From 6fe08e6b8206bcaaa292b7ff0e6b0d32b883f24f Mon Sep 17 00:00:00 2001
From: wyzula-jan <133381102+wyzula-jan@users.noreply.github.com>
Date: Thu, 25 Jan 2024 16:21:57 +0100
Subject: [PATCH] feat: motor_control.py MotorControl widgets - Absolute +
 Relative movement, MotorSelection, ErrorMessage popups

---
 bec_widgets/utils/bec_dispatcher.py           |   4 -
 bec_widgets/widgets/__init__.py               |   1 +
 bec_widgets/widgets/motor_control/__init__.py |   1 +
 .../widgets/motor_control/motor_control.py    | 699 ++++++++++++++++++
 .../motor_control/motor_control_absolute.ui   | 149 ++++
 .../motor_control/motor_control_relative.ui   | 298 ++++++++
 .../motor_control/motor_control_selection.ui  |  69 ++
 7 files changed, 1217 insertions(+), 4 deletions(-)
 create mode 100644 bec_widgets/widgets/motor_control/__init__.py
 create mode 100644 bec_widgets/widgets/motor_control/motor_control.py
 create mode 100644 bec_widgets/widgets/motor_control/motor_control_absolute.ui
 create mode 100644 bec_widgets/widgets/motor_control/motor_control_relative.ui
 create mode 100644 bec_widgets/widgets/motor_control/motor_control_selection.ui

diff --git a/bec_widgets/utils/bec_dispatcher.py b/bec_widgets/utils/bec_dispatcher.py
index b0195f71..6da32b2e 100644
--- a/bec_widgets/utils/bec_dispatcher.py
+++ b/bec_widgets/utils/bec_dispatcher.py
@@ -1,7 +1,3 @@
-# TODO last backup
-
-# todo super last refactor
-
 from __future__ import annotations
 
 import argparse
diff --git a/bec_widgets/widgets/__init__.py b/bec_widgets/widgets/__init__.py
index d5eb7e43..5cebaa62 100644
--- a/bec_widgets/widgets/__init__.py
+++ b/bec_widgets/widgets/__init__.py
@@ -4,3 +4,4 @@ from .scan_control import ScanControl
 from .toolbar import ModularToolBar
 from .editor import BECEditor
 from .monitor_scatter_2D import BECMonitor2DScatter
+from .motor_control import MotorControlRelative, MotorControlAbsolute, MotorControlSelection
diff --git a/bec_widgets/widgets/motor_control/__init__.py b/bec_widgets/widgets/motor_control/__init__.py
new file mode 100644
index 00000000..e9af9b26
--- /dev/null
+++ b/bec_widgets/widgets/motor_control/__init__.py
@@ -0,0 +1 @@
+from .motor_control import MotorControlRelative, MotorControlAbsolute, MotorControlSelection
diff --git a/bec_widgets/widgets/motor_control/motor_control.py b/bec_widgets/widgets/motor_control/motor_control.py
new file mode 100644
index 00000000..b613b8b9
--- /dev/null
+++ b/bec_widgets/widgets/motor_control/motor_control.py
@@ -0,0 +1,699 @@
+# pylint: disable = no-name-in-module,missing-module-docstring
+import os
+from enum import Enum
+
+import qdarktheme
+
+from pyqtgraph.Qt import uic
+from qtpy import uic
+from qtpy.QtCore import QThread, Slot as pyqtSlot
+from qtpy.QtCore import Signal as pyqtSignal, Qt
+from qtpy.QtGui import QKeySequence
+from qtpy.QtWidgets import (
+    QApplication,
+    QWidget,
+    QSpinBox,
+    QDoubleSpinBox,
+    QShortcut,
+)
+
+from qtpy.QtWidgets import QApplication, QMessageBox
+from bec_lib.alarm_handler import AlarmBase
+from bec_lib.device import Positioner
+from bec_widgets.utils.bec_dispatcher import BECDispatcher
+
+CONFIG_DEFAULT = {
+    "motor_control": {
+        "motor_x": "samx",
+        "motor_y": "samy",
+        "step_size_x": 3,
+        "step_size_y": 50,
+        "precision": 4,
+        "step_x_y_same": False,
+        "move_with_arrows": False,
+    }
+}
+
+# class MotorControlConnectAbsoltue(QWidget):
+
+
+# class MotorControlPanel(QWidget):
+#     def __init__(self,parent=None):
+#         super().__init__()
+#         self.init_ui()
+#     def init_ui(self):
+#         """Initialize the UI."""
+class MotorControlSelection(QWidget):
+    update_signal = pyqtSignal()
+    selected_motors_signal = pyqtSignal(str, str)
+
+    def __init__(
+        self,
+        parent=None,
+        client=None,
+        motor_thread=None,
+        config: dict = None,
+    ):
+        super().__init__(parent=parent)
+
+        bec_dispatcher = BECDispatcher()
+        self.client = bec_dispatcher.client if client is None else client
+        self.dev = self.client.device_manager.devices
+        self.config = config
+
+        # Loading UI
+        current_path = os.path.dirname(__file__)
+        uic.loadUi(os.path.join(current_path, "motor_control_selection.ui"), self)
+
+        # Motor Control Thread
+        self.motor_thread = (
+            MotorThread(client=self.client) if motor_thread is None else motor_thread
+        )
+
+        if self.config is None:
+            print(f"No initial config found for {self.__class__.__name__}")
+            self._init_ui()
+        else:
+            self.on_config_update(self.config)
+
+    def _init_ui(self):
+        """Initialize the UI."""
+        self.pushButton_connecMotors.clicked.connect(self.select_motor)
+        self.get_available_motors()
+
+    @pyqtSlot(dict)
+    def on_config_update(self, config: dict) -> None:
+        """
+        Update config dict
+        Args:
+            config(dict): New config dict
+        """
+        self.config = config
+
+        # Get motor names
+        self.motor_x, self.motor_y = (
+            self.config["motor_control"]["motor_x"],
+            self.config["motor_control"]["motor_y"],
+        )
+
+        self._init_ui()
+
+    def get_available_motors(self):
+        """
+        Slot to populate the available motors in the combo boxes and set the index based on the configuration.
+        """
+        # Get all available motors
+        self.motor_list = self.motor_thread.get_all_motors_names()
+
+        # Populate the combo boxes
+        self.comboBox_motor_x.addItems(self.motor_list)
+        self.comboBox_motor_y.addItems(self.motor_list)
+
+        # Set the index based on the config if provided
+        if self.config is not None:
+            index_x = self.comboBox_motor_x.findText(self.motor_x)
+            index_y = self.comboBox_motor_y.findText(self.motor_y)
+
+            if index_x != -1:
+                self.comboBox_motor_x.setCurrentIndex(index_x)
+            else:
+                print(
+                    f"Warning: Motor '{self.motor_x}' specified in the config file is not available."
+                )
+                self.comboBox_motor_x.setCurrentIndex(0)
+
+            if index_y != -1:
+                self.comboBox_motor_y.setCurrentIndex(index_y)
+            else:
+                print(
+                    f"Warning: Motor '{self.motor_y}' specified in the config file is not available."
+                )
+                self.comboBox_motor_y.setCurrentIndex(0)
+            if index_x != -1 and index_y != -1:
+                self.selected_motors_signal.emit(self.motor_x, self.motor_y)
+        # setup default index 0, if there is no config
+        else:
+            self.comboBox_motor_x.setCurrentIndex(0)
+            self.comboBox_motor_y.setCurrentIndex(0)
+
+    def select_motor(self):
+        """Emit the selected motors"""
+        motor_x = self.comboBox_motor_x.currentText()
+        motor_y = self.comboBox_motor_y.currentText()
+
+        self.selected_motors_signal.emit(motor_x, motor_y)
+        print(f"emitted motors {motor_x} and {motor_y}")
+
+
+class MotorControlAbsolute(QWidget):
+    update_signal = pyqtSignal()
+    coordinates_signal = pyqtSignal(tuple)
+
+    def __init__(
+        self,
+        parent=None,
+        client=None,
+        motor_thread=None,
+        config: dict = None,
+    ):
+        super().__init__(parent=parent)
+
+        bec_dispatcher = BECDispatcher()
+        self.client = bec_dispatcher.client if client is None else client
+        self.dev = self.client.device_manager.devices
+        self.config = config
+
+        # Loading UI
+        current_path = os.path.dirname(__file__)
+        uic.loadUi(os.path.join(current_path, "motor_control_absolute.ui"), self)
+
+        # Motor Control Thread
+        self.motor_thread = (
+            MotorThread(client=self.client) if motor_thread is None else motor_thread
+        )
+
+        if self.config is None:
+            print(f"No initial config found for {self.__class__.__name__}")
+            self._init_ui()
+        else:
+            self.on_config_update(self.config)
+
+    @pyqtSlot(dict)
+    def on_config_update(self, config: dict) -> None:
+        """Update config dict"""
+        self.config = config
+
+        # Get motor names
+        self.motor_x, self.motor_y = (
+            self.config["motor_control"]["motor_x"],
+            self.config["motor_control"]["motor_y"],
+        )
+
+        # Update step precision
+        self.precision = self.config["motor_control"]["precision"]
+
+        self._init_ui()
+
+    def _init_ui(self):
+        """Initialize the UI."""
+
+        # Check if there are any motors connected
+        if (
+            self.motor_x is None or self.motor_y is None
+        ):  # TODO change logic of checking -> jsut check names
+            self.motorControl_absolute.setEnabled(False)
+            return
+
+        # Move to absolute coordinates
+        self.pushButton_go_absolute.clicked.connect(
+            lambda: self.move_motor_absolute(
+                self.spinBox_absolute_x.value(), self.spinBox_absolute_y.value()
+            )
+        )
+
+        self.pushButton_set.clicked.connect(self.save_absolute_coordinates)
+        self.pushButton_save.clicked.connect(self.save_current_coordinates)
+        self.pushButton_stop.clicked.connect(self.motor_thread.stop_movement)
+
+        # Enable/Disable GUI
+        self.motor_thread.move_finished.connect(lambda: self._enable_motor_controls(True))
+
+        # Error messages
+        self.motor_thread.motor_error.connect(
+            lambda error: MotorControlErrors.display_error_message(error)
+        )
+
+    def _enable_motor_controls(self, disable: bool) -> None:
+        # Disable or enable all controls within the motorControl_absolute group box
+        for widget in self.motorControl_absolute.findChildren(QWidget):
+            widget.setEnabled(disable)
+
+        # Enable the pushButton_stop if the motor is moving
+        self.pushButton_stop.setEnabled(True)
+
+    def move_motor_absolute(self, x: float, y: float) -> None:
+        self._enable_motor_controls(False)
+        target_coordinates = (x, y)
+        self.motor_thread.move_absolute(self.motor_x, self.motor_y, target_coordinates)
+        if self.checkBox_save_with_go.isChecked():
+            self.save_absolute_coordinates()
+
+    def _init_keyboard_shortcuts(self):
+        # Go absolute button
+        self.pushButton_go_absolute.setShortcut("Ctrl+G")
+        self.pushButton_go_absolute.setToolTip("Ctrl+G")
+
+        # Set absolute coordinates
+        self.pushButton_set.setShortcut("Ctrl+D")
+        self.pushButton_set.setToolTip("Ctrl+D")
+
+        # Save Current coordinates
+        self.pushButton_save.setShortcut("Ctrl+S")
+        self.pushButton_save.setToolTip("Ctrl+S")
+
+        # Stop Button
+        self.pushButton_stop.setShortcut("Ctrl+X")
+        self.pushButton_stop.setToolTip("Ctrl+X")
+
+    def save_absolute_coordinates(self):
+        """Emit the setup coordinates from the spinboxes"""
+
+        x, y = round(self.spinBox_absolute_x.value(), self.precision), round(
+            self.spinBox_absolute_y.value(), self.precision
+        )
+        self.coordinates_signal.emit((x, y))
+
+    def save_current_coordinates(self):
+        """Emit the current coordinates from the motor thread"""
+        x, y = self.motor_thread.retrieve_coordinates()
+        self.coordinates_signal.emit((x, y))
+
+
+class MotorControlRelative(QWidget):
+    update_signal = pyqtSignal()
+
+    def __init__(
+        self,
+        parent=None,
+        client=None,
+        motor_thread=None,
+        config: dict = None,
+    ):
+        super().__init__(parent=parent)
+
+        # BECclient
+        bec_dispatcher = BECDispatcher()
+        self.client = bec_dispatcher.client if client is None else client
+        self.dev = self.client.device_manager.devices
+        self.config = config
+
+        # Loading UI
+        current_path = os.path.dirname(__file__)
+        uic.loadUi(os.path.join(current_path, "motor_control_relative.ui"), self)
+
+        # Motor Control Thread
+        self.motor_thread = (
+            MotorThread(client=self.client) if motor_thread is None else motor_thread
+        )
+
+        self._init_ui()
+        if self.config is None:
+            print(f"No initial config found for {self.__class__.__name__}")
+        else:
+            self.on_config_update(self.config)
+
+    def _init_ui(self):
+        """Initialize the UI."""
+        self._init_ui_motor_control()
+        self._init_keyboard_shortcuts()
+
+    @pyqtSlot(dict)
+    def on_config_update(self, config: dict) -> None:
+        """Update config dict"""
+        self.config = config
+
+        # Get motor names
+        self.motor_x, self.motor_y = (
+            self.config["motor_control"]["motor_x"],
+            self.config["motor_control"]["motor_y"],
+        )
+
+        # Update step precision
+        self.precision = self.config["motor_control"]["precision"]
+        self.spinBox_precision.setValue(self.precision)
+
+        # Update step sizes
+        self.spinBox_step_x.setValue(self.config["motor_control"]["step_size_x"])
+        self.spinBox_step_y.setValue(self.config["motor_control"]["step_size_y"])
+
+        # Checkboxes for keyboard shortcuts and x/y step size link
+        self.checkBox_same_xy.setChecked(self.config["motor_control"]["step_x_y_same"])
+        self.checkBox_enableArrows.setChecked(self.config["motor_control"]["move_with_arrows"])
+
+    def _init_ui_motor_control(self) -> None:
+        """Initialize the motor control elements"""
+
+        # Connect checkbox and spinBoxes
+        self.checkBox_same_xy.stateChanged.connect(self._sync_step_sizes)
+        self.spinBox_step_x.valueChanged.connect(self._update_step_size_x)
+        self.spinBox_step_y.valueChanged.connect(self._update_step_size_y)
+
+        self.toolButton_right.clicked.connect(
+            lambda: self.move_motor_relative(self.motor_x, "x", 1)
+        )
+        self.toolButton_left.clicked.connect(
+            lambda: self.move_motor_relative(self.motor_x, "x", -1)
+        )
+        self.toolButton_up.clicked.connect(lambda: self.move_motor_relative(self.motor_y, "y", 1))
+        self.toolButton_down.clicked.connect(
+            lambda: self.move_motor_relative(self.motor_y, "y", -1)
+        )
+
+        # Switch between key shortcuts active
+        self.checkBox_enableArrows.stateChanged.connect(self._update_arrow_key_shortcuts)
+        self._update_arrow_key_shortcuts()
+
+        # Enable/Disable GUI
+        self.motor_thread.move_finished.connect(lambda: self.enable_motor_controls(True))
+
+        # Precision update
+        self.spinBox_precision.valueChanged.connect(lambda x: self._update_precision(x))
+
+        # Error messages
+        self.motor_thread.motor_error.connect(
+            lambda error: MotorControlErrors.display_error_message(error)
+        )
+
+    def _init_keyboard_shortcuts(self) -> None:
+        """Initialize the keyboard shortcuts"""
+
+        # Increase/decrease step size for X motor
+        increase_x_shortcut = QShortcut(QKeySequence("Ctrl+A"), self)
+        decrease_x_shortcut = QShortcut(QKeySequence("Ctrl+Z"), self)
+        increase_x_shortcut.activated.connect(
+            lambda: self._change_step_size(self.spinBox_step_x, 2)
+        )
+        decrease_x_shortcut.activated.connect(
+            lambda: self._change_step_size(self.spinBox_step_x, 0.5)
+        )
+
+        # Increase/decrease step size for Y motor
+        increase_y_shortcut = QShortcut(QKeySequence("Alt+A"), self)
+        decrease_y_shortcut = QShortcut(QKeySequence("Alt+Z"), self)
+        increase_y_shortcut.activated.connect(
+            lambda: self._change_step_size(self.spinBox_step_y, 2)
+        )
+        decrease_y_shortcut.activated.connect(
+            lambda: self._change_step_size(self.spinBox_step_y, 0.5)
+        )
+
+        # Stop Button
+        self.pushButton_stop.setShortcut("Ctrl+X")
+        self.pushButton_stop.setToolTip("Ctrl+X")
+
+    def _update_arrow_key_shortcuts(self):
+        """Update the arrow key shortcuts based on the checkbox state."""
+        if self.checkBox_enableArrows.isChecked():
+            # Set the arrow key shortcuts for motor movement
+            self.toolButton_right.setShortcut(Qt.Key_Right)
+            self.toolButton_left.setShortcut(Qt.Key_Left)
+            self.toolButton_up.setShortcut(Qt.Key_Up)
+            self.toolButton_down.setShortcut(Qt.Key_Down)
+        else:
+            # Clear the shortcuts
+            self.toolButton_right.setShortcut("")
+            self.toolButton_left.setShortcut("")
+            self.toolButton_up.setShortcut("")
+            self.toolButton_down.setShortcut("")
+
+    def _update_precision(self, precision: int):
+        """Update the precision of the spinboxes."""
+        self.spinBox_step_x.setDecimals(precision)
+        self.spinBox_step_y.setDecimals(precision)
+
+    def _change_step_size(self, spinBox: QDoubleSpinBox, factor: float) -> None:
+        """
+        Change the step size of the spinbox.
+        Args:
+            spinBox(QDoubleSpinBox): Spinbox to change the step size.
+            factor(float): Factor to change the step size.
+        """
+        old_step = spinBox.value()
+        new_step = old_step * factor
+        spinBox.setValue(new_step)
+
+    def _sync_step_sizes(self):
+        """Sync step sizes based on checkbox state."""
+        if self.checkBox_same_xy.isChecked():
+            value = self.spinBox_step_x.value()
+            self.spinBox_step_y.setValue(value)
+
+    def _update_step_size_x(self):
+        """Update step size for x if checkbox is checked."""
+        if self.checkBox_same_xy.isChecked():
+            value = self.spinBox_step_x.value()
+            self.spinBox_step_y.setValue(value)
+
+    def _update_step_size_y(self):
+        """Update step size for y if checkbox is checked."""
+        if self.checkBox_same_xy.isChecked():
+            value = self.spinBox_step_y.value()
+            self.spinBox_step_x.setValue(value)
+
+    @pyqtSlot()
+    def enable_motor_control(self):
+        """Enable the motor control buttons."""
+        self.motorControl.setEnabled(True)
+
+    @pyqtSlot(str, str)
+    def change_motors(self, motor_x: str, motor_y: str):
+        """
+        Change the active motors and update config.
+        Args:
+            motor_x(str): New motor X to be controlled.
+            motor_y(str): New motor Y to be controlled.
+        """
+        self.motor_x = motor_x
+        self.motor_y = motor_y
+        self.config["motor_control"]["motor_x"] = motor_x
+        self.config["motor_control"]["motor_y"] = motor_y
+
+    def enable_motor_controls(self, disable: bool) -> None:
+        """
+        Enable or disable the motor controls.
+        Args:
+            disable(bool): True to disable, False to enable.
+        """
+
+        # Disable or enable all controls within the motorControl_absolute group box
+        for widget in self.motorControl.findChildren(QWidget):
+            widget.setEnabled(disable)
+
+        # Enable the pushButton_stop if the motor is moving
+        self.pushButton_stop.setEnabled(True)
+
+    def move_motor_relative(self, motor, axis: str, direction: int) -> None:
+        """
+        Move the motor relative to the current position.
+        Args:
+            motor: Motor to move.
+            axis(str): Axis to move.
+            direction(int): Direction to move. 1 for positive, -1 for negative.
+        """
+        self.enable_motor_controls(False)
+        if axis == "x":
+            step = direction * self.spinBox_step_x.value()
+        elif axis == "y":
+            step = direction * self.spinBox_step_y.value()
+        self.motor_thread.move_relative(motor, step)
+
+
+class MotorControlErrors:
+    @staticmethod
+    def display_error_message(error_message: str) -> None:
+        """
+        Display a critical error message.
+        Args:
+            error_message(str): Error message to display.
+        """
+        # Create a QMessageBox
+        msg = QMessageBox()
+        msg.setIcon(QMessageBox.Critical)
+        msg.setWindowTitle("Critical Error")
+
+        # Format the message
+        formatted_message = MotorControlErrors._format_error_message(error_message)
+        msg.setText(formatted_message)
+
+        # Display the message box
+        msg.exec_()
+
+    @staticmethod
+    def _format_error_message(error_message: str) -> str:
+        """
+        Format the error message.
+        Args:
+            error_message(str): Error message to format.
+
+        Returns:
+            str: Formatted error message.
+        """
+        # Split the message into lines
+        lines = error_message.split("\n")
+        formatted_lines = [
+            f"<b>{line.strip()}</b>" if i == 0 else line.strip()
+            for i, line in enumerate(lines)
+            if line.strip()
+        ]
+
+        # Join the lines with double breaks for empty lines in between
+        formatted_message = "<br><br>".join(formatted_lines)
+
+        return formatted_message
+
+
+class MotorActions(Enum):
+    """Enum for motor actions."""
+
+    MOVE_ABSOLUTE = "move_absolute"
+    MOVE_RELATIVE = "move_relative"
+
+
+class MotorThread(QThread):
+    """
+    QThread subclass for controlling motor actions asynchronously.
+
+    Attributes:
+        coordinates_updated (pyqtSignal): Signal to emit current coordinates.
+        limits_retrieved (pyqtSignal): Signal to emit current limits.
+        move_finished (pyqtSignal): Signal to emit when the move is finished.
+        motors_loaded (pyqtSignal): Signal to emit when the motors are loaded.
+        motors_selected (pyqtSignal): Signal to emit when the motors are selected.
+    """
+
+    coordinates_updated = pyqtSignal(float, float)  # Signal to emit current coordinates
+    limits_retrieved = pyqtSignal(list, list)  # Signal to emit current limits #TODO remove?
+    move_finished = pyqtSignal()  # Signal to emit when the move is finished
+    motors_loaded = pyqtSignal(
+        list, list
+    )  # Signal to emit when the motors are loaded #todo remove?
+    motors_selected = pyqtSignal(
+        object, object
+    )  # Signal to emit when the motors are selected #TODO remove?
+    motor_error = pyqtSignal(str)  # Signal to emit when there is an error with the motors
+
+    def __init__(self, parent=None, client=None):
+        super().__init__(parent)
+
+        bec_dispatcher = BECDispatcher()
+        self.client = bec_dispatcher.client if client is None else client
+        self.dev = self.client.device_manager.devices
+        self.scans = self.client.scans
+        self.queue = self.client.queue
+        self.action = None
+
+        self.motor = None
+        self.motor_x = None
+        self.motor_y = None
+        self.target_coordinates = None
+        self.value = None
+
+    def get_all_motors_names(self) -> list:
+        """
+        Get all the motors names.
+        Returns:
+            list: List of all the motors names.
+        """
+        all_devices = self.client.device_manager.devices.enabled_devices
+        all_motors_names = [motor.name for motor in all_devices if isinstance(motor, Positioner)]
+        return all_motors_names
+
+    def get_coordinates(self, motor_x: str, motor_y: str) -> tuple:
+        """
+        Get the current coordinates of the motors.
+        Args:
+            motor_x(str): Motor X to get positions from.
+            motor_y(str): Motor Y to get positions from.
+
+        Returns:
+            tuple: Current coordinates of the motors.
+        """
+        x = self.dev[motor_x].readback.get()
+        y = self.dev[motor_y].readback.get()
+        return x, y
+
+    def move_absolute(self, motor_x: str, motor_y: str, target_coordinates: tuple) -> None:
+        """
+        Wrapper for moving the motor to the target coordinates.
+        Args:
+            motor_x(str): Motor X to move.
+            motor_y(str): Motor Y to move.
+            target_coordinates(tuple): Target coordinates.
+        """
+        self.action = MotorActions.MOVE_ABSOLUTE
+        self.motor_x = motor_x
+        self.motor_y = motor_y
+        self.target_coordinates = target_coordinates
+        self.start()
+
+    def move_relative(self, motor: str, value: float) -> None:
+        """
+        Wrapper for moving the motor relative to the current position.
+        Args:
+            motor(str): Motor to move.
+            value(float): Value to move.
+        """
+        self.action = MotorActions.MOVE_RELATIVE
+        self.motor = motor
+        self.value = value
+        self.start()
+
+    def run(self):
+        """
+        Run the thread.
+        Possible actions:
+            - Move to coordinates
+            - Move relative
+        """
+        if self.action == MotorActions.MOVE_ABSOLUTE:
+            self._move_motor_absolute(self.motor_x, self.motor_y, self.target_coordinates)
+        elif self.action == MotorActions.MOVE_RELATIVE:
+            self._move_motor_relative(self.motor, self.value)
+
+    def _move_motor_absolute(self, motor_x: str, motor_y: str, target_coordinates: tuple) -> None:
+        """
+        Move the motor to the target coordinates.
+        Args:
+            motor_x(str): Motor X to move.
+            motor_y(str): Motor Y to move.
+            target_coordinates(tuple): Target coordinates.
+        """
+        try:
+            status = self.scans.mv(
+                self.dev[motor_x],
+                target_coordinates[0],
+                self.dev[motor_y],
+                target_coordinates[1],
+                relative=False,
+            )
+            status.wait()
+        except AlarmBase as e:
+            self.motor_error.emit(str(e))
+        finally:
+            self.move_finished.emit()
+
+    def _move_motor_relative(self, motor, value: float) -> None:
+        """
+        Move the motor relative to the current position.
+        Args:
+            motor(str): Motor to move.
+            value(float): Value to move.
+        """
+        try:
+            status = self.scans.mv(self.dev[motor], value, relative=True)
+            status.wait()
+        except AlarmBase as e:
+            print(e)
+            self.motor_error.emit(str(e))
+        finally:
+            self.move_finished.emit()
+
+    def stop_movement(self):
+        self.queue.request_scan_abortion()
+        self.queue.request_queue_reset()
+
+
+if __name__ == "__main__":
+    bec_dispatcher = BECDispatcher()
+    # BECclient global variables
+    client = bec_dispatcher.client
+    client.start()
+
+    app = QApplication([])
+    qdarktheme.setup_theme("auto")
+    # motor_control = MotorControlRelative(client=client, config=CONFIG_DEFAULT)
+
+    motor_control = MotorControlSelection(client=client, config=CONFIG_DEFAULT)
+    window = motor_control
+    window.show()
+    app.exec()
diff --git a/bec_widgets/widgets/motor_control/motor_control_absolute.ui b/bec_widgets/widgets/motor_control/motor_control_absolute.ui
new file mode 100644
index 00000000..ea4ec863
--- /dev/null
+++ b/bec_widgets/widgets/motor_control/motor_control_absolute.ui
@@ -0,0 +1,149 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>Form</class>
+ <widget class="QWidget" name="Form">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>285</width>
+    <height>220</height>
+   </rect>
+  </property>
+  <property name="minimumSize">
+   <size>
+    <width>285</width>
+    <height>220</height>
+   </size>
+  </property>
+  <property name="maximumSize">
+   <size>
+    <width>285</width>
+    <height>220</height>
+   </size>
+  </property>
+  <property name="windowTitle">
+   <string>Move Movement Absolute</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout_2">
+   <item>
+    <widget class="QGroupBox" name="motorControl_absolute">
+     <property name="minimumSize">
+      <size>
+       <width>261</width>
+       <height>195</height>
+      </size>
+     </property>
+     <property name="maximumSize">
+      <size>
+       <width>261</width>
+       <height>195</height>
+      </size>
+     </property>
+     <property name="title">
+      <string>Move Movement Absolute</string>
+     </property>
+     <layout class="QVBoxLayout" name="verticalLayout">
+      <item>
+       <widget class="QCheckBox" name="checkBox_save_with_go">
+        <property name="text">
+         <string>Save position with Go</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <layout class="QGridLayout" name="gridLayout_3">
+        <item row="1" column="1">
+         <widget class="QDoubleSpinBox" name="spinBox_absolute_y">
+          <property name="alignment">
+           <set>Qt::AlignCenter</set>
+          </property>
+          <property name="minimum">
+           <double>-500.000000000000000</double>
+          </property>
+          <property name="maximum">
+           <double>500.000000000000000</double>
+          </property>
+          <property name="singleStep">
+           <double>0.100000000000000</double>
+          </property>
+         </widget>
+        </item>
+        <item row="1" column="0">
+         <widget class="QDoubleSpinBox" name="spinBox_absolute_x">
+          <property name="alignment">
+           <set>Qt::AlignCenter</set>
+          </property>
+          <property name="minimum">
+           <double>-500.000000000000000</double>
+          </property>
+          <property name="maximum">
+           <double>500.000000000000000</double>
+          </property>
+          <property name="singleStep">
+           <double>0.100000000000000</double>
+          </property>
+         </widget>
+        </item>
+        <item row="0" column="1">
+         <widget class="QLabel" name="label_7">
+          <property name="text">
+           <string>Y</string>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignCenter</set>
+          </property>
+         </widget>
+        </item>
+        <item row="0" column="0">
+         <widget class="QLabel" name="label_6">
+          <property name="text">
+           <string>X</string>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignCenter</set>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+      <item>
+       <layout class="QHBoxLayout" name="horizontalLayout_2">
+        <item>
+         <widget class="QPushButton" name="pushButton_save">
+          <property name="text">
+           <string>Save</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QPushButton" name="pushButton_set">
+          <property name="text">
+           <string>Set</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QPushButton" name="pushButton_go_absolute">
+          <property name="text">
+           <string>Go</string>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+      <item>
+       <widget class="QPushButton" name="pushButton_stop">
+        <property name="text">
+         <string>Stop Movement</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/bec_widgets/widgets/motor_control/motor_control_relative.ui b/bec_widgets/widgets/motor_control/motor_control_relative.ui
new file mode 100644
index 00000000..78fed89b
--- /dev/null
+++ b/bec_widgets/widgets/motor_control/motor_control_relative.ui
@@ -0,0 +1,298 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>Form</class>
+ <widget class="QWidget" name="Form">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>285</width>
+    <height>405</height>
+   </rect>
+  </property>
+  <property name="minimumSize">
+   <size>
+    <width>285</width>
+    <height>405</height>
+   </size>
+  </property>
+  <property name="windowTitle">
+   <string>Motor Control Relative</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout">
+   <item>
+    <widget class="QGroupBox" name="motorControl">
+     <property name="minimumSize">
+      <size>
+       <width>261</width>
+       <height>394</height>
+      </size>
+     </property>
+     <property name="title">
+      <string>Motor Control Relative</string>
+     </property>
+     <layout class="QVBoxLayout" name="verticalLayout_5">
+      <item>
+       <widget class="QCheckBox" name="checkBox_enableArrows">
+        <property name="text">
+         <string>Move with arrow keys</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QCheckBox" name="checkBox_same_xy">
+        <property name="text">
+         <string>Step [X] = Step [Y]</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <layout class="QGridLayout" name="step_grid">
+        <item row="2" column="0">
+         <widget class="QLabel" name="label_step_y">
+          <property name="minimumSize">
+           <size>
+            <width>111</width>
+            <height>19</height>
+           </size>
+          </property>
+          <property name="text">
+           <string>Step [Y]</string>
+          </property>
+         </widget>
+        </item>
+        <item row="0" column="0">
+         <widget class="QLabel" name="label_2">
+          <property name="minimumSize">
+           <size>
+            <width>111</width>
+            <height>19</height>
+           </size>
+          </property>
+          <property name="text">
+           <string>Decimal</string>
+          </property>
+         </widget>
+        </item>
+        <item row="1" column="1">
+         <widget class="QDoubleSpinBox" name="spinBox_step_x">
+          <property name="minimumSize">
+           <size>
+            <width>110</width>
+            <height>19</height>
+           </size>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignCenter</set>
+          </property>
+          <property name="minimum">
+           <double>0.000000000000000</double>
+          </property>
+          <property name="maximum">
+           <double>99.000000000000000</double>
+          </property>
+          <property name="singleStep">
+           <double>0.100000000000000</double>
+          </property>
+          <property name="value">
+           <double>1.000000000000000</double>
+          </property>
+         </widget>
+        </item>
+        <item row="1" column="0">
+         <widget class="QLabel" name="label_step_x">
+          <property name="minimumSize">
+           <size>
+            <width>111</width>
+            <height>19</height>
+           </size>
+          </property>
+          <property name="text">
+           <string>Step [X]</string>
+          </property>
+         </widget>
+        </item>
+        <item row="2" column="1">
+         <widget class="QDoubleSpinBox" name="spinBox_step_y">
+          <property name="minimumSize">
+           <size>
+            <width>110</width>
+            <height>19</height>
+           </size>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignCenter</set>
+          </property>
+          <property name="minimum">
+           <double>0.000000000000000</double>
+          </property>
+          <property name="maximum">
+           <double>99.000000000000000</double>
+          </property>
+          <property name="singleStep">
+           <double>0.100000000000000</double>
+          </property>
+          <property name="value">
+           <double>1.000000000000000</double>
+          </property>
+         </widget>
+        </item>
+        <item row="0" column="1">
+         <widget class="QSpinBox" name="spinBox_precision">
+          <property name="minimumSize">
+           <size>
+            <width>110</width>
+            <height>19</height>
+           </size>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignCenter</set>
+          </property>
+          <property name="maximum">
+           <number>8</number>
+          </property>
+          <property name="value">
+           <number>2</number>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+      <item>
+       <layout class="QGridLayout" name="direction_grid">
+        <property name="sizeConstraint">
+         <enum>QLayout::SetDefaultConstraint</enum>
+        </property>
+        <item row="1" column="2" alignment="Qt::AlignHCenter|Qt::AlignVCenter">
+         <widget class="QToolButton" name="toolButton_up">
+          <property name="minimumSize">
+           <size>
+            <width>26</width>
+            <height>26</height>
+           </size>
+          </property>
+          <property name="text">
+           <string>...</string>
+          </property>
+          <property name="arrowType">
+           <enum>Qt::UpArrow</enum>
+          </property>
+         </widget>
+        </item>
+        <item row="2" column="4">
+         <spacer name="horizontalSpacer_2">
+          <property name="orientation">
+           <enum>Qt::Horizontal</enum>
+          </property>
+          <property name="sizeHint" stdset="0">
+           <size>
+            <width>40</width>
+            <height>20</height>
+           </size>
+          </property>
+         </spacer>
+        </item>
+        <item row="3" column="2" alignment="Qt::AlignHCenter|Qt::AlignVCenter">
+         <widget class="QToolButton" name="toolButton_down">
+          <property name="minimumSize">
+           <size>
+            <width>26</width>
+            <height>26</height>
+           </size>
+          </property>
+          <property name="text">
+           <string>...</string>
+          </property>
+          <property name="arrowType">
+           <enum>Qt::DownArrow</enum>
+          </property>
+         </widget>
+        </item>
+        <item row="2" column="1">
+         <widget class="QToolButton" name="toolButton_left">
+          <property name="minimumSize">
+           <size>
+            <width>26</width>
+            <height>26</height>
+           </size>
+          </property>
+          <property name="text">
+           <string>...</string>
+          </property>
+          <property name="arrowType">
+           <enum>Qt::LeftArrow</enum>
+          </property>
+         </widget>
+        </item>
+        <item row="0" column="2">
+         <spacer name="verticalSpacer">
+          <property name="orientation">
+           <enum>Qt::Vertical</enum>
+          </property>
+          <property name="sizeHint" stdset="0">
+           <size>
+            <width>20</width>
+            <height>40</height>
+           </size>
+          </property>
+         </spacer>
+        </item>
+        <item row="2" column="3">
+         <widget class="QToolButton" name="toolButton_right">
+          <property name="minimumSize">
+           <size>
+            <width>26</width>
+            <height>26</height>
+           </size>
+          </property>
+          <property name="text">
+           <string>...</string>
+          </property>
+          <property name="arrowType">
+           <enum>Qt::RightArrow</enum>
+          </property>
+         </widget>
+        </item>
+        <item row="2" column="0">
+         <spacer name="horizontalSpacer">
+          <property name="orientation">
+           <enum>Qt::Horizontal</enum>
+          </property>
+          <property name="sizeHint" stdset="0">
+           <size>
+            <width>40</width>
+            <height>20</height>
+           </size>
+          </property>
+         </spacer>
+        </item>
+        <item row="4" column="2">
+         <spacer name="verticalSpacer_2">
+          <property name="orientation">
+           <enum>Qt::Vertical</enum>
+          </property>
+          <property name="sizeHint" stdset="0">
+           <size>
+            <width>20</width>
+            <height>40</height>
+           </size>
+          </property>
+         </spacer>
+        </item>
+       </layout>
+      </item>
+      <item>
+       <widget class="QPushButton" name="pushButton_stop">
+        <property name="text">
+         <string>Stop Movement</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/bec_widgets/widgets/motor_control/motor_control_selection.ui b/bec_widgets/widgets/motor_control/motor_control_selection.ui
new file mode 100644
index 00000000..6953c2e2
--- /dev/null
+++ b/bec_widgets/widgets/motor_control/motor_control_selection.ui
@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>Form</class>
+ <widget class="QWidget" name="Form">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>285</width>
+    <height>156</height>
+   </rect>
+  </property>
+  <property name="minimumSize">
+   <size>
+    <width>285</width>
+    <height>156</height>
+   </size>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout">
+   <item>
+    <widget class="QGroupBox" name="motorSelection">
+     <property name="minimumSize">
+      <size>
+       <width>261</width>
+       <height>145</height>
+      </size>
+     </property>
+     <property name="title">
+      <string>Motor Selection</string>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_4">
+      <item row="1" column="0">
+       <widget class="QLabel" name="label_5">
+        <property name="text">
+         <string>Motor X</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="1">
+       <widget class="QComboBox" name="comboBox_motor_x"/>
+      </item>
+      <item row="2" column="0">
+       <widget class="QLabel" name="label_8">
+        <property name="text">
+         <string>Motor Y</string>
+        </property>
+       </widget>
+      </item>
+      <item row="3" column="0" colspan="2">
+       <widget class="QPushButton" name="pushButton_connecMotors">
+        <property name="text">
+         <string>Connect Motors</string>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="1">
+       <widget class="QComboBox" name="comboBox_motor_y"/>
+      </item>
+     </layout>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>