mirror of
https://github.com/bec-project/bec_widgets.git
synced 2025-07-13 19:21:50 +02:00
refactor: getting motor limits and coordinates moved to MotorControl(QThread)
This commit is contained in:
wyzula-jan
@ -260,7 +260,7 @@
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<item row="2" column="3">
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<widget class="QLabel" name="label_3">
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<property name="text">
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<string>- samx</string>
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<string>+ samx</string>
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</property>
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</widget>
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</item>
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@ -3,7 +3,7 @@ import os
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import numpy as np
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import pyqtgraph as pg
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from PyQt5 import QtGui
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from PyQt5.QtCore import QThread
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from PyQt5.QtCore import QThread, pyqtSlot
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from PyQt5.QtCore import pyqtSignal, Qt
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from PyQt5.QtWidgets import QApplication, QWidget
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from pyqtgraph.Qt import QtWidgets, uic
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@ -12,9 +12,6 @@ from bec_lib.core import MessageEndpoints, BECMessage
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class MotorApp(QWidget):
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motor_position = pyqtSignal(float) # TODO hook to motor position update
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motor_update = pyqtSignal()
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motor_position_xy = pyqtSignal(list)
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coordinates_updated = pyqtSignal(float, float)
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def __init__(self):
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@ -22,34 +19,51 @@ class MotorApp(QWidget):
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current_path = os.path.dirname(__file__)
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uic.loadUi(os.path.join(current_path, "motor_controller.ui"), self)
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# UI
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self.start_x, self.start_y = self.get_xy()
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self.current_x, self.current_y = self.get_xy()
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self.limit_x, self.limit_y = None, None
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self.limit_x, self.limit_y = self.get_motor_limits(dev.samx), self.get_motor_limits(
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dev.samy
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)
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# QThread for motor movement + signals
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self.motor_thread = MotorControl()
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self.motor_thread.limits_retrieved.connect(self.update_limits)
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# UI
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self.init_ui()
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# Initialize current coordinates with the provided initial coordinates
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self.motor_thread.retrieve_motor_limits(dev.samx, dev.samy)
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print(f"Init limits: samx:{self.limit_x}, samy:{self.limit_y}")
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self.label_status.setText(
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f"Motor position: ({dev.samx.position():.2f}, {dev.samy.position():.2f})"
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)
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) # TODO has to be change to get positions from thread not directly from device
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self.motor_thread = MotorMovement()
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@pyqtSlot(list, list)
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def update_limits(self, x_limits: list, y_limits: list) -> None:
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self.limit_x = x_limits
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self.limit_y = y_limits
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self.spinBox_x_min.setValue(self.limit_x[0])
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self.spinBox_x_max.setValue(self.limit_x[1])
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self.spinBox_y_min.setValue(self.limit_y[0])
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self.spinBox_y_max.setValue(self.limit_y[1])
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self.init_ui()
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for spinBox in (
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self.spinBox_x_min,
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self.spinBox_x_max,
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self.spinBox_y_min,
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self.spinBox_y_max,
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):
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spinBox.setStyleSheet("")
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def move_motor_absolute(self, x, y):
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# x = self.spinBox_absolute_x.value()
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# y = self.spinBox_absolute_y.value()
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self.init_motor_map() # reinitialize the map with the new limits
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def move_motor_absolute(self, x: float, y: float) -> None:
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target_coordinates = (x, y)
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self.motor_thread.move_to_coordinates(target_coordinates)
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def move_motor_relative(self, motor, value: float):
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def move_motor_relative(self, motor, value: float) -> None:
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self.motor_thread.move_relative(motor, value)
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def init_ui(self):
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def init_ui(self) -> None:
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"""Setup all ui elements"""
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##########################
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@ -80,6 +94,7 @@ class MotorApp(QWidget):
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lambda: self.move_motor_relative(dev.samy, -self.spinBox_step.value())
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)
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# Switch between key shortcuts active
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self.checkBox_enableArrows.stateChanged.connect(self.update_arrow_key_shortcuts)
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self.update_arrow_key_shortcuts()
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@ -92,12 +107,6 @@ class MotorApp(QWidget):
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# SpinBoxes - Motor Limits #TODO make spinboxes own limits updated, currently is [-1000, 1000]
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# display initial limits
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self.spinBox_x_min.setValue(self.limit_x[0])
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self.spinBox_x_max.setValue(self.limit_x[1])
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self.spinBox_y_min.setValue(self.limit_y[0])
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self.spinBox_y_max.setValue(self.limit_y[1])
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# SpinBoxes change color to yellow before updated, limits are updated with update button
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self.spinBox_x_min.valueChanged.connect(lambda: self.param_changed(self.spinBox_x_min))
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self.spinBox_x_max.valueChanged.connect(lambda: self.param_changed(self.spinBox_x_max))
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@ -111,28 +120,19 @@ class MotorApp(QWidget):
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)
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)
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# Map
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self.motor_position.connect(lambda x: self.update_image_map(*self.get_xy()))
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self.motor_update.connect(lambda: self.update_image_map(*self.get_xy()))
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self.motor_position.connect(lambda x: print(f"motor position updated: {x}"))
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# self.motor_thread.coordinates_updated.connect(
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# lambda: self.label_status.setText(
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# f"Motor position: ({dev.samx.position():.2f}, {dev.samy.position():.2f})"
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# )
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# )
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# TODO map with floats as well -> or decide system for higher precision
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self.motor_thread.coordinates_updated.connect(
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lambda x, y: self.update_image_map(int(x), int(y))
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)
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# Coordinates table
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self.generate_table_coordinate(
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self.tableWidget_coordinates, self.get_xy(), tag="Initial", precision=0
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self.tableWidget_coordinates,
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self.motor_thread.retrieve_coordinates(),
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tag="Initial",
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precision=0,
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)
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self.init_motor_map()
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def init_motor_map(self):
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# Get motor limits
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limit_x_min, limit_x_max = self.get_motor_limits(dev.samx)
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@ -152,8 +152,7 @@ class MotorApp(QWidget):
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)
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# Set the initial position on the map
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x, y = self.get_xy()
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self.prev_x, self.prev_y = x, y
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x, y = self.motor_thread.retrieve_coordinates()
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self.update_image_map(x, y)
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# Translate and scale the image item to match the motor coordinates
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@ -189,58 +188,10 @@ class MotorApp(QWidget):
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return low_limit, high_limit
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def update_motor_limits(
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self, motor, low_limit=None, high_limit=None
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): # TODO limits cannot be smaller that the current location of motor
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# Get current limits
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current_low_limit, current_high_limit = motor.limits[0], motor.limits[1]
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# Check if the low limit has changed and is not None
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if low_limit is not None and low_limit != current_low_limit:
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motor.low_limit = low_limit
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# Check if the high limit has changed and is not None
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if high_limit is not None and high_limit != current_high_limit:
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motor.high_limit = high_limit
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# self.init_motor_map() # reinitialize the map with the new limits
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def update_all_motor_limits(self, x_limit: list = None, y_limit: list = None) -> None:
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# check if current motor position if within the new limits
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current_position = self.get_xy()
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if x_limit is not None:
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if current_position[0] < x_limit[0] or current_position[0] > x_limit[1]:
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raise ValueError("Current motor position is outside the new limits (X)")
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else:
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self.update_motor_limits(dev.samx, low_limit=x_limit[0], high_limit=x_limit[1])
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if y_limit is not None:
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if current_position[1] < y_limit[0] or current_position[1] > y_limit[1]:
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raise ValueError("Current motor position is outside the new limits (Y)")
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else:
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self.update_motor_limits(dev.samy, low_limit=y_limit[0], high_limit=y_limit[1])
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for spinBox in (
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self.spinBox_x_min,
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self.spinBox_x_max,
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self.spinBox_y_min,
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self.spinBox_y_max,
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):
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spinBox.setStyleSheet("")
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self.init_motor_map() # reinitialize the map with the new limits
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def get_xy(self): # TODO decide if useful
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"""Get current motor position"""
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x = dev.samx.position()
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y = dev.samy.position()
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return x, y
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@staticmethod
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def param_changed(ui_element):
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ui_element.setStyleSheet("background-color: #FFA700;")
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def update_all_motor_limits(
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self, x_limit: list = None, y_limit: list = None
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) -> None: # TODO will be moved to thread
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self.motor_thread.update_all_motor_limits(x_limit=x_limit, y_limit=y_limit)
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def update_arrow_key_shortcuts(self):
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if self.checkBox_enableArrows.isChecked():
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@ -257,7 +208,7 @@ class MotorApp(QWidget):
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self.toolButton_down.setShortcut("")
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def generate_table_coordinate(
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self, table: QtWidgets.QTableWidget, coordinates: list, tag: str = None, precision: int = 0
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self, table: QtWidgets.QTableWidget, coordinates: tuple, tag: str = None, precision: int = 0
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) -> None:
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current_row_count = table.rowCount()
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@ -288,20 +239,26 @@ class MotorApp(QWidget):
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)
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table.resizeColumnsToContents()
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@staticmethod
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def param_changed(ui_element):
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ui_element.setStyleSheet("background-color: #FFA700;")
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class MotorMovement(QThread):
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class MotorControl(QThread):
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coordinates_updated = pyqtSignal(float, float) # Signal to emit current coordinates
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# progress_updated = pyqtSignal(int) # Signal to emit progress percentage
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limits_retrieved = pyqtSignal(list, list) # Signal to emit current limits (samx, samy)
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# progress_updated = pyqtSignal(int) #TODO Signal to emit progress percentage
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def __init__(self, parent=None):
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super().__init__(parent)
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# self.initial_coordinates = None
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self.target_coordinates = None
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self.running = False
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# Initialize current coordinates with the provided initial coordinates
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self.current_x, self.current_y = None, None
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(
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self.current_x,
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self.current_y,
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) = self.get_coordinates() # TODO maybe not needed, coordinates always stored in redis
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# Create consumer for samx and samy
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self.samx_consumer = client.connector.consumer(
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@ -319,7 +276,56 @@ class MotorMovement(QThread):
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self.samx_consumer.start()
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self.samy_consumer.start()
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self.get_xy()
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def get_coordinates(self) -> tuple:
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# TODO decide if the get_coordinates and retrieve coordinates makes sense
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# TODO or move also to signal/slot as in the case of limits
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# TODO or move just to redis CB function
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"""Get current motor position"""
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x = dev.samx.position()
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y = dev.samy.position()
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return x, y
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def retrieve_coordinates(self) -> tuple:
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"""Get current motor position for export to main app"""
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return self.current_x, self.current_y
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def get_motor_limits(self, motor) -> list:
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"""Get the limits of a motor"""
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return motor.limits
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def retrieve_motor_limits(self, motor_x, motor_y):
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limit_x = self.get_motor_limits(motor_x)
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limit_y = self.get_motor_limits(motor_y)
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self.limits_retrieved.emit(limit_x, limit_y)
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def update_motor_limits(self, motor, low_limit=None, high_limit=None) -> None:
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current_low_limit, current_high_limit = self.get_motor_limits(motor)
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# Check if the low limit has changed and is not None
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if low_limit is not None and low_limit != current_low_limit:
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motor.low_limit = low_limit
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# Check if the high limit has changed and is not None
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if high_limit is not None and high_limit != current_high_limit:
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motor.high_limit = high_limit
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def update_all_motor_limits(self, x_limit: list = None, y_limit: list = None) -> None:
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# TODO can be generalized to any motor not just samx samy
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current_position = self.get_coordinates()
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if x_limit is not None:
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if current_position[0] < x_limit[0] or current_position[0] > x_limit[1]:
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raise ValueError("Current motor position is outside the new limits (X)")
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else:
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self.update_motor_limits(dev.samx, low_limit=x_limit[0], high_limit=x_limit[1])
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if y_limit is not None:
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if current_position[1] < y_limit[0] or current_position[1] > y_limit[1]:
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raise ValueError("Current motor position is outside the new limits (Y)")
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else:
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self.update_motor_limits(dev.samy, low_limit=y_limit[0], high_limit=y_limit[1])
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self.retrieve_motor_limits(dev.samx, dev.samy)
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def move_to_coordinates(self, target_coordinates: tuple):
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self.action = "move_to_coordinates"
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@ -341,14 +347,8 @@ class MotorMovement(QThread):
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def set_target_coordinates(self, target_coordinates: tuple) -> None:
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self.target_coordinates = target_coordinates
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def get_xy(self) -> tuple:
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"""Get current motor position"""
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self.current_x = dev.samx.position()
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self.current_y = dev.samy.position()
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def move_motor_coordinate(self):
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def move_motor_coordinate(self) -> None:
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"""Move the motor to the specified coordinates"""
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self.get_xy()
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scans.mv(
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dev.samx,
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self.target_coordinates[0],
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@ -358,25 +358,21 @@ class MotorMovement(QThread):
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)
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def move_motor_relative(self, motor, value: float) -> None:
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self.get_xy()
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scans.mv(motor, value, relative=True)
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# TODO decide if one or multiple callback functions
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@staticmethod
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def _device_status_callback_samx(msg, *, parent, **_kwargs) -> None:
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deviceMSG = BECMessage.DeviceMessage.loads(msg.value)
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parent.current_x = deviceMSG.content["signals"]["samx"]["value"]
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print(f"samx moving: {parent.current_x,parent.current_y}")
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# y = parent.current_y
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parent.coordinates_updated.emit(parent.current_x, parent.current_y)
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@staticmethod
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def _device_status_callback_samy(msg, *, parent, **_kwargs) -> None:
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deviceMSG = BECMessage.DeviceMessage.loads(msg.value)
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parent.current_y = deviceMSG.content["signals"]["samy"][
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"value"
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] # TODO can be move to parent instance
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parent.current_y = deviceMSG.content["signals"]["samy"]["value"]
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print(f"samy moving: {parent.current_x,parent.current_y}")
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# x = parent.current_y
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parent.coordinates_updated.emit(parent.current_x, parent.current_y)
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