mirror of
https://github.com/bec-project/bec_widgets.git
synced 2025-07-13 19:21:50 +02:00
feat: new GUI
This commit is contained in:
wyzula-jan
@ -6,288 +6,268 @@
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||||
<rect>
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||||
<x>0</x>
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||||
<y>0</y>
|
||||
<width>1289</width>
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||||
<height>596</height>
|
||||
<width>1115</width>
|
||||
<height>506</height>
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||||
</rect>
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||||
</property>
|
||||
<property name="windowTitle">
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||||
<string>Motor Controller</string>
|
||||
</property>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_3">
|
||||
<layout class="QHBoxLayout" name="horizontalLayout" stretch="7,1,7">
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<item>
|
||||
<layout class="QVBoxLayout" name="verticalLayout">
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||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout">
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||||
<item>
|
||||
<widget class="QPushButton" name="pushButton_2">
|
||||
<property name="text">
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<string>Go</string>
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</property>
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||||
</widget>
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</item>
|
||||
<item>
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||||
<widget class="QPushButton" name="pushButton_3">
|
||||
<property name="text">
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||||
<string>Save</string>
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</property>
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</widget>
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</item>
|
||||
</layout>
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||||
</item>
|
||||
<item>
|
||||
<widget class="GraphicsLayoutWidget" name="glw">
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||||
<property name="enabled">
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<bool>true</bool>
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||||
</property>
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</widget>
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</item>
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</layout>
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<widget class="GraphicsLayoutWidget" name="glw">
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<property name="enabled">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item>
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<layout class="QVBoxLayout" name="verticalLayout_4" stretch="1,10,10">
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<item>
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<widget class="QGroupBox" name="groupBox_2">
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<property name="title">
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<string>General</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_4">
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<item row="0" column="0">
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<widget class="QLabel" name="label_5">
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<property name="text">
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<string>Decimal precision</string>
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</property>
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</widget>
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</item>
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<item row="0" column="1">
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<widget class="QSpinBox" name="spinBox"/>
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</item>
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<item row="1" column="0">
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<widget class="QLabel" name="label_8">
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<property name="text">
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<string>Speed</string>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_speed"/>
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</item>
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</layout>
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</widget>
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</item>
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<item>
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<widget class="QGroupBox" name="motorControl">
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<property name="title">
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<string>Motor Controls</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_5">
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<item>
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<widget class="QCheckBox" name="checkBox_enableArrows">
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<property name="text">
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<string>Move with arrow keys</string>
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</property>
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</widget>
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</item>
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<item>
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<layout class="QGridLayout" name="gridLayout">
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<item row="0" column="1">
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<widget class="QToolButton" name="toolButton_up">
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<property name="text">
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<string>...</string>
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</property>
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<property name="arrowType">
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<enum>Qt::UpArrow</enum>
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</property>
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</widget>
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</item>
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<item row="1" column="0">
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<widget class="QToolButton" name="toolButton_left">
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<property name="text">
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<string>...</string>
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</property>
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<property name="arrowType">
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<enum>Qt::LeftArrow</enum>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QSpinBox" name="spinBox_step">
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<property name="value">
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<number>5</number>
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</property>
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</widget>
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</item>
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<item row="1" column="2">
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<widget class="QToolButton" name="toolButton_right">
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<property name="text">
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<string>...</string>
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</property>
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<property name="arrowType">
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<enum>Qt::RightArrow</enum>
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QToolButton" name="toolButton_down">
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<property name="text">
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<string>...</string>
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</property>
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<property name="arrowType">
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<enum>Qt::DownArrow</enum>
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</property>
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</widget>
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</item>
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</layout>
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</item>
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<item>
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<layout class="QGridLayout" name="gridLayout_3">
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<item row="0" column="1">
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<widget class="QLabel" name="label_6">
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<property name="text">
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<string>X</string>
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</property>
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<property name="alignment">
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<set>Qt::AlignCenter</set>
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</property>
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</widget>
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</item>
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<item row="0" column="2">
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<widget class="QLabel" name="label_7">
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<property name="text">
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<string>Y</string>
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</property>
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<property name="alignment">
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<set>Qt::AlignCenter</set>
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</property>
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</widget>
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</item>
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<item row="1" column="0">
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<widget class="QPushButton" name="pushButton_go_absolute">
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<property name="text">
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<string>Go</string>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QSpinBox" name="spinBox_absolute_x"/>
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</item>
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<item row="1" column="2">
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<widget class="QSpinBox" name="spinBox_absolute_y"/>
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</item>
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</layout>
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</item>
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<item>
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<widget class="QPushButton" name="pushButton_stop">
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<property name="text">
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<string>Stop Movement</string>
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</property>
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</widget>
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</item>
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</layout>
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</widget>
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</item>
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<item>
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<widget class="QGroupBox" name="groupBox">
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<property name="enabled">
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<bool>true</bool>
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</property>
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<property name="title">
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<string>Motor Limits</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_2">
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<item row="3" column="1">
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<widget class="QSpinBox" name="spinBox_x_min">
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<property name="minimum">
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<number>-1000</number>
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</property>
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<property name="maximum">
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<number>1000</number>
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</property>
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<property name="value">
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<number>-100</number>
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</property>
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</widget>
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</item>
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<item row="2" column="2">
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<widget class="QSpinBox" name="spinBox_y_max">
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<property name="minimum">
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<number>-1000</number>
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</property>
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<property name="maximum">
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<number>1000</number>
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</property>
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<property name="value">
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<number>100</number>
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</property>
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</widget>
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</item>
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<item row="5" column="2">
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<widget class="QLabel" name="label_2">
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<property name="text">
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<string>- samy</string>
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</property>
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</widget>
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</item>
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<item row="3" column="3">
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<widget class="QSpinBox" name="spinBox_x_max">
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<property name="minimum">
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<number>-1000</number>
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</property>
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<property name="maximum">
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<number>1000</number>
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</property>
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<property name="value">
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<number>100</number>
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</property>
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</widget>
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</item>
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<item row="1" column="2">
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<widget class="QLabel" name="label">
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<property name="text">
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<string>+ samy</string>
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</property>
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</widget>
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</item>
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<item row="2" column="3">
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<widget class="QLabel" name="label_3">
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<property name="text">
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<string>+ samx</string>
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QLabel" name="label_4">
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<property name="text">
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<string>- samx</string>
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</property>
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</widget>
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</item>
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<item row="4" column="2">
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<widget class="QSpinBox" name="spinBox_y_min">
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<property name="minimum">
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<number>-1000</number>
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</property>
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||||
<property name="maximum">
|
||||
<number>1000</number>
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</property>
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||||
<property name="value">
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||||
<number>-100</number>
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</property>
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</widget>
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</item>
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<item row="3" column="2">
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<widget class="QPushButton" name="pushButton_updateLimits">
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<property name="text">
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<string>Update</string>
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</property>
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</widget>
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</item>
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</layout>
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</widget>
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</item>
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</layout>
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<widget class="QFrame" name="Controls">
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<property name="minimumSize">
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<size>
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<width>221</width>
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<height>471</height>
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</size>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_6">
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<item>
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<widget class="QGroupBox" name="motorSelection">
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<property name="title">
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<string>Motor Selection</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_4">
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<item row="2" column="0">
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<widget class="QLabel" name="label_8">
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||||
<property name="text">
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<string>Motor Y</string>
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</property>
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</widget>
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</item>
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<item row="1" column="0">
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<widget class="QLabel" name="label_5">
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<property name="text">
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<string>Motor X</string>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QComboBox" name="comboBox"/>
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||||
</item>
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<item row="2" column="1">
|
||||
<widget class="QComboBox" name="comboBox_2"/>
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||||
</item>
|
||||
</layout>
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||||
</widget>
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||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer_3">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>18</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="motorControl">
|
||||
<property name="title">
|
||||
<string>Motor Relative</string>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_5">
|
||||
<item>
|
||||
<widget class="QCheckBox" name="checkBox_enableArrows">
|
||||
<property name="text">
|
||||
<string>Move with arrow keys</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QGridLayout" name="gridLayout">
|
||||
<property name="sizeConstraint">
|
||||
<enum>QLayout::SetDefaultConstraint</enum>
|
||||
</property>
|
||||
<item row="1" column="2" alignment="Qt::AlignHCenter|Qt::AlignVCenter">
|
||||
<widget class="QToolButton" name="toolButton_up">
|
||||
<property name="text">
|
||||
<string>...</string>
|
||||
</property>
|
||||
<property name="arrowType">
|
||||
<enum>Qt::UpArrow</enum>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="4">
|
||||
<spacer name="horizontalSpacer_2">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item row="2" column="2" alignment="Qt::AlignHCenter|Qt::AlignVCenter">
|
||||
<widget class="QSpinBox" name="spinBox_step">
|
||||
<property name="value">
|
||||
<number>5</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="2" alignment="Qt::AlignHCenter|Qt::AlignVCenter">
|
||||
<widget class="QToolButton" name="toolButton_down">
|
||||
<property name="text">
|
||||
<string>...</string>
|
||||
</property>
|
||||
<property name="arrowType">
|
||||
<enum>Qt::DownArrow</enum>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QToolButton" name="toolButton_left">
|
||||
<property name="text">
|
||||
<string>...</string>
|
||||
</property>
|
||||
<property name="arrowType">
|
||||
<enum>Qt::LeftArrow</enum>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="2">
|
||||
<spacer name="verticalSpacer">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>40</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item row="2" column="3">
|
||||
<widget class="QToolButton" name="toolButton_right">
|
||||
<property name="text">
|
||||
<string>...</string>
|
||||
</property>
|
||||
<property name="arrowType">
|
||||
<enum>Qt::RightArrow</enum>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<spacer name="horizontalSpacer">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item row="4" column="2">
|
||||
<spacer name="verticalSpacer_2">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>40</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer_4">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>13</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox">
|
||||
<property name="title">
|
||||
<string>Move Absolute</string>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout">
|
||||
<item>
|
||||
<layout class="QGridLayout" name="gridLayout_3">
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_6">
|
||||
<property name="text">
|
||||
<string>X</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="2">
|
||||
<widget class="QLabel" name="label_7">
|
||||
<property name="text">
|
||||
<string>Y</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QPushButton" name="pushButton_go_absolute">
|
||||
<property name="text">
|
||||
<string>Go</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_absolute_x"/>
|
||||
</item>
|
||||
<item row="1" column="2">
|
||||
<widget class="QSpinBox" name="spinBox_absolute_y"/>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="pushButton_stop">
|
||||
<property name="text">
|
||||
<string>Stop Movement</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QTabWidget" name="tabWidget">
|
||||
<widget class="QTabWidget" name="tabWidget_tables">
|
||||
<property name="enabled">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="currentIndex">
|
||||
<number>0</number>
|
||||
</property>
|
||||
@ -327,6 +307,209 @@
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QWidget" name="tab_3">
|
||||
<attribute name="title">
|
||||
<string>Settings</string>
|
||||
</attribute>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_4">
|
||||
<item>
|
||||
<widget class="QGroupBox" name="motorConfig">
|
||||
<property name="title">
|
||||
<string>Motor Limits</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_2">
|
||||
<item row="3" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_y_min">
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<number>-1000</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>1000</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>-100</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QPushButton" name="pushButton_updateLimits">
|
||||
<property name="text">
|
||||
<string>Update</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="2">
|
||||
<widget class="QSpinBox" name="spinBox_x_max">
|
||||
<property name="minimum">
|
||||
<number>-1000</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>1000</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>100</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_Y_max">
|
||||
<property name="text">
|
||||
<string>+ Y</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_y_max">
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<number>-1000</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>1000</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>100</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QSpinBox" name="spinBox_x_min">
|
||||
<property name="minimum">
|
||||
<number>-1000</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>1000</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>-100</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QLabel" name="label_Y_min">
|
||||
<property name="text">
|
||||
<string>- Y</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QLabel" name="label_X_min">
|
||||
<property name="text">
|
||||
<string>- X</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="2">
|
||||
<widget class="QLabel" name="label_X_max">
|
||||
<property name="text">
|
||||
<string>+ X</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_2">
|
||||
<property name="title">
|
||||
<string>Motor config</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_5">
|
||||
<item row="4" column="1">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox"/>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QSpinBox" name="spinBox"/>
|
||||
</item>
|
||||
<item row="4" column="0">
|
||||
<widget class="QLabel" name="label_3">
|
||||
<property name="text">
|
||||
<string>Tolerance</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QLabel" name="label_2">
|
||||
<property name="text">
|
||||
<string>Update Frequency</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_2"/>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QLabel" name="label_4">
|
||||
<property name="text">
|
||||
<string>Decimal Precision</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QSpinBox" name="spinBox_3"/>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_9">
|
||||
<property name="text">
|
||||
<string>X</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QLabel" name="label">
|
||||
<property name="text">
|
||||
<string>Speed</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="2">
|
||||
<widget class="QLabel" name="label_10">
|
||||
<property name="text">
|
||||
<string>Y</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="0">
|
||||
<widget class="QCheckBox" name="checkBox">
|
||||
<property name="text">
|
||||
<string>X = Y</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="2">
|
||||
<widget class="QSpinBox" name="spinBox_4"/>
|
||||
</item>
|
||||
<item row="2" column="2">
|
||||
<widget class="QSpinBox" name="spinBox_5"/>
|
||||
</item>
|
||||
<item row="3" column="2">
|
||||
<widget class="QSpinBox" name="spinBox_6"/>
|
||||
</item>
|
||||
<item row="4" column="2">
|
||||
<widget class="QDoubleSpinBox" name="doubleSpinBox_2"/>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QWidget" name="tab_2">
|
||||
<attribute name="title">
|
||||
<string>Queue</string>
|
||||
@ -334,6 +517,9 @@
|
||||
<layout class="QVBoxLayout" name="verticalLayout_2">
|
||||
<item>
|
||||
<widget class="QPushButton" name="pushButton_5">
|
||||
<property name="enabled">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Reset Queue</string>
|
||||
</property>
|
||||
@ -341,6 +527,9 @@
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QTableWidget" name="tableWidget_2">
|
||||
<property name="enabled">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<column>
|
||||
<property name="text">
|
||||
<string>queueID</string>
|
||||
|
||||
@ -11,6 +11,18 @@ from pyqtgraph.Qt import QtWidgets, uic
|
||||
from bec_lib.core import MessageEndpoints, BECMessage
|
||||
|
||||
|
||||
# TODO - General features
|
||||
# - setting motor speed and frequency
|
||||
# - setting motor acceleration
|
||||
# - updating motor precision
|
||||
# - put motor selection dropdown or listwidget
|
||||
# - put motor status (moving, stopped, etc)
|
||||
# - remove all hardcoded references to samx and samy
|
||||
# - add spinBox for motor scatter size
|
||||
# - add mouse interactions with the plot -> click to select coordinates, double click to move?
|
||||
# - adjust right click actions
|
||||
|
||||
|
||||
class MotorApp(QWidget):
|
||||
coordinates_updated = pyqtSignal(float, float)
|
||||
|
||||
@ -23,9 +35,8 @@ class MotorApp(QWidget):
|
||||
|
||||
# Coordinates tracking
|
||||
self.motor_positions = np.array([])
|
||||
self.max_points = 50 # Maximum number of points to keep
|
||||
self.max_points = 5000 # Maximum number of points to keep
|
||||
self.num_dim_points = 15 # Number of points to dim gradually
|
||||
self.precision = 2 # Define the decimal precision
|
||||
|
||||
# QThread for motor movement + signals
|
||||
self.motor_thread = MotorControl()
|
||||
@ -40,9 +51,6 @@ class MotorApp(QWidget):
|
||||
|
||||
print(f"Init limits: samx:{self.limit_x}, samy:{self.limit_y}")
|
||||
|
||||
# self.background_map_scale = 10
|
||||
# self.visited_coordinates = {}
|
||||
|
||||
# Initialize the image map
|
||||
self.init_motor_map()
|
||||
|
||||
@ -103,6 +111,14 @@ class MotorApp(QWidget):
|
||||
size=2, pen=pg.mkPen(None), brush=pg.mkBrush(255, 255, 255, 255)
|
||||
)
|
||||
self.plot_map.addItem(self.motor_map)
|
||||
self.plot_map.showGrid(x=True, y=True)
|
||||
|
||||
##########################
|
||||
# Motor General setting
|
||||
##########################
|
||||
|
||||
# TODO make function to update precision
|
||||
self.precision = 2 # self.spinBox_precision.value() # Define the decimal precision
|
||||
|
||||
##########################
|
||||
# Motor movements signals
|
||||
@ -132,6 +148,9 @@ class MotorApp(QWidget):
|
||||
)
|
||||
)
|
||||
self.pushButton_go_absolute.clicked.connect(self.save_absolute_coordinates)
|
||||
self.pushButton_go_absolute.setShortcut("Ctrl+G")
|
||||
self.pushButton_go_absolute.setToolTip("Ctrl+G")
|
||||
|
||||
self.motor_thread.move_finished.connect(lambda: self.enable_motor_controls(True))
|
||||
|
||||
# Stop Button
|
||||
@ -158,7 +177,7 @@ class MotorApp(QWidget):
|
||||
|
||||
# TODO map with floats as well -> or decide system for higher precision
|
||||
self.motor_thread.coordinates_updated.connect(
|
||||
lambda x, y: self.update_image_map(round(x, 2), round(y, 2))
|
||||
lambda x, y: self.update_image_map(round(x, self.precision), round(y, self.precision))
|
||||
)
|
||||
|
||||
# Coordinates table
|
||||
@ -294,19 +313,23 @@ class MotorControl(QThread):
|
||||
move_finished = pyqtSignal() # Signal to emit when the move is finished
|
||||
# progress_updated = pyqtSignal(int) #TODO Signal to emit progress percentage
|
||||
|
||||
def __init__(self, parent=None):
|
||||
def __init__(
|
||||
self,
|
||||
active_devices=["samx", "samy"],
|
||||
parent=None,
|
||||
):
|
||||
super().__init__(parent)
|
||||
self.target_coordinates = None
|
||||
self.running = False
|
||||
|
||||
self.active_devices = active_devices
|
||||
|
||||
# Initialize current coordinates with the provided initial coordinates
|
||||
(
|
||||
self.current_x,
|
||||
self.current_y,
|
||||
) = self.get_coordinates() # TODO maybe not needed, coordinates always stored in redis
|
||||
|
||||
self.active_devices = ["samx", "samy"]
|
||||
|
||||
self.motors_consumer = client.connector.consumer(
|
||||
topics=[
|
||||
MessageEndpoints.device_readback(self.active_devices[0]),
|
||||
@ -319,13 +342,9 @@ class MotorControl(QThread):
|
||||
self.motors_consumer.start()
|
||||
|
||||
def get_coordinates(self) -> tuple:
|
||||
# TODO decide if the get_coordinates and retrieve coordinates makes sense
|
||||
# TODO or move also to signal/slot as in the case of limits
|
||||
# TODO or move just to redis CB function
|
||||
"""Get current motor position"""
|
||||
dev.samx.read(cached=True) # TODO to get last message ['value'] -> last position
|
||||
x = dev.samx.position()
|
||||
y = dev.samy.position()
|
||||
x = dev.samx.read(cached=True)["value"] # TODO remove hardcoded samx and samy
|
||||
y = dev.samx.read(cached=True)["value"]
|
||||
return x, y
|
||||
|
||||
def retrieve_coordinates(self) -> tuple:
|
||||
@ -360,7 +379,9 @@ class MotorControl(QThread):
|
||||
if current_position[0] < x_limit[0] or current_position[0] > x_limit[1]:
|
||||
raise ValueError("Current motor position is outside the new limits (X)")
|
||||
else:
|
||||
self.update_motor_limits(dev.samx, low_limit=x_limit[0], high_limit=x_limit[1])
|
||||
self.update_motor_limits(
|
||||
dev.samx, low_limit=x_limit[0], high_limit=x_limit[1]
|
||||
) # TODO Remove hardcoded samx and samy
|
||||
|
||||
if y_limit is not None:
|
||||
if current_position[1] < y_limit[0] or current_position[1] > y_limit[1]:
|
||||
|
||||
Reference in New Issue
Block a user