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fix(motor_map): API changes updates current visualisation; motor_map can be initialised from config
This commit is contained in:
@ -6,22 +6,23 @@ from typing import Optional, Union
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import numpy as np
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import pyqtgraph as pg
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from bec_lib.endpoints import MessageEndpoints
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from pydantic import Field
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from pydantic import Field, ValidationError, field_validator
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from pydantic_core import PydanticCustomError
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from qtpy import QtCore, QtGui
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from qtpy.QtCore import Signal as pyqtSignal
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from qtpy.QtCore import Slot as pyqtSlot
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from qtpy.QtWidgets import QWidget
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from bec_widgets.utils import EntryValidator
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from bec_widgets.utils import Colors, EntryValidator
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from bec_widgets.widgets.figure.plots.plot_base import BECPlotBase, SubplotConfig
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from bec_widgets.widgets.figure.plots.waveform.waveform import Signal, SignalData
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class MotorMapConfig(SubplotConfig):
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signals: Optional[Signal] = Field(None, description="Signals of the motor map")
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color_map: Optional[str] = Field(
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"Greys", description="Color scheme of the motor position gradient."
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) # TODO decide if useful for anything, or just keep GREYS always
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color: Optional[str | tuple] = Field(
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(255, 255, 255, 255), description="The color of the last point of current position."
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)
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scatter_size: Optional[int] = Field(5, description="Size of the scatter points.")
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max_points: Optional[int] = Field(1000, description="Maximum number of points to display.")
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num_dim_points: Optional[int] = Field(
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@ -30,8 +31,23 @@ class MotorMapConfig(SubplotConfig):
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)
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precision: Optional[int] = Field(2, description="Decimal precision of the motor position.")
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background_value: Optional[int] = Field(
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25, description="Background value of the motor map."
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) # TODO can be percentage from 255 calculated
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25, description="Background value of the motor map. Has to be between 0 and 255."
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)
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model_config: dict = {"validate_assignment": True}
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_validate_color = field_validator("color")(Colors.validate_color)
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# @field_validator("color")
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# def convert_to_rgba(cls, value):
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@field_validator("background_value")
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def validate_background_value(cls, value):
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if not 0 <= value <= 255:
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raise PydanticCustomError(
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"wrong_value", f"'{value}' hs to be between 0 and 255.", {"wrong_value": value}
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)
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return value
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class BECMotorMap(BECPlotBase):
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@ -69,29 +85,43 @@ class BECMotorMap(BECPlotBase):
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self.get_bec_shortcuts()
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self.entry_validator = EntryValidator(self.dev)
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# connect update signal to update plot
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self.proxy_update_plot = pg.SignalProxy(
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self.update_signal, rateLimit=25, slot=self._update_plot
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)
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self.apply_config(self.config)
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def apply_config(self, config: dict | MotorMapConfig):
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"""
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Apply the config to the motor map.
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Args:
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config(dict|MotorMapConfig): Config to be applied.
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"""
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if isinstance(config, dict):
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try:
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config = MotorMapConfig(**config)
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except ValidationError as e:
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print(f"Error in applying config: {e}")
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return
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self.config = config
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self.plot_item.clear()
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self.motor_x = None
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self.motor_y = None
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self.database_buffer = {"x": [], "y": []}
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self.plot_components = defaultdict(dict) # container for plot components
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# connect update signal to update plot
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self.proxy_update_plot = pg.SignalProxy(
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self.update_signal, rateLimit=25, slot=self._update_plot
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)
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self.apply_axis_config()
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# TODO decide if needed to implement, maybe there will be no children widgets for motormap for now...
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# def find_widget_by_id(self, item_id: str) -> BECCurve:
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# """
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# Find the curve by its ID.
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# Args:
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# item_id(str): ID of the curve.
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#
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# Returns:
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# BECCurve: The curve object.
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# """
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# for curve in self.plot_item.curves:
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# if curve.gui_id == item_id:
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# return curve
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if self.config.signals is not None:
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self.change_motors(
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motor_x=self.config.signals.x.name,
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motor_y=self.config.signals.y.name,
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motor_x_entry=self.config.signals.x.entry,
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motor_y_entry=self.config.signals.y.entry,
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)
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@pyqtSlot(str, str, str, str, bool)
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def change_motors(
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@ -129,6 +159,8 @@ class BECMotorMap(BECPlotBase):
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# reconnect the signals
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self._connect_motor_to_slots()
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self.database_buffer = {"x": [], "y": []}
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# Redraw the motor map
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self._make_motor_map()
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@ -141,7 +173,19 @@ class BECMotorMap(BECPlotBase):
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data = {"x": self.database_buffer["x"], "y": self.database_buffer["y"]}
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return data
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# TODO setup all visual properties
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def set_color(self, color: [str | tuple]):
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"""
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Set color of the motor trace.
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Args:
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color(str|tuple): Color of the motor trace. Can be HEX(str) or RGBA(tuple).
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"""
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if isinstance(color, str):
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color = Colors.validate_color(color)
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color = Colors.hex_to_rgba(color, 255)
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self.config.color = color
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self.update_signal.emit()
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def set_max_points(self, max_points: int) -> None:
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"""
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Set the maximum number of points to display.
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@ -150,6 +194,7 @@ class BECMotorMap(BECPlotBase):
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max_points(int): Maximum number of points to display.
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"""
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self.config.max_points = max_points
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self.update_signal.emit()
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def set_precision(self, precision: int) -> None:
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"""
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@ -159,6 +204,7 @@ class BECMotorMap(BECPlotBase):
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precision(int): Decimal precision of the motor position.
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"""
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self.config.precision = precision
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self.update_signal.emit()
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def set_num_dim_points(self, num_dim_points: int) -> None:
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"""
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@ -168,6 +214,7 @@ class BECMotorMap(BECPlotBase):
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num_dim_points(int): Number of dim points.
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"""
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self.config.num_dim_points = num_dim_points
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self.update_signal.emit()
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def set_background_value(self, background_value: int) -> None:
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"""
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@ -177,6 +224,7 @@ class BECMotorMap(BECPlotBase):
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background_value(int): Background value of the motor map.
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"""
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self.config.background_value = background_value
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self._swap_limit_map()
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def set_scatter_size(self, scatter_size: int) -> None:
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"""
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@ -186,6 +234,7 @@ class BECMotorMap(BECPlotBase):
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scatter_size(int): Size of the scatter points.
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"""
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self.config.scatter_size = scatter_size
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self.update_signal.emit()
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def _disconnect_current_motors(self):
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"""Disconnect the current motors from the slots."""
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@ -210,6 +259,15 @@ class BECMotorMap(BECPlotBase):
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self.bec_dispatcher.connect_slot(self.on_device_readback, endpoints)
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def _swap_limit_map(self):
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"""Swap the limit map."""
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self.plot_item.removeItem(self.plot_components["limit_map"])
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self.plot_components["limit_map"] = self._make_limit_map(
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self.config.signals.x.limits, self.config.signals.y.limits
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)
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self.plot_components["limit_map"].setZValue(-1)
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self.plot_item.addItem(self.plot_components["limit_map"])
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def _make_motor_map(self):
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"""
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Create the motor map plot.
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@ -249,6 +307,8 @@ class BECMotorMap(BECPlotBase):
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# Set default labels for the plot
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self.set(x_label=f"Motor X ({self.motor_x})", y_label=f"Motor Y ({self.motor_y})")
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self.update_signal.emit()
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def _add_coordinantes_crosshair(self, x: float, y: float) -> None:
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"""
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Add crosshair to the plot to highlight the current position.
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@ -373,19 +433,31 @@ class BECMotorMap(BECPlotBase):
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def _update_plot(self):
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"""Update the motor map plot."""
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# If the number of points exceeds max_points, delete the oldest points
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if len(self.database_buffer["x"]) > self.config.max_points:
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self.database_buffer["x"] = self.database_buffer["x"][-self.config.max_points :]
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self.database_buffer["y"] = self.database_buffer["y"][-self.config.max_points :]
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x = self.database_buffer["x"]
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y = self.database_buffer["y"]
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# Setup gradient brush for history
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brushes = [pg.mkBrush(50, 50, 50, 255)] * len(x)
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# RGB color
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r, g, b, a = self.config.color
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# Calculate the decrement step based on self.num_dim_points
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num_dim_points = self.config.num_dim_points
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decrement_step = (255 - 50) / num_dim_points
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for i in range(1, min(num_dim_points + 1, len(x) + 1)):
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brightness = max(60, 255 - decrement_step * (i - 1))
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brushes[-i] = pg.mkBrush(brightness, brightness, brightness, 255)
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brushes[-1] = pg.mkBrush(255, 255, 255, 255) # Newest point is always full brightness
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dim_r = int(r * (brightness / 255))
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dim_g = int(g * (brightness / 255))
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dim_b = int(b * (brightness / 255))
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brushes[-i] = pg.mkBrush(dim_r, dim_g, dim_b, a)
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brushes[-1] = pg.mkBrush(r, g, b, a) # Newest point is always full brightness
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scatter_size = self.config.scatter_size
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# Update the scatter plot
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@ -84,6 +84,7 @@ class DMMock:
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DEVICES = [
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FakePositioner("samx", limits=[-10, 10], read_value=2.0),
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FakePositioner("samy", limits=[-5, 5], read_value=3.0),
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FakePositioner("samz", limits=[-8, 8], read_value=4.0),
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FakePositioner("aptrx", limits=None, read_value=4.0),
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FakePositioner("aptry", limits=None, read_value=5.0),
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FakeDevice("gauss_bpm"),
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@ -1,100 +1,106 @@
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import numpy as np
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import pytest
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from bec_widgets.widgets.figure.plots.motor_map.motor_map import BECMotorMap, MotorMapConfig
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from bec_widgets.widgets.figure.plots.waveform.waveform_curve import SignalData
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from .client_mocks import mocked_client
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from .test_bec_figure import bec_figure
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@pytest.fixture(scope="function")
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def bec_motor_map(qtbot, mocked_client):
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widget = BECMotorMap(client=mocked_client, gui_id="BECMotorMap_test")
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# qtbot.addWidget(widget)
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# qtbot.waitExposed(widget)
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yield widget
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def test_motor_map_init(bec_figure):
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default_config = MotorMapConfig(widget_class="BECMotorMap")
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mm = bec_figure.motor_map(config=default_config.model_dump())
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default_config.gui_id = mm.gui_id
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assert mm.config == default_config
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def test_motor_map_init(bec_motor_map):
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default_config = MotorMapConfig(widget_class="BECMotorMap", gui_id="BECMotorMap_test")
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def test_motor_map_change_motors(bec_figure):
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mm = bec_figure.motor_map("samx", "samy")
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assert bec_motor_map.config == default_config
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assert mm.motor_x == "samx"
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assert mm.motor_y == "samy"
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assert mm.config.signals.x == SignalData(name="samx", entry="samx", limits=[-10, 10])
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assert mm.config.signals.y == SignalData(name="samy", entry="samy", limits=[-5, 5])
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mm.change_motors("samx", "samz")
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assert mm.config.signals.x == SignalData(name="samx", entry="samx", limits=[-10, 10])
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assert mm.config.signals.y == SignalData(name="samz", entry="samz", limits=[-8, 8])
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def test_motor_map_change_motors(bec_motor_map):
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bec_motor_map.change_motors("samx", "samy")
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assert bec_motor_map.config.signals.x == SignalData(name="samx", entry="samx", limits=[-10, 10])
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assert bec_motor_map.config.signals.y == SignalData(name="samy", entry="samy", limits=[-5, 5])
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def test_motor_map_get_limits(bec_motor_map):
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def test_motor_map_get_limits(bec_figure):
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mm = bec_figure.motor_map("samx", "samy")
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expected_limits = {"samx": [-10, 10], "samy": [-5, 5]}
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for motor_name, expected_limit in expected_limits.items():
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actual_limit = bec_motor_map._get_motor_limit(motor_name)
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actual_limit = mm._get_motor_limit(motor_name)
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assert actual_limit == expected_limit
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def test_motor_map_get_init_position(bec_motor_map):
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bec_motor_map.set_precision(2)
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def test_motor_map_get_init_position(bec_figure):
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mm = bec_figure.motor_map("samx", "samy")
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mm.set_precision(2)
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motor_map_dev = bec_motor_map.client.device_manager.devices
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motor_map_dev = mm.client.device_manager.devices
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expected_positions = {
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("samx", "samx"): motor_map_dev["samx"].read()["samx"]["value"],
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("samy", "samy"): motor_map_dev["samy"].read()["samy"]["value"],
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("aptrx", "aptrx"): motor_map_dev["aptrx"].read()["aptrx"]["value"],
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("aptry", "aptry"): motor_map_dev["aptry"].read()["aptry"]["value"],
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}
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for (motor_name, entry), expected_position in expected_positions.items():
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actual_position = bec_motor_map._get_motor_init_position(motor_name, entry, 2)
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actual_position = mm._get_motor_init_position(motor_name, entry, 2)
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assert actual_position == expected_position
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def test_motor_movement_updates_position_and_database(bec_motor_map):
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motor_map_dev = bec_motor_map.client.device_manager.devices
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def test_motor_movement_updates_position_and_database(bec_figure):
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mm = bec_figure.motor_map("samx", "samy")
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motor_map_dev = mm.client.device_manager.devices
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init_positions = {
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"samx": [motor_map_dev["samx"].read()["samx"]["value"]],
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"samy": [motor_map_dev["samy"].read()["samy"]["value"]],
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}
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bec_motor_map.change_motors("samx", "samy")
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mm.change_motors("samx", "samy")
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assert bec_motor_map.database_buffer["x"] == init_positions["samx"]
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assert bec_motor_map.database_buffer["y"] == init_positions["samy"]
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assert mm.database_buffer["x"] == init_positions["samx"]
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assert mm.database_buffer["y"] == init_positions["samy"]
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# Simulate motor movement for 'samx' only
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new_position_samx = 4.0
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bec_motor_map.on_device_readback({"signals": {"samx": {"value": new_position_samx}}})
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mm.on_device_readback({"signals": {"samx": {"value": new_position_samx}}})
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init_positions["samx"].append(new_position_samx)
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init_positions["samy"].append(init_positions["samy"][-1])
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# Verify database update for 'samx'
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assert bec_motor_map.database_buffer["x"] == init_positions["samx"]
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assert mm.database_buffer["x"] == init_positions["samx"]
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# Verify 'samy' retains its last known position
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assert bec_motor_map.database_buffer["y"] == init_positions["samy"]
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assert mm.database_buffer["y"] == init_positions["samy"]
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def test_scatter_plot_rendering(bec_motor_map):
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motor_map_dev = bec_motor_map.client.device_manager.devices
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def test_scatter_plot_rendering(bec_figure):
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mm = bec_figure.motor_map("samx", "samy")
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motor_map_dev = mm.client.device_manager.devices
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init_positions = {
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"samx": [motor_map_dev["samx"].read()["samx"]["value"]],
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"samy": [motor_map_dev["samy"].read()["samy"]["value"]],
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}
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bec_motor_map.change_motors("samx", "samy")
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mm.change_motors("samx", "samy")
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# Simulate motor movement for 'samx' only
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new_position_samx = 4.0
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bec_motor_map.on_device_readback({"signals": {"samx": {"value": new_position_samx}}})
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bec_motor_map._update_plot()
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mm.on_device_readback({"signals": {"samx": {"value": new_position_samx}}})
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mm._update_plot()
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# Get the scatter plot item
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scatter_plot_item = bec_motor_map.plot_components["scatter"]
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scatter_plot_item = mm.plot_components["scatter"]
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# Check the scatter plot item properties
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assert len(scatter_plot_item.data) > 0, "Scatter plot data is empty"
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@ -106,16 +112,148 @@ def test_scatter_plot_rendering(bec_motor_map):
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), "Scatter plot Y data should retain last known position"
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def test_plot_visualization_consistency(bec_motor_map):
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bec_motor_map.change_motors("samx", "samy")
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def test_plot_visualization_consistency(bec_figure):
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mm = bec_figure.motor_map("samx", "samy")
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mm.change_motors("samx", "samy")
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# Simulate updating the plot with new data
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bec_motor_map.on_device_readback({"signals": {"samx": {"value": 5}}})
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bec_motor_map.on_device_readback({"signals": {"samy": {"value": 9}}})
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bec_motor_map._update_plot()
|
||||
mm.on_device_readback({"signals": {"samx": {"value": 5}}})
|
||||
mm.on_device_readback({"signals": {"samy": {"value": 9}}})
|
||||
mm._update_plot()
|
||||
|
||||
scatter_plot_item = bec_motor_map.plot_components["scatter"]
|
||||
scatter_plot_item = mm.plot_components["scatter"]
|
||||
|
||||
# Check if the scatter plot reflects the new data correctly
|
||||
assert (
|
||||
scatter_plot_item.data["x"][-1] == 5 and scatter_plot_item.data["y"][-1] == 9
|
||||
), "Plot not updated correctly with new data"
|
||||
|
||||
|
||||
def test_change_background_value(bec_figure, qtbot):
|
||||
mm = bec_figure.motor_map("samx", "samy")
|
||||
|
||||
assert mm.config.background_value == 25
|
||||
assert np.all(mm.plot_components["limit_map"].image == 25.0)
|
||||
|
||||
mm.set_background_value(50)
|
||||
qtbot.wait(200)
|
||||
|
||||
assert mm.config.background_value == 50
|
||||
assert np.all(mm.plot_components["limit_map"].image == 50.0)
|
||||
|
||||
|
||||
def test_motor_map_init_from_config(bec_figure):
|
||||
config = {
|
||||
"widget_class": "BECMotorMap",
|
||||
"gui_id": "mm_id",
|
||||
"parent_id": bec_figure.gui_id,
|
||||
"row": 0,
|
||||
"col": 0,
|
||||
"axis": {
|
||||
"title": "Motor position: (-0.0, 0.0)",
|
||||
"title_size": None,
|
||||
"x_label": "Motor X (samx)",
|
||||
"x_label_size": None,
|
||||
"y_label": "Motor Y (samy)",
|
||||
"y_label_size": None,
|
||||
"legend_label_size": None,
|
||||
"x_scale": "linear",
|
||||
"y_scale": "linear",
|
||||
"x_lim": None,
|
||||
"y_lim": None,
|
||||
"x_grid": True,
|
||||
"y_grid": True,
|
||||
},
|
||||
"signals": {
|
||||
"source": "device_readback",
|
||||
"x": {
|
||||
"name": "samx",
|
||||
"entry": "samx",
|
||||
"unit": None,
|
||||
"modifier": None,
|
||||
"limits": [-10.0, 10.0],
|
||||
},
|
||||
"y": {
|
||||
"name": "samy",
|
||||
"entry": "samy",
|
||||
"unit": None,
|
||||
"modifier": None,
|
||||
"limits": [-5.0, 5.0],
|
||||
},
|
||||
"z": None,
|
||||
"dap": None,
|
||||
},
|
||||
"color": (255, 255, 255, 255),
|
||||
"scatter_size": 5,
|
||||
"max_points": 50,
|
||||
"num_dim_points": 10,
|
||||
"precision": 5,
|
||||
"background_value": 50,
|
||||
}
|
||||
mm = bec_figure.motor_map(config=config)
|
||||
config["gui_id"] = mm.gui_id
|
||||
|
||||
assert mm.config_dict == config
|
||||
|
||||
|
||||
def test_motor_map_set_scatter_size(bec_figure, qtbot):
|
||||
mm = bec_figure.motor_map("samx", "samy")
|
||||
|
||||
assert mm.config.scatter_size == 5
|
||||
assert mm.plot_components["scatter"].opts["size"] == 5
|
||||
|
||||
mm.set_scatter_size(10)
|
||||
qtbot.wait(200)
|
||||
|
||||
assert mm.config.scatter_size == 10
|
||||
assert mm.plot_components["scatter"].opts["size"] == 10
|
||||
|
||||
|
||||
def test_motor_map_change_precision(bec_figure):
|
||||
mm = bec_figure.motor_map("samx", "samy")
|
||||
|
||||
assert mm.config.precision == 2
|
||||
mm.set_precision(10)
|
||||
assert mm.config.precision == 10
|
||||
|
||||
|
||||
def test_motor_map_set_color(bec_figure, qtbot):
|
||||
mm = bec_figure.motor_map("samx", "samy")
|
||||
|
||||
assert mm.config.color == (255, 255, 255, 255)
|
||||
|
||||
mm.set_color((0, 0, 0, 255))
|
||||
qtbot.wait(200)
|
||||
assert mm.config.color == (0, 0, 0, 255)
|
||||
|
||||
|
||||
def test_motor_map_get_data_max_points(bec_figure, qtbot):
|
||||
mm = bec_figure.motor_map("samx", "samy")
|
||||
motor_map_dev = mm.client.device_manager.devices
|
||||
|
||||
init_positions = {
|
||||
"samx": [motor_map_dev["samx"].read()["samx"]["value"]],
|
||||
"samy": [motor_map_dev["samy"].read()["samy"]["value"]],
|
||||
}
|
||||
mm.on_device_readback({"signals": {"samx": {"value": 5.0}}})
|
||||
mm.on_device_readback({"signals": {"samy": {"value": 9.0}}})
|
||||
mm.on_device_readback({"signals": {"samx": {"value": 6.0}}})
|
||||
mm.on_device_readback({"signals": {"samy": {"value": 7.0}}})
|
||||
|
||||
expected_x = [init_positions["samx"][-1], 5.0, 5.0, 6.0, 6.0]
|
||||
expected_y = [init_positions["samy"][-1], init_positions["samy"][-1], 9.0, 9.0, 7.0]
|
||||
get_data = mm.get_data()
|
||||
|
||||
assert mm.database_buffer["x"] == expected_x
|
||||
assert mm.database_buffer["y"] == expected_y
|
||||
assert get_data["x"] == expected_x
|
||||
assert get_data["y"] == expected_y
|
||||
|
||||
mm.set_max_points(3)
|
||||
qtbot.wait(200)
|
||||
get_data = mm.get_data()
|
||||
assert len(get_data["x"]) == 3
|
||||
assert len(get_data["y"]) == 3
|
||||
assert get_data["x"] == expected_x[-3:]
|
||||
assert get_data["y"] == expected_y[-3:]
|
||||
assert mm.database_buffer["x"] == expected_x[-3:]
|
||||
assert mm.database_buffer["y"] == expected_y[-3:]
|
||||
|
||||
@ -58,7 +58,7 @@ def test_device_input_base_set_default_device_error(device_input_base):
|
||||
|
||||
def test_device_input_base_get_device_list(device_input_base):
|
||||
devices = device_input_base.get_device_list("FakePositioner")
|
||||
assert devices == ["samx", "samy", "aptrx", "aptry"]
|
||||
assert devices == ["samx", "samy", "samz", "aptrx", "aptry"]
|
||||
|
||||
|
||||
def test_device_input_base_get_filters(device_input_base):
|
||||
|
||||
@ -56,6 +56,7 @@ def test_device_input_combobox_init(device_input_combobox):
|
||||
assert device_input_combobox.devices == [
|
||||
"samx",
|
||||
"samy",
|
||||
"samz",
|
||||
"aptrx",
|
||||
"aptry",
|
||||
"gauss_bpm",
|
||||
@ -141,6 +142,7 @@ def test_device_input_line_edit_init(device_input_line_edit):
|
||||
assert device_input_line_edit.devices == [
|
||||
"samx",
|
||||
"samy",
|
||||
"samz",
|
||||
"aptrx",
|
||||
"aptry",
|
||||
"gauss_bpm",
|
||||
|
||||
@ -74,7 +74,7 @@ def test_motor_thread_initialization(mocked_client):
|
||||
def test_get_all_motors_names(mocked_client):
|
||||
motor_thread = MotorThread(client=mocked_client)
|
||||
motor_names = motor_thread.get_all_motors_names()
|
||||
expected_names = ["samx", "samy", "aptrx", "aptry"]
|
||||
expected_names = ["samx", "samy", "samz", "aptrx", "aptry"]
|
||||
assert sorted(motor_names) == sorted(expected_names)
|
||||
assert all(name in motor_names for name in expected_names)
|
||||
assert len(motor_names) == len(expected_names) # Ensure only these motors are returned
|
||||
@ -155,11 +155,12 @@ def motor_selection_widget(qtbot, mocked_client, motor_thread):
|
||||
|
||||
|
||||
def test_initialization_and_population(motor_selection_widget):
|
||||
assert motor_selection_widget.comboBox_motor_x.count() == 4
|
||||
assert motor_selection_widget.comboBox_motor_x.count() == 5
|
||||
assert motor_selection_widget.comboBox_motor_x.itemText(0) == "samx"
|
||||
assert motor_selection_widget.comboBox_motor_y.itemText(1) == "samy"
|
||||
assert motor_selection_widget.comboBox_motor_x.itemText(2) == "aptrx"
|
||||
assert motor_selection_widget.comboBox_motor_y.itemText(3) == "aptry"
|
||||
assert motor_selection_widget.comboBox_motor_y.itemText(2) == "samz"
|
||||
assert motor_selection_widget.comboBox_motor_x.itemText(3) == "aptrx"
|
||||
assert motor_selection_widget.comboBox_motor_y.itemText(4) == "aptry"
|
||||
|
||||
|
||||
def test_selection_and_signal_emission(motor_selection_widget):
|
||||
|
||||
Reference in New Issue
Block a user