mirror of
https://github.com/bec-project/bec_widgets.git
synced 2025-07-13 19:21:50 +02:00
feat: speed and frequency is retrieved from devices
This commit is contained in:
wyzula-jan
@ -6,14 +6,14 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<width>1120</width>
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<height>547</height>
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<width>1129</width>
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<height>542</height>
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</rect>
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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="7,1,7">
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<layout class="QHBoxLayout" name="horizontalLayout" stretch="6,4,6">
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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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@ -120,13 +120,6 @@
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</property>
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</spacer>
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</item>
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<item row="2" column="2" alignment="Qt::AlignHCenter|Qt::AlignVCenter">
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<widget class="QSpinBox" name="spinBox_step">
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<property name="value">
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<number>5</number>
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</property>
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</widget>
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</item>
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<item row="3" column="2" alignment="Qt::AlignHCenter|Qt::AlignVCenter">
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<widget class="QToolButton" name="toolButton_down">
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<property name="text">
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@ -196,6 +189,9 @@
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</property>
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</spacer>
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</item>
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<item row="2" column="2">
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<widget class="QDoubleSpinBox" name="spinBox_step"/>
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</item>
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</layout>
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</item>
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</layout>
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@ -250,10 +246,10 @@
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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="QSpinBox" name="spinBox_absolute_x"/>
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<widget class="QDoubleSpinBox" name="spinBox_absolute_x"/>
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</item>
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<item row="1" column="2">
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<widget class="QSpinBox" name="spinBox_absolute_y"/>
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<widget class="QDoubleSpinBox" name="spinBox_absolute_y"/>
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</item>
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</layout>
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</item>
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@ -276,7 +272,7 @@
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<bool>true</bool>
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</property>
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<property name="currentIndex">
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<number>0</number>
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<number>1</number>
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</property>
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<widget class="QWidget" name="tab_coordinates">
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<attribute name="title">
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@ -326,7 +322,7 @@
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</attribute>
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<layout class="QVBoxLayout" name="verticalLayout_4">
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<item>
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<widget class="QGroupBox" name="motorConfig">
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<widget class="QGroupBox" name="motorLimits">
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<property name="title">
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<string>Motor Limits</string>
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</property>
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@ -356,6 +352,9 @@
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</item>
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<item row="2" column="2">
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<widget class="QSpinBox" name="spinBox_x_max">
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<property name="alignment">
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<set>Qt::AlignCenter</set>
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</property>
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<property name="minimum">
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<number>-1000</number>
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</property>
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@ -395,6 +394,9 @@
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</item>
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<item row="2" column="0">
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<widget class="QSpinBox" name="spinBox_x_min">
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<property name="alignment">
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<set>Qt::AlignCenter</set>
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</property>
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<property name="minimum">
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<number>-1000</number>
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</property>
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@ -442,19 +444,16 @@
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<item>
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<widget class="QGroupBox" name="groupBox_2">
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<property name="title">
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<string>Motor config</string>
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<string>Motor Config</string>
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</property>
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<layout class="QGridLayout" name="gridLayout_5">
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<item row="4" column="1">
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<widget class="QDoubleSpinBox" name="doubleSpinBox"/>
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</item>
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<item row="1" column="1">
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<widget class="QSpinBox" name="spinBox"/>
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</item>
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<item row="4" column="0">
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<widget class="QLabel" name="label_3">
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<property name="text">
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<string>Tolerance</string>
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<item row="2" column="2">
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<widget class="QSpinBox" name="spinBox_update_frequency_y">
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<property name="alignment">
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<set>Qt::AlignCenter</set>
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</property>
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<property name="maximum">
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<number>500</number>
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</property>
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</widget>
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</item>
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@ -465,23 +464,23 @@
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QSpinBox" name="spinBox_2"/>
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</item>
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<item row="3" column="0">
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<widget class="QLabel" name="label_4">
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<item row="4" column="0">
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<widget class="QLabel" name="label_3">
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<property name="enabled">
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<bool>false</bool>
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</property>
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<property name="text">
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<string>Decimal Precision</string>
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<string>Tolerance</string>
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</property>
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</widget>
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</item>
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<item row="3" column="1">
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<widget class="QSpinBox" name="spinBox_3"/>
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</item>
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<item row="0" column="1">
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<widget class="QLabel" name="label_9">
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<item row="0" column="2">
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<widget class="QLabel" name="label_10">
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<property name="text">
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<string>X</string>
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<string>Y</string>
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</property>
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<property name="alignment">
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<set>Qt::AlignCenter</set>
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</property>
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</widget>
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</item>
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@ -492,31 +491,102 @@
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</property>
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</widget>
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</item>
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<item row="0" column="2">
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<widget class="QLabel" name="label_10">
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<property name="text">
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<string>Y</string>
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<item row="3" column="1">
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<widget class="QSpinBox" name="spinBox_3">
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<property name="enabled">
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<bool>false</bool>
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</property>
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<property name="alignment">
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<set>Qt::AlignCenter</set>
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</property>
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</widget>
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</item>
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<item row="0" column="0">
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<widget class="QCheckBox" name="checkBox">
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<item row="3" column="0">
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<widget class="QLabel" name="label_4">
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<property name="enabled">
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<bool>false</bool>
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</property>
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<property name="text">
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<string>X = Y</string>
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<string>Decimal Precision</string>
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</property>
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</widget>
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</item>
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<item row="4" column="1">
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<widget class="QDoubleSpinBox" name="doubleSpinBox">
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<property name="enabled">
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<bool>false</bool>
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</property>
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<property name="alignment">
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<set>Qt::AlignCenter</set>
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</property>
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</widget>
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</item>
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<item row="1" column="2">
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<widget class="QSpinBox" name="spinBox_4"/>
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<widget class="QSpinBox" name="spinBox_speed_y">
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<property name="alignment">
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<set>Qt::AlignCenter</set>
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</property>
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<property name="maximum">
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<number>1000</number>
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</property>
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</widget>
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</item>
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<item row="2" column="2">
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<widget class="QSpinBox" name="spinBox_5"/>
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<item row="0" column="1">
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<widget class="QLabel" name="label_9">
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<property name="text">
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<string>X</string>
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</property>
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<property name="alignment">
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<set>Qt::AlignCenter</set>
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</property>
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</widget>
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</item>
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<item row="3" column="2">
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<widget class="QSpinBox" name="spinBox_6"/>
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<widget class="QSpinBox" name="spinBox_6">
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<property name="enabled">
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<bool>false</bool>
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</property>
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<property name="alignment">
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<set>Qt::AlignCenter</set>
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</property>
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</widget>
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</item>
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<item row="4" column="2">
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<widget class="QDoubleSpinBox" name="doubleSpinBox_2"/>
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<widget class="QDoubleSpinBox" name="doubleSpinBox_2">
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<property name="enabled">
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<bool>false</bool>
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</property>
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<property name="alignment">
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<set>Qt::AlignCenter</set>
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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="QSpinBox" name="spinBox_speed_x">
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<property name="alignment">
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<set>Qt::AlignCenter</set>
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</property>
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<property name="maximum">
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<number>1000</number>
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QSpinBox" name="spinBox_update_frequency_x">
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<property name="alignment">
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<set>Qt::AlignCenter</set>
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</property>
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<property name="maximum">
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<number>500</number>
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</property>
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</widget>
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</item>
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<item row="0" column="0">
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<widget class="QPushButton" name="pushButton">
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<property name="text">
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<string>Update</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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@ -49,6 +49,8 @@ class MotorApp(QWidget):
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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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self.motor_thread.speed_retrieved.connect(self.update_speed)
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self.motor_thread.update_frequency_retrieved.connect(self.update_update_frequency)
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# UI
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self.init_ui()
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@ -60,6 +62,8 @@ class MotorApp(QWidget):
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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.motor_thread.retrieve_motor_speed(self.motor_x, self.motor_y)
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self.motor_thread.retrieve_motor_update_frequency(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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@ -102,6 +106,20 @@ class MotorApp(QWidget):
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self.init_motor_map() # reinitialize the map with the new limits
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@pyqtSlot(int, int)
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def update_speed(self, speed_x, speed_y):
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self.spinBox_speed_x.setValue(speed_x)
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self.spinBox_speed_y.setValue(speed_y)
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for spinBox in (self.spinBox_speed_x, self.spinBox_speed_y):
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spinBox.setStyleSheet("")
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@pyqtSlot(int, int)
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def update_update_frequency(self, update_frequency_x, update_frequency_y):
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self.spinBox_update_frequency_x.setValue(update_frequency_x)
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self.spinBox_update_frequency_y.setValue(update_frequency_y)
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for spinBox in (self.spinBox_update_frequency_x, self.spinBox_update_frequency_y):
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spinBox.setStyleSheet("")
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@pyqtSlot()
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def enable_motor_control(self):
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self.motorControl.setEnabled(True)
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@ -229,6 +247,8 @@ class MotorApp(QWidget):
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delete_shortcut.activated.connect(self.delete_selected_row)
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backspace_shortcut.activated.connect(self.delete_selected_row)
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# Get speed and update frequency
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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(self.motor_x)
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@ -306,8 +326,6 @@ class MotorApp(QWidget):
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table.setRowCount(current_row_count + 1)
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# table.insertRow(current_row_count)
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checkBox = QtWidgets.QCheckBox()
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checkBox.setChecked(True)
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button = QtWidgets.QPushButton("Go")
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@ -363,6 +381,8 @@ class MotorActions(Enum):
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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
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speed_retrieved = pyqtSignal(int, int) # Signal to emit current speed
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update_frequency_retrieved = pyqtSignal(int, int) # Signal to emit current update frequency
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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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@ -437,6 +457,42 @@ class MotorControl(QThread):
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"""Get the limits of a motor"""
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return motor.limits
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def get_motor_config(self, motor) -> dict:
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"""Get the configuration of a motor""" # TODO at this moment just for speed and update_frequency
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return motor.get_device_config()
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def get_motor_speed(self, motor) -> float:
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"""Get the speed of a motor"""
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return motor.speed
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def set_motor_speed(self, motor, speed: float) -> None:
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"""Set the speed of a motor"""
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motor.speed = speed
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def get_motor_update_frequency(self, motor) -> float:
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"""Get the update frequency of a motor"""
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return motor.update_frequency
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def set_motor_update_frequency(self, motor, update_frequency: float) -> None:
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"""Set the update frequency of a motor"""
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motor.update_frequency = update_frequency
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def retrieve_motor_speed(
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self, motor_x, motor_y
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) -> None: # TODO can be migrated to some general config function
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"""Get the speed of a motor"""
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speed_x = motor_x.get_device_config()["speed"]
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speed_y = motor_y.get_device_config()["speed"]
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self.speed_retrieved.emit(int(speed_x), int(speed_y))
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def retrieve_motor_update_frequency(
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self, motor_x, motor_y
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) -> None: # TODO can be migrated to some general config function
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"""Get the speed of a motor"""
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update_frequency_x = motor_x.get_device_config()["update_frequency"]
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update_frequency_y = motor_y.get_device_config()["update_frequency"]
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self.update_frequency_retrieved.emit(int(update_frequency_x), int(update_frequency_y))
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def retrieve_motor_limits(self, motor_x, motor_y):
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limit_x = self.get_motor_limits(motor_x)
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limit_y = self.get_motor_limits(motor_y)
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