feat(plots/bec_motor_map): BECMotorMap build on BECPlotBase

bec_widgets/widgets/__init__.py

@@ -10,5 +10,5 @@ from .motor_control import (
     MotorThread,
 )
 from .motor_map import MotorMap
-from .plots import BECCurve, BECPlotBase, BECWaveform1D
+from .plots import BECCurve, BECMotorMap, BECWaveform1D
 from .scan_control import ScanControl

bec_widgets/widgets/plots/__init__.py

@@ -1,3 +1,4 @@
 from .image import BECImageItem, BECImageShow, ImageItemConfig
+from .motor_map import BECMotorMap, MotorMapConfig
 from .plot_base import AxisConfig, BECPlotBase, WidgetConfig
 from .waveform1d import BECCurve, BECWaveform1D, Waveform1DConfig

bec_widgets/widgets/plots/motor_map.py

@@ -0,0 +1,415 @@
+from __future__ import annotations
+
+from collections import defaultdict
+from typing import Any, Literal, Optional, Union
+
+import numpy as np
+import pyqtgraph as pg
+from bec_lib import MessageEndpoints
+from bec_lib.scan_data import ScanData
+from pydantic import BaseModel, Field, ValidationError
+from pyqtgraph import mkBrush
+from qtpy import QtCore, QtGui
+from qtpy.QtCore import Signal as pyqtSignal
+from qtpy.QtCore import Slot as pyqtSlot
+from qtpy.QtWidgets import QWidget
+
+from bec_widgets.utils import BECConnector, Colors, ConnectionConfig, EntryValidator
+from bec_widgets.widgets.plots.plot_base import BECPlotBase, WidgetConfig
+from bec_widgets.widgets.plots.waveform1d import Signal, SignalData
+
+
+class MotorMapConfig(WidgetConfig):
+    signals: Optional[Signal] = Field(None, description="Signals of the motor map")
+    color_map: Optional[str] = Field(
+        "Greys", description="Color scheme of the motor position gradient."
+    )
+    scatter_size: Optional[int] = Field(5, description="Size of the scatter points.")
+    max_points: Optional[int] = Field(1000, description="Maximum number of points to display.")
+    num_dim_points: Optional[int] = Field(
+        100,
+        description="Number of points to dim before the color remains same for older recorded position.",
+    )
+    precision: Optional[int] = Field(2, description="Decimal precision of the motor position.")
+    background_value: Optional[int] = Field(
+        25, description="Background value of the motor map."
+    )  # TODO can be percentage from 255 calculated
+
+
+class BECMotorMap(BECPlotBase):
+    USER_ACCESS = []
+
+    # QT Signals
+    update_signal = pyqtSignal()
+
+    def __init__(
+        self,
+        parent: Optional[QWidget] = None,
+        parent_figure=None,
+        config: Optional[MotorMapConfig] = None,
+        client=None,
+        gui_id: Optional[str] = None,
+    ):
+        if config is None:
+            config = MotorMapConfig(widget_class=self.__class__.__name__)
+        super().__init__(
+            parent=parent, parent_figure=parent_figure, config=config, client=client, gui_id=gui_id
+        )
+
+        # Get bec shortcuts dev, scans, queue, scan_storage, dap
+        self.get_bec_shortcuts()
+        self.entry_validator = EntryValidator(self.dev)
+
+        self.motor_x = None
+        self.motor_y = None
+        self.database_buffer = {"x": [], "y": []}
+        self.plot_components = defaultdict(dict)  # container for plot components
+
+        # connect update signal to update plot
+        self.proxy_update_plot = pg.SignalProxy(
+            self.update_signal, rateLimit=25, slot=self._update_plot
+        )
+
+    # TODO decide if needed to implement, maybe there will be no children widgets for motormap for now...
+    # def find_widget_by_id(self, item_id: str) -> BECCurve:
+    #     """
+    #     Find the curve by its ID.
+    #     Args:
+    #         item_id(str): ID of the curve.
+    #
+    #     Returns:
+    #         BECCurve: The curve object.
+    #     """
+    #     for curve in self.plot_item.curves:
+    #         if curve.gui_id == item_id:
+    #             return curve
+
+    @pyqtSlot(str, str, str, str, bool)
+    def change_motors(
+        self,
+        motor_x: str,
+        motor_y: str,
+        motor_x_entry: str = None,
+        motor_y_entry: str = None,
+        validate_bec: bool = True,
+    ) -> None:
+        """
+        Change the active motors for the plot.
+        Args:
+            motor_x(str): Motor name for the X axis.
+            motor_y(str): Motor name for the Y axis.
+            motor_x_entry(str): Motor entry for the X axis.
+            motor_y_entry(str): Motor entry for the Y axis.
+            validate_bec(bool, optional): If True, validate the signal with BEC. Defaults to True.
+        """
+        motor_x_entry, motor_y_entry = self._validate_signal_entries(
+            motor_x, motor_y, motor_x_entry, motor_y_entry, validate_bec
+        )
+
+        motor_x_limit = self._get_motor_limit(motor_x)
+        motor_y_limit = self._get_motor_limit(motor_y)
+
+        signal = Signal(
+            source="device_readback",
+            x=SignalData(name=motor_x, entry=motor_x_entry, limits=motor_x_limit),
+            y=SignalData(name=motor_y, entry=motor_y_entry, limits=motor_y_limit),
+        )
+        self.config.signals = signal
+
+        # reconnect the signals
+        self._connect_motor_to_slots()
+
+        # Redraw the motor map
+        self._make_motor_map()
+
+    # TODO setup all visual properties
+    def set_max_points(self, max_points: int) -> None:
+        """
+        Set the maximum number of points to display.
+        Args:
+            max_points(int): Maximum number of points to display.
+        """
+        self.config.max_points = max_points
+
+    def set_precision(self, precision: int) -> None:
+        """
+        Set the decimal precision of the motor position.
+        Args:
+            precision(int): Decimal precision of the motor position.
+        """
+        self.config.precision = precision
+
+    def set_num_dim_points(self, num_dim_points: int) -> None:
+        """
+        Set the number of dim points for the motor map.
+        Args:
+            num_dim_points(int): Number of dim points.
+        """
+        self.config.num_dim_points = num_dim_points
+
+    def set_background_value(self, background_value: int) -> None:
+        """
+        Set the background value of the motor map.
+        Args:
+            background_value(int): Background value of the motor map.
+        """
+        self.config.background_value = background_value
+
+    def set_scatter_size(self, scatter_size: int) -> None:
+        """
+        Set the scatter size of the motor map plot.
+        Args:
+            scatter_size(int): Size of the scatter points.
+        """
+        self.config.scatter_size = scatter_size
+
+    def _connect_motor_to_slots(self):
+        """Connect motors to slots."""
+        if self.motor_x is not None and self.motor_y is not None:
+            old_endpoints = [
+                MessageEndpoints.device_readback(self.motor_x),
+                MessageEndpoints.device_readback(self.motor_y),
+            ]
+            self.bec_dispatcher.disconnect_slot(self.on_device_readback, old_endpoints)
+
+        self.motor_x = self.config.signals.x.name
+        self.motor_y = self.config.signals.y.name
+
+        endpoints = [
+            MessageEndpoints.device_readback(self.motor_x),
+            MessageEndpoints.device_readback(self.motor_y),
+        ]
+
+        self.bec_dispatcher.connect_slot(
+            self.on_device_readback, endpoints, single_callback_for_all_topics=True
+        )
+
+    def _make_motor_map(self):
+        """
+        Create the motor map plot.
+        """
+        # Create limit map
+        motor_x_limit = self.config.signals.x.limits
+        motor_y_limit = self.config.signals.y.limits
+        self.plot_components["limit_map"] = self._make_limit_map(motor_x_limit, motor_y_limit)
+        self.plot_item.addItem(self.plot_components["limit_map"])
+        self.plot_components["limit_map"].setZValue(-1)
+
+        # Create scatter plot
+        scatter_size = self.config.scatter_size
+        self.plot_components["scatter"] = pg.ScatterPlotItem(
+            size=scatter_size, brush=pg.mkBrush(255, 255, 255, 255)
+        )
+        self.plot_item.addItem(self.plot_components["scatter"])
+        self.plot_components["scatter"].setZValue(0)
+
+        # Enable Grid
+        self.set_grid(True, True)
+
+        # Add the crosshair for initial motor coordinates
+        initial_position_x = self._get_motor_init_position(
+            self.motor_x, self.config.signals.x.entry, self.config.precision
+        )
+        initial_position_y = self._get_motor_init_position(
+            self.motor_y, self.config.signals.y.entry, self.config.precision
+        )
+
+        self.database_buffer["x"] = [initial_position_x]
+        self.database_buffer["y"] = [initial_position_y]
+
+        self.plot_components["scatter"].setData([initial_position_x], [initial_position_y])
+        self._add_coordinantes_crosshair(initial_position_x, initial_position_y)
+
+    def _add_coordinantes_crosshair(self, x: float, y: float) -> None:
+        """
+        Add crosshair to the plot to highlight the current position.
+        Args:
+            x(float): X coordinate.
+            y(float): Y coordinate.
+        """
+
+        # Crosshair to highlight the current position
+        highlight_H = pg.InfiniteLine(
+            angle=0, movable=False, pen=pg.mkPen(color="r", width=1, style=QtCore.Qt.DashLine)
+        )
+        highlight_V = pg.InfiniteLine(
+            angle=90, movable=False, pen=pg.mkPen(color="r", width=1, style=QtCore.Qt.DashLine)
+        )
+
+        # Add crosshair to the curve list for future referencing
+        self.plot_components["highlight_H"] = highlight_H
+        self.plot_components["highlight_V"] = highlight_V
+
+        # Add crosshair to the plot
+        self.plot_item.addItem(highlight_H)
+        self.plot_item.addItem(highlight_V)
+
+        highlight_V.setPos(x)
+        highlight_H.setPos(y)
+
+    def _make_limit_map(self, limits_x: list, limits_y: list) -> pg.ImageItem:
+        """
+        Create a limit map for the motor map plot.
+        Args:
+            limits_x(list): Motor limits for the x axis.
+            limits_y(list): Motor limits for the y axis.
+
+        Returns:
+            pg.ImageItem: Limit map.
+        """
+        limit_x_min, limit_x_max = limits_x
+        limit_y_min, limit_y_max = limits_y
+
+        map_width = int(limit_x_max - limit_x_min + 1)
+        map_height = int(limit_y_max - limit_y_min + 1)
+
+        # Create limits map
+        background_value = self.config.background_value
+        limit_map_data = np.full((map_width, map_height), background_value, dtype=np.float32)
+        limit_map = pg.ImageItem()
+        limit_map.setImage(limit_map_data)
+
+        # Translate and scale the image item to match the motor coordinates
+        tr = QtGui.QTransform()
+        tr.translate(limit_x_min, limit_y_min)
+        limit_map.setTransform(tr)
+
+        return limit_map
+
+    def _get_motor_init_position(self, name: str, entry: str, precision: int) -> float:
+        """
+        Get the motor initial position from the config.
+        Args:
+            name(str): Motor name.
+            entry(str): Motor entry.
+            precision(int): Decimal precision of the motor position.
+        Returns:
+            float: Motor initial position.
+        """
+        init_position = round(self.dev[name].read()[entry]["value"], precision)
+        return init_position
+
+    def _validate_signal_entries(
+        self,
+        x_name: str,
+        y_name: str,
+        x_entry: str | None,
+        y_entry: str | None,
+        validate_bec: bool = True,
+    ) -> tuple[str, str]:
+        """
+        Validate the signal name and entry.
+        Args:
+            x_name(str): Name of the x signal.
+            y_name(str): Name of the y signal.
+            x_entry(str|None): Entry of the x signal.
+            y_entry(str|None): Entry of the y signal.
+            validate_bec(bool, optional): If True, validate the signal with BEC. Defaults to True.
+        Returns:
+            tuple[str,str]: Validated x and y entries.
+        """
+        if validate_bec:
+            x_entry = self.entry_validator.validate_signal(x_name, x_entry)
+            y_entry = self.entry_validator.validate_signal(y_name, y_entry)
+        else:
+            x_entry = x_name if x_entry is None else x_entry
+            y_entry = y_name if y_entry is None else y_entry
+        return x_entry, y_entry
+
+    def _get_motor_limit(self, motor: str) -> Union[list | None]:  # TODO check if works correctly
+        """
+        Get the motor limit from the config.
+        Args:
+            motor(str): Motor name.
+
+        Returns:
+            float: Motor limit.
+        """
+        try:
+            limits = self.dev[motor].limits
+            if limits == [0, 0]:
+                return None
+            return limits
+        except AttributeError:  # TODO maybe not needed, if no limits it returns [0,0]
+            # If the motor doesn't have a 'limits' attribute, return a default value or raise a custom exception
+            print(f"The device '{motor}' does not have defined limits.")
+            return None
+
+    def _update_plot(self):
+        """Update the motor map plot."""
+        x = self.database_buffer["x"]
+        y = self.database_buffer["y"]
+
+        # Setup gradient brush for history
+        brushes = [pg.mkBrush(50, 50, 50, 255)] * len(x)
+
+        # Calculate the decrement step based on self.num_dim_points
+        num_dim_points = self.config.num_dim_points
+        decrement_step = (255 - 50) / num_dim_points
+        for i in range(1, min(num_dim_points + 1, len(x) + 1)):
+            brightness = max(60, 255 - decrement_step * (i - 1))
+            brushes[-i] = pg.mkBrush(brightness, brightness, brightness, 255)
+        brushes[-1] = pg.mkBrush(255, 255, 255, 255)  # Newest point is always full brightness
+        scatter_size = self.config.scatter_size
+
+        # Update the scatter plot
+        self.plot_components["scatter"].setData(
+            x=x,
+            y=y,
+            brush=brushes,
+            pen=None,
+            size=scatter_size,
+        )
+
+        # Get last know position for crosshair
+        current_x = x[-1]
+        current_y = y[-1]
+
+        # Update the crosshair
+        self.plot_components["highlight_V"].setPos(current_x)
+        self.plot_components["highlight_H"].setPos(current_y)
+
+        # TODO not update title but some label
+        # Update plot title
+        precision = self.config.precision
+        self.set_title(
+            f"Motor position: ({round(current_x,precision)}, {round(current_y,precision)})"
+        )
+
+    @pyqtSlot(dict)
+    def on_device_readback(self, msg: dict) -> None:
+        """
+        Update the motor map plot with the new motor position.
+        Args:
+            msg(dict): Message from the device readback.
+        """
+        if self.motor_x is None or self.motor_y is None:
+            return
+
+        if self.motor_x in msg["signals"]:
+            x = msg["signals"][self.motor_x]["value"]
+            self.database_buffer["x"].append(x)
+            self.database_buffer["y"].append(self.database_buffer["y"][-1])
+
+        elif self.motor_y in msg["signals"]:
+            y = msg["signals"][self.motor_y]["value"]
+            self.database_buffer["y"].append(y)
+            self.database_buffer["x"].append(self.database_buffer["x"][-1])
+
+        self.update_signal.emit()
+
+
+if __name__ == "__main__":
+    import sys
+
+    import pyqtgraph as pg
+    from qtpy.QtWidgets import QApplication, QMainWindow
+
+    app = QApplication(sys.argv)
+    glw = pg.GraphicsLayoutWidget()
+    motor_map = BECMotorMap()
+    motor_map.change_motors("samx", "samy")
+    glw.addItem(motor_map)
+    widget = glw
+    widget.show()
+    sys.exit(app.exec_())

bec_widgets/widgets/plots/waveform1d.py

@@ -15,7 +15,7 @@ from qtpy.QtCore import Slot as pyqtSlot
 from qtpy.QtWidgets import QWidget
 
 from bec_widgets.utils import BECConnector, Colors, ConnectionConfig, EntryValidator
-from bec_widgets.widgets.plots import BECPlotBase, WidgetConfig
+from bec_widgets.widgets.plots.plot_base import BECPlotBase, WidgetConfig
 
 
 class SignalData(BaseModel):
@@ -25,13 +25,14 @@ class SignalData(BaseModel):
     entry: str
     unit: Optional[str] = None  # todo implement later
     modifier: Optional[str] = None  # todo implement later
+    limits: Optional[list[float]] = None  # todo implement later
 
 
 class Signal(BaseModel):
     """The configuration of a signal in the 1D waveform widget."""
 
     source: str
-    x: SignalData
+    x: SignalData  # TODO maybe add metadata for config gui later
     y: SignalData
 
 

tests/test_bec_motor_map.py

@@ -0,0 +1,39 @@
+import pytest
+
+from bec_widgets.widgets import BECMotorMap
+from bec_widgets.widgets.plots.motor_map import MotorMapConfig
+from bec_widgets.widgets.plots.waveform1d import Signal, SignalData
+
+from .client_mocks import mocked_client
+
+
+@pytest.fixture(scope="function")
+def bec_motor_map(qtbot, mocked_client):
+    widget = BECMotorMap(client=mocked_client, gui_id="BECMotorMap_test")
+    # qtbot.addWidget(widget)
+    # qtbot.waitExposed(widget)
+    yield widget
+
+
+def test_motor_map_init(bec_motor_map):
+    default_config = MotorMapConfig(widget_class="BECMotorMap", gui_id="BECMotorMap_test")
+
+    assert bec_motor_map.config == default_config
+
+
+def test_motor_map_change_motors(bec_motor_map):
+    bec_motor_map.change_motors("samx", "samy")
+
+    assert bec_motor_map.config.signals.x == SignalData(name="samx", entry="samx", limits=[-10, 10])
+    assert bec_motor_map.config.signals.y == SignalData(name="samy", entry="samy", limits=[-5, 5])
+
+
+def test_motor_map_get_limits(bec_motor_map):
+    expected_limits = {
+        "samx": [-10, 10],
+        "samy": [-5, 5],
+    }
+
+    for motor_name, expected_limit in expected_limits.items():
+        actual_limit = bec_motor_map._get_motor_limit(motor_name)
+        assert actual_limit == expected_limit

tests/test_waveform1d.py

@@ -81,8 +81,20 @@ def test_create_waveform1D_by_config(bec_figure):
                 "source": "scan_segment",
                 "signals": {
                     "source": "scan_segment",
-                    "x": {"name": "samx", "entry": "samx", "unit": None, "modifier": None},
-                    "y": {"name": "bpm4i", "entry": "bpm4i", "unit": None, "modifier": None},
+                    "x": {
+                        "name": "samx",
+                        "entry": "samx",
+                        "unit": None,
+                        "modifier": None,
+                        "limits": None,
+                    },
+                    "y": {
+                        "name": "bpm4i",
+                        "entry": "bpm4i",
+                        "unit": None,
+                        "modifier": None,
+                        "limits": None,
+                    },
                 },
             },
             "curve-custom": {
@@ -218,8 +230,8 @@ def test_change_curve_appearance_methods(bec_figure, qtbot):
     assert c1.config.source == "scan_segment"
     assert c1.config.signals.model_dump() == {
         "source": "scan_segment",
-        "x": {"name": "samx", "entry": "samx", "unit": None, "modifier": None},
-        "y": {"name": "bpm4i", "entry": "bpm4i", "unit": None, "modifier": None},
+        "x": {"name": "samx", "entry": "samx", "unit": None, "modifier": None, "limits": None},
+        "y": {"name": "bpm4i", "entry": "bpm4i", "unit": None, "modifier": None, "limits": None},
     }
 
 
@@ -246,8 +258,8 @@ def test_change_curve_appearance_args(bec_figure):
     assert c1.config.source == "scan_segment"
     assert c1.config.signals.model_dump() == {
         "source": "scan_segment",
-        "x": {"name": "samx", "entry": "samx", "unit": None, "modifier": None},
-        "y": {"name": "bpm4i", "entry": "bpm4i", "unit": None, "modifier": None},
+        "x": {"name": "samx", "entry": "samx", "unit": None, "modifier": None, "limits": None},
+        "y": {"name": "bpm4i", "entry": "bpm4i", "unit": None, "modifier": None, "limits": None},
     }
 
 
@@ -339,8 +351,14 @@ def test_curve_add_by_config(bec_figure):
         "source": "scan_segment",
         "signals": {
             "source": "scan_segment",
-            "x": {"name": "samx", "entry": "samx", "unit": None, "modifier": None},
-            "y": {"name": "bpm4i", "entry": "bpm4i", "unit": None, "modifier": None},
+            "x": {"name": "samx", "entry": "samx", "unit": None, "modifier": None, "limits": None},
+            "y": {
+                "name": "bpm4i",
+                "entry": "bpm4i",
+                "unit": None,
+                "modifier": None,
+                "limits": None,
+            },
         },
     }