diff --git a/bec_widgets/examples/motor_movement/motor_controller.ui b/bec_widgets/examples/motor_movement/motor_controller.ui
index cded821d..5d0d8143 100644
--- a/bec_widgets/examples/motor_movement/motor_controller.ui
+++ b/bec_widgets/examples/motor_movement/motor_controller.ui
@@ -6,288 +6,268 @@
0
0
- 1289
- 596
+ 1115
+ 506
Motor Controller
-
+
-
-
-
-
-
-
-
-
-
- Go
-
-
-
- -
-
-
- Save
-
-
-
-
-
- -
-
-
- true
-
-
-
-
+
+
+ true
+
+
-
-
-
-
-
-
- General
-
-
-
-
-
-
- Decimal precision
-
-
-
- -
-
-
- -
-
-
- Speed
-
-
-
- -
-
-
-
-
-
- -
-
-
- Motor Controls
-
-
-
-
-
-
- Move with arrow keys
-
-
-
- -
-
-
-
-
-
- ...
-
-
- Qt::UpArrow
-
-
-
- -
-
-
- ...
-
-
- Qt::LeftArrow
-
-
-
- -
-
-
- 5
-
-
-
- -
-
-
- ...
-
-
- Qt::RightArrow
-
-
-
- -
-
-
- ...
-
-
- Qt::DownArrow
-
-
-
-
-
- -
-
-
-
-
-
- X
-
-
- Qt::AlignCenter
-
-
-
- -
-
-
- Y
-
-
- Qt::AlignCenter
-
-
-
- -
-
-
- Go
-
-
-
- -
-
-
- -
-
-
-
-
- -
-
-
- Stop Movement
-
-
-
-
-
-
- -
-
-
- true
-
-
- Motor Limits
-
-
-
-
-
-
- -1000
-
-
- 1000
-
-
- -100
-
-
-
- -
-
-
- -1000
-
-
- 1000
-
-
- 100
-
-
-
- -
-
-
- - samy
-
-
-
- -
-
-
- -1000
-
-
- 1000
-
-
- 100
-
-
-
- -
-
-
- + samy
-
-
-
- -
-
-
- + samx
-
-
-
- -
-
-
- - samx
-
-
-
- -
-
-
- -1000
-
-
- 1000
-
-
- -100
-
-
-
- -
-
-
- Update
-
-
-
-
-
-
-
+
+
+
+ 221
+ 471
+
+
+
+ -
+
+
+ Motor Selection
+
+
+
-
+
+
+ Motor Y
+
+
+
+ -
+
+
+ Motor X
+
+
+
+ -
+
+
+ -
+
+
+
+
+
+ -
+
+
+ Qt::Vertical
+
+
+
+ 20
+ 18
+
+
+
+
+ -
+
+
+ Motor Relative
+
+
+
-
+
+
+ Move with arrow keys
+
+
+
+ -
+
+
+ QLayout::SetDefaultConstraint
+
+
-
+
+
+ ...
+
+
+ Qt::UpArrow
+
+
+
+ -
+
+
+ Qt::Horizontal
+
+
+
+ 40
+ 20
+
+
+
+
+ -
+
+
+ 5
+
+
+
+ -
+
+
+ ...
+
+
+ Qt::DownArrow
+
+
+
+ -
+
+
+ ...
+
+
+ Qt::LeftArrow
+
+
+
+ -
+
+
+ Qt::Vertical
+
+
+
+ 20
+ 40
+
+
+
+
+ -
+
+
+ ...
+
+
+ Qt::RightArrow
+
+
+
+ -
+
+
+ Qt::Horizontal
+
+
+
+ 40
+ 20
+
+
+
+
+ -
+
+
+ Qt::Vertical
+
+
+
+ 20
+ 40
+
+
+
+
+
+
+
+
+
+ -
+
+
+ Qt::Vertical
+
+
+
+ 20
+ 13
+
+
+
+
+ -
+
+
+ Move Absolute
+
+
+
-
+
+
-
+
+
+ X
+
+
+ Qt::AlignCenter
+
+
+
+ -
+
+
+ Y
+
+
+ Qt::AlignCenter
+
+
+
+ -
+
+
+ Go
+
+
+
+ -
+
+
+ -
+
+
+
+
+ -
+
+
+ Stop Movement
+
+
+
+
+
+
+
+
-
-
+
+
+ true
+
0
@@ -327,6 +307,209 @@
+
+
+ Settings
+
+
+ -
+
+
+ Motor Limits
+
+
+
-
+
+
+ Qt::AlignCenter
+
+
+ -1000
+
+
+ 1000
+
+
+ -100
+
+
+
+ -
+
+
+ Update
+
+
+
+ -
+
+
+ -1000
+
+
+ 1000
+
+
+ 100
+
+
+
+ -
+
+
+ + Y
+
+
+ Qt::AlignCenter
+
+
+
+ -
+
+
+ Qt::AlignCenter
+
+
+ -1000
+
+
+ 1000
+
+
+ 100
+
+
+
+ -
+
+
+ -1000
+
+
+ 1000
+
+
+ -100
+
+
+
+ -
+
+
+ - Y
+
+
+ Qt::AlignCenter
+
+
+
+ -
+
+
+ - X
+
+
+ Qt::AlignCenter
+
+
+
+ -
+
+
+ + X
+
+
+ Qt::AlignCenter
+
+
+
+
+
+
+ -
+
+
+ Motor config
+
+
+
-
+
+
+ -
+
+
+ -
+
+
+ Tolerance
+
+
+
+ -
+
+
+ Update Frequency
+
+
+
+ -
+
+
+ -
+
+
+ Decimal Precision
+
+
+
+ -
+
+
+ -
+
+
+ X
+
+
+
+ -
+
+
+ Speed
+
+
+
+ -
+
+
+ Y
+
+
+
+ -
+
+
+ X = Y
+
+
+
+ -
+
+
+ -
+
+
+ -
+
+
+ -
+
+
+
+
+
+
+
Queue
@@ -334,6 +517,9 @@
-
+
+ false
+
Reset Queue
@@ -341,6 +527,9 @@
-
+
+ false
+
queueID
diff --git a/bec_widgets/examples/motor_movement/motor_example.py b/bec_widgets/examples/motor_movement/motor_example.py
index a6ca112a..5d32d97d 100644
--- a/bec_widgets/examples/motor_movement/motor_example.py
+++ b/bec_widgets/examples/motor_movement/motor_example.py
@@ -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]: