From cbe27e46cfb6282c71844641e1ed6059e8fa96bf Mon Sep 17 00:00:00 2001
From: wyzula-jan <133381102+wyzula-jan@users.noreply.github.com>
Date: Mon, 21 Aug 2023 11:55:49 +0200
Subject: [PATCH] feat: motor move to absolute (X,Y) coordinates

---
 .../motor_movement/motor_controller.ui        | 37 +++++++++++++++++++
 .../examples/motor_movement/motor_example.py  | 26 +++++++++++++
 2 files changed, 63 insertions(+)

diff --git a/bec_widgets/examples/motor_movement/motor_controller.ui b/bec_widgets/examples/motor_movement/motor_controller.ui
index ffdfaa19..84979648 100644
--- a/bec_widgets/examples/motor_movement/motor_controller.ui
+++ b/bec_widgets/examples/motor_movement/motor_controller.ui
@@ -138,6 +138,43 @@
           </item>
          </layout>
         </item>
+        <item>
+         <layout class="QGridLayout" name="gridLayout_3">
+          <item row="0" column="1">
+           <widget class="QLabel" name="label_6">
+            <property name="text">
+             <string>X</string>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="2">
+           <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="1" column="0">
+           <widget class="QPushButton" name="pushButton_go_absolute">
+            <property name="text">
+             <string>Go</string>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="1">
+           <widget class="QSpinBox" name="spinBox_absolute_x"/>
+          </item>
+          <item row="1" column="2">
+           <widget class="QSpinBox" name="spinBox_absolute_y"/>
+          </item>
+         </layout>
+        </item>
         <item>
          <widget class="QPushButton" name="pushButton_stop">
           <property name="text">
diff --git a/bec_widgets/examples/motor_movement/motor_example.py b/bec_widgets/examples/motor_movement/motor_example.py
index 56afd090..64d0e93c 100644
--- a/bec_widgets/examples/motor_movement/motor_example.py
+++ b/bec_widgets/examples/motor_movement/motor_example.py
@@ -12,6 +12,7 @@ import pyqtgraph as pg
 class MotorApp(QWidget):
     motor_position = pyqtSignal(float)  # TODO hook to motor position update
     motor_update = pyqtSignal()
+    motor_position_xy = pyqtSignal(list)
 
     def __init__(self):
         super().__init__()
@@ -72,6 +73,13 @@ class MotorApp(QWidget):
         self.checkBox_enableArrows.stateChanged.connect(self.update_arrow_key_shortcuts)
         self.update_arrow_key_shortcuts()
 
+        # Move to absolute coordinates
+        self.pushButton_go_absolute.clicked.connect(
+            lambda: self.move_motor_coordinates(
+                [self.spinBox_absolute_x.value(), self.spinBox_absolute_y.value()]
+            )
+        )
+
         # SpinBoxes - Motor Limits #TODO make spinboxes own limits updated, currently is [-1000, 1000]
         # manually set limits before readout #TODO will be removed when spinboxes have own limits
         # dev.samx.low_limit = -100
@@ -100,6 +108,7 @@ class MotorApp(QWidget):
 
         # Map
         self.motor_position.connect(lambda x: self.update_image_map(*self.get_xy()))
+        self.motor_update.connect(lambda: self.update_image_map(*self.get_xy()))
 
         self.motor_position.connect(lambda x: print(f"motor position updated: {x}"))
         self.motor_update.connect(
@@ -207,6 +216,8 @@ class MotorApp(QWidget):
 
             while status.status not in ["COMPLETED", "STOPPED"]:
                 print(status.status)
+                motor_position = motor.position()
+                self.motor_position.emit(motor_position)
 
             # return status
         except Exception as e:
@@ -217,6 +228,21 @@ class MotorApp(QWidget):
         self.motor_position.emit(motor_position)
         self.motor_update.emit()
 
+    def move_motor_coordinates(self, coor: list) -> None:
+        try:
+            status = scans.mv(dev.samx, coor[0], dev.samy, coor[1], relative=False)
+
+            while status.status not in ["COMPLETED", "STOPPED"]:
+                print(status.status)
+
+        except Exception as e:
+            print(e)
+
+        # motor_position = self.get_xy()
+        # self.motor_position_xy.emit(motor_position)
+
+        self.motor_update.emit()
+
     def get_xy(self):  # TODO decide if useful
         """Get current motor position"""
         x = dev.samx.position()