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refactor: migrate to use just np.array for tracking position, only latest N points are being dimmed.

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wyzula-jan
2023-08-24 18:18:12 +02:00
parent 187c748e87
commit 3e408b304b
1 changed files with 17 additions and 19 deletions
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36
bec_widgets/examples/motor_movement/motor_example.py
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@ -20,8 +20,9 @@ class MotorApp(QWidget):
uic.loadUi(os.path.join(current_path, "motor_controller.ui"), self)
self.limit_x, self.limit_y = None, None
# Coordinates tracking
self.motor_positions = []
self.motor_positions = np.array([])
# QThread for motor movement + signals
self.motor_thread = MotorControl()
@ -184,15 +185,13 @@ class MotorApp(QWidget):
(map_width, map_height), self.background_value, dtype=np.float32
)
self.limit_map.setImage(self.limit_map_data)
# # Set the initial position on the map
init_pos = self.motor_thread.retrieve_coordinates()
init_brush = pg.mkBrush(255, 255, 255, 255)
self.motor_positions.append({"pos": init_pos, "brush": init_brush})
self.motor_map.setData(
pos=[point["pos"] for point in self.motor_positions],
brush=[point["brush"] for point in self.motor_positions],
)
# Set the initial position on the map
init_pos = self.motor_thread.retrieve_coordinates()
self.motor_positions = np.array([init_pos])
self.brushes = [pg.mkBrush(255, 255, 255, 255)]
self.motor_map.setData(pos=self.motor_positions, brush=self.brushes)
# Translate and scale the image item to match the motor coordinates
self.tr = QtGui.QTransform()
@ -203,19 +202,18 @@ class MotorApp(QWidget):
# Update label
self.label_coorditanes.setText(f"Motor position: ({x:.2f}, {y:.2f})")
# Dim previous points
last_brush = self.motor_positions[-1]["brush"].color().getRgb()
dimmer_brush = tuple(max(int(0.8 * c), 50) for c in last_brush[:3]) + (255,)
self.motor_positions[-1]["brush"] = pg.mkBrush(dimmer_brush)
# Determine brushes based on position in the array
self.brushes = [pg.mkBrush(50, 50, 50, 255)] * len(self.motor_positions)
for i in range(1, min(6, len(self.motor_positions) + 1)):
brightness = max(50, 255 - 20 * (i - 1))
self.brushes[-i] = pg.mkBrush(brightness, brightness, brightness, 255)
# Add new point with full brightness
new_pos = (x, y)
new_brush = pg.mkBrush(255, 255, 255, 255)
self.motor_positions.append({"pos": new_pos, "brush": new_brush})
self.motor_map.setData(
pos=[point["pos"] for point in self.motor_positions],
brush=[point["brush"] for point in self.motor_positions],
)
self.motor_positions = np.vstack((self.motor_positions, new_pos))
self.brushes.append(pg.mkBrush(255, 255, 255, 255))
self.motor_map.setData(pos=self.motor_positions, brush=self.brushes)
def update_all_motor_limits(
self, x_limit: list = None, y_limit: list = None