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fix: motor movement absolute fixed - movement by thread

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This commit is contained in:
wyzula-jan
2023-08-22 18:55:55 +02:00
parent af2fcffd5f
commit 11aa15fefd
1 changed files with 17 additions and 127 deletions
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144
bec_widgets/examples/motor_movement/motor_example.py
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@ -25,6 +25,7 @@ class MotorApp(QWidget):
# UI
self.start_x, self.start_y = self.get_xy()
self.current_x, self.current_y = self.get_xy()
self.limit_x, self.limit_y = self.get_motor_limits(dev.samx), self.get_motor_limits(
dev.samy
)
@ -35,40 +36,22 @@ class MotorApp(QWidget):
f"Motor position: ({dev.samx.position():.2f}, {dev.samy.position():.2f})"
)
# self.samx_consumer = client.connector.consumer(topics=[MessageEndpoints.device_readback('samx'),
# MessageEndpoints.device_readback('samy')],
# cb=self._device_status_callback,parent=self)
# self.samx_consumer.start()
# self.samx_consumer = client.connector.consumer(
# topics=[MessageEndpoints.device_readback("samx")],
# cb=self._device_status_callback_samx,
# parent=self,
# )
#
# self.samy_consumer = client.connector.consumer(
# topics=[MessageEndpoints.device_readback("samy")],
# cb=self._device_status_callback_samy,
# parent=self,
# )
# self.samx_consumer.start()
# self.samy_consumer.start()
self.motor_thread = MotorMovement()
self.init_ui()
def on_move_to_coordinates_button_clicked(self):
x = self.spinBox_absolute_x.value()
y = self.spinBox_absolute_y.value()
def move_motor_absolute(self, x, y):
# x = self.spinBox_absolute_x.value()
# y = self.spinBox_absolute_y.value()
target_coordinates = (x, y)
self.motor_thread.move_to_coordinates(target_coordinates)
def on_move_relative_button_clicked(self, motor, value: float):
def move_motor_relative(self, motor, value: float):
self.motor_thread.move_relative(motor, value)
def init_ui(self):
"""Setup all ui elements"""
##########################
# 2D Plot
##########################
@ -80,42 +63,21 @@ class MotorApp(QWidget):
self.image_map = pg.ImageItem()
self.plot_map.addItem(self.image_map)
# self.image_map_data = np.zeros((100, 100), dtype=np.float32)
# x, y = self.get_xy() # Assuming get_xy returns the motor position
# self.update_image_map(x, y)
# self.image_map.setImage(self.image_map_data.T) # Set the image
# self.init_motor_map()
##########################
# Signals
##########################
# Buttons - Motor Movement
# self.toolButton_right.clicked.connect(
# lambda: self.move_motor(dev.samx, self.spinBox_step.value())
# )
# self.toolButton_left.clicked.connect(
# lambda: self.move_motor(dev.samx, -self.spinBox_step.value())
# )
# self.toolButton_up.clicked.connect(
# lambda: self.move_motor(dev.samy, self.spinBox_step.value())
# )
# self.toolButton_down.clicked.connect(
# lambda: self.move_motor(dev.samy, -self.spinBox_step.value())
# )
self.toolButton_right.clicked.connect(
lambda: self.on_move_relative_button_clicked(dev.samx, self.spinBox_step.value())
lambda: self.move_motor_relative(dev.samx, self.spinBox_step.value())
)
self.toolButton_left.clicked.connect(
lambda: self.on_move_relative_button_clicked(dev.samx, -self.spinBox_step.value())
lambda: self.move_motor_relative(dev.samx, -self.spinBox_step.value())
)
self.toolButton_up.clicked.connect(
lambda: self.on_move_relative_button_clicked(dev.samy, self.spinBox_step.value())
lambda: self.move_motor_relative(dev.samy, self.spinBox_step.value())
)
self.toolButton_down.clicked.connect(
lambda: self.on_move_relative_button_clicked(dev.samy, -self.spinBox_step.value())
lambda: self.move_motor_relative(dev.samy, -self.spinBox_step.value())
)
self.checkBox_enableArrows.stateChanged.connect(self.update_arrow_key_shortcuts)
@ -123,8 +85,8 @@ class MotorApp(QWidget):
# Move to absolute coordinates
self.pushButton_go_absolute.clicked.connect(
lambda: self.move_motor_coordinates(
[self.spinBox_absolute_x.value(), self.spinBox_absolute_y.value()]
lambda: self.move_motor_absolute(
self.spinBox_absolute_x.value(), self.spinBox_absolute_y.value()
)
)
@ -270,54 +232,14 @@ class MotorApp(QWidget):
self.init_motor_map() # reinitialize the map with the new limits
def move_motor(self, motor, value: float) -> None:
self.current_x, self.current_y = self.get_xy()
scans.mv(motor, value, relative=True)
# def move_motor(self, motor, value: float) -> None:
# # self.current_x, self.current_y = self.get_xy()
# scans.mv(motor, value, relative=True)
# try:
# status = scans.mv(motor, value, relative=True)
#
# # while status.status not in ["COMPLETED", "STOPPED"]:
# # print(status.status)
# # print(f"motor read{motor.read(cached=True)}")
# # motor_position = motor.position()
# # self.motor_position.emit(motor_position)
#
# # return status
# except Exception as e:
# print(e)
# motor_position = motor.position()
# self.motor_position.emit(motor_position)
# self.motor_update.emit()
def move_motor_coordinates(self, coor: list) -> None:
scans.mv(dev.samx, coor[0], dev.samy, coor[1], relative=False)
try:
status = scans.mv(dev.samx, coor[0], dev.samy, coor[1], relative=False)
# while status.status not in ["COMPLETED", "STOPPED"]:
# print(status.status)
except Exception as e:
print(e)
# motor_position = self.get_xy()
# self.motor_position_xy.emit(motor_position)
self.motor_update.emit()
def get_xy(self): # TODO decide if useful
"""Get current motor position"""
x = dev.samx.position()
y = dev.samy.position()
return x, y
def param_changed(self, ui_element):
@staticmethod
def param_changed(ui_element):
ui_element.setStyleSheet("background-color: #FFA700;")
def update_arrow_key_shortcuts(self):
@ -359,45 +281,13 @@ class MotorApp(QWidget):
# hook signals of table
button.clicked.connect(
lambda: self.move_motor_coordinates(
[
float(table.item(current_row_count, 2).text()),
float(table.item(current_row_count, 3).text()),
]
lambda: self.move_motor_absolute(
float(table.item(current_row_count, 2).text()),
float(table.item(current_row_count, 3).text()),
)
)
table.resizeColumnsToContents()
# @staticmethod
# def _device_status_callback(msg, *, parent, **_kwargs) -> None:
# deviceMSG = BECMessage.DeviceMessage.loads(msg.value)
# # current_coordinates = (deviceMSG.content['signals']['samx']['value'],deviceMSG.content['signals']['samy']['value'])
# # print(f'current coordinates: {current_coordinates}')
# # parent.scan_storage.update_with_scan_status(scan)
# print(deviceMSG)
# print(deviceMSG.metadata)
# parent.motor_update.emit(deviceMSG)
# @staticmethod
# def _device_status_callback_samx(msg, *, parent, **_kwargs) -> None:
# deviceMSG = BECMessage.DeviceMessage.loads(msg.value)
# x = deviceMSG.content["signals"]["samx"]["value"]
# print(f"x: {x}")
# # Assuming you have a way to retrieve or store the current samy value
# y = parent.current_y
# parent.coordinates_updated.emit(x, y)
#
# @staticmethod
# def _device_status_callback_samy(msg, *, parent, **_kwargs) -> None:
# deviceMSG = BECMessage.DeviceMessage.loads(msg.value)
# y = deviceMSG.content["signals"]["samy"]["value"]
# print(f"y: {y}")
# # # Assuming you have a way to retrieve or store the current samx value
# x = parent.current_x
# parent.coordinates_updated.emit(x, y)
class MotorMovement(QThread):
coordinates_updated = pyqtSignal(float, float) # Signal to emit current coordinates