feat: stop movement function, one callback function for 2 motors, move_finished is emitted in move_motor function not in callback

bec_widgets/examples/motor_movement/motor_controller.ui

@@ -16,16 +16,6 @@
   <layout class="QHBoxLayout" name="horizontalLayout_3">
    <item>
     <layout class="QVBoxLayout" name="verticalLayout">
-     <item>
-      <widget class="QLabel" name="label_status">
-       <property name="text">
-        <string>Motor Position</string>
-       </property>
-       <property name="alignment">
-        <set>Qt::AlignCenter</set>
-       </property>
-      </widget>
-     </item>
      <item>
       <layout class="QHBoxLayout" name="horizontalLayout">
        <item>

bec_widgets/examples/motor_movement/motor_example.py

@@ -36,10 +36,6 @@ class MotorApp(QWidget):
 
         print(f"Init limits: samx:{self.limit_x}, samy:{self.limit_y}")
 
-        self.label_status.setText(
-            f"Motor position: ({dev.samx.position():.2f}, {dev.samy.position():.2f})"
-        )  # TODO has to be change to get positions from thread not directly from device
-
         # self.background_map_scale = 10
         # self.visited_coordinates = {}
         # self.precision = 2  # Define the decimal precision
@@ -106,7 +102,7 @@ class MotorApp(QWidget):
         self.plot_map.addItem(self.motor_map)
 
         ##########################
-        # Signals
+        # Motor movements signals
         ##########################
 
         self.toolButton_right.clicked.connect(
@@ -133,9 +129,15 @@ class MotorApp(QWidget):
             )
         )
         self.pushButton_go_absolute.clicked.connect(self.save_absolute_coordinates)
-
         self.motor_thread.move_finished.connect(lambda: self.enable_motor_controls(True))
 
+        # Stop Button
+        self.pushButton_stop.clicked.connect(self.motor_thread.stop_movement)
+
+        ##########################
+        # Motor limits signals
+        ##########################
+
         # SpinBoxes - Motor Limits #TODO make spinboxes own limits updated, currently is [-1000, 1000]
 
         # SpinBoxes change color to yellow before updated, limits are updated with update button
@@ -192,21 +194,19 @@ class MotorApp(QWidget):
             brush=[point["brush"] for point in self.motor_positions],
         )
 
-        # self.update_image_map(x, y)
-        #
         # Translate and scale the image item to match the motor coordinates
         self.tr = QtGui.QTransform()
         self.tr.translate(limit_x_min, limit_y_min)
         self.limit_map.setTransform(self.tr)
-        #
-        # self.image_map.dataTransform()
 
     def update_image_map(self, x, y):
+        # Update label
+        self.label_coorditanes.setText(f"Motor position: ({x:.2f}, {y:.2f})")
+
         # Dim previous points
-        # for point in self.motor_positions.values():
+        last_brush = self.motor_positions[-1]["brush"].color().getRgb()
-        #     point["brush"] = pg.mkBrush(
+        dimmer_brush = tuple(max(int(0.8 * c), 50) for c in last_brush[:3]) + (255,)
-        #         255, 255, 255, max(50, point["brush"].color().alpha() * 0.95)
+        self.motor_positions[-1]["brush"] = pg.mkBrush(dimmer_brush)
-        #     )
 
         # Add new point with full brightness
         new_pos = (x, y)
@@ -217,49 +217,6 @@ class MotorApp(QWidget):
             brush=[point["brush"] for point in self.motor_positions],
         )
 
-        # new_point = {"pos": key, "brush": pg.mkBrush(255, 255, 255, 255)}
-        # self.motor_positions[key] = new_point
-        #
-        # Update ScatterPlotItem
-        # positions = np.array([point["pos"] for point in self.motor_positions.values()])
-        # brushes = [point["brush"] for point in self.motor_positions.values()]
-        # self.scatter_plot_item.setData(pos=positions, brush=brushes)
-
-        # # Dim previous points
-        # for point in self.motor_positions.values():
-        #     point["brush"] = pg.mkBrush(
-        #         255, 255, 255, max(50, point["brush"].color().alpha() * 0.95)
-        #     )
-        #
-        # # Add new point with full brightness
-        # key = (x, y)
-        # new_point = {"pos": key, "brush": pg.mkBrush(255, 255, 255, 255)}
-        # self.motor_positions[key] = new_point
-        #
-        # # Update ScatterPlotItem
-        # positions = [point["pos"] for point in self.motor_positions.values()]
-        # brushes = [point["brush"] for point in self.motor_positions.values()]
-        # self.motor_map.setData(positions[0], positions[1], brush=brushes)
-
-    # def update_image_map(self, x, y):
-    #     """Update the image map with the new motor position"""
-    #
-    #     # Define the dimming factor
-    #     dimming_factor = 0.95
-    #
-    #     # Apply the dimming factor only to pixels above the background value
-    #     self.image_map_data[self.image_map_data > 50] *= dimming_factor
-    #
-    #     # Mapping of motor coordinates to pixel coordinates
-    #     pixel_x = int(x - self.offset_x)
-    #     pixel_y = int(y - self.offset_y)
-    #
-    #     # Set the bright pixel at the new position
-    #     self.image_map_data[pixel_x, pixel_y] = 255
-    #
-    #     # Update the display
-    #     self.image_map.updateImage(self.image_map_data, levels=(0, 255))
-
     def update_all_motor_limits(
         self, x_limit: list = None, y_limit: list = None
     ) -> None:  # TODO will be moved to thread
@@ -343,27 +300,25 @@ class MotorControl(QThread):
             self.current_y,
         ) = self.get_coordinates()  # TODO maybe not needed, coordinates always stored in redis
 
-        # Create consumer for samx and samy
+        self.active_devices = ["samx", "samy"]
-        self.samx_consumer = client.connector.consumer(
+
-            topics=[MessageEndpoints.device_readback("samx")],
+        self.motors_consumer = client.connector.consumer(
-            cb=self._device_status_callback_samx,
+            topics=[
+                MessageEndpoints.device_readback(self.active_devices[0]),
+                MessageEndpoints.device_readback(self.active_devices[1]),
+            ],
+            cb=self._device_status_callback_motors,
             parent=self,
         )
 
-        self.samy_consumer = client.connector.consumer(
+        self.motors_consumer.start()
-            topics=[MessageEndpoints.device_readback("samy")],
-            cb=self._device_status_callback_samy,
-            parent=self,
-        )
-
-        self.samx_consumer.start()
-        self.samy_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()
         return x, y
@@ -432,7 +387,7 @@ class MotorControl(QThread):
 
     def move_motor_coordinate(self) -> None:
         """Move the motor to the specified coordinates"""
-        scans.mv(
+        status = scans.mv(
             dev.samx,
             self.target_coordinates[0],
             dev.samy,
@@ -440,27 +395,27 @@ class MotorControl(QThread):
             relative=False,
         )
 
+        status.wait()
+        self.move_finished.emit()
+
     def move_motor_relative(self, motor, value: float) -> None:
-        scans.mv(motor, value, relative=True)
+        status = scans.mv(motor, value, relative=True)
 
-    # TODO decide if one or multiple callback functions
+        status.wait()
-    @staticmethod
+        self.move_finished.emit()
-    def _device_status_callback_samx(msg, *, parent, **_kwargs) -> None:
+
-        deviceMSG = BECMessage.DeviceMessage.loads(msg.value)
+    def stop_movement(self):
-        parent.current_x = deviceMSG.content["signals"]["samx"]["value"]
+        queue.request_scan_abortion()
-        # print(f"samx moving: {parent.current_x,parent.current_y}")
+        queue.request_queue_reset()
-        parent.coordinates_updated.emit(parent.current_x, parent.current_y)
-        if deviceMSG.content["signals"]["samx_motor_is_moving"]["value"] == 0:
-            parent.move_finished.emit()
 
     @staticmethod
-    def _device_status_callback_samy(msg, *, parent, **_kwargs) -> None:
+    def _device_status_callback_motors(msg, *, parent, **_kwargs) -> None:
         deviceMSG = BECMessage.DeviceMessage.loads(msg.value)
-        parent.current_y = deviceMSG.content["signals"]["samy"]["value"]
+        if parent.active_devices[0] in deviceMSG.content["signals"]:
-        #         print(f"samy moving: {parent.current_x,parent.current_y}")
+            parent.current_x = deviceMSG.content["signals"][parent.active_devices[0]]["value"]
+        elif parent.active_devices[1] in deviceMSG.content["signals"]:
+            parent.current_y = deviceMSG.content["signals"][parent.active_devices[1]]["value"]
         parent.coordinates_updated.emit(parent.current_x, parent.current_y)
-        if deviceMSG.content["signals"]["samy_motor_is_moving"]["value"] == 0:
-            parent.move_finished.emit()
 
 
 if __name__ == "__main__":
@@ -476,6 +431,7 @@ if __name__ == "__main__":
     client.start()
     dev = client.device_manager.devices
     scans = client.scans
+    queue = client.queue
 
     app = QApplication([])
     window = MotorApp()