"value":"$32","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":178,"value":"viewof target=Inputs.text({\n  placeholder:\"M0nnnnn / Lnnnn / Fnnnn\", width:\"19em\",\n  label:\"DEV/LOC/FIBER\",\n  submit:\"SELECT\"\n})","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":3833,"value":"nextButton = {\n  let label = \"NEXT FLAGGED\", next;\n  const disabled = !(flaggedRobots?.length > 0);\n  if(!disabled) {\n    next = (flaggedRobots.indexOf(targetDev?.DEVICE_ID) + 1) % flaggedRobots.length;\n    label += ` (${next+1} of ${flaggedRobots.length})`;\n  }\n  return Inputs.button(\n    label,\n    {value: null, disabled, reduce: () => {\n      if(!disabled) setTarget(flaggedRobots[next]);\n    }});\n}","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":3438,"value":"resetButton = Inputs.button(\"RESET VIEW\", {value: null, reduce: () => {\n  setTarget(null);\n  canvas.resetView();\n}})","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":276,"value":"$33","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":2844,"value":"$34","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":3081,"value":"$35","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":4145,"value":"function pushCSV(map, names, dmode, getter, fname) {\n  if(map.size == 0) return [ ];\n  names = names.split(\",\");\n  const header = [\"POS_ID\"].concat(names, names.map(name => \"COMMIT_\" + name));\n  const csv = [ header.join(\",\") ];\n  const commits = new Array(names.length).fill(\"True\").join(\",\");\n  for(const posid of map.keys()) {\n    const values = getter(map.get(posid));\n    csv.push(`${posid},${values},${commits}`);\n  }\n  const cmd = `python -m set_calibrations --infile ${fname}`;\n  const lines = [ ];\n  if(dmode) {\n    lines.push(\"\\n\");\n    csv.forEach((line, k) => lines.push(`echo \"${line}\" ${k>0 ? \">>\":\">\"} ${fname}\\n`));\n    //for(const line of csv) lines.push(`echo \"${line}\" > ${fname}\\n`);\n    lines.push(`\\n${cmd}\\n`);\n  }\n  else {\n    lines.push(`\\n% cat > ${fname}\\n`);\n    lines.push(...csv.map(line => line+\"\\n\"));\n    lines.push(\"^D\\n\");\n    lines.push(`\\n% ${cmd}\\n`);\n  }\n  return lines;\n}","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":2367,"value":"targetPlots = html`\n\n  ${XYplot} ${Pplot} ${dPplot}\n  ${dXYplot} ${Tplot} ${dTplot}\n
`","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":3808,"value":"flaggedRobots = {\n  // List of DEVICE_IDs for flagged robots sorted by LOCATION\n  if(!theSummary?.data || !theSummary?.meta) return [ ];\n  const flags = displayOptions.flags.map(({label}) => label);\n  const inspectionLabels = theSummary?.meta?.inspect_groups.map(full => full.split(\":\")[0]) || [ ];\n  let mask = 0;\n  inspectionLabels.forEach((name,bit) => {\n    if(flags.includes(name) && name != \"linphi\") mask |= (1< (INSPECT & mask) != 0)\n    .sort((a,b) => a.LOCATION < b.LOCATION)\n    .map(({DEVICE_ID}) => DEVICE_ID);\n}","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":3179,"value":"viewof angleUpdates = Inputs.input(new Map()) // angles to display in the canvas","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":3075,"value":"viewof consoleUpdates = Inputs.input(new Array()); // quick_move console commands","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":3019,"value":"viewof calibrationUpdates = Inputs.input(new Map()) // set_calibrations (T,P) updates","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":3468,"value":"viewof scaleUpdatesP = Inputs.input(new Map()) // set_calibrations LINPHI_CW/CCW updates","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":4111,"value":"viewof scaleUpdatesT = Inputs.input(new Map())","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":4032,"value":"viewof linphiUpdates = Inputs.input(new Map())","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":4114,"value":"viewof linthetaUpdates = Inputs.input(new Map())","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":3271,"value":"function resetUpdates() {\n  viewof angleUpdates.value = new Map();\n  viewof angleUpdates.dispatchEvent(new Event(\"input\", {bubbles: true}));\n  viewof consoleUpdates.value = new Array();\n  viewof consoleUpdates.dispatchEvent(new Event(\"input\", {bubbles: true}));\n  viewof calibrationUpdates.value = new Map();\n  viewof calibrationUpdates.dispatchEvent(new Event(\"input\", {bubbles: true}));\n  viewof linphiUpdates.value = new Map();\n  viewof linphiUpdates.dispatchEvent(new Event(\"input\", {bubbles: true}));\n}","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":3125,"value":"thisNight = {\n  // Get local time at KPNO\n  const now = new Date(Date.now() - 7 * 3600 * 1000);\n  // OBSDAY rolls over at noon instead of midnight\n  const obsday = now.getUTCHours() < 12 ? new Date(now.getTime() - 24 * 3600 * 1000) : now;\n  // Extract YYYYMMDD fields from OBSDAY\n  const YYYY = obsday.getUTCFullYear().toString();\n  const zpad = n => n < 10 ? \"0\" + n : n.toString();\n  const MM = zpad(obsday.getUTCMonth() + 1);\n  const DD = zpad(obsday.getUTCDate());\n  return YYYY + MM + DD;\n}","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":2278,"value":"$36","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":2335,"value":"viewof selectedMove = Inputs.table(targetMoves, {\n  required: false,\n  multiple: false,\n  layout: \"auto\",\n  rows: 10,\n  columns: [\n    \"localtime\", \"exposure_id\", \"exposure_iter\", \"ctrl_enabled\", \"pos_t\", \"pos_p\", \"log_note\", \"move_cmd\",\n  ],\n  header: {\n    ctrl_enabled: \"en\",\n    exposure_id: \"expid\",\n    exposure_iter: \"iter\",\n  },\n  format: {\n    exposure_id: d => d >= 0 ? d : \"\",\n    exposure_iter: d => d >= 0 ? d : \"\",\n    log_note: note => {\n      logNoteRules.forEach((short, long) => note = note.replace(long, short));\n      return note;\n    },\n  }\n})","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":2610,"value":"targetMovesFiltered = targetMoves.filter(d => d?.exposure_id > 0)","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":2536,"value":"logNoteRules = new Map([\n  [\"=D\", \"Positioner is disabled\"],\n  [\"=R\", \"Target request denied\"],\n  [\"use_desimeter=False\", \"use_desimeter= False\"],\n  [\"=F\", \"handle_fvc_feedback\"],\n  [\"=S\", \"Stored new: OBS_X OBS_Y PTL_X PTL_Y PTL_Z FLAGS\"],\n  [\"=U\", \"tp_update_posTP\"],\n  [\"=E\", \"end of night park_positioners observer script\"],\n  [\"TP=\", \"req_posintTP=\"],\n  [\"XYZ=\", \"req_ptlXYZ=\"],\n])","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":2647,"value":"inputStyle = {\n  const ns = Inputs.text().classList[0];\n  return html``;\n}","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":2281,"value":"getTimeRecorded = {\n  if(!theSummary) return () => null;\n  const night = 0 + theSummary.meta.night;\n  const { floor } = Math;\n  const year = floor(night/10000);\n  const month = floor((night - 10000 * year) / 100) - 1;\n  const day = floor(night % 100);\n  const noon = new Date(Date.UTC(year,month,day,12));\n  const t0 = noon.getTime();\n  return (hours) => new Date(t0 + hours * 3600 * 1000);\n}","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":2683,"value":"function setTarget(value) {\n  console.log(`Called setTarget(\"${value}\")`);\n  const textInput = viewof target;\n  textInput.value = value;\n  textInput.dispatchEvent(new Event(\"input\", {bubbles: true}));\n}","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":2468,"value":"plotLayout = {\n  const size = Math.min(350, width / 3);\n  return {\n    width: size, height: size,\n    marginTop: 4, marginLeft: 30, marginBottom: 36, marginRight: 10,\n    selectColor: \"gold\", scaleColor: \"forestgreen\", failedColor: \"red\",\n  };\n}","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":2548,"value":"$37","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":2406,"value":"$38","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":669,"value":"$39","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":2375,"value":"$3a","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":2306,"value":"$3b","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":4134,"value":"$3c","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":3514,"value":"$3d","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":1326,"value":"$3e","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":737,"value":"loc2fvc = (xvec, yvec, device, petal, {offset_x,offset_y}={}) => {\n  const {PI,cos,sin,sqrt}=Math;\n  const {LOCATION,PETAL_ID,X_FP,Y_FP,X_FVC,Y_FVC,OFFSET_X,OFFSET_Y,\n         DXFVC_DXFP,DXFVC_DYFP,DYFVC_DXFP,DYFVC_DYFP,R0_OVER_S0}=device;\n  const {Tx,Ty,cosGamma,sinGamma}=petal;\n  // Allow overrides to calibration params.\n  offset_x = offset_x ?? OFFSET_X;\n  offset_y = offset_y ?? OFFSET_Y;\n  // Transform from locXY to flatXY.\n  let x=xvec.map(x=>x+offset_x);\n  let y=yvec.map(y=>y+offset_y);\n  // Transform from flatXY to ptlXY.\n  x = x.map(x=>x*R0_OVER_S0);\n  y = y.map(y=>y*R0_OVER_S0);\n  // Transform from pltXY to fpXY relative to (X_FP,Y_FP).\n  const dxfp = x.map((x,i)=>Tx+x*cosGamma-y[i]*sinGamma-X_FP);\n  const dyfp = y.map((y,i)=>Ty+x[i]*sinGamma+y*cosGamma-Y_FP);\n  // Transform from fpXY to FVC pixels.\n  return [\n    dxfp.map((dx,i) => X_FVC + DXFVC_DXFP*dx + DXFVC_DYFP*dyfp[i]),\n    dyfp.map((dy,i) => Y_FVC + DYFVC_DXFP*dxfp[i] + DYFVC_DYFP*dy)];\n}","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":754,"value":"tp2loc = (pos_t,pos_p,device,{length_r1,length_r2}={}) => {\n  const {PI,cos,sin}=Math;\n  const {LENGTH_R1,LENGTH_R2,OFFSET_T,OFFSET_P,PHYSICAL_RANGE_T}=device;\n  // Allow optional  overrides to calib params.\n  length_r1 = length_r1 ?? LENGTH_R1;\n  length_r2 = length_r2 ?? LENGTH_R2;\n  const [t1,t2,t,p]=[\n    (OFFSET_T+PHYSICAL_RANGE_T/2)*PI/180,(OFFSET_T-PHYSICAL_RANGE_T/2)*PI/180,\n    (pos_t+OFFSET_T)*PI/180,(pos_p+OFFSET_P)*PI/180];\n  const [xt,yt] = [length_r1*cos(t),length_r1*sin(t)];\n  return [\n    [0,xt,xt+length_r2*cos(t+p),length_r1*cos(t1),length_r1*cos(t2)],\n    [0,yt,yt+length_r2*sin(t+p),length_r1*sin(t1),length_r1*sin(t2)]];\n}","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":392,"value":"fp2fvc = (xfp,yfp,device) => {\n  const {X_FP,Y_FP,X_FVC,Y_FVC,DXFVC_DXFP,DXFVC_DYFP,DYFVC_DXFP,DYFVC_DYFP}=device;\n  const [dxfp,dyfp]=[xfp-X_FP,yfp-Y_FP];\n  return [\n    X_FVC + DXFVC_DXFP*dxfp + DXFVC_DYFP*dyfp,\n    Y_FVC + DYFVC_DXFP*dxfp + DYFVC_DYFP*dyfp];\n}","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":1264,"value":"vec_fp2fvc = (xfp,yfp,device) => {\n  const {X_FP,Y_FP,X_FVC,Y_FVC,DXFVC_DXFP,DXFVC_DYFP,DYFVC_DXFP,DYFVC_DYFP}=device;\n  const dxfp=xfp.map(x=>x-X_FP);\n  const dyfp=yfp.map(y=>y-Y_FP);\n  const xfvc=dxfp.map((dx,i)=>X_FVC + DXFVC_DXFP*dx + DXFVC_DYFP*dyfp[i]);\n  const yfvc=dyfp.map((dy,i)=>Y_FVC + DYFVC_DXFP*dxfp[i] + DYFVC_DYFP*dy);\n  return [xfvc,yfvc];\n}","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":287,"value":"targetDev=getDevice(target)","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":2094,"value":"frontSync = canvas.setFrontImage(theFront)","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":2108,"value":"backSync = canvas.setBackImage(theBack)","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":2110,"value":"summarySync = canvas.setSummary(theSummary)","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":201,"value":"targeting=canvas.setTarget(getDevice(target))","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":63,"value":"live=canvas.updateDisplayOptions(displayOptions)","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":3214,"value":"tracking=canvas.updateAngles(angleUpdates);","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":3394,"value":"goalsSet = {\n  if(hwData?.layout == null) return false;\n  const {expid, expiter} = expIdIter;\n  if(!expid) return false;\n  viewof hwModel?.setGoals(hwAngles.final);\n  return true;\n}","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":3398,"value":"playConnected = {\n  if(hwData?.layout == null) return false;\n  const {expid, expiter} = expIdIter;\n  if(!expid || hwAnimationData.length == 0) return false;\n  viewof hwModel.setAngles(animationFrame.angles);\n  return true;\n}","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":3334,"value":"viewof hwModel = {\n  if(hwData?.layout == null) return htl.html`No positioner selected to plot`;\n  return robotModel(hwData.layout, { w: 600, labelColor: hwData.labelColor});\n}","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":3380,"value":"viewof animationFrame = {\n  if(hwAnimationData == null || hwAnimationData.length == 0) {\n    return Scrubber([0,1], {autoplay: false, loop: false, disabled: true});\n  }\n  return Scrubber(hwAnimationData, {\n    autoplay: false, loop: false, format: d => `t = ${Number(d.t).toFixed(3)+\"s\"}`\n  });\n}","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":3363,"value":"$3f","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":3382,"value":"hwDisplay = {\n  const {expid, expiter} = expIdIter;\n  if(!expid) return null;\n  const data = hwData.hwtables\n    .filter(d => d.expid == expid && d.iter == expiter)\n    .map(({expid,iter,...rest}) => ({...rest}))\n    .sort((a,b) => d3.ascending(a.id, b.id));\n  return Inputs.table(data, {\n    layout: \"auto\",\n    format: {\n      // Do not use comma\n      expid: d => d,\n      // use word wrap for long text columns\n      motor_steps_P: d => htl.html`${d.toString()}`,\n      motor_steps_T: d => htl.html`${d.toString()}`,\n    }\n  });\n}","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":3356,"value":"expIdIter = {\n  if(!selectedMove) return {};\n  const {exposure_id, exposure_iter} = selectedMove;\n  return {expid:exposure_id, expiter:exposure_iter};\n}","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":3354,"value":"hwAnimationData = {\n  const {expid, expiter} = expIdIter;\n  if(!expid) return null;\n  const dT = d3.max(hwData.hwtables.filter(d => d.expid == expid && d.iter == expiter), d => d.dt);\n  const FPS = 60;\n  const nframes = Math.ceil(dT * FPS);\n  const initial = new Map(hwAngles.initial.map(({id,T,P}) => [id,{theta0:T,phi0:P}]));\n  const plans = hwData.plans.filter(d => d.expid == expid && d.iter == expiter);\n  const data = [ ];\n  for(let frame = 0; frame < nframes; ++frame) {\n    const t = frame / FPS;\n    const angles = [ ];\n    for(const {id,plan} of plans) {\n      const {theta, phi} = plan.getPosition(t);\n      const {theta0,phi0} = initial.get(id);\n      angles.push({id, T:theta0+theta, P:phi0+phi});\n    }\n    data.push({t,angles});\n  }\n  return data;\n}","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":3339,"value":"$40","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":3613,"value":"class IntArrayParser {\n  constructor() {\n    this.validTextWithSpaces = /^\\[\\s*((?:[-+]?\\d+(?:\\s+[-+]?\\d+)*))\\s*\\]$/;\n    this.whitespace = /\\s+/;\n  }\n  parse(text) {\n    try {\n      return JSON.parse(text);\n    }\n    catch(error) {\n      // Handle array without commas, i.e. \"[ n1 n2 n3 ... ]\"\n      const valid = text.match(this.validTextWithSpaces);\n      if(!valid) throw error;\n      return valid[1].split(this.whitespace).map(value => parseInt(value, 10));\n    }\n  }\n}","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":3285,"value":"$41","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":3388,"value":"$42","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":3322,"value":"import {MovePlan, defaultConfig} from \"@dkirkby/desi-pos-core\"","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":3297,"value":"import {Robot,Layout,robotModel} from \"@dkirkby/desi-robots\"","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":3292,"value":"posid2loc = new Map(theSummary.data.map(({DEVICE_ID,LOCATION}) => ([DEVICE_ID,LOCATION])))","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":241,"value":"minLabelZoom=2.5","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":204,"value":"$43","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":205,"value":"deviceGetter = ({\n  M:dev=>dev.DEVICE_ID,\n  P:dev=>dev.DEVICE_ID,\n  L:dev=>\"L\"+dev.LOCATION,\n  F:dev=>\"F\"+dev.FIBER_ID\n})","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":1394,"value":"$44","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":1296,"value":"function flagsToString(flags) {\n  const names=[];\n  Object.entries(flagMask).forEach(([name,mask])=>{\n    if(flags & mask) names.push(name);\n  });\n  return names.join(\"|\");\n}","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":613,"value":"flagMask=Object.fromEntries(flagNames.map((name,bit)=>[name,1<device.LOCATION);\n  return {data,datatype,meta,index};\n}","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":3997,"value":"updatesTable = {\n  const table = [ ];\n  theUpdates.forEach((posUpdates,posid) => {\n    posUpdates.forEach((varUpdates,what) => {\n      for(const {localtime, prev, value} of varUpdates) {\n        table.push({posid, what, localtime, prev, value});\n      }\n    });\n  });\n  return Inputs.table(table, { layout: \"auto\", select: false });\n}","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":3875,"value":"$45","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":2096,"value":"theFront = await FileAttachment(\"fvc-front-20241227.jpg\").image();","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":2098,"value":"theBack = await FileAttachment(\"fvc-back-20241227.jpg\").image();","pinned":true,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":3276,"value":"theHWTables = await FileAttachment(\"hwtables-20241227.csv.gz\").blob()\n.then(blob=>blob.arrayBuffer())\n.then(buf=>fflate.decompressSync(new Uint8Array(buf)))\n.then(U8=>d3.csvParse(fflate.strFromU8(U8), d3.autoType))\n.then(data=>d3.group(data, d => d.posid, d => d.exposure_id, d => d.exp_iter))","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":3862,"value":"theCalib = await FileAttachment(\"calib-20241227.csv\").text()\n  .then(text => d3.csvParse(text, d3.autoType))\n  .then(data => d3.group(data, d => d.location));","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":307,"value":"theMoves = await FileAttachment(\"moves-20241227.csv.gz\").blob()\n.then(blob=>blob.arrayBuffer())\n.then(buf=>fflate.decompressSync(new Uint8Array(buf)))\n.then(U8=>d3.csvParse(fflate.strFromU8(U8), d3.autoType))\n.then(data=>d3.group(data,device=>device.location))","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":342,"value":"import {parseECSV} from \"@dkirkby/ecsv\"","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":309,"value":"fflate = await importFFlate()","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":4072,"value":"async function importFFlate() {\n  try {\n    return await import(\"https://cdn.skypack.dev/fflate?min\");\n  } catch (e1) {\n    console.warn(\"Skypack failed, trying jsDelivr\", e1);\n    try {\n      return await import(\"https://cdn.jsdelivr.net/npm/fflate/+esm\");\n    } catch (e2) {\n      console.warn(\"jsDelivr failed, trying local fallback\", e2);\n      return await import(await FileAttachment(\"fflate.js\").url());\n    }\n  }\n}","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":55,"value":"d3=require(\"d3@7\")","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"},{"id":1713,"value":"html = htl.html","pinned":false,"hidden":false,"mode":"ojs","author":"$undefined","summary":"$undefined","output":"$undefined","database":"$undefined"}],"files":"$W46","stdlib":"1","titling":"auto"}}
30:"$2f:body"