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Merge branch 'motor_dispatcher_migration'

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wyzula-jan
2023-09-04 15:17:45 +02:00
parent 5fad25286c bf93b02cdc
commit 0f74782d74
3 changed files with 204 additions and 279 deletions
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8
bec_widgets/examples/motor_movement/config_example.yaml Normal file
View File

@@ -0,0 +1,8 @@
selected_motors:
motor_x: 'samx'
motor_y: 'samy'
plot_motors:
max_points: 1000
num_dim_points: 100
scatter_size: 5

226
bec_widgets/examples/motor_movement/motor_controller.ui
View File

@@ -474,184 +474,10 @@
<item>
<widget class="QGroupBox" name="groupBox_2">
<property name="title">
<string>Motor Config</string>
<string>Plotting Options</string>
</property>
<layout class="QGridLayout" name="gridLayout_5">
<item row="3" column="1">
<widget class="QSpinBox" name="spinBox_3">
<property name="enabled">
<bool>false</bool>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QSpinBox" name="spinBox_6">
<property name="enabled">
<bool>false</bool>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLabel" name="label_9">
<property name="text">
<string>X</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label">
<property name="text">
<string>Speed</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QSpinBox" name="spinBox_speed_x">
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<property name="maximum">
<number>1000</number>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QSpinBox" name="spinBox_update_frequency_x">
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<property name="maximum">
<number>500</number>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QSpinBox" name="spinBox_speed_y">
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<property name="maximum">
<number>1000</number>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_10">
<property name="text">
<string>Y</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="label_15">
<property name="text">
<string>Max Points</string>
</property>
</widget>
</item>
<item row="6" column="1" colspan="2">
<widget class="QSpinBox" name="spinBox_num_dim_points">
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<property name="minimum">
<number>10</number>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="singleStep">
<number>10</number>
</property>
<property name="value">
<number>100</number>
</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="4" column="2">
<widget class="QDoubleSpinBox" name="doubleSpinBox_2">
<property name="enabled">
<bool>false</bool>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_3">
<property name="enabled">
<bool>false</bool>
</property>
<property name="text">
<string>Tolerance</string>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QDoubleSpinBox" name="doubleSpinBox">
<property name="enabled">
<bool>false</bool>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QSpinBox" name="spinBox_update_frequency_y">
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<property name="maximum">
<number>500</number>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QPushButton" name="pushButton_update_config">
<property name="text">
<string>Update</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_4">
<property name="enabled">
<bool>false</bool>
</property>
<property name="text">
<string>Decimal Precision</string>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QLabel" name="label_16">
<property name="text">
<string>N dim</string>
</property>
</widget>
</item>
<item row="5" column="1" colspan="2">
<item row="0" column="1" colspan="2">
<widget class="QSpinBox" name="spinBox_max_points">
<property name="alignment">
<set>Qt::AlignCenter</set>
@@ -670,14 +496,14 @@
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QLabel" name="label_11">
<item row="0" column="0">
<widget class="QLabel" name="label_15">
<property name="text">
<string>Scatter Size</string>
<string>Max Points</string>
</property>
</widget>
</item>
<item row="7" column="1" colspan="2">
<item row="2" column="1" colspan="2">
<widget class="QSpinBox" name="spinBox_scatter_size">
<property name="alignment">
<set>Qt::AlignCenter</set>
@@ -693,6 +519,46 @@
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_11">
<property name="text">
<string>Scatter Size</string>
</property>
</widget>
</item>
<item row="1" column="1" colspan="2">
<widget class="QSpinBox" name="spinBox_num_dim_points">
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<property name="minimum">
<number>10</number>
</property>
<property name="maximum">
<number>1000</number>
</property>
<property name="singleStep">
<number>10</number>
</property>
<property name="value">
<number>100</number>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_16">
<property name="text">
<string>N dim</string>
</property>
</widget>
</item>
<item row="3" column="0" colspan="3">
<widget class="QPushButton" name="pushButton_update_config">
<property name="text">
<string>Update Settings</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>

249
bec_widgets/examples/motor_movement/motor_example.py
View File

@@ -16,20 +16,31 @@ from bec_lib.core import MessageEndpoints, BECMessage
# TODO - General features
# - setting motor acceleration
# - updating motor precision
# - put motor status (moving, stopped, etc)
# - add spinBox for motor scatter size
# - add mouse interactions with the plot -> click to select coordinates, double click to move?
# - adjust right click actions
# - implement logic to check if motor actually has limits
class MotorApp(QWidget):
"""
Main class for MotorApp, designed to control motor positions based on a flexible YAML configuration.
Attributes:
coordinates_updated (pyqtSignal): Signal to trigger coordinate updates.
selected_motors (dict): Dictionary containing pre-selected motors from the configuration file.
plot_motors (dict): Dictionary containing settings for plotting motor positions.
Args:
selected_motors (dict): Dictionary specifying the selected motors.
plot_motors (dict): Dictionary specifying settings for plotting motor positions.
parent (QWidget, optional): Parent widget.
"""
coordinates_updated = pyqtSignal(float, float)
def __init__(self):
super().__init__()
def __init__(self, selected_motors: dict = {}, plot_motors: dict = {}, parent=None):
super(MotorApp, self).__init__(parent)
current_path = os.path.dirname(__file__)
uic.loadUi(os.path.join(current_path, "motor_controller.ui"), self)
@@ -41,16 +52,17 @@ class MotorApp(QWidget):
# Coordinates tracking
self.motor_positions = np.array([])
self.max_points = 5000 # Maximum number of points to keep
self.num_dim_points = 15 # Number of points to dim gradually
self.scatter_size = 5
self.max_points = plot_motors.get("max_points", 5000)
self.num_dim_points = plot_motors.get("num_dim_points", 100)
self.scatter_size = plot_motors.get("scatter_size", 5)
# Saved motors from config file
self.selected_motors = selected_motors
# QThread for motor movement + signals
self.motor_thread.motors_loaded.connect(self.get_available_motors)
self.motor_thread.motors_selected.connect(self.get_selected_motors)
self.motor_thread.limits_retrieved.connect(self.update_limits)
self.motor_thread.speed_retrieved.connect(self.update_speed)
self.motor_thread.update_frequency_retrieved.connect(self.update_update_frequency)
# UI
self.init_ui()
@@ -60,10 +72,16 @@ class MotorApp(QWidget):
self.motor_thread.retrieve_all_motors()
def connect_motor(self, motor_x_name: str, motor_y_name: str):
"""
Connects to the specified motors and initializes the UI for motor control.
Args:
motor_x_name (str): Name of the motor controlling the x-axis.
motor_y_name (str): Name of the motor controlling the y-axis.
"""
self.motor_thread.connect_motors(motor_x_name, motor_y_name)
self.motor_thread.retrieve_motor_limits(self.motor_x, self.motor_y)
self.motor_thread.retrieve_motor_speed(self.motor_x, self.motor_y)
self.motor_thread.retrieve_motor_update_frequency(self.motor_x, self.motor_y)
self.init_motor_map()
self.motorControl.setEnabled(True)
@@ -79,15 +97,63 @@ class MotorApp(QWidget):
@pyqtSlot(object, object)
def get_selected_motors(self, motor_x, motor_y):
"""
Slot to receive and set the selected motors.
Args:
motor_x (object): The selected motor for the x-axis.
motor_y (object): The selected motor for the y-axis.
"""
self.motor_x, self.motor_y = motor_x, motor_y
@pyqtSlot(list, list)
def get_available_motors(self, motors_x, motors_y):
"""
Slot to populate the available motors in the combo boxes and set the index based on the configuration.
Args:
motors_x (list): List of available motors for the x-axis.
motors_y (list): List of available motors for the y-axis.
"""
self.comboBox_motor_x.addItems(motors_x)
self.comboBox_motor_y.addItems(motors_y)
# Set index based on the motor names in the configuration, if available
selected_motor_x = ""
selected_motor_y = ""
if self.selected_motors:
selected_motor_x = self.selected_motors.get("motor_x", "")
selected_motor_y = self.selected_motors.get("motor_y", "")
index_x = self.comboBox_motor_x.findText(selected_motor_x)
index_y = self.comboBox_motor_y.findText(selected_motor_y)
if index_x != -1:
self.comboBox_motor_x.setCurrentIndex(index_x)
else:
print(
f"Warning: Motor '{selected_motor_x}' specified in the config file is not available."
)
self.comboBox_motor_x.setCurrentIndex(0) # Optionally set to first item or any default
if index_y != -1:
self.comboBox_motor_y.setCurrentIndex(index_y)
else:
print(
f"Warning: Motor '{selected_motor_y}' specified in the config file is not available."
)
self.comboBox_motor_y.setCurrentIndex(0) # Optionally set to first item or any default
@pyqtSlot(list, list)
def update_limits(self, x_limits: list, y_limits: list) -> None:
"""
Slot to update the limits for x and y motors.
Args:
x_limits (list): List containing the lower and upper limits for the x-axis motor.
y_limits (list): List containing the lower and upper limits for the y-axis motor.
"""
self.limit_x = x_limits
self.limit_y = y_limits
self.spinBox_x_min.setValue(self.limit_x[0])
@@ -111,20 +177,6 @@ class MotorApp(QWidget):
self.init_motor_map() # reinitialize the map with the new limits
@pyqtSlot(int, int)
def update_speed(self, speed_x, speed_y):
self.spinBox_speed_x.setValue(speed_x)
self.spinBox_speed_y.setValue(speed_y)
for spinBox in (self.spinBox_speed_x, self.spinBox_speed_y):
spinBox.setStyleSheet("")
@pyqtSlot(int, int)
def update_update_frequency(self, update_frequency_x, update_frequency_y):
self.spinBox_update_frequency_x.setValue(update_frequency_x)
self.spinBox_update_frequency_y.setValue(update_frequency_y)
for spinBox in (self.spinBox_update_frequency_x, self.spinBox_update_frequency_y):
spinBox.setStyleSheet("")
@pyqtSlot()
def enable_motor_control(self):
self.motorControl.setEnabled(True)
@@ -234,18 +286,6 @@ class MotorApp(QWidget):
self.spinBox_y_min.valueChanged.connect(lambda: self.param_changed(self.spinBox_y_min))
self.spinBox_y_max.valueChanged.connect(lambda: self.param_changed(self.spinBox_y_max))
# SpinBoxes - Motor Speed
self.spinBox_speed_x.valueChanged.connect(lambda: self.param_changed(self.spinBox_speed_x))
self.spinBox_speed_y.valueChanged.connect(lambda: self.param_changed(self.spinBox_speed_y))
# SpinBoxes - Motor Update Frequency
self.spinBox_update_frequency_x.valueChanged.connect(
lambda: self.param_changed(self.spinBox_update_frequency_x)
)
self.spinBox_update_frequency_y.valueChanged.connect(
lambda: self.param_changed(self.spinBox_update_frequency_y)
)
# SpinBoxes - Max Points and N Dim Points
self.spinBox_max_points.valueChanged.connect(
lambda: self.param_changed(self.spinBox_max_points)
@@ -273,16 +313,6 @@ class MotorApp(QWidget):
)
)
self.pushButton_update_config.clicked.connect(
lambda: self.update_all_config(
speed=[self.spinBox_speed_x.value(), self.spinBox_speed_y.value()],
update_frequency=[
self.spinBox_update_frequency_x.value(),
self.spinBox_update_frequency_y.value(),
],
)
)
# 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, self.precision), round(y, self.precision))
@@ -367,10 +397,6 @@ class MotorApp(QWidget):
def update_all_motor_limits(self, x_limit: list = None, y_limit: list = None) -> None:
self.motor_thread.update_all_motor_limits(x_limit=x_limit, y_limit=y_limit)
def update_all_config(self, speed: list = None, update_frequency: list = None) -> None:
# TODO now only speed and update frequency
self.motor_thread.update_all_config(speed=speed, update_frequency=update_frequency)
def update_arrow_key_shortcuts(self):
if self.checkBox_enableArrows.isChecked():
# Set the arrow key shortcuts for motor movement
@@ -443,10 +469,19 @@ class MotorActions(Enum):
class MotorControl(QThread):
"""
QThread subclass for controlling motor actions asynchronously.
Attributes:
coordinates_updated (pyqtSignal): Signal to emit current coordinates.
limits_retrieved (pyqtSignal): Signal to emit current limits.
move_finished (pyqtSignal): Signal to emit when the move is finished.
motors_loaded (pyqtSignal): Signal to emit when the motors are loaded.
motors_selected (pyqtSignal): Signal to emit when the motors are selected.
"""
coordinates_updated = pyqtSignal(float, float) # Signal to emit current coordinates
limits_retrieved = pyqtSignal(list, list) # Signal to emit current limits
speed_retrieved = pyqtSignal(int, int) # Signal to emit current speed
update_frequency_retrieved = pyqtSignal(int, int) # Signal to emit current update frequency
move_finished = pyqtSignal() # Signal to emit when the move is finished
motors_loaded = pyqtSignal(list, list) # Signal to emit when the motors are loaded
motors_selected = pyqtSignal(object, object) # Signal to emit when the motors are selected
@@ -461,16 +496,19 @@ class MotorControl(QThread):
self.action = None
self._initialize_motor()
def motor_by_string(self, motor_x_name: str, motor_y_name: str) -> tuple:
motor_x_index = self.all_motors_names.index(motor_x_name)
motor_y_index = self.all_motors_names.index(motor_y_name)
motor_x = self.all_motors[motor_x_index]
motor_y = self.all_motors[motor_y_index]
return motor_x, motor_y
def connect_motors(self, motor_x_name: str, motor_y_name: str) -> None:
self.motor_x, self.motor_y = self.motor_by_string(motor_x_name, motor_y_name)
"""
Connect to the specified motors by their names.
Args:
motor_x_name (str): The name of the motor for the x-axis.
motor_y_name (str): The name of the motor for the y-axis.
"""
self.motor_x, self.motor_y = (
dev[motor_x_name],
dev[motor_y_name],
)
(self.current_x, self.current_y) = self.get_coordinates()
@@ -491,11 +529,19 @@ class MotorControl(QThread):
self.motors_selected.emit(self.motor_x, self.motor_y)
def get_all_motors(self) -> list:
all_motors = client.device_manager.devices.acquisition_group("motor")
"""
Retrieve a list of all available motors.
Returns:
list: List of all available motors.
"""
all_motors = (
client.device_manager.devices.enabled_devices
) # .acquisition_group("motor") #TODO remove motor group?
return all_motors
def get_all_motors_names(self) -> list:
all_motors = client.device_manager.devices.acquisition_group("motor")
all_motors = client.device_manager.devices.enabled_devices # .acquisition_group("motor")
all_motors_names = [motor.name for motor in all_motors]
return all_motors_names
@@ -517,41 +563,21 @@ class MotorControl(QThread):
return self.current_x, self.current_y
def get_motor_limits(self, motor) -> list:
"""Get the limits of a motor"""
return motor.limits
"""
Retrieve the limits for a specific motor.
def get_motor_config(self, motor) -> dict:
"""Get the configuration of a motor""" # TODO at this moment just for speed and update_frequency
return motor.get_device_config()
Args:
motor (object): Motor object.
def update_all_config(self, speed: list = None, update_frequency: list = None) -> None:
# TODO now only speed and update frequency
if speed is not None:
self.motor_x.set_device_config({"speed": speed[0]})
self.motor_y.set_device_config({"speed": speed[1]})
if update_frequency is not None:
self.motor_x.set_device_config({"update_frequency": update_frequency[0]})
self.motor_y.set_device_config({"update_frequency": update_frequency[1]})
self.retrieve_motor_speed(self.motor_x, self.motor_y)
self.retrieve_motor_update_frequency(self.motor_x, self.motor_y)
def retrieve_motor_speed(
self, motor_x, motor_y
) -> None: # TODO can be migrated to some general config function
"""Get the speed of a motor"""
speed_x = motor_x.get_device_config()["speed"]
speed_y = motor_y.get_device_config()["speed"]
self.speed_retrieved.emit(int(speed_x), int(speed_y))
def retrieve_motor_update_frequency(
self, motor_x, motor_y
) -> None: # TODO can be migrated to some general config function
"""Get the speed of a motor"""
update_frequency_x = motor_x.get_device_config()["update_frequency"]
update_frequency_y = motor_y.get_device_config()["update_frequency"]
self.update_frequency_retrieved.emit(int(update_frequency_x), int(update_frequency_y))
Returns:
tuple: Lower and upper limit for the motor.
"""
try:
return motor.limits
except AttributeError:
# 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 retrieve_motor_limits(self, motor_x, motor_y):
limit_x = self.get_motor_limits(motor_x)
@@ -653,10 +679,34 @@ class MotorControl(QThread):
if __name__ == "__main__":
import yaml
import argparse
from bec_lib import BECClient
# from bec_lib.core import ServiceConfig,RedisConnector
parser = argparse.ArgumentParser(description="Motor App")
parser.add_argument(
"--config", "-c", help="Path to the .yaml configuration file", default="config_example.yaml"
)
args = parser.parse_args()
try:
with open(args.config, "r") as file:
config = yaml.safe_load(file)
selected_motors = config.get("selected_motors", {})
plot_motors = config.get("plot_motors", {})
except FileNotFoundError:
print(f"The file {args.config} was not found.")
exit(1)
except Exception as e:
print(f"An error occurred while loading the config file: {e}")
exit(1)
client = BECClient()
# client.initialize(config=ServiceConfig(config_path="test_config.yaml"))
@@ -668,6 +718,7 @@ if __name__ == "__main__":
queue = client.queue
app = QApplication([])
window = MotorApp()
MotorApp = MotorApp(selected_motors=selected_motors, plot_motors=plot_motors)
window = MotorApp
window.show()
app.exec_()