feat: setting map according to motor limits

bec_widgets/examples/motor_movement/motor_controller.ui

@@ -6,33 +6,74 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>800</width>
+    <width>1289</width>
-    <height>266</height>
+    <height>596</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Motor Controller</string>
   </property>
-  <layout class="QVBoxLayout" name="verticalLayout">
+  <layout class="QHBoxLayout" name="horizontalLayout_3">
    <item>
-    <widget class="QLabel" name="label_status">
+    <layout class="QVBoxLayout" name="verticalLayout">
-     <property name="text">
+     <item>
-      <string>Motor Position</string>
+      <widget class="QLabel" name="label_status">
-     </property>
+       <property name="text">
-     <property name="alignment">
+        <string>Motor Position</string>
-      <set>Qt::AlignCenter</set>
+       </property>
-     </property>
+       <property name="alignment">
-    </widget>
+        <set>Qt::AlignCenter</set>
-   </item>
+       </property>
-   <item>
+      </widget>
-    <layout class="QHBoxLayout" name="horizontalLayout" stretch="1,1,1">
+     </item>
+     <item>
+      <layout class="QHBoxLayout" name="horizontalLayout">
+       <item>
+        <widget class="QPushButton" name="pushButton_2">
+         <property name="text">
+          <string>Go</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="pushButton_3">
+         <property name="text">
+          <string>Save</string>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
      <item>
       <widget class="GraphicsLayoutWidget" name="glw">
        <property name="enabled">
-        <bool>false</bool>
+        <bool>true</bool>
        </property>
       </widget>
      </item>
+    </layout>
+   </item>
+   <item>
+    <layout class="QVBoxLayout" name="verticalLayout_4" stretch="1,10,10">
+     <item>
+      <widget class="QGroupBox" name="groupBox_2">
+       <property name="title">
+        <string>General</string>
+       </property>
+       <layout class="QHBoxLayout" name="horizontalLayout_2">
+        <item>
+         <widget class="QLabel" name="label_5">
+          <property name="text">
+           <string>Decimal precision</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QSpinBox" name="spinBox"/>
+        </item>
+       </layout>
+      </widget>
+     </item>
      <item>
       <widget class="QGroupBox" name="motorControl">
        <property name="title">
@@ -92,7 +133,7 @@
      <item>
       <widget class="QGroupBox" name="groupBox">
        <property name="enabled">
-        <bool>false</bool>
+        <bool>true</bool>
        </property>
        <property name="title">
         <string>Motor Limits</string>
@@ -120,13 +161,34 @@
          </widget>
         </item>
         <item row="2" column="1">
-         <widget class="QSpinBox" name="spinBox_samxN"/>
+         <widget class="QSpinBox" name="spinBox_x_min">
+          <property name="minimum">
+           <number>-1000</number>
+          </property>
+          <property name="maximum">
+           <number>1000</number>
+          </property>
+         </widget>
         </item>
         <item row="1" column="2">
-         <widget class="QSpinBox" name="spinBox_samyP"/>
+         <widget class="QSpinBox" name="spinBox_y_max">
+          <property name="minimum">
+           <number>-1000</number>
+          </property>
+          <property name="maximum">
+           <number>1000</number>
+          </property>
+         </widget>
         </item>
         <item row="2" column="3">
-         <widget class="QSpinBox" name="spinBox_samxP"/>
+         <widget class="QSpinBox" name="spinBox_x_max">
+          <property name="minimum">
+           <number>-1000</number>
+          </property>
+          <property name="maximum">
+           <number>1000</number>
+          </property>
+         </widget>
         </item>
         <item row="1" column="3">
          <widget class="QLabel" name="label_3">
@@ -136,12 +198,12 @@
          </widget>
         </item>
         <item row="3" column="2">
-         <widget class="QSpinBox" name="spinBox_samyN"/>
+         <widget class="QSpinBox" name="spinBox_y_min">
-        </item>
+          <property name="minimum">
-        <item row="2" column="2">
+           <number>-1000</number>
-         <widget class="QPushButton" name="pushButton">
+          </property>
-          <property name="text">
+          <property name="maximum">
-           <string>Update</string>
+           <number>1000</number>
           </property>
          </widget>
         </item>
@@ -150,6 +212,94 @@
      </item>
     </layout>
    </item>
+   <item>
+    <widget class="QTabWidget" name="tabWidget">
+     <property name="currentIndex">
+      <number>0</number>
+     </property>
+     <widget class="QWidget" name="tab">
+      <attribute name="title">
+       <string>Saved</string>
+      </attribute>
+      <layout class="QVBoxLayout" name="verticalLayout_3">
+       <item>
+        <widget class="QPushButton" name="pushButton_4">
+         <property name="text">
+          <string>Go to selected</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QTableWidget" name="tableWidget">
+         <column>
+          <property name="text">
+           <string>Show</string>
+          </property>
+         </column>
+         <column>
+          <property name="text">
+           <string>X</string>
+          </property>
+         </column>
+         <column>
+          <property name="text">
+           <string>Y</string>
+          </property>
+         </column>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+     <widget class="QWidget" name="tab_2">
+      <attribute name="title">
+       <string>Queue</string>
+      </attribute>
+      <layout class="QVBoxLayout" name="verticalLayout_2">
+       <item>
+        <widget class="QPushButton" name="pushButton_5">
+         <property name="text">
+          <string>Reset Queue</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QTableWidget" name="tableWidget_2">
+         <column>
+          <property name="text">
+           <string>queueID</string>
+          </property>
+         </column>
+         <column>
+          <property name="text">
+           <string>scanID</string>
+          </property>
+         </column>
+         <column>
+          <property name="text">
+           <string>is_scan</string>
+          </property>
+         </column>
+         <column>
+          <property name="text">
+           <string>type</string>
+          </property>
+         </column>
+         <column>
+          <property name="text">
+           <string>scan_number</string>
+          </property>
+         </column>
+         <column>
+          <property name="text">
+           <string>IQ status</string>
+          </property>
+         </column>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+    </widget>
+   </item>
   </layout>
  </widget>
  <customwidgets>

bec_widgets/examples/motor_movement/motor_example.py

@@ -1,6 +1,7 @@
 import os
 
 import numpy as np
+from PyQt5 import QtGui
 from PyQt5.QtCore import pyqtSignal
 from PyQt5.QtWidgets import QApplication, QWidget
 from pyqtgraph.Qt import QtCore, QtWidgets, uic
@@ -17,7 +18,14 @@ class MotorApp(QWidget):
         uic.loadUi(os.path.join(current_path, "motor_controller.ui"), self)
 
         # UI
+        self.start_x, self.start_y = self.get_xy()
+        self.limit_x, self.limit_y = self.get_motor_limits(dev.samx), self.get_motor_limits(
+            dev.samy
+        )
 
+        self.label_status.setText(
+            f"Motor position: ({dev.samx.position():.2f}, {dev.samy.position():.2f})"
+        )
         self.init_ui()
 
     def init_ui(self):
@@ -31,13 +39,17 @@ 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)
+        # self.image_map_data = np.zeros((100, 100), dtype=np.float32)
-        x, y = self.get_xy()  # Assuming get_xy returns the motor position
+        # x, y = self.get_xy()  # Assuming get_xy returns the motor position
-        self.update_image_map(x, y)
+        # self.update_image_map(x, y)
-        self.image_map.setImage(self.image_map_data.T)  # Set the image
+        # 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())
@@ -52,6 +64,32 @@ class MotorApp(QWidget):
             lambda: self.move_motor(dev.samy, -self.spinBox_step.value())
         )
 
+        # SpinBoxes - Motor Limits #TODO make spinboxes own limits updated, currently is [-1000, 1000]
+        # manually set limits before readout #TODO will be removed when spinboxes have own limits
+        # dev.samx.low_limit = -100
+        # dev.samx.high_limit = 100
+        # dev.samy.low_limit = -100
+        # dev.samy.high_limit = 100
+
+        # display initial limits
+        self.spinBox_x_min.setValue(self.limit_x[0])
+        self.spinBox_x_max.setValue(self.limit_x[1])
+        self.spinBox_y_min.setValue(self.limit_y[0])
+        self.spinBox_y_max.setValue(self.limit_y[1])
+        # # change limits of motors for all motors and spinboxes
+        self.spinBox_x_min.valueChanged.connect(
+            lambda x: self.update_motor_limits(dev.samx, low_limit=x)
+        )
+        self.spinBox_x_max.valueChanged.connect(
+            lambda x: self.update_motor_limits(dev.samx, high_limit=x)
+        )
+        self.spinBox_y_min.valueChanged.connect(
+            lambda x: self.update_motor_limits(dev.samy, low_limit=x)
+        )
+        self.spinBox_y_max.valueChanged.connect(
+            lambda x: self.update_motor_limits(dev.samy, high_limit=x)
+        )
+
         # Map
         self.motor_position.connect(lambda x: self.update_image_map(*self.get_xy()))
 
@@ -70,8 +108,87 @@ class MotorApp(QWidget):
             )
         )
 
+        self.init_motor_map()
+
+    def init_motor_map(self):
+        # Get motor limits
+        limit_x_min, limit_x_max = self.get_motor_limits(dev.samx)
+        limit_y_min, limit_y_max = self.get_motor_limits(dev.samy)
+
+        self.offset_x = limit_x_min
+        self.offset_y = limit_y_min
+
+        # Define the size of the image map based on the motor's limits
+        map_width = limit_x_max - limit_x_min + 1
+        map_height = limit_y_max - limit_y_min + 1
+
+        # Create an empty image map
+        self.background_value = 15
+        self.image_map_data = np.full(
+            (map_width, map_height), self.background_value, dtype=np.float32
+        )
+
+        # Set the initial position on the map
+        x, y = self.get_xy()
+        self.prev_x, self.prev_y = x, y
+        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.image_map.setTransform(self.tr)
+
+        self.image_map.dataTransform()
+
+    def update_image_map(self, x, y):
+        """Update the image map with the new motor position"""
+
+        # Define the dimming factor
+        dimming_factor = 0.80
+
+        # Apply the dimming factor only to pixels above the background value
+        self.image_map_data[self.image_map_data > self.background_value] *= 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 get_motor_limits(self, motor):
+        """Get the limits of a motor"""
+        high_limit = motor.high_limit
+        low_limit = motor.low_limit
+
+        return low_limit, high_limit
+
+    def update_motor_limits(self, motor, low_limit=None, high_limit=None):
+        # Get current limits
+        current_low_limit, current_high_limit = motor.limits[0], motor.limits[1]
+
+        # Check if the low limit has changed and is not None
+        if low_limit is not None and low_limit != current_low_limit:
+            motor.low_limit = low_limit
+
+        # Check if the high limit has changed and is not None
+        if high_limit is not None and high_limit != current_high_limit:
+            motor.high_limit = high_limit
+
     def move_motor(self, motor, value: float) -> None:
-        scans.mv(motor, value, relative=True)
+        try:
+            status = scans.mv(motor, value, relative=True)
+
+            while status.status not in ["COMPLETED", "STOPPED"]:
+                print(status.status)
+
+            # return status
+        except Exception as e:
+            print(e)
+
         motor_position = motor.position()
 
         self.motor_position.emit(motor_position)
@@ -83,22 +200,6 @@ class MotorApp(QWidget):
         y = dev.samy.position()
         return x, y
 
-    def update_image_map(self, x, y):
-        """Update the image map with the new motor position"""
-
-        # Reduce the brightness of all pixels by a fixed fraction (e.g., 5%)
-        self.image_map_data *= 0.8
-
-        # Modify this mapping as needed
-        pixel_x = int(x)
-        pixel_y = int(y)
-
-        # Set the bright pixel at the new position
-        self.image_map_data[pixel_x, pixel_y] = 255
-
-        # Update the display
-        self.image_map.setImage(self.image_map_data)
-
 
 if __name__ == "__main__":
     from bec_widgets.bec_dispatcher import bec_dispatcher