mirror of
https://github.com/bec-project/bec_widgets.git
synced 2025-07-13 19:21:50 +02:00
feat: motor selection
This commit is contained in:
wyzula-jan
@ -6,8 +6,8 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<width>1115</width>
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<height>506</height>
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<width>1120</width>
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<height>547</height>
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</rect>
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</property>
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<property name="windowTitle">
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@ -43,6 +43,12 @@
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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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@ -50,11 +56,12 @@
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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"/>
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</item>
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<item row="2" column="1">
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<widget class="QComboBox" name="comboBox_2"/>
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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>
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</property>
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</widget>
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</item>
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</layout>
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</widget>
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@ -208,7 +215,7 @@
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</spacer>
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</item>
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<item>
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<widget class="QGroupBox" name="groupBox">
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<widget class="QGroupBox" name="motorControl_absolute">
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<property name="title">
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<string>Move Absolute</string>
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</property>
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@ -271,7 +278,7 @@
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<property name="currentIndex">
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<number>0</number>
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</property>
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<widget class="QWidget" name="tab">
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<widget class="QWidget" name="tab_coordinates">
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<attribute name="title">
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<string>Coordinates</string>
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</attribute>
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@ -307,7 +314,7 @@
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</item>
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</layout>
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</widget>
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<widget class="QWidget" name="tab_3">
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<widget class="QWidget" name="tab_settings">
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<attribute name="title">
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<string>Settings</string>
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</attribute>
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@ -510,7 +517,7 @@
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</item>
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</layout>
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</widget>
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<widget class="QWidget" name="tab_2">
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<widget class="QWidget" name="tab_queue">
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<attribute name="title">
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<string>Queue</string>
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</attribute>
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@ -31,6 +31,10 @@ class MotorApp(QWidget):
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current_path = os.path.dirname(__file__)
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uic.loadUi(os.path.join(current_path, "motor_controller.ui"), self)
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# Motor Control Thread
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self.motor_thread = MotorControl()
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self.motor_x, self.motor_y = None, None # dev.samx, dev.samy
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self.limit_x, self.limit_y = None, None
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# Coordinates tracking
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@ -39,21 +43,44 @@ class MotorApp(QWidget):
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self.num_dim_points = 15 # Number of points to dim gradually
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# QThread for motor movement + signals
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self.motor_thread = MotorControl()
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self.motor_thread.motors_loaded.connect(self.get_available_motors)
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self.motor_thread.motors_selected.connect(self.get_selected_motors)
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self.motor_thread.limits_retrieved.connect(self.update_limits)
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# UI
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self.init_ui()
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self.tag_N = 1 # position label for saved coordinates
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# Initialize current coordinates with the provided initial coordinates
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self.motor_thread.retrieve_motor_limits(dev.samx, dev.samy)
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# Get all motors available
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self.motor_thread.retrieve_all_motors()
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print(f"Init limits: samx:{self.limit_x}, samy:{self.limit_y}")
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# Initialize current coordinates with the provided initial coordinates
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# self.motor_thread.retrieve_motor_limits(self.motor_x, self.motor_y) #TODO move after connection of motors
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# print(f"Init limits: samx:{self.limit_x}, samy:{self.limit_y}") # TODO get to motor connect
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# Initialize the image map
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# self.init_motor_map()
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def connect_motor(self, motor_x_name: str, motor_y_name: str):
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self.motor_thread.connect_motors(motor_x_name, motor_y_name)
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self.motor_thread.retrieve_motor_limits(self.motor_x, self.motor_y)
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self.init_motor_map()
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self.motorControl.setEnabled(True)
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self.motorControl_absolute.setEnabled(True)
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self.tabWidget_tables.setTabEnabled(1, True)
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@pyqtSlot(object, object)
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def get_selected_motors(self, motor_x, motor_y):
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self.motor_x, self.motor_y = motor_x, motor_y
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@pyqtSlot(list, list)
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def get_available_motors(self, motors_x, motors_y):
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self.comboBox_motor_x.addItems(motors_x)
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self.comboBox_motor_y.addItems(motors_y)
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print(f"got motors {motors_x} and {motors_y}")
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@pyqtSlot(list, list)
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def update_limits(self, x_limits: list, y_limits: list) -> None:
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self.limit_x = x_limits
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@ -101,9 +128,12 @@ class MotorApp(QWidget):
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# 2D Plot
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##########################
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# self.label_coorditanes = self.glw.addLabel(
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# f"Motor position: ({dev.samx.position():.2f}, {dev.samy.position():.2f})", row=0, col=0
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# ) #TODO remove hardcoded samx and samy
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self.label_coorditanes = self.glw.addLabel(
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f"Motor position: ({dev.samx.position():.2f}, {dev.samy.position():.2f})", row=0, col=0
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)
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f"Motor position: (X, Y)", row=0, col=0
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) # TODO remove hardcoded samx and samy
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self.plot_map = self.glw.addPlot(row=1, col=0)
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self.limit_map = pg.ImageItem()
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self.plot_map.addItem(self.limit_map)
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@ -125,16 +155,16 @@ class MotorApp(QWidget):
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##########################
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self.toolButton_right.clicked.connect(
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lambda: self.move_motor_relative(dev.samx, self.spinBox_step.value())
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lambda: self.move_motor_relative(self.motor_x, self.spinBox_step.value())
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)
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self.toolButton_left.clicked.connect(
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lambda: self.move_motor_relative(dev.samx, -self.spinBox_step.value())
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lambda: self.move_motor_relative(self.motor_x, -self.spinBox_step.value())
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)
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self.toolButton_up.clicked.connect(
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lambda: self.move_motor_relative(dev.samy, self.spinBox_step.value())
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lambda: self.move_motor_relative(self.motor_y, self.spinBox_step.value())
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)
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self.toolButton_down.clicked.connect(
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lambda: self.move_motor_relative(dev.samy, -self.spinBox_step.value())
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lambda: self.move_motor_relative(self.motor_y, -self.spinBox_step.value())
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)
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# Switch between key shortcuts active
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@ -188,10 +218,23 @@ class MotorApp(QWidget):
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precision=0,
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)
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# Motor connections
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self.pushButton_connecMotors.clicked.connect(
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lambda: self.connect_motor(
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self.comboBox_motor_x.currentText(), self.comboBox_motor_y.currentText()
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)
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)
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# Check if there are any motors connected
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if self.motor_x or self.motor_y is None:
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self.motorControl.setEnabled(False)
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self.motorControl_absolute.setEnabled(False)
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self.tabWidget_tables.setTabEnabled(1, False)
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def init_motor_map(self):
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# Get motor limits
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limit_x_min, limit_x_max = self.motor_thread.get_motor_limits(dev.samx)
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limit_y_min, limit_y_max = self.motor_thread.get_motor_limits(dev.samy)
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limit_x_min, limit_x_max = self.motor_thread.get_motor_limits(self.motor_x)
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limit_y_min, limit_y_max = self.motor_thread.get_motor_limits(self.motor_y)
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self.offset_x = limit_x_min
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self.offset_y = limit_y_min
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@ -241,9 +284,7 @@ class MotorApp(QWidget):
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self.motor_map.setData(pos=self.motor_positions, brush=self.brushes)
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def update_all_motor_limits(
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self, x_limit: list = None, y_limit: list = None
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) -> None: # TODO will be moved to thread
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def update_all_motor_limits(self, x_limit: list = None, y_limit: list = None) -> None:
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self.motor_thread.update_all_motor_limits(x_limit=x_limit, y_limit=y_limit)
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def update_arrow_key_shortcuts(self):
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@ -311,6 +352,8 @@ class MotorControl(QThread):
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coordinates_updated = pyqtSignal(float, float) # Signal to emit current coordinates
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limits_retrieved = pyqtSignal(list, list) # Signal to emit current limits (samx, samy)
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move_finished = pyqtSignal() # Signal to emit when the move is finished
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motors_loaded = pyqtSignal(list, list) # Signal to emit when the motors are loaded
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motors_selected = pyqtSignal(object, object) # Signal to emit when the motors are selected
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# progress_updated = pyqtSignal(int) #TODO Signal to emit progress percentage
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def __init__(
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@ -319,21 +362,50 @@ class MotorControl(QThread):
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parent=None,
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):
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super().__init__(parent)
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self.motor_x, self.motor_y = None, None
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self.current_x, self.current_y = None, None
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self.motors_consumer = None
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# Get all available motors in the client
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self.all_motors = self.get_all_motors()
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self.all_motors_names = self.get_all_motors_names()
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self.retrieve_all_motors() # send motor list to GUI
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self.connect_motors("samx", "samy")
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self.target_coordinates = None
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self.running = False
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self.active_devices = active_devices
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self.motor_x_debug = dev.samx
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# self.all_motors = self.get_all_motors()
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# self.all_motors_names = self.get_all_motors_names()
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# Initialize current coordinates with the provided initial coordinates
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(
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self.current_x,
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self.current_y,
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) = self.get_coordinates() # TODO maybe not needed, coordinates always stored in redis
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# find index of samx in self.all_motors_names
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# self.motor_x_index = self.all_motors_names.index(self.active_devices[0])
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print(f"Motor debug: {self.motor_x_debug}")
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def motor_by_string(self, motor_x_name: str, motor_y_name: str) -> tuple:
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motor_x_index = self.all_motors_names.index(motor_x_name)
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motor_y_index = self.all_motors_names.index(motor_y_name)
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motor_x = self.all_motors[motor_x_index]
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motor_y = self.all_motors[motor_y_index]
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return motor_x, motor_y
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def connect_motors(self, motor_x_name: str, motor_y_name: str) -> None:
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self.motor_x, self.motor_y = self.motor_by_string(motor_x_name, motor_y_name)
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(self.current_x, self.current_y) = self.get_coordinates()
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if self.motors_consumer is not None:
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self.motors_consumer.shutdown()
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self.motors_consumer = client.connector.consumer(
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topics=[
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MessageEndpoints.device_readback(self.active_devices[0]),
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MessageEndpoints.device_readback(self.active_devices[1]),
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MessageEndpoints.device_readback(self.motor_x.name),
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MessageEndpoints.device_readback(self.motor_y.name),
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],
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cb=self._device_status_callback_motors,
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parent=self,
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@ -341,10 +413,29 @@ class MotorControl(QThread):
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self.motors_consumer.start()
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self.motors_selected.emit(self.motor_x, self.motor_y)
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def get_all_motors(self) -> list:
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all_motors = client.device_manager.devices.acquisition_group("motor")
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return all_motors
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def get_all_motors_names(self) -> list:
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all_motors = client.device_manager.devices.acquisition_group("motor")
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all_motors_names = [motor.name for motor in all_motors]
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return all_motors_names
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def retrieve_all_motors(self):
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self.all_motors = self.get_all_motors()
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self.all_motors_names = self.get_all_motors_names()
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self.motors_loaded.emit(self.all_motors_names, self.all_motors_names)
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print("motors sent to GUI")
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return self.all_motors, self.all_motors_names
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def get_coordinates(self) -> tuple:
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"""Get current motor position"""
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x = dev.samx.read(cached=True)["value"] # TODO remove hardcoded samx and samy
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y = dev.samx.read(cached=True)["value"]
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x = self.motor_x.read(cached=True)["value"] # TODO remove hardcoded samx and samy
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y = self.motor_y.read(cached=True)["value"]
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return x, y
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def retrieve_coordinates(self) -> tuple:
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@ -380,16 +471,16 @@ class MotorControl(QThread):
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raise ValueError("Current motor position is outside the new limits (X)")
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else:
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self.update_motor_limits(
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dev.samx, low_limit=x_limit[0], high_limit=x_limit[1]
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self.motor_x, low_limit=x_limit[0], high_limit=x_limit[1]
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) # TODO Remove hardcoded samx and samy
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if y_limit is not None:
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if current_position[1] < y_limit[0] or current_position[1] > y_limit[1]:
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raise ValueError("Current motor position is outside the new limits (Y)")
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else:
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self.update_motor_limits(dev.samy, low_limit=y_limit[0], high_limit=y_limit[1])
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self.update_motor_limits(self.motor_y, low_limit=y_limit[0], high_limit=y_limit[1])
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self.retrieve_motor_limits(dev.samx, dev.samy)
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self.retrieve_motor_limits(self.motor_x, self.motor_y)
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def move_to_coordinates(self, target_coordinates: tuple):
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self.action = "move_to_coordinates"
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@ -414,9 +505,9 @@ class MotorControl(QThread):
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def move_motor_coordinate(self) -> None:
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"""Move the motor to the specified coordinates"""
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status = scans.mv(
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dev.samx,
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self.motor_x,
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self.target_coordinates[0],
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dev.samy,
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self.motor_y,
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self.target_coordinates[1],
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relative=False,
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)
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@ -437,10 +528,10 @@ class MotorControl(QThread):
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@staticmethod
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def _device_status_callback_motors(msg, *, parent, **_kwargs) -> None:
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deviceMSG = BECMessage.DeviceMessage.loads(msg.value)
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if parent.active_devices[0] in deviceMSG.content["signals"]:
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parent.current_x = deviceMSG.content["signals"][parent.active_devices[0]]["value"]
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elif parent.active_devices[1] in deviceMSG.content["signals"]:
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parent.current_y = deviceMSG.content["signals"][parent.active_devices[1]]["value"]
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if parent.motor_x.name in deviceMSG.content["signals"]:
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parent.current_x = deviceMSG.content["signals"][parent.motor_x.name]["value"]
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elif parent.motor_y.name in deviceMSG.content["signals"]:
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parent.current_y = deviceMSG.content["signals"][parent.motor_y.name]["value"]
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parent.coordinates_updated.emit(parent.current_x, parent.current_y)
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