mirror of
https://github.com/bec-project/bec_widgets.git
synced 2025-07-13 19:21:50 +02:00
fix(motor_control): temporary remove of motor control widgets
This commit is contained in:
@ -1,9 +0,0 @@
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from .motor_movement import (
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MotorControlApp,
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MotorControlMap,
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MotorControlPanel,
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MotorControlPanelAbsolute,
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MotorControlPanelRelative,
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MotorCoordinateTable,
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MotorThread,
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)
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@ -1,9 +0,0 @@
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from .motor_control_compilations import (
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MotorControlApp,
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MotorControlMap,
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MotorControlPanel,
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MotorControlPanelAbsolute,
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MotorControlPanelRelative,
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MotorCoordinateTable,
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MotorThread,
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)
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@ -1,250 +0,0 @@
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# pylint: disable = no-name-in-module,missing-class-docstring, missing-module-docstring
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import qdarktheme
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from qtpy.QtCore import Qt
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from qtpy.QtWidgets import QApplication, QSplitter, QVBoxLayout, QWidget
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from bec_widgets.utils.bec_dispatcher import BECDispatcher
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from bec_widgets.widgets.motor_control.motor_control import MotorThread
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from bec_widgets.widgets.motor_control.motor_table.motor_table import MotorCoordinateTable
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from bec_widgets.widgets.motor_control.movement_absolute.movement_absolute import (
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MotorControlAbsolute,
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)
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from bec_widgets.widgets.motor_control.movement_relative.movement_relative import (
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MotorControlRelative,
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)
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from bec_widgets.widgets.motor_control.selection.selection import MotorControlSelection
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CONFIG_DEFAULT = {
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"motor_control": {
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"motor_x": "samx",
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"motor_y": "samy",
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"step_size_x": 3,
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"step_size_y": 3,
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"precision": 4,
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"step_x_y_same": False,
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"move_with_arrows": False,
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},
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"plot_settings": {
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"colormap": "Greys",
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"scatter_size": 5,
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"max_points": 1000,
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"num_dim_points": 100,
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"precision": 2,
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"num_columns": 1,
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"background_value": 25,
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},
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"motors": [
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{
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"plot_name": "Motor Map",
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"x_label": "Motor X",
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"y_label": "Motor Y",
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"signals": {
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"x": [{"name": "samx", "entry": "samx"}],
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"y": [{"name": "samy", "entry": "samy"}],
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},
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}
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],
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}
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class MotorControlApp(QWidget):
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def __init__(self, parent=None, client=None, config=None):
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super().__init__(parent)
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bec_dispatcher = BECDispatcher()
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self.client = bec_dispatcher.client if client is None else client
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self.config = config
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# Widgets
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self.motor_control_panel = MotorControlPanel(client=self.client, config=self.config)
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# Create MotorMap
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# self.motion_map = MotorMap(client=self.client, config=self.config)
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# Create MotorCoordinateTable
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self.motor_table = MotorCoordinateTable(client=self.client, config=self.config)
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# Create the splitter and add MotorMap and MotorControlPanel
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splitter = QSplitter(Qt.Horizontal)
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# splitter.addWidget(self.motion_map)
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splitter.addWidget(self.motor_control_panel)
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splitter.addWidget(self.motor_table)
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# Set the main layout
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layout = QVBoxLayout(self)
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layout.addWidget(splitter)
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self.setLayout(layout)
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# Connecting signals and slots
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# self.motor_control_panel.selection_widget.selected_motors_signal.connect(
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# lambda x, y: self.motion_map.change_motors(x, y, 0)
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# )
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self.motor_control_panel.absolute_widget.coordinates_signal.connect(
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self.motor_table.add_coordinate
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)
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self.motor_control_panel.relative_widget.precision_signal.connect(
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self.motor_table.set_precision
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)
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self.motor_control_panel.relative_widget.precision_signal.connect(
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self.motor_control_panel.absolute_widget.set_precision
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)
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# self.motor_table.plot_coordinates_signal.connect(self.motion_map.plot_saved_coordinates)
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class MotorControlMap(QWidget):
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def __init__(self, parent=None, client=None, config=None):
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super().__init__(parent)
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bec_dispatcher = BECDispatcher()
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self.client = bec_dispatcher.client if client is None else client
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self.config = config
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# Widgets
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self.motor_control_panel = MotorControlPanel(client=self.client, config=self.config)
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# Create MotorMap
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# self.motion_map = MotorMap(client=self.client, config=self.config)
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# Create the splitter and add MotorMap and MotorControlPanel
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splitter = QSplitter(Qt.Horizontal)
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# splitter.addWidget(self.motion_map)
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splitter.addWidget(self.motor_control_panel)
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# Set the main layout
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layout = QVBoxLayout(self)
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layout.addWidget(splitter)
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self.setLayout(layout)
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# Connecting signals and slots
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# self.motor_control_panel.selection_widget.selected_motors_signal.connect(
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# lambda x, y: self.motion_map.change_motors(x, y, 0)
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# )
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class MotorControlPanel(QWidget):
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def __init__(self, parent=None, client=None, config=None):
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super().__init__(parent)
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bec_dispatcher = BECDispatcher()
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self.client = bec_dispatcher.client if client is None else client
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self.config = config
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self.motor_thread = MotorThread(client=self.client)
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self.selection_widget = MotorControlSelection(
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client=self.client, config=self.config, motor_thread=self.motor_thread
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)
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self.relative_widget = MotorControlRelative(
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client=self.client, config=self.config, motor_thread=self.motor_thread
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)
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self.absolute_widget = MotorControlAbsolute(
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client=self.client, config=self.config, motor_thread=self.motor_thread
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)
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layout = QVBoxLayout(self)
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layout.addWidget(self.selection_widget)
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layout.addWidget(self.relative_widget)
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layout.addWidget(self.absolute_widget)
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# Connecting signals and slots
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self.selection_widget.selected_motors_signal.connect(self.relative_widget.change_motors)
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self.selection_widget.selected_motors_signal.connect(self.absolute_widget.change_motors)
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# Set the window to a fixed size based on its contents
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# self.layout().setSizeConstraint(layout.SetFixedSize)
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class MotorControlPanelAbsolute(QWidget):
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def __init__(self, parent=None, client=None, config=None):
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super().__init__(parent)
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bec_dispatcher = BECDispatcher()
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self.client = bec_dispatcher.client if client is None else client
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self.config = config
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self.motor_thread = MotorThread(client=self.client)
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self.selection_widget = MotorControlSelection(
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client=client, config=config, motor_thread=self.motor_thread
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)
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self.absolute_widget = MotorControlAbsolute(
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client=client, config=config, motor_thread=self.motor_thread
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)
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layout = QVBoxLayout(self)
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layout.addWidget(self.selection_widget)
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layout.addWidget(self.absolute_widget)
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# Connecting signals and slots
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self.selection_widget.selected_motors_signal.connect(self.absolute_widget.change_motors)
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class MotorControlPanelRelative(QWidget):
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def __init__(self, parent=None, client=None, config=None):
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super().__init__(parent)
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bec_dispatcher = BECDispatcher()
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self.client = bec_dispatcher.client if client is None else client
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self.config = config
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self.motor_thread = MotorThread(client=self.client)
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self.selection_widget = MotorControlSelection(
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client=client, config=config, motor_thread=self.motor_thread
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)
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self.relative_widget = MotorControlRelative(
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client=client, config=config, motor_thread=self.motor_thread
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)
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layout = QVBoxLayout(self)
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layout.addWidget(self.selection_widget)
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layout.addWidget(self.relative_widget)
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# Connecting signals and slots
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self.selection_widget.selected_motors_signal.connect(self.relative_widget.change_motors)
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if __name__ == "__main__": # pragma: no cover
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import argparse
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import sys
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parser = argparse.ArgumentParser(description="Run various Motor Control Widgets compositions.")
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parser.add_argument(
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"-v",
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"--variant",
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type=str,
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choices=["app", "map", "panel", "panel_abs", "panel_rel"],
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help="Select the variant of the motor control to run. "
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"'app' for the full application, "
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"'map' for MotorMap, "
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"'panel' for the MotorControlPanel, "
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"'panel_abs' for MotorControlPanel with absolute control, "
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"'panel_rel' for MotorControlPanel with relative control.",
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)
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args = parser.parse_args()
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bec_dispatcher = BECDispatcher()
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client = bec_dispatcher.client
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client.start()
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app = QApplication([])
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qdarktheme.setup_theme("auto")
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if args.variant == "app":
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window = MotorControlApp(client=client) # , config=CONFIG_DEFAULT)
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elif args.variant == "map":
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window = MotorControlMap(client=client) # , config=CONFIG_DEFAULT)
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elif args.variant == "panel":
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window = MotorControlPanel(client=client) # , config=CONFIG_DEFAULT)
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elif args.variant == "panel_abs":
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window = MotorControlPanelAbsolute(client=client) # , config=CONFIG_DEFAULT)
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elif args.variant == "panel_rel":
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window = MotorControlPanelRelative(client=client) # , config=CONFIG_DEFAULT)
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else:
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print("Please specify a valid variant to run. Use -h for help.")
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print("Running the full application by default.")
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window = MotorControlApp(client=client) # , config=CONFIG_DEFAULT)
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window.show()
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sys.exit(app.exec())
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@ -1,926 +0,0 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<ui version="4.0">
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<class>Form</class>
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<widget class="QWidget" name="Form">
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>0</y>
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<width>1561</width>
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<height>748</height>
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</rect>
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</property>
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<property name="minimumSize">
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<size>
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<width>1409</width>
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<height>748</height>
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</size>
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</property>
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<property name="windowTitle">
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<string>Motor Controller</string>
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</property>
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<layout class="QHBoxLayout" name="horizontalLayout" stretch="8,5,8">
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<item>
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<widget class="GraphicsLayoutWidget" name="glw">
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<property name="enabled">
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<bool>true</bool>
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</property>
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</widget>
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</item>
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<item>
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<widget class="QFrame" name="Controls">
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<property name="minimumSize">
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<size>
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<width>221</width>
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<height>471</height>
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</size>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_6" stretch="1,1,1,0,1">
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<property name="spacing">
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<number>1</number>
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</property>
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<property name="sizeConstraint">
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<enum>QLayout::SetMinimumSize</enum>
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</property>
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<item>
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<widget class="QGroupBox" name="motorSelection">
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<property name="minimumSize">
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<size>
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<width>261</width>
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<height>145</height>
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</size>
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</property>
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<property name="title">
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<string>Motor Selection</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_4">
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<item row="2" column="0">
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<widget class="QLabel" name="label_8">
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<property name="text">
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<string>Motor Y</string>
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</property>
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</widget>
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</item>
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<item row="1" column="1">
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<widget class="QComboBox" name="comboBox_motor_x"/>
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</item>
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<item row="2" column="1">
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<widget class="QComboBox" name="comboBox_motor_y"/>
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</item>
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<item row="1" column="0">
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<widget class="QLabel" name="label_5">
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<property name="text">
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<string>Motor X</string>
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</property>
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</widget>
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</item>
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<item row="3" column="0" colspan="2">
|
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<widget class="QPushButton" name="pushButton_connecMotors">
|
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<property name="text">
|
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<string>Connect Motors</string>
|
||||
</property>
|
||||
</widget>
|
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</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer_3">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeType">
|
||||
<enum>QSizePolicy::Minimum</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>18</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="motorControl">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>261</width>
|
||||
<height>339</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>Motor 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>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer_4">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeType">
|
||||
<enum>QSizePolicy::Minimum</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>18</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="motorControl_absolute">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>261</width>
|
||||
<height>195</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>Move 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>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QTabWidget" name="tabWidget_tables">
|
||||
<property name="enabled">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="currentIndex">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<widget class="QWidget" name="tab_coordinates">
|
||||
<attribute name="title">
|
||||
<string>Coordinates</string>
|
||||
</attribute>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_3">
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_3">
|
||||
<item>
|
||||
<spacer name="horizontalSpacer_3">
|
||||
<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>
|
||||
<widget class="QLabel" name="label">
|
||||
<property name="text">
|
||||
<string>Entries Mode:</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QComboBox" name="comboBox_mode">
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Individual</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Start/Stop</string>
|
||||
</property>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QTableWidget" name="tableWidget_coordinates">
|
||||
<property name="selectionMode">
|
||||
<enum>QAbstractItemView::MultiSelection</enum>
|
||||
</property>
|
||||
<property name="selectionBehavior">
|
||||
<enum>QAbstractItemView::SelectRows</enum>
|
||||
</property>
|
||||
<column>
|
||||
<property name="text">
|
||||
<string>Show</string>
|
||||
</property>
|
||||
</column>
|
||||
<column>
|
||||
<property name="text">
|
||||
<string>Move</string>
|
||||
</property>
|
||||
</column>
|
||||
<column>
|
||||
<property name="text">
|
||||
<string>Tag</string>
|
||||
</property>
|
||||
</column>
|
||||
<column>
|
||||
<property name="text">
|
||||
<string>X</string>
|
||||
</property>
|
||||
</column>
|
||||
<column>
|
||||
<property name="text">
|
||||
<string>Y</string>
|
||||
</property>
|
||||
</column>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QGridLayout" name="gridLayout">
|
||||
<item row="1" column="1">
|
||||
<widget class="QPushButton" name="pushButton_resize_table">
|
||||
<property name="text">
|
||||
<string>Resize Table</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QCheckBox" name="checkBox_resize_auto">
|
||||
<property name="text">
|
||||
<string>Resize Auto</string>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QPushButton" name="pushButton_importCSV">
|
||||
<property name="text">
|
||||
<string>Import CSV</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="0">
|
||||
<widget class="QPushButton" name="pushButton_exportCSV">
|
||||
<property name="text">
|
||||
<string>Export CSV</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QPushButton" name="pushButton_help">
|
||||
<property name="text">
|
||||
<string>Help</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QPushButton" name="pushButton_duplicate">
|
||||
<property name="text">
|
||||
<string>Duplicate Last Entry</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QWidget" name="tab_settings">
|
||||
<attribute name="title">
|
||||
<string>Settings</string>
|
||||
</attribute>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_4">
|
||||
<item>
|
||||
<widget class="QGroupBox" name="motorLimits">
|
||||
<property name="enabled">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="title">
|
||||
<string>Motor Limits</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_2">
|
||||
<item row="2" column="1">
|
||||
<widget class="QPushButton" name="pushButton_updateLimits">
|
||||
<property name="text">
|
||||
<string>Update</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="label_Y_max">
|
||||
<property name="text">
|
||||
<string>+ Y</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="1">
|
||||
<widget class="QLabel" name="label_Y_min">
|
||||
<property name="text">
|
||||
<string>- Y</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QLabel" name="label_X_min">
|
||||
<property name="text">
|
||||
<string>- X</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="2">
|
||||
<widget class="QLabel" name="label_X_max">
|
||||
<property name="text">
|
||||
<string>+ X</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QDoubleSpinBox" name="spinBox_y_max">
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>-1000.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1000.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QDoubleSpinBox" name="spinBox_y_min">
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>-1000.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1000.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QDoubleSpinBox" name="spinBox_x_min">
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>-1000.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1000.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="2">
|
||||
<widget class="QDoubleSpinBox" name="spinBox_x_max">
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>-1000.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>1000.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_2">
|
||||
<property name="title">
|
||||
<string>Plotting Options</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_5">
|
||||
<item row="0" column="1" colspan="2">
|
||||
<widget class="QSpinBox" name="spinBox_max_points">
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<number>100</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>10000</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>100</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>5000</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="0">
|
||||
<widget class="QLabel" name="label_15">
|
||||
<property name="text">
|
||||
<string>Max Points</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1" colspan="2">
|
||||
<widget class="QSpinBox" name="spinBox_scatter_size">
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>15</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>5</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="0">
|
||||
<widget class="QLabel" name="label_11">
|
||||
<property name="text">
|
||||
<string>Scatter Size</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0" colspan="3">
|
||||
<widget class="QPushButton" name="pushButton_update_config">
|
||||
<property name="text">
|
||||
<string>Update Settings</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1" colspan="2">
|
||||
<widget class="QSpinBox" name="spinBox_num_dim_points">
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<number>10</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>1000</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>10</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>100</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QLabel" name="label_16">
|
||||
<property name="text">
|
||||
<string>N dim</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="4" column="0" colspan="3">
|
||||
<widget class="QPushButton" name="pushButton_enableGUI">
|
||||
<property name="text">
|
||||
<string>Enable Control GUI</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QWidget" name="tab_queue">
|
||||
<attribute name="title">
|
||||
<string>Queue</string>
|
||||
</attribute>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_2">
|
||||
<item>
|
||||
<widget class="QLabel" name="label_3">
|
||||
<property name="text">
|
||||
<string>Work in progress</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="pushButton_5">
|
||||
<property name="enabled">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Reset Queue</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QTableWidget" name="tableWidget_2">
|
||||
<property name="enabled">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<column>
|
||||
<property name="text">
|
||||
<string>queueID</string>
|
||||
</property>
|
||||
</column>
|
||||
<column>
|
||||
<property name="text">
|
||||
<string>scan_id</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>
|
||||
<customwidget>
|
||||
<class>GraphicsLayoutWidget</class>
|
||||
<extends>QGraphicsView</extends>
|
||||
<header>pyqtgraph.h</header>
|
||||
</customwidget>
|
||||
</customwidgets>
|
||||
<resources/>
|
||||
<connections/>
|
||||
</ui>
|
||||
@ -1,252 +0,0 @@
|
||||
# pylint: disable = no-name-in-module,missing-module-docstring
|
||||
from enum import Enum
|
||||
|
||||
from bec_lib.alarm_handler import AlarmBase
|
||||
from bec_lib.device import Positioner
|
||||
from qtpy.QtCore import QThread
|
||||
from qtpy.QtCore import Signal as pyqtSignal
|
||||
from qtpy.QtCore import Slot as pyqtSlot
|
||||
from qtpy.QtWidgets import QMessageBox, QWidget
|
||||
|
||||
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 MotorControlWidget(QWidget):
|
||||
"""Base class for motor control widgets."""
|
||||
|
||||
def __init__(self, parent=None, client=None, motor_thread=None, config=None):
|
||||
super().__init__(parent)
|
||||
self.client = client
|
||||
self.motor_thread = motor_thread
|
||||
self.config = config
|
||||
|
||||
self.motor_x = None
|
||||
self.motor_y = None
|
||||
|
||||
if not self.client:
|
||||
bec_dispatcher = BECDispatcher()
|
||||
self.client = bec_dispatcher.client
|
||||
|
||||
if not self.motor_thread:
|
||||
self.motor_thread = MotorThread(client=self.client)
|
||||
|
||||
self._load_ui()
|
||||
|
||||
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 _load_ui(self):
|
||||
"""Load the UI from the .ui file."""
|
||||
|
||||
def _init_ui(self):
|
||||
"""Initialize the UI components specific to the widget."""
|
||||
|
||||
@pyqtSlot(dict)
|
||||
def on_config_update(self, config):
|
||||
"""Handle configuration updates."""
|
||||
self.config = config
|
||||
self._init_ui()
|
||||
|
||||
|
||||
class MotorControlErrors:
|
||||
"""Class for displaying formatted error messages."""
|
||||
|
||||
@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.
|
||||
|
||||
Signals:
|
||||
coordinates_updated (pyqtSignal): Signal to emit current coordinates.
|
||||
motor_error (pyqtSignal): Signal to emit when there is an error with the motors.
|
||||
lock_gui (pyqtSignal): Signal to lock/unlock the GUI.
|
||||
"""
|
||||
|
||||
coordinates_updated = pyqtSignal(float, float) # Signal to emit current coordinates
|
||||
motor_error = pyqtSignal(str) # Signal to emit when there is an error with the motors
|
||||
lock_gui = pyqtSignal(bool) # Signal to lock/unlock the GUI
|
||||
|
||||
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.
|
||||
"""
|
||||
self.lock_gui.emit(False)
|
||||
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.lock_gui.emit(True)
|
||||
|
||||
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.
|
||||
"""
|
||||
self.lock_gui.emit(False)
|
||||
try:
|
||||
status = self.scans.mv(self.dev[motor], value, relative=True)
|
||||
status.wait()
|
||||
except AlarmBase as e:
|
||||
self.motor_error.emit(str(e))
|
||||
finally:
|
||||
self.lock_gui.emit(True)
|
||||
|
||||
def stop_movement(self):
|
||||
self.queue.request_scan_abortion()
|
||||
self.queue.request_queue_reset()
|
||||
@ -1,484 +0,0 @@
|
||||
# pylint: disable = no-name-in-module,missing-module-docstring
|
||||
import os
|
||||
|
||||
from qtpy import uic
|
||||
from qtpy.QtCore import Qt
|
||||
from qtpy.QtCore import Signal as pyqtSignal
|
||||
from qtpy.QtCore import Slot as pyqtSlot
|
||||
from qtpy.QtGui import QDoubleValidator, QKeySequence
|
||||
from qtpy.QtWidgets import (
|
||||
QCheckBox,
|
||||
QLineEdit,
|
||||
QMessageBox,
|
||||
QPushButton,
|
||||
QShortcut,
|
||||
QTableWidget,
|
||||
QTableWidgetItem,
|
||||
)
|
||||
|
||||
from bec_widgets.utils import UILoader
|
||||
from bec_widgets.widgets.motor_control.motor_control import MotorControlWidget
|
||||
|
||||
|
||||
class MotorCoordinateTable(MotorControlWidget):
|
||||
"""
|
||||
Widget to save coordinates from motor, display them in the table and move back to them.
|
||||
There are two modes of operation:
|
||||
- Individual: Each row is a single coordinate.
|
||||
- Start/Stop: Each pair of rows is a start and end coordinate.
|
||||
Signals:
|
||||
plot_coordinates_signal (pyqtSignal(list, str, str)): Signal to plot the coordinates in the MotorMap.
|
||||
Slots:
|
||||
add_coordinate (pyqtSlot(tuple)): Slot to add a coordinate to the table.
|
||||
mode_switch (pyqtSlot): Slot to switch between individual and start/stop mode.
|
||||
"""
|
||||
|
||||
plot_coordinates_signal = pyqtSignal(list, str, str)
|
||||
|
||||
def _load_ui(self):
|
||||
"""Load the UI for the coordinate table."""
|
||||
current_path = os.path.dirname(__file__)
|
||||
self.ui = UILoader().load_ui(os.path.join(current_path, "motor_table.ui"), self)
|
||||
|
||||
def _init_ui(self):
|
||||
"""Initialize the UI"""
|
||||
# Setup table behaviour
|
||||
self._setup_table()
|
||||
self.ui.table.setSelectionBehavior(QTableWidget.SelectRows)
|
||||
|
||||
# for tag columns default tag
|
||||
self.tag_counter = 1
|
||||
|
||||
# Connect signals and slots
|
||||
self.ui.checkBox_resize_auto.stateChanged.connect(self.resize_table_auto)
|
||||
self.ui.comboBox_mode.currentIndexChanged.connect(self.mode_switch)
|
||||
|
||||
# Keyboard shortcuts for deleting a row
|
||||
self.delete_shortcut = QShortcut(QKeySequence(Qt.Key_Delete), self.ui.table)
|
||||
self.delete_shortcut.activated.connect(self.delete_selected_row)
|
||||
self.backspace_shortcut = QShortcut(QKeySequence(Qt.Key_Backspace), self.ui.table)
|
||||
self.backspace_shortcut.activated.connect(self.delete_selected_row)
|
||||
|
||||
# Warning message for mode switch enable/disable
|
||||
self.warning_message = True
|
||||
|
||||
@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"],
|
||||
)
|
||||
|
||||
# Decimal precision of the table coordinates
|
||||
self.precision = self.config["motor_control"].get("precision", 3)
|
||||
|
||||
# Mode switch default option
|
||||
self.mode = self.config["motor_control"].get("mode", "Individual")
|
||||
|
||||
# Set combobox to default mode
|
||||
self.ui.comboBox_mode.setCurrentText(self.mode)
|
||||
|
||||
self._init_ui()
|
||||
|
||||
def _setup_table(self):
|
||||
"""Setup the table with appropriate headers and configurations."""
|
||||
mode = self.ui.comboBox_mode.currentText()
|
||||
|
||||
if mode == "Individual":
|
||||
self._setup_individual_mode()
|
||||
elif mode == "Start/Stop":
|
||||
self._setup_start_stop_mode()
|
||||
self.start_stop_counter = 0 # TODO: remove this??
|
||||
|
||||
self.wipe_motor_map_coordinates()
|
||||
|
||||
def _setup_individual_mode(self):
|
||||
"""Setup the table for individual mode."""
|
||||
self.ui.table.setColumnCount(5)
|
||||
self.ui.table.setHorizontalHeaderLabels(["Show", "Move", "Tag", "X", "Y"])
|
||||
self.ui.table.verticalHeader().setVisible(False)
|
||||
|
||||
def _setup_start_stop_mode(self):
|
||||
"""Setup the table for start/stop mode."""
|
||||
self.ui.table.setColumnCount(8)
|
||||
self.ui.table.setHorizontalHeaderLabels(
|
||||
[
|
||||
"Show",
|
||||
"Move [start]",
|
||||
"Move [end]",
|
||||
"Tag",
|
||||
"X [start]",
|
||||
"Y [start]",
|
||||
"X [end]",
|
||||
"Y [end]",
|
||||
]
|
||||
)
|
||||
self.ui.table.verticalHeader().setVisible(False)
|
||||
# Set flag to track if the coordinate is stat or the end of the entry
|
||||
self.is_next_entry_end = False
|
||||
|
||||
def mode_switch(self):
|
||||
"""Switch between individual and start/stop mode."""
|
||||
last_selected_index = self.ui.comboBox_mode.currentIndex()
|
||||
|
||||
if self.ui.table.rowCount() > 0 and self.warning_message is True:
|
||||
msgBox = QMessageBox()
|
||||
msgBox.setIcon(QMessageBox.Critical)
|
||||
msgBox.setText(
|
||||
"Switching modes will delete all table entries. Do you want to continue?"
|
||||
)
|
||||
msgBox.setStandardButtons(QMessageBox.Ok | QMessageBox.Cancel)
|
||||
returnValue = msgBox.exec()
|
||||
|
||||
if returnValue is QMessageBox.Cancel:
|
||||
self.ui.comboBox_mode.blockSignals(True) # Block signals
|
||||
self.ui.comboBox_mode.setCurrentIndex(last_selected_index)
|
||||
self.ui.comboBox_mode.blockSignals(False) # Unblock signals
|
||||
return
|
||||
|
||||
# Wipe table
|
||||
self.wipe_motor_map_coordinates()
|
||||
|
||||
# Initiate new table with new mode
|
||||
self._setup_table()
|
||||
|
||||
@pyqtSlot(tuple)
|
||||
def add_coordinate(self, coordinates: tuple):
|
||||
"""
|
||||
Add a coordinate to the table.
|
||||
Args:
|
||||
coordinates(tuple): Coordinates (x,y) to add to the table.
|
||||
"""
|
||||
tag = f"Pos {self.tag_counter}"
|
||||
self.tag_counter += 1
|
||||
x, y = coordinates
|
||||
self._add_row(tag, x, y)
|
||||
|
||||
def _add_row(self, tag: str, x: float, y: float) -> None:
|
||||
"""
|
||||
Add a row to the table.
|
||||
Args:
|
||||
tag(str): Tag of the coordinate.
|
||||
x(float): X coordinate.
|
||||
y(float): Y coordinate.
|
||||
"""
|
||||
|
||||
mode = self.ui.comboBox_mode.currentText()
|
||||
if mode == "Individual":
|
||||
checkbox_pos = 0
|
||||
button_pos = 1
|
||||
tag_pos = 2
|
||||
x_pos = 3
|
||||
y_pos = 4
|
||||
coordinate_reference = "Individual"
|
||||
color = "green"
|
||||
|
||||
# Add new row -> new entry
|
||||
row_count = self.ui.table.rowCount()
|
||||
self.ui.table.insertRow(row_count)
|
||||
|
||||
# Add Widgets
|
||||
self._add_widgets(
|
||||
tag,
|
||||
x,
|
||||
y,
|
||||
row_count,
|
||||
checkbox_pos,
|
||||
tag_pos,
|
||||
button_pos,
|
||||
x_pos,
|
||||
y_pos,
|
||||
coordinate_reference,
|
||||
color,
|
||||
)
|
||||
|
||||
if mode == "Start/Stop":
|
||||
# These positions are always fixed
|
||||
checkbox_pos = 0
|
||||
tag_pos = 3
|
||||
|
||||
if self.is_next_entry_end is False: # It is the start position of the entry
|
||||
print("Start position")
|
||||
button_pos = 1
|
||||
x_pos = 4
|
||||
y_pos = 5
|
||||
coordinate_reference = "Start"
|
||||
color = "blue"
|
||||
|
||||
# Add new row -> new entry
|
||||
row_count = self.ui.table.rowCount()
|
||||
self.ui.table.insertRow(row_count)
|
||||
|
||||
# Add Widgets
|
||||
self._add_widgets(
|
||||
tag,
|
||||
x,
|
||||
y,
|
||||
row_count,
|
||||
checkbox_pos,
|
||||
tag_pos,
|
||||
button_pos,
|
||||
x_pos,
|
||||
y_pos,
|
||||
coordinate_reference,
|
||||
color,
|
||||
)
|
||||
|
||||
# Next entry will be the end of the current entry
|
||||
self.is_next_entry_end = True
|
||||
|
||||
elif self.is_next_entry_end is True: # It is the end position of the entry
|
||||
print("End position")
|
||||
row_count = self.ui.table.rowCount() - 1 # Current row
|
||||
button_pos = 2
|
||||
x_pos = 6
|
||||
y_pos = 7
|
||||
coordinate_reference = "Stop"
|
||||
color = "red"
|
||||
|
||||
# Add Widgets
|
||||
self._add_widgets(
|
||||
tag,
|
||||
x,
|
||||
y,
|
||||
row_count,
|
||||
checkbox_pos,
|
||||
tag_pos,
|
||||
button_pos,
|
||||
x_pos,
|
||||
y_pos,
|
||||
coordinate_reference,
|
||||
color,
|
||||
)
|
||||
self.is_next_entry_end = False # Next entry will be the start of the new entry
|
||||
|
||||
# Auto table resize
|
||||
self.resize_table_auto()
|
||||
|
||||
def _add_widgets(
|
||||
self,
|
||||
tag: str,
|
||||
x: float,
|
||||
y: float,
|
||||
row: int,
|
||||
checkBox_pos: int,
|
||||
tag_pos: int,
|
||||
button_pos: int,
|
||||
x_pos: int,
|
||||
y_pos: int,
|
||||
coordinate_reference: str,
|
||||
color: str,
|
||||
) -> None:
|
||||
"""
|
||||
Add widgets to the table.
|
||||
Args:
|
||||
tag(str): Tag of the coordinate.
|
||||
x(float): X coordinate.
|
||||
y(float): Y coordinate.
|
||||
row(int): Row of the QTableWidget where to add the widgets.
|
||||
checkBox_pos(int): Column where to put CheckBox.
|
||||
tag_pos(int): Column where to put Tag.
|
||||
button_pos(int): Column where to put Move button.
|
||||
x_pos(int): Column where to link x coordinate.
|
||||
y_pos(int): Column where to link y coordinate.
|
||||
coordinate_reference(str): Reference to the coordinate for MotorMap.
|
||||
color(str): Color of the coordinate for MotorMap.
|
||||
"""
|
||||
# Add widgets
|
||||
self._add_checkbox(row, checkBox_pos, x_pos, y_pos)
|
||||
self._add_move_button(row, button_pos, x_pos, y_pos)
|
||||
self.ui.table.setItem(row, tag_pos, QTableWidgetItem(tag))
|
||||
self._add_line_edit(x, row, x_pos, x_pos, y_pos, coordinate_reference, color)
|
||||
self._add_line_edit(y, row, y_pos, x_pos, y_pos, coordinate_reference, color)
|
||||
|
||||
# # Emit the coordinates to be plotted
|
||||
self.emit_plot_coordinates(x_pos, y_pos, coordinate_reference, color)
|
||||
|
||||
# Connect item edit to emit coordinates
|
||||
self.ui.table.itemChanged.connect(
|
||||
lambda: print(f"item changed from {coordinate_reference} slot \n {x}-{y}-{color}")
|
||||
)
|
||||
self.ui.table.itemChanged.connect(
|
||||
lambda: self.emit_plot_coordinates(x_pos, y_pos, coordinate_reference, color)
|
||||
)
|
||||
|
||||
def _add_checkbox(self, row: int, checkBox_pos: int, x_pos: int, y_pos: int):
|
||||
"""
|
||||
Add a checkbox to the table.
|
||||
Args:
|
||||
row(int): Row of QTableWidget where to add the checkbox.
|
||||
checkBox_pos(int): Column where to put CheckBox.
|
||||
x_pos(int): Column where to link x coordinate.
|
||||
y_pos(int): Column where to link y coordinate.
|
||||
"""
|
||||
show_checkbox = QCheckBox()
|
||||
show_checkbox.setChecked(True)
|
||||
show_checkbox.stateChanged.connect(lambda: self.emit_plot_coordinates(x_pos, y_pos))
|
||||
self.ui.table.setCellWidget(row, checkBox_pos, show_checkbox)
|
||||
|
||||
def _add_move_button(self, row: int, button_pos: int, x_pos: int, y_pos: int) -> None:
|
||||
"""
|
||||
Add a move button to the table.
|
||||
Args:
|
||||
row(int): Row of QTableWidget where to add the move button.
|
||||
button_pos(int): Column where to put move button.
|
||||
x_pos(int): Column where to link x coordinate.
|
||||
y_pos(int): Column where to link y coordinate.
|
||||
"""
|
||||
move_button = QPushButton("Move")
|
||||
move_button.clicked.connect(lambda: self.handle_move_button_click(x_pos, y_pos))
|
||||
self.ui.table.setCellWidget(row, button_pos, move_button)
|
||||
|
||||
def _add_line_edit(
|
||||
self,
|
||||
value: float,
|
||||
row: int,
|
||||
line_pos: int,
|
||||
x_pos: int,
|
||||
y_pos: int,
|
||||
coordinate_reference: str,
|
||||
color: str,
|
||||
) -> None:
|
||||
"""
|
||||
Add a QLineEdit to the table.
|
||||
Args:
|
||||
value(float): Initial value of the QLineEdit.
|
||||
row(int): Row of QTableWidget where to add the QLineEdit.
|
||||
line_pos(int): Column where to put QLineEdit.
|
||||
x_pos(int): Column where to link x coordinate.
|
||||
y_pos(int): Column where to link y coordinate.
|
||||
coordinate_reference(str): Reference to the coordinate for MotorMap.
|
||||
color(str): Color of the coordinate for MotorMap.
|
||||
"""
|
||||
# Adding validator
|
||||
validator = QDoubleValidator()
|
||||
validator.setDecimals(self.precision)
|
||||
|
||||
# Create line edit
|
||||
edit = QLineEdit(str(f"{value:.{self.precision}f}"))
|
||||
edit.setValidator(validator)
|
||||
edit.setAlignment(Qt.AlignmentFlag.AlignCenter)
|
||||
|
||||
# Add line edit to the table
|
||||
self.ui.table.setCellWidget(row, line_pos, edit)
|
||||
edit.textChanged.connect(
|
||||
lambda: self.emit_plot_coordinates(x_pos, y_pos, coordinate_reference, color)
|
||||
)
|
||||
|
||||
def wipe_motor_map_coordinates(self):
|
||||
"""Wipe the motor map coordinates."""
|
||||
try:
|
||||
self.ui.table.itemChanged.disconnect() # Disconnect all previous connections
|
||||
except TypeError:
|
||||
print("No previous connections to disconnect")
|
||||
self.ui.table.setRowCount(0)
|
||||
reference_tags = ["Individual", "Start", "Stop"]
|
||||
for reference_tag in reference_tags:
|
||||
self.plot_coordinates_signal.emit([], reference_tag, "green")
|
||||
|
||||
def handle_move_button_click(self, x_pos: int, y_pos: int) -> None:
|
||||
"""
|
||||
Handle the move button click.
|
||||
Args:
|
||||
x_pos(int): X position of the coordinate.
|
||||
y_pos(int): Y position of the coordinate.
|
||||
"""
|
||||
button = self.sender()
|
||||
row = self.ui.table.indexAt(button.pos()).row()
|
||||
|
||||
x = self.get_coordinate(row, x_pos)
|
||||
y = self.get_coordinate(row, y_pos)
|
||||
self.move_motor(x, y)
|
||||
|
||||
def emit_plot_coordinates(self, x_pos: float, y_pos: float, reference_tag: str, color: str):
|
||||
"""
|
||||
Emit the coordinates to be plotted.
|
||||
Args:
|
||||
x_pos(float): X position of the coordinate.
|
||||
y_pos(float): Y position of the coordinate.
|
||||
reference_tag(str): Reference tag of the coordinate.
|
||||
color(str): Color of the coordinate.
|
||||
"""
|
||||
print(
|
||||
f"Emitting plot coordinates: x_pos={x_pos}, y_pos={y_pos}, reference_tag={reference_tag}, color={color}"
|
||||
)
|
||||
coordinates = []
|
||||
for row in range(self.ui.table.rowCount()):
|
||||
show = self.ui.table.cellWidget(row, 0).isChecked()
|
||||
x = self.get_coordinate(row, x_pos)
|
||||
y = self.get_coordinate(row, y_pos)
|
||||
|
||||
coordinates.append((x, y, show)) # (x, y, show_flag)
|
||||
self.plot_coordinates_signal.emit(coordinates, reference_tag, color)
|
||||
|
||||
def get_coordinate(self, row: int, column: int) -> float:
|
||||
"""
|
||||
Helper function to get the coordinate from the table QLineEdit cells.
|
||||
Args:
|
||||
row(int): Row of the table.
|
||||
column(int): Column of the table.
|
||||
Returns:
|
||||
float: Value of the coordinate.
|
||||
"""
|
||||
edit = self.ui.table.cellWidget(row, column)
|
||||
value = float(edit.text()) if edit and edit.text() != "" else None
|
||||
if value:
|
||||
return value
|
||||
|
||||
def delete_selected_row(self):
|
||||
"""Delete the selected row from the table."""
|
||||
selected_rows = self.ui.table.selectionModel().selectedRows()
|
||||
for row in selected_rows:
|
||||
self.ui.table.removeRow(row.row())
|
||||
if self.ui.comboBox_mode.currentText() == "Start/Stop":
|
||||
self.emit_plot_coordinates(x_pos=4, y_pos=5, reference_tag="Start", color="blue")
|
||||
self.emit_plot_coordinates(x_pos=6, y_pos=7, reference_tag="Stop", color="red")
|
||||
self.is_next_entry_end = False
|
||||
elif self.ui.comboBox_mode.currentText() == "Individual":
|
||||
self.emit_plot_coordinates(x_pos=3, y_pos=4, reference_tag="Individual", color="green")
|
||||
|
||||
def resize_table_auto(self):
|
||||
"""Resize the table to fit the contents."""
|
||||
if self.ui.checkBox_resize_auto.isChecked():
|
||||
self.ui.table.resizeColumnsToContents()
|
||||
|
||||
def move_motor(self, x: float, y: float) -> None:
|
||||
"""
|
||||
Move the motor to the target coordinates.
|
||||
Args:
|
||||
x(float): Target x coordinate.
|
||||
y(float): Target y coordinate.
|
||||
"""
|
||||
self.motor_thread.move_absolute(self.motor_x, self.motor_y, (x, y))
|
||||
|
||||
@pyqtSlot(str, str)
|
||||
def change_motors(self, motor_x: str, motor_y: str) -> None:
|
||||
"""
|
||||
Change the active motors and update config.
|
||||
Can be connected to the selected_motors_signal from MotorControlSelection.
|
||||
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
|
||||
|
||||
@pyqtSlot(int)
|
||||
def set_precision(self, precision: int) -> None:
|
||||
"""
|
||||
Set the precision of the coordinates.
|
||||
Args:
|
||||
precision(int): Precision of the coordinates.
|
||||
"""
|
||||
self.precision = precision
|
||||
self.config["motor_control"]["precision"] = precision
|
||||
@ -1,113 +0,0 @@
|
||||
<?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>676</width>
|
||||
<height>667</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="windowTitle">
|
||||
<string>Motor Coordinates Table</string>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout">
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_3">
|
||||
<item>
|
||||
<spacer name="horizontalSpacer_4">
|
||||
<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>
|
||||
<widget class="QCheckBox" name="checkBox_resize_auto">
|
||||
<property name="text">
|
||||
<string>Resize Auto</string>
|
||||
</property>
|
||||
<property name="checked">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="pushButton_editColumns">
|
||||
<property name="enabled">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Edit Custom Column</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="label">
|
||||
<property name="text">
|
||||
<string>Entries Mode:</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QComboBox" name="comboBox_mode">
|
||||
<property name="enabled">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Individual</string>
|
||||
</property>
|
||||
</item>
|
||||
<item>
|
||||
<property name="text">
|
||||
<string>Start/Stop</string>
|
||||
</property>
|
||||
</item>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QTableWidget" name="table">
|
||||
<property name="gridStyle">
|
||||
<enum>Qt::SolidLine</enum>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout">
|
||||
<item>
|
||||
<widget class="QPushButton" name="pushButton_importCSV">
|
||||
<property name="enabled">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Import CSV</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="pushButton_exportCSV">
|
||||
<property name="enabled">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Export CSV</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<resources/>
|
||||
<connections/>
|
||||
</ui>
|
||||
@ -1,159 +0,0 @@
|
||||
import os
|
||||
|
||||
from qtpy import uic
|
||||
from qtpy.QtCore import Signal as pyqtSignal
|
||||
from qtpy.QtCore import Slot as pyqtSlot
|
||||
from qtpy.QtWidgets import QWidget
|
||||
|
||||
from bec_widgets.utils import UILoader
|
||||
from bec_widgets.widgets.motor_control.motor_control import MotorControlErrors, MotorControlWidget
|
||||
|
||||
|
||||
class MotorControlAbsolute(MotorControlWidget):
|
||||
"""
|
||||
Widget for controlling the motors to absolute coordinates.
|
||||
|
||||
Signals:
|
||||
coordinates_signal (pyqtSignal(tuple)): Signal to emit the coordinates.
|
||||
Slots:
|
||||
change_motors (pyqtSlot): Slot to change the active motors.
|
||||
enable_motor_controls (pyqtSlot(bool)): Slot to enable/disable the motor controls.
|
||||
"""
|
||||
|
||||
coordinates_signal = pyqtSignal(tuple)
|
||||
|
||||
def _load_ui(self):
|
||||
"""Load the UI from the .ui file."""
|
||||
current_path = os.path.dirname(__file__)
|
||||
self.ui = UILoader().load_ui(os.path.join(current_path, "movement_absolute.ui"), self)
|
||||
|
||||
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:
|
||||
self.ui.motorControl_absolute.setEnabled(False)
|
||||
return
|
||||
|
||||
# Move to absolute coordinates
|
||||
self.ui.pushButton_go_absolute.clicked.connect(
|
||||
lambda: self.move_motor_absolute(
|
||||
self.ui.spinBox_absolute_x.value(), self.ui.spinBox_absolute_y.value()
|
||||
)
|
||||
)
|
||||
|
||||
self.ui.pushButton_set.clicked.connect(self.save_absolute_coordinates)
|
||||
self.ui.pushButton_save.clicked.connect(self.save_current_coordinates)
|
||||
self.ui.pushButton_stop.clicked.connect(self.motor_thread.stop_movement)
|
||||
|
||||
# Enable/Disable GUI
|
||||
self.motor_thread.lock_gui.connect(self.enable_motor_controls)
|
||||
|
||||
# Error messages
|
||||
self.motor_thread.motor_error.connect(
|
||||
lambda error: MotorControlErrors.display_error_message(error)
|
||||
)
|
||||
|
||||
# Keyboard shortcuts
|
||||
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._init_ui()
|
||||
|
||||
@pyqtSlot(bool)
|
||||
def enable_motor_controls(self, enable: bool) -> None:
|
||||
"""
|
||||
Enable or disable the motor controls.
|
||||
Args:
|
||||
enable(bool): True to enable, False to disable.
|
||||
"""
|
||||
|
||||
# Disable or enable all controls within the motorControl_absolute group box
|
||||
for widget in self.ui.motorControl_absolute.findChildren(QWidget):
|
||||
widget.setEnabled(enable)
|
||||
|
||||
# Enable the pushButton_stop if the motor is moving
|
||||
self.ui.pushButton_stop.setEnabled(True)
|
||||
|
||||
@pyqtSlot(str, str)
|
||||
def change_motors(self, motor_x: str, motor_y: str):
|
||||
"""
|
||||
Change the active motors and update config.
|
||||
Can be connected to the selected_motors_signal from MotorControlSelection.
|
||||
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
|
||||
|
||||
@pyqtSlot(int)
|
||||
def set_precision(self, precision: int) -> None:
|
||||
"""
|
||||
Set the precision of the coordinates.
|
||||
Args:
|
||||
precision(int): Precision of the coordinates.
|
||||
"""
|
||||
self.precision = precision
|
||||
self.config["motor_control"]["precision"] = precision
|
||||
self.ui.spinBox_absolute_x.setDecimals(precision)
|
||||
self.ui.spinBox_absolute_y.setDecimals(precision)
|
||||
|
||||
def move_motor_absolute(self, x: float, y: float) -> None:
|
||||
"""
|
||||
Move the motor to the target coordinates.
|
||||
Args:
|
||||
x(float): Target x coordinate.
|
||||
y(float): Target y coordinate.
|
||||
"""
|
||||
# self._enable_motor_controls(False)
|
||||
target_coordinates = (x, y)
|
||||
self.motor_thread.move_absolute(self.motor_x, self.motor_y, target_coordinates)
|
||||
if self.ui.checkBox_save_with_go.isChecked():
|
||||
self.save_absolute_coordinates()
|
||||
|
||||
def _init_keyboard_shortcuts(self):
|
||||
"""Initialize the keyboard shortcuts."""
|
||||
# Go absolute button
|
||||
self.ui.pushButton_go_absolute.setShortcut("Ctrl+G")
|
||||
self.ui.pushButton_go_absolute.setToolTip("Ctrl+G")
|
||||
|
||||
# Set absolute coordinates
|
||||
self.ui.pushButton_set.setShortcut("Ctrl+D")
|
||||
self.ui.pushButton_set.setToolTip("Ctrl+D")
|
||||
|
||||
# Save Current coordinates
|
||||
self.ui.pushButton_save.setShortcut("Ctrl+S")
|
||||
self.ui.pushButton_save.setToolTip("Ctrl+S")
|
||||
|
||||
# Stop Button
|
||||
self.ui.pushButton_stop.setShortcut("Ctrl+X")
|
||||
self.ui.pushButton_stop.setToolTip("Ctrl+X")
|
||||
|
||||
def save_absolute_coordinates(self):
|
||||
"""Emit the setup coordinates from the spinboxes"""
|
||||
|
||||
x, y = round(self.ui.spinBox_absolute_x.value(), self.precision), round(
|
||||
self.ui.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.get_coordinates(self.motor_x, self.motor_y)
|
||||
self.coordinates_signal.emit((round(x, self.precision), round(y, self.precision)))
|
||||
@ -1,149 +0,0 @@
|
||||
<?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>
|
||||
@ -1,230 +0,0 @@
|
||||
import os
|
||||
|
||||
from qtpy import uic
|
||||
from qtpy.QtCore import Qt
|
||||
from qtpy.QtCore import Signal as pyqtSignal
|
||||
from qtpy.QtCore import Slot as pyqtSlot
|
||||
from qtpy.QtGui import QKeySequence
|
||||
from qtpy.QtWidgets import QDoubleSpinBox, QShortcut, QWidget
|
||||
|
||||
from bec_widgets.utils import UILoader
|
||||
from bec_widgets.widgets.motor_control.motor_control import MotorControlWidget
|
||||
|
||||
|
||||
class MotorControlRelative(MotorControlWidget):
|
||||
"""
|
||||
Widget for controlling the motors to relative coordinates.
|
||||
|
||||
Signals:
|
||||
precision_signal (pyqtSignal): Signal to emit the precision of the coordinates.
|
||||
Slots:
|
||||
change_motors (pyqtSlot(str,str)): Slot to change the active motors.
|
||||
enable_motor_controls (pyqtSlot): Slot to enable/disable the motor controls.
|
||||
"""
|
||||
|
||||
precision_signal = pyqtSignal(int)
|
||||
|
||||
def _load_ui(self):
|
||||
"""Load the UI from the .ui file."""
|
||||
# Loading UI
|
||||
current_path = os.path.dirname(__file__)
|
||||
self.ui = UILoader().load_ui(os.path.join(current_path, "movement_relative.ui"), self)
|
||||
|
||||
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
|
||||
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"],
|
||||
)
|
||||
|
||||
# Update step precision
|
||||
self.precision = self.config["motor_control"]["precision"]
|
||||
self.ui.spinBox_precision.setValue(self.precision)
|
||||
|
||||
# Update step sizes
|
||||
self.ui.spinBox_step_x.setValue(self.config["motor_control"]["step_size_x"])
|
||||
self.ui.spinBox_step_y.setValue(self.config["motor_control"]["step_size_y"])
|
||||
|
||||
# Checkboxes for keyboard shortcuts and x/y step size link
|
||||
self.ui.checkBox_same_xy.setChecked(self.config["motor_control"]["step_x_y_same"])
|
||||
self.ui.checkBox_enableArrows.setChecked(self.config["motor_control"]["move_with_arrows"])
|
||||
|
||||
self._init_ui()
|
||||
|
||||
def _init_ui_motor_control(self) -> None:
|
||||
"""Initialize the motor control elements"""
|
||||
|
||||
# Connect checkbox and spinBoxes
|
||||
self.ui.checkBox_same_xy.stateChanged.connect(self._sync_step_sizes)
|
||||
self.ui.spinBox_step_x.valueChanged.connect(self._update_step_size_x)
|
||||
self.ui.spinBox_step_y.valueChanged.connect(self._update_step_size_y)
|
||||
|
||||
self.ui.toolButton_right.clicked.connect(
|
||||
lambda: self.move_motor_relative(self.motor_x, "x", 1)
|
||||
)
|
||||
self.ui.toolButton_left.clicked.connect(
|
||||
lambda: self.move_motor_relative(self.motor_x, "x", -1)
|
||||
)
|
||||
self.ui.toolButton_up.clicked.connect(
|
||||
lambda: self.move_motor_relative(self.motor_y, "y", 1)
|
||||
)
|
||||
self.ui.toolButton_down.clicked.connect(
|
||||
lambda: self.move_motor_relative(self.motor_y, "y", -1)
|
||||
)
|
||||
|
||||
# Switch between key shortcuts active
|
||||
self.ui.checkBox_enableArrows.stateChanged.connect(self._update_arrow_key_shortcuts)
|
||||
self._update_arrow_key_shortcuts()
|
||||
|
||||
# Enable/Disable GUI
|
||||
self.motor_thread.lock_gui.connect(self.enable_motor_controls)
|
||||
|
||||
# Precision update
|
||||
self.ui.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)
|
||||
)
|
||||
|
||||
# Stop Button
|
||||
self.ui.pushButton_stop.clicked.connect(self.motor_thread.stop_movement)
|
||||
|
||||
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.ui.spinBox_step_x, 2)
|
||||
)
|
||||
decrease_x_shortcut.activated.connect(
|
||||
lambda: self._change_step_size(self.ui.spinBox_step_x, 0.5)
|
||||
)
|
||||
self.ui.spinBox_step_x.setToolTip("Increase step size: Ctrl+A\nDecrease step size: Ctrl+Z")
|
||||
|
||||
# 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.ui.spinBox_step_y, 2)
|
||||
)
|
||||
decrease_y_shortcut.activated.connect(
|
||||
lambda: self._change_step_size(self.ui.spinBox_step_y, 0.5)
|
||||
)
|
||||
self.ui.spinBox_step_y.setToolTip("Increase step size: Alt+A\nDecrease step size: Alt+Z")
|
||||
|
||||
# Stop Button
|
||||
self.ui.pushButton_stop.setShortcut("Ctrl+X")
|
||||
self.ui.pushButton_stop.setToolTip("Ctrl+X")
|
||||
|
||||
def _update_arrow_key_shortcuts(self) -> None:
|
||||
"""Update the arrow key shortcuts based on the checkbox state."""
|
||||
if self.ui.checkBox_enableArrows.isChecked():
|
||||
# Set the arrow key shortcuts for motor movement
|
||||
self.ui.toolButton_right.setShortcut(Qt.Key_Right)
|
||||
self.ui.toolButton_left.setShortcut(Qt.Key_Left)
|
||||
self.ui.toolButton_up.setShortcut(Qt.Key_Up)
|
||||
self.ui.toolButton_down.setShortcut(Qt.Key_Down)
|
||||
else:
|
||||
# Clear the shortcuts
|
||||
self.ui.toolButton_right.setShortcut("")
|
||||
self.ui.toolButton_left.setShortcut("")
|
||||
self.ui.toolButton_up.setShortcut("")
|
||||
self.ui.toolButton_down.setShortcut("")
|
||||
|
||||
def _update_precision(self, precision: int) -> None:
|
||||
"""
|
||||
Update the precision of the coordinates.
|
||||
Args:
|
||||
precision(int): Precision of the coordinates.
|
||||
"""
|
||||
self.ui.spinBox_step_x.setDecimals(precision)
|
||||
self.ui.spinBox_step_y.setDecimals(precision)
|
||||
self.precision_signal.emit(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.ui.checkBox_same_xy.isChecked():
|
||||
value = self.ui.spinBox_step_x.value()
|
||||
self.ui.spinBox_step_y.setValue(value)
|
||||
|
||||
def _update_step_size_x(self):
|
||||
"""Update step size for x if checkbox is checked."""
|
||||
if self.ui.checkBox_same_xy.isChecked():
|
||||
value = self.ui.spinBox_step_x.value()
|
||||
self.ui.spinBox_step_y.setValue(value)
|
||||
|
||||
def _update_step_size_y(self):
|
||||
"""Update step size for y if checkbox is checked."""
|
||||
if self.ui.checkBox_same_xy.isChecked():
|
||||
value = self.ui.spinBox_step_y.value()
|
||||
self.ui.spinBox_step_x.setValue(value)
|
||||
|
||||
@pyqtSlot(str, str)
|
||||
def change_motors(self, motor_x: str, motor_y: str):
|
||||
"""
|
||||
Change the active motors and update config.
|
||||
Can be connected to the selected_motors_signal from MotorControlSelection.
|
||||
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
|
||||
|
||||
@pyqtSlot(bool)
|
||||
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.ui.motorControl.findChildren(QWidget):
|
||||
widget.setEnabled(disable)
|
||||
|
||||
# Enable the pushButton_stop if the motor is moving
|
||||
self.ui.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.
|
||||
"""
|
||||
if axis == "x":
|
||||
step = direction * self.ui.spinBox_step_x.value()
|
||||
elif axis == "y":
|
||||
step = direction * self.ui.spinBox_step_y.value()
|
||||
self.motor_thread.move_relative(motor, step)
|
||||
@ -1,298 +0,0 @@
|
||||
<?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>
|
||||
@ -1,110 +0,0 @@
|
||||
# pylint: disable = no-name-in-module,missing-module-docstring
|
||||
import os
|
||||
|
||||
from qtpy import uic
|
||||
from qtpy.QtCore import Signal as pyqtSignal
|
||||
from qtpy.QtCore import Slot as pyqtSlot
|
||||
from qtpy.QtWidgets import QComboBox
|
||||
|
||||
from bec_widgets.widgets.motor_control.motor_control import MotorControlWidget
|
||||
|
||||
|
||||
class MotorControlSelection(MotorControlWidget):
|
||||
"""
|
||||
Widget for selecting the motors to control.
|
||||
|
||||
Signals:
|
||||
selected_motors_signal (pyqtSignal(str,str)): Signal to emit the selected motors.
|
||||
Slots:
|
||||
get_available_motors (pyqtSlot): Slot to populate the available motors in the combo boxes and set the index based on the configuration.
|
||||
enable_motor_controls (pyqtSlot(bool)): Slot to enable/disable the motor controls GUI.
|
||||
on_config_update (pyqtSlot(dict)): Slot to update the config dict.
|
||||
"""
|
||||
|
||||
selected_motors_signal = pyqtSignal(str, str)
|
||||
|
||||
def _load_ui(self):
|
||||
"""Load the UI from the .ui file."""
|
||||
current_path = os.path.dirname(__file__)
|
||||
uic.loadUi(os.path.join(current_path, "selection.ui"), self)
|
||||
|
||||
def _init_ui(self):
|
||||
"""Initialize the UI."""
|
||||
# Lock GUI while motors are moving
|
||||
self.motor_thread.lock_gui.connect(self.enable_motor_controls)
|
||||
|
||||
self.pushButton_connecMotors.clicked.connect(self.select_motor)
|
||||
self.get_available_motors()
|
||||
|
||||
# Connect change signals to change color
|
||||
self.comboBox_motor_x.currentIndexChanged.connect(
|
||||
lambda: self.set_combobox_style(self.comboBox_motor_x, "#ffa700")
|
||||
)
|
||||
self.comboBox_motor_y.currentIndexChanged.connect(
|
||||
lambda: self.set_combobox_style(self.comboBox_motor_y, "#ffa700")
|
||||
)
|
||||
|
||||
@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()
|
||||
|
||||
@pyqtSlot(bool)
|
||||
def enable_motor_controls(self, enable: bool) -> None:
|
||||
"""
|
||||
Enable or disable the motor controls.
|
||||
Args:
|
||||
enable(bool): True to enable, False to disable.
|
||||
"""
|
||||
self.motorSelection.setEnabled(enable)
|
||||
|
||||
@pyqtSlot()
|
||||
def get_available_motors(self) -> None:
|
||||
"""
|
||||
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:
|
||||
index_x = self.comboBox_motor_x.findText(self.motor_x)
|
||||
index_y = self.comboBox_motor_y.findText(self.motor_y)
|
||||
self.comboBox_motor_x.setCurrentIndex(index_x if index_x != -1 else 0)
|
||||
self.comboBox_motor_y.setCurrentIndex(index_y if index_y != -1 else 0)
|
||||
|
||||
def set_combobox_style(self, combobox, color: str) -> None:
|
||||
"""
|
||||
Set the combobox style to a specific color.
|
||||
Args:
|
||||
combobox(QComboBox): Combobox to change the color.
|
||||
color(str): Color to set the combobox to.
|
||||
"""
|
||||
combobox.setStyleSheet(f"QComboBox {{ background-color: {color}; }}")
|
||||
|
||||
def select_motor(self):
|
||||
"""Emit the selected motors"""
|
||||
motor_x = self.comboBox_motor_x.currentText()
|
||||
motor_y = self.comboBox_motor_y.currentText()
|
||||
|
||||
# Reset the combobox color to normal after selection
|
||||
self.set_combobox_style(self.comboBox_motor_x, "")
|
||||
self.set_combobox_style(self.comboBox_motor_y, "")
|
||||
|
||||
self.selected_motors_signal.emit(motor_x, motor_y)
|
||||
@ -1,69 +0,0 @@
|
||||
<?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>Motor Control Selection</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>
|
||||
@ -1,588 +0,0 @@
|
||||
# pylint: disable = no-name-in-module,missing-class-docstring, missing-module-docstring
|
||||
from unittest.mock import MagicMock, patch
|
||||
|
||||
import pytest
|
||||
from bec_lib.devicemanager import DeviceContainer
|
||||
|
||||
from bec_widgets.examples import (
|
||||
MotorControlApp,
|
||||
MotorControlMap,
|
||||
MotorControlPanel,
|
||||
MotorControlPanelAbsolute,
|
||||
MotorControlPanelRelative,
|
||||
)
|
||||
from bec_widgets.widgets.motor_control.motor_control import MotorActions, MotorThread
|
||||
from bec_widgets.widgets.motor_control.motor_table.motor_table import MotorCoordinateTable
|
||||
from bec_widgets.widgets.motor_control.movement_absolute.movement_absolute import (
|
||||
MotorControlAbsolute,
|
||||
)
|
||||
from bec_widgets.widgets.motor_control.movement_relative.movement_relative import (
|
||||
MotorControlRelative,
|
||||
)
|
||||
from bec_widgets.widgets.motor_control.selection.selection import MotorControlSelection
|
||||
|
||||
from .client_mocks import mocked_client
|
||||
|
||||
CONFIG_DEFAULT = {
|
||||
"motor_control": {
|
||||
"motor_x": "samx",
|
||||
"motor_y": "samy",
|
||||
"step_size_x": 3,
|
||||
"step_size_y": 3,
|
||||
"precision": 4,
|
||||
"step_x_y_same": False,
|
||||
"move_with_arrows": False,
|
||||
},
|
||||
"plot_settings": {
|
||||
"colormap": "Greys",
|
||||
"scatter_size": 5,
|
||||
"max_points": 1000,
|
||||
"num_dim_points": 100,
|
||||
"precision": 2,
|
||||
"num_columns": 1,
|
||||
"background_value": 25,
|
||||
},
|
||||
"motors": [
|
||||
{
|
||||
"plot_name": "Motor Map",
|
||||
"x_label": "Motor X",
|
||||
"y_label": "Motor Y",
|
||||
"signals": {
|
||||
"x": [{"name": "samx", "entry": "samx"}],
|
||||
"y": [{"name": "samy", "entry": "samy"}],
|
||||
},
|
||||
}
|
||||
],
|
||||
}
|
||||
|
||||
|
||||
#######################################################
|
||||
# Motor Thread
|
||||
#######################################################
|
||||
@pytest.fixture
|
||||
def motor_thread(mocked_client):
|
||||
"""Fixture for MotorThread with a mocked client."""
|
||||
return MotorThread(client=mocked_client)
|
||||
|
||||
|
||||
def test_motor_thread_initialization(mocked_client):
|
||||
motor_thread = MotorThread(client=mocked_client)
|
||||
assert motor_thread.client == mocked_client
|
||||
assert isinstance(motor_thread.dev, DeviceContainer)
|
||||
|
||||
|
||||
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", "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
|
||||
|
||||
|
||||
def test_get_coordinates(mocked_client):
|
||||
motor_thread = MotorThread(client=mocked_client)
|
||||
motor_x, motor_y = "samx", "samy"
|
||||
x, y = motor_thread.get_coordinates(motor_x, motor_y)
|
||||
|
||||
assert x == mocked_client.device_manager.devices[motor_x].readback.get()
|
||||
assert y == mocked_client.device_manager.devices[motor_y].readback.get()
|
||||
|
||||
|
||||
def test_move_motor_absolute_by_run(mocked_client):
|
||||
motor_thread = MotorThread(client=mocked_client)
|
||||
motor_thread.motor_x = "samx"
|
||||
motor_thread.motor_y = "samy"
|
||||
motor_thread.target_coordinates = (5.0, -3.0)
|
||||
motor_thread.action = MotorActions.MOVE_ABSOLUTE
|
||||
motor_thread.run()
|
||||
|
||||
assert mocked_client.device_manager.devices["samx"].read_value == 5.0
|
||||
assert mocked_client.device_manager.devices["samy"].read_value == -3.0
|
||||
|
||||
|
||||
def test_move_motor_relative_by_run(mocked_client):
|
||||
motor_thread = MotorThread(client=mocked_client)
|
||||
|
||||
initial_value = motor_thread.dev["samx"].read()["samx"]["value"]
|
||||
move_value = 2.0
|
||||
expected_value = initial_value + move_value
|
||||
motor_thread.motor = "samx"
|
||||
motor_thread.value = move_value
|
||||
motor_thread.action = MotorActions.MOVE_RELATIVE
|
||||
motor_thread.run()
|
||||
|
||||
assert mocked_client.device_manager.devices["samx"].read_value == expected_value
|
||||
|
||||
|
||||
def test_motor_thread_move_absolute(motor_thread):
|
||||
motor_x = "samx"
|
||||
motor_y = "samy"
|
||||
target_x = 5.0
|
||||
target_y = -3.0
|
||||
|
||||
motor_thread.move_absolute(motor_x, motor_y, (target_x, target_y))
|
||||
motor_thread.wait()
|
||||
|
||||
assert motor_thread.dev[motor_x].read()["samx"]["value"] == target_x
|
||||
assert motor_thread.dev[motor_y].read()["samy"]["value"] == target_y
|
||||
|
||||
|
||||
def test_motor_thread_move_relative(motor_thread):
|
||||
motor_name = "samx"
|
||||
move_value = 2.0
|
||||
|
||||
initial_value = motor_thread.dev[motor_name].read()["samx"]["value"]
|
||||
motor_thread.move_relative(motor_name, move_value)
|
||||
motor_thread.wait()
|
||||
|
||||
expected_value = initial_value + move_value
|
||||
assert motor_thread.dev[motor_name].read()["samx"]["value"] == expected_value
|
||||
|
||||
|
||||
#######################################################
|
||||
# Motor Control Widgets - MotorControlSelection
|
||||
#######################################################
|
||||
@pytest.fixture(scope="function")
|
||||
def motor_selection_widget(qtbot, mocked_client, motor_thread):
|
||||
"""Fixture for creating a MotorControlSelection widget with a mocked client."""
|
||||
widget = MotorControlSelection(
|
||||
client=mocked_client, config=CONFIG_DEFAULT, motor_thread=motor_thread
|
||||
)
|
||||
qtbot.addWidget(widget)
|
||||
qtbot.waitExposed(widget)
|
||||
return widget
|
||||
|
||||
|
||||
def test_initialization_and_population(motor_selection_widget):
|
||||
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_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):
|
||||
# Connect signal to a custom slot to capture the emitted values
|
||||
emitted_values = []
|
||||
|
||||
def capture_emitted_values(motor_x, motor_y):
|
||||
emitted_values.append((motor_x, motor_y))
|
||||
|
||||
motor_selection_widget.selected_motors_signal.connect(capture_emitted_values)
|
||||
|
||||
# Select motors
|
||||
motor_selection_widget.comboBox_motor_x.setCurrentIndex(0) # Select 'samx'
|
||||
motor_selection_widget.comboBox_motor_y.setCurrentIndex(1) # Select 'samy'
|
||||
motor_selection_widget.pushButton_connecMotors.click() # Emit the signal
|
||||
|
||||
# Verify the emitted signal
|
||||
assert emitted_values == [
|
||||
("samx", "samy")
|
||||
], "The emitted signal did not match the expected values"
|
||||
|
||||
|
||||
def test_configuration_update(motor_selection_widget):
|
||||
new_config = {"motor_control": {"motor_x": "samy", "motor_y": "samx"}}
|
||||
motor_selection_widget.on_config_update(new_config)
|
||||
assert motor_selection_widget.comboBox_motor_x.currentText() == "samy"
|
||||
assert motor_selection_widget.comboBox_motor_y.currentText() == "samx"
|
||||
|
||||
|
||||
def test_enable_motor_controls(motor_selection_widget):
|
||||
motor_selection_widget.enable_motor_controls(False)
|
||||
assert not motor_selection_widget.comboBox_motor_x.isEnabled()
|
||||
assert not motor_selection_widget.comboBox_motor_y.isEnabled()
|
||||
|
||||
motor_selection_widget.enable_motor_controls(True)
|
||||
assert motor_selection_widget.comboBox_motor_x.isEnabled()
|
||||
assert motor_selection_widget.comboBox_motor_y.isEnabled()
|
||||
|
||||
|
||||
#######################################################
|
||||
# Motor Control Widgets - MotorControlAbsolute
|
||||
#######################################################
|
||||
|
||||
|
||||
@pytest.fixture(scope="function")
|
||||
def motor_absolute_widget(qtbot, mocked_client, motor_thread):
|
||||
widget = MotorControlAbsolute(
|
||||
client=mocked_client, config=CONFIG_DEFAULT, motor_thread=motor_thread
|
||||
)
|
||||
qtbot.addWidget(widget)
|
||||
qtbot.waitExposed(widget)
|
||||
return widget
|
||||
|
||||
|
||||
def test_absolute_initialization(motor_absolute_widget):
|
||||
motor_absolute_widget.change_motors("samx", "samy")
|
||||
motor_absolute_widget.on_config_update(CONFIG_DEFAULT)
|
||||
assert motor_absolute_widget.motor_x == "samx", "Motor X not initialized correctly"
|
||||
assert motor_absolute_widget.motor_y == "samy", "Motor Y not initialized correctly"
|
||||
assert motor_absolute_widget.precision == CONFIG_DEFAULT["motor_control"]["precision"]
|
||||
|
||||
|
||||
def test_absolute_save_current_coordinates(motor_absolute_widget):
|
||||
motor_x_value = motor_absolute_widget.client.device_manager.devices["samx"].read()["samx"][
|
||||
"value"
|
||||
]
|
||||
motor_y_value = motor_absolute_widget.client.device_manager.devices["samy"].read()["samy"][
|
||||
"value"
|
||||
]
|
||||
motor_absolute_widget.change_motors("samx", "samy")
|
||||
|
||||
emitted_coordinates = []
|
||||
|
||||
def capture_emit(x_y):
|
||||
emitted_coordinates.append(x_y)
|
||||
|
||||
motor_absolute_widget.coordinates_signal.connect(capture_emit)
|
||||
|
||||
# Trigger saving current coordinates
|
||||
motor_absolute_widget.ui.pushButton_save.click()
|
||||
|
||||
assert emitted_coordinates == [(motor_x_value, motor_y_value)]
|
||||
|
||||
|
||||
def test_absolute_set_absolute_coordinates(motor_absolute_widget):
|
||||
motor_absolute_widget.ui.spinBox_absolute_x.setValue(5)
|
||||
motor_absolute_widget.ui.spinBox_absolute_y.setValue(10)
|
||||
|
||||
# Connect to the coordinates_signal to capture emitted values
|
||||
emitted_values = []
|
||||
|
||||
def capture_coordinates(x_y):
|
||||
emitted_values.append(x_y)
|
||||
|
||||
motor_absolute_widget.coordinates_signal.connect(capture_coordinates)
|
||||
|
||||
# Simulate button click for absolute movement
|
||||
motor_absolute_widget.ui.pushButton_set.click()
|
||||
|
||||
assert emitted_values == [(5, 10)]
|
||||
|
||||
|
||||
def test_absolute_go_absolute_coordinates(motor_absolute_widget):
|
||||
motor_absolute_widget.change_motors("samx", "samy")
|
||||
|
||||
motor_absolute_widget.ui.spinBox_absolute_x.setValue(5)
|
||||
motor_absolute_widget.ui.spinBox_absolute_y.setValue(10)
|
||||
|
||||
with patch(
|
||||
"bec_widgets.widgets.motor_control.motor_control.MotorThread.move_absolute",
|
||||
new_callable=MagicMock,
|
||||
) as mock_move_absolute:
|
||||
motor_absolute_widget.ui.pushButton_go_absolute.click()
|
||||
mock_move_absolute.assert_called_once_with("samx", "samy", (5, 10))
|
||||
|
||||
|
||||
def test_change_motor_absolute(motor_absolute_widget):
|
||||
motor_absolute_widget.change_motors("aptrx", "aptry")
|
||||
|
||||
assert motor_absolute_widget.motor_x == "aptrx"
|
||||
assert motor_absolute_widget.motor_y == "aptry"
|
||||
|
||||
motor_absolute_widget.change_motors("samx", "samy")
|
||||
|
||||
assert motor_absolute_widget.motor_x == "samx"
|
||||
assert motor_absolute_widget.motor_y == "samy"
|
||||
|
||||
|
||||
def test_set_precision(motor_absolute_widget):
|
||||
motor_absolute_widget.on_config_update(CONFIG_DEFAULT)
|
||||
motor_absolute_widget.set_precision(2)
|
||||
|
||||
assert motor_absolute_widget.ui.spinBox_absolute_x.decimals() == 2
|
||||
assert motor_absolute_widget.ui.spinBox_absolute_y.decimals() == 2
|
||||
|
||||
|
||||
#######################################################
|
||||
# Motor Control Widgets - MotorControlRelative
|
||||
#######################################################
|
||||
@pytest.fixture(scope="function")
|
||||
def motor_relative_widget(qtbot, mocked_client, motor_thread):
|
||||
widget = MotorControlRelative(
|
||||
client=mocked_client, config=CONFIG_DEFAULT, motor_thread=motor_thread
|
||||
)
|
||||
qtbot.addWidget(widget)
|
||||
qtbot.waitExposed(widget)
|
||||
return widget
|
||||
|
||||
|
||||
def test_initialization_and_config_update(motor_relative_widget):
|
||||
motor_relative_widget.on_config_update(CONFIG_DEFAULT)
|
||||
|
||||
assert motor_relative_widget.motor_x == CONFIG_DEFAULT["motor_control"]["motor_x"]
|
||||
assert motor_relative_widget.motor_y == CONFIG_DEFAULT["motor_control"]["motor_y"]
|
||||
assert motor_relative_widget.precision == CONFIG_DEFAULT["motor_control"]["precision"]
|
||||
|
||||
# Simulate a configuration update
|
||||
new_config = {
|
||||
"motor_control": {
|
||||
"motor_x": "new_motor_x",
|
||||
"motor_y": "new_motor_y",
|
||||
"precision": 2,
|
||||
"step_size_x": 5,
|
||||
"step_size_y": 5,
|
||||
"step_x_y_same": True,
|
||||
"move_with_arrows": True,
|
||||
}
|
||||
}
|
||||
motor_relative_widget.on_config_update(new_config)
|
||||
|
||||
assert motor_relative_widget.motor_x == "new_motor_x"
|
||||
assert motor_relative_widget.motor_y == "new_motor_y"
|
||||
assert motor_relative_widget.precision == 2
|
||||
|
||||
|
||||
def test_move_motor_relative(motor_relative_widget):
|
||||
motor_relative_widget.on_config_update(CONFIG_DEFAULT)
|
||||
# Set step sizes
|
||||
motor_relative_widget.ui.spinBox_step_x.setValue(1)
|
||||
motor_relative_widget.ui.spinBox_step_y.setValue(1)
|
||||
|
||||
# Mock the move_relative method
|
||||
motor_relative_widget.motor_thread.move_relative = MagicMock()
|
||||
|
||||
# Simulate button clicks
|
||||
motor_relative_widget.ui.toolButton_right.click()
|
||||
motor_relative_widget.motor_thread.move_relative.assert_called_with(
|
||||
motor_relative_widget.motor_x, 1
|
||||
)
|
||||
|
||||
motor_relative_widget.ui.toolButton_left.click()
|
||||
motor_relative_widget.motor_thread.move_relative.assert_called_with(
|
||||
motor_relative_widget.motor_x, -1
|
||||
)
|
||||
|
||||
motor_relative_widget.ui.toolButton_up.click()
|
||||
motor_relative_widget.motor_thread.move_relative.assert_called_with(
|
||||
motor_relative_widget.motor_y, 1
|
||||
)
|
||||
|
||||
motor_relative_widget.ui.toolButton_down.click()
|
||||
motor_relative_widget.motor_thread.move_relative.assert_called_with(
|
||||
motor_relative_widget.motor_y, -1
|
||||
)
|
||||
|
||||
|
||||
def test_precision_update(motor_relative_widget):
|
||||
# Capture emitted precision values
|
||||
emitted_values = []
|
||||
|
||||
def capture_precision(precision):
|
||||
emitted_values.append(precision)
|
||||
|
||||
motor_relative_widget.precision_signal.connect(capture_precision)
|
||||
|
||||
# Update precision
|
||||
motor_relative_widget.ui.spinBox_precision.setValue(1)
|
||||
|
||||
assert emitted_values == [1]
|
||||
assert motor_relative_widget.ui.spinBox_step_x.decimals() == 1
|
||||
assert motor_relative_widget.ui.spinBox_step_y.decimals() == 1
|
||||
|
||||
|
||||
def test_sync_step_sizes(motor_relative_widget):
|
||||
motor_relative_widget.on_config_update(CONFIG_DEFAULT)
|
||||
motor_relative_widget.ui.checkBox_same_xy.setChecked(True)
|
||||
|
||||
# Change step size for X
|
||||
motor_relative_widget.ui.spinBox_step_x.setValue(2)
|
||||
|
||||
assert motor_relative_widget.ui.spinBox_step_y.value() == 2
|
||||
|
||||
|
||||
def test_change_motor_relative(motor_relative_widget):
|
||||
motor_relative_widget.on_config_update(CONFIG_DEFAULT)
|
||||
motor_relative_widget.change_motors("aptrx", "aptry")
|
||||
|
||||
assert motor_relative_widget.motor_x == "aptrx"
|
||||
assert motor_relative_widget.motor_y == "aptry"
|
||||
|
||||
|
||||
#######################################################
|
||||
# Motor Control Widgets - MotorCoordinateTable
|
||||
#######################################################
|
||||
@pytest.fixture(scope="function")
|
||||
def motor_coordinate_table(qtbot, mocked_client, motor_thread):
|
||||
widget = MotorCoordinateTable(
|
||||
client=mocked_client, config=CONFIG_DEFAULT, motor_thread=motor_thread
|
||||
)
|
||||
qtbot.addWidget(widget)
|
||||
qtbot.waitExposed(widget)
|
||||
return widget
|
||||
|
||||
|
||||
def test_delete_selected_row(motor_coordinate_table):
|
||||
# Add a coordinate
|
||||
motor_coordinate_table.add_coordinate((1.0, 2.0))
|
||||
motor_coordinate_table.add_coordinate((3.0, 4.0))
|
||||
|
||||
# Select the row
|
||||
motor_coordinate_table.ui.table.selectRow(0)
|
||||
|
||||
# Delete the selected row
|
||||
motor_coordinate_table.delete_selected_row()
|
||||
assert motor_coordinate_table.ui.table.rowCount() == 1
|
||||
|
||||
|
||||
def test_add_coordinate_and_table_update(motor_coordinate_table):
|
||||
# Disable Warning message popups for test
|
||||
motor_coordinate_table.warning_message = False
|
||||
|
||||
# Add coordinate in Individual mode
|
||||
motor_coordinate_table.add_coordinate((1.0, 2.0))
|
||||
assert motor_coordinate_table.ui.table.rowCount() == 1
|
||||
|
||||
# Check if the coordinates match
|
||||
x_item_individual = motor_coordinate_table.ui.table.cellWidget(
|
||||
0, 3
|
||||
) # Assuming X is in column 3
|
||||
y_item_individual = motor_coordinate_table.ui.table.cellWidget(
|
||||
0, 4
|
||||
) # Assuming Y is in column 4
|
||||
assert float(x_item_individual.text()) == 1.0
|
||||
assert float(y_item_individual.text()) == 2.0
|
||||
|
||||
# Switch to Start/Stop and add coordinates
|
||||
motor_coordinate_table.ui.comboBox_mode.setCurrentIndex(1) # Switch mode
|
||||
|
||||
motor_coordinate_table.add_coordinate((3.0, 4.0))
|
||||
motor_coordinate_table.add_coordinate((5.0, 6.0))
|
||||
assert motor_coordinate_table.ui.table.rowCount() == 1
|
||||
|
||||
|
||||
def test_plot_coordinates_signal(motor_coordinate_table):
|
||||
# Connect to the signal
|
||||
def signal_emitted(coordinates, reference_tag, color):
|
||||
nonlocal received
|
||||
received = True
|
||||
assert len(coordinates) == 1 # Assuming one coordinate was added
|
||||
assert reference_tag in ["Individual", "Start", "Stop"]
|
||||
assert color in ["green", "blue", "red"]
|
||||
|
||||
received = False
|
||||
motor_coordinate_table.plot_coordinates_signal.connect(signal_emitted)
|
||||
|
||||
# Add a coordinate and check signal
|
||||
motor_coordinate_table.add_coordinate((1.0, 2.0))
|
||||
assert received
|
||||
|
||||
|
||||
# def test_move_motor_action(motor_coordinate_table,qtbot):#TODO enable again after table refactor
|
||||
# # Add a coordinate
|
||||
# motor_coordinate_table.add_coordinate((1.0, 2.0))
|
||||
#
|
||||
# # Mock the motor thread move_absolute function
|
||||
# motor_coordinate_table.motor_thread.move_absolute = MagicMock()
|
||||
#
|
||||
# # Trigger the move action
|
||||
# move_button = motor_coordinate_table.table.cellWidget(0, 1)
|
||||
# move_button.click()
|
||||
#
|
||||
# motor_coordinate_table.motor_thread.move_absolute.assert_called_with(
|
||||
# motor_coordinate_table.motor_x, motor_coordinate_table.motor_y, (1.0, 2.0)
|
||||
# )
|
||||
|
||||
|
||||
def test_plot_coordinates_signal_individual(motor_coordinate_table, qtbot):
|
||||
motor_coordinate_table.warning_message = False
|
||||
motor_coordinate_table.set_precision(3)
|
||||
motor_coordinate_table.ui.comboBox_mode.setCurrentIndex(0)
|
||||
|
||||
# This list will store the signals emitted during the test
|
||||
emitted_signals = []
|
||||
|
||||
def signal_emitted(coordinates, reference_tag, color):
|
||||
emitted_signals.append((coordinates, reference_tag, color))
|
||||
|
||||
motor_coordinate_table.plot_coordinates_signal.connect(signal_emitted)
|
||||
|
||||
# Add new coordinates
|
||||
motor_coordinate_table.add_coordinate((1.0, 2.0))
|
||||
qtbot.wait(100)
|
||||
|
||||
# Verify the signals
|
||||
assert len(emitted_signals) > 0, "No signals were emitted."
|
||||
|
||||
for coordinates, reference_tag, color in emitted_signals:
|
||||
assert len(coordinates) > 0, "Coordinates list is empty."
|
||||
assert reference_tag == "Individual"
|
||||
assert color == "green"
|
||||
assert motor_coordinate_table.ui.table.cellWidget(0, 3).text() == "1.000"
|
||||
assert motor_coordinate_table.ui.table.cellWidget(0, 4).text() == "2.000"
|
||||
|
||||
|
||||
#######################################################
|
||||
# MotorControl examples compilations
|
||||
#######################################################
|
||||
@pytest.fixture(scope="function")
|
||||
def motor_app(qtbot, mocked_client):
|
||||
widget = MotorControlApp(config=CONFIG_DEFAULT, client=mocked_client)
|
||||
qtbot.addWidget(widget)
|
||||
qtbot.waitExposed(widget)
|
||||
yield widget
|
||||
|
||||
|
||||
def test_motor_app_initialization(motor_app):
|
||||
assert isinstance(motor_app, MotorControlApp)
|
||||
assert motor_app.client is not None
|
||||
assert motor_app.config == CONFIG_DEFAULT
|
||||
|
||||
|
||||
@pytest.fixture(scope="function")
|
||||
def motor_control_map(qtbot, mocked_client):
|
||||
widget = MotorControlMap(config=CONFIG_DEFAULT, client=mocked_client)
|
||||
qtbot.addWidget(widget)
|
||||
qtbot.waitExposed(widget)
|
||||
yield widget
|
||||
|
||||
|
||||
def test_motor_control_map_initialization(motor_control_map):
|
||||
assert isinstance(motor_control_map, MotorControlMap)
|
||||
assert motor_control_map.client is not None
|
||||
assert motor_control_map.config == CONFIG_DEFAULT
|
||||
|
||||
|
||||
@pytest.fixture(scope="function")
|
||||
def motor_control_panel(qtbot, mocked_client):
|
||||
widget = MotorControlPanel(config=CONFIG_DEFAULT, client=mocked_client)
|
||||
qtbot.addWidget(widget)
|
||||
qtbot.waitExposed(widget)
|
||||
yield widget
|
||||
|
||||
|
||||
def test_motor_control_panel_initialization(motor_control_panel):
|
||||
assert isinstance(motor_control_panel, MotorControlPanel)
|
||||
assert motor_control_panel.client is not None
|
||||
assert motor_control_panel.config == CONFIG_DEFAULT
|
||||
|
||||
|
||||
@pytest.fixture(scope="function")
|
||||
def motor_control_panel_absolute(qtbot, mocked_client):
|
||||
widget = MotorControlPanelAbsolute(config=CONFIG_DEFAULT, client=mocked_client)
|
||||
qtbot.addWidget(widget)
|
||||
qtbot.waitExposed(widget)
|
||||
yield widget
|
||||
|
||||
|
||||
def test_motor_control_panel_absolute_initialization(motor_control_panel_absolute):
|
||||
assert isinstance(motor_control_panel_absolute, MotorControlPanelAbsolute)
|
||||
assert motor_control_panel_absolute.client is not None
|
||||
assert motor_control_panel_absolute.config == CONFIG_DEFAULT
|
||||
|
||||
|
||||
@pytest.fixture(scope="function")
|
||||
def motor_control_panel_relative(qtbot, mocked_client):
|
||||
widget = MotorControlPanelRelative(config=CONFIG_DEFAULT, client=mocked_client)
|
||||
qtbot.addWidget(widget)
|
||||
qtbot.waitExposed(widget)
|
||||
yield widget
|
||||
|
||||
|
||||
def test_motor_control_panel_relative_initialization(motor_control_panel_relative):
|
||||
assert isinstance(motor_control_panel_relative, MotorControlPanelRelative)
|
||||
assert motor_control_panel_relative.client is not None
|
||||
assert motor_control_panel_relative.config == CONFIG_DEFAULT
|
||||
Reference in New Issue
Block a user