feat: speed and frequency is retrieved from devices

bec_widgets/examples/motor_movement/motor_controller.ui

@@ -6,14 +6,14 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>1120</width>
+    <width>1129</width>
-    <height>547</height>
+    <height>542</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Motor Controller</string>
   </property>
-  <layout class="QHBoxLayout" name="horizontalLayout" stretch="7,1,7">
+  <layout class="QHBoxLayout" name="horizontalLayout" stretch="6,4,6">
    <item>
     <widget class="GraphicsLayoutWidget" name="glw">
      <property name="enabled">
@@ -120,13 +120,6 @@
              </property>
             </spacer>
            </item>
-           <item row="2" column="2" alignment="Qt::AlignHCenter|Qt::AlignVCenter">
-            <widget class="QSpinBox" name="spinBox_step">
-             <property name="value">
-              <number>5</number>
-             </property>
-            </widget>
-           </item>
            <item row="3" column="2" alignment="Qt::AlignHCenter|Qt::AlignVCenter">
             <widget class="QToolButton" name="toolButton_down">
              <property name="text">
@@ -196,6 +189,9 @@
              </property>
             </spacer>
            </item>
+           <item row="2" column="2">
+            <widget class="QDoubleSpinBox" name="spinBox_step"/>
+           </item>
           </layout>
          </item>
         </layout>
@@ -250,10 +246,10 @@
             </widget>
            </item>
            <item row="1" column="1">
-            <widget class="QSpinBox" name="spinBox_absolute_x"/>
+            <widget class="QDoubleSpinBox" name="spinBox_absolute_x"/>
            </item>
            <item row="1" column="2">
-            <widget class="QSpinBox" name="spinBox_absolute_y"/>
+            <widget class="QDoubleSpinBox" name="spinBox_absolute_y"/>
            </item>
           </layout>
          </item>
@@ -276,7 +272,7 @@
       <bool>true</bool>
      </property>
      <property name="currentIndex">
-      <number>0</number>
+      <number>1</number>
      </property>
      <widget class="QWidget" name="tab_coordinates">
       <attribute name="title">
@@ -326,7 +322,7 @@
       </attribute>
       <layout class="QVBoxLayout" name="verticalLayout_4">
        <item>
-        <widget class="QGroupBox" name="motorConfig">
+        <widget class="QGroupBox" name="motorLimits">
          <property name="title">
           <string>Motor Limits</string>
          </property>
@@ -356,6 +352,9 @@
           </item>
           <item row="2" column="2">
            <widget class="QSpinBox" name="spinBox_x_max">
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
             <property name="minimum">
              <number>-1000</number>
             </property>
@@ -395,6 +394,9 @@
           </item>
           <item row="2" column="0">
            <widget class="QSpinBox" name="spinBox_x_min">
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
             <property name="minimum">
              <number>-1000</number>
             </property>
@@ -442,19 +444,16 @@
        <item>
         <widget class="QGroupBox" name="groupBox_2">
          <property name="title">
-          <string>Motor config</string>
+          <string>Motor Config</string>
          </property>
          <layout class="QGridLayout" name="gridLayout_5">
-          <item row="4" column="1">
+          <item row="2" column="2">
-           <widget class="QDoubleSpinBox" name="doubleSpinBox"/>
+           <widget class="QSpinBox" name="spinBox_update_frequency_y">
-          </item>
+            <property name="alignment">
-          <item row="1" column="1">
+             <set>Qt::AlignCenter</set>
-           <widget class="QSpinBox" name="spinBox"/>
+            </property>
-          </item>
+            <property name="maximum">
-          <item row="4" column="0">
+             <number>500</number>
-           <widget class="QLabel" name="label_3">
-            <property name="text">
-             <string>Tolerance</string>
             </property>
            </widget>
           </item>
@@ -465,23 +464,23 @@
             </property>
            </widget>
           </item>
-          <item row="2" column="1">
+          <item row="4" column="0">
-           <widget class="QSpinBox" name="spinBox_2"/>
+           <widget class="QLabel" name="label_3">
-          </item>
+            <property name="enabled">
-          <item row="3" column="0">
+             <bool>false</bool>
-           <widget class="QLabel" name="label_4">
+            </property>
             <property name="text">
-             <string>Decimal Precision</string>
+             <string>Tolerance</string>
             </property>
            </widget>
           </item>
-          <item row="3" column="1">
+          <item row="0" column="2">
-           <widget class="QSpinBox" name="spinBox_3"/>
+           <widget class="QLabel" name="label_10">
-          </item>
-          <item row="0" column="1">
-           <widget class="QLabel" name="label_9">
             <property name="text">
-             <string>X</string>
+             <string>Y</string>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
             </property>
            </widget>
           </item>
@@ -492,31 +491,102 @@
             </property>
            </widget>
           </item>
-          <item row="0" column="2">
+          <item row="3" column="1">
-           <widget class="QLabel" name="label_10">
+           <widget class="QSpinBox" name="spinBox_3">
-            <property name="text">
+            <property name="enabled">
-             <string>Y</string>
+             <bool>false</bool>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
             </property>
            </widget>
           </item>
-          <item row="0" column="0">
+          <item row="3" column="0">
-           <widget class="QCheckBox" name="checkBox">
+           <widget class="QLabel" name="label_4">
+            <property name="enabled">
+             <bool>false</bool>
+            </property>
             <property name="text">
-             <string>X = Y</string>
+             <string>Decimal Precision</string>
+            </property>
+           </widget>
+          </item>
+          <item row="4" column="1">
+           <widget class="QDoubleSpinBox" name="doubleSpinBox">
+            <property name="enabled">
+             <bool>false</bool>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
             </property>
            </widget>
           </item>
           <item row="1" column="2">
-           <widget class="QSpinBox" name="spinBox_4"/>
+           <widget class="QSpinBox" name="spinBox_speed_y">
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+            <property name="maximum">
+             <number>1000</number>
+            </property>
+           </widget>
           </item>
-          <item row="2" column="2">
+          <item row="0" column="1">
-           <widget class="QSpinBox" name="spinBox_5"/>
+           <widget class="QLabel" name="label_9">
+            <property name="text">
+             <string>X</string>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+           </widget>
           </item>
           <item row="3" column="2">
-           <widget class="QSpinBox" name="spinBox_6"/>
+           <widget class="QSpinBox" name="spinBox_6">
+            <property name="enabled">
+             <bool>false</bool>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+           </widget>
           </item>
           <item row="4" column="2">
-           <widget class="QDoubleSpinBox" name="doubleSpinBox_2"/>
+           <widget class="QDoubleSpinBox" name="doubleSpinBox_2">
+            <property name="enabled">
+             <bool>false</bool>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="1">
+           <widget class="QSpinBox" name="spinBox_speed_x">
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+            <property name="maximum">
+             <number>1000</number>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="1">
+           <widget class="QSpinBox" name="spinBox_update_frequency_x">
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+            <property name="maximum">
+             <number>500</number>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="0">
+           <widget class="QPushButton" name="pushButton">
+            <property name="text">
+             <string>Update</string>
+            </property>
+           </widget>
           </item>
          </layout>
         </widget>

bec_widgets/examples/motor_movement/motor_example.py

@@ -49,6 +49,8 @@ class MotorApp(QWidget):
         self.motor_thread.motors_loaded.connect(self.get_available_motors)
         self.motor_thread.motors_selected.connect(self.get_selected_motors)
         self.motor_thread.limits_retrieved.connect(self.update_limits)
+        self.motor_thread.speed_retrieved.connect(self.update_speed)
+        self.motor_thread.update_frequency_retrieved.connect(self.update_update_frequency)
 
         # UI
         self.init_ui()
@@ -60,6 +62,8 @@ class MotorApp(QWidget):
     def connect_motor(self, motor_x_name: str, motor_y_name: str):
         self.motor_thread.connect_motors(motor_x_name, motor_y_name)
         self.motor_thread.retrieve_motor_limits(self.motor_x, self.motor_y)
+        self.motor_thread.retrieve_motor_speed(self.motor_x, self.motor_y)
+        self.motor_thread.retrieve_motor_update_frequency(self.motor_x, self.motor_y)
         self.init_motor_map()
 
         self.motorControl.setEnabled(True)
@@ -102,6 +106,20 @@ class MotorApp(QWidget):
 
         self.init_motor_map()  # reinitialize the map with the new limits
 
+    @pyqtSlot(int, int)
+    def update_speed(self, speed_x, speed_y):
+        self.spinBox_speed_x.setValue(speed_x)
+        self.spinBox_speed_y.setValue(speed_y)
+        for spinBox in (self.spinBox_speed_x, self.spinBox_speed_y):
+            spinBox.setStyleSheet("")
+
+    @pyqtSlot(int, int)
+    def update_update_frequency(self, update_frequency_x, update_frequency_y):
+        self.spinBox_update_frequency_x.setValue(update_frequency_x)
+        self.spinBox_update_frequency_y.setValue(update_frequency_y)
+        for spinBox in (self.spinBox_update_frequency_x, self.spinBox_update_frequency_y):
+            spinBox.setStyleSheet("")
+
     @pyqtSlot()
     def enable_motor_control(self):
         self.motorControl.setEnabled(True)
@@ -229,6 +247,8 @@ class MotorApp(QWidget):
         delete_shortcut.activated.connect(self.delete_selected_row)
         backspace_shortcut.activated.connect(self.delete_selected_row)
 
+        # Get speed and update frequency
+
     def init_motor_map(self):
         # Get motor limits
         limit_x_min, limit_x_max = self.motor_thread.get_motor_limits(self.motor_x)
@@ -306,8 +326,6 @@ class MotorApp(QWidget):
 
         table.setRowCount(current_row_count + 1)
 
-        # table.insertRow(current_row_count)
-
         checkBox = QtWidgets.QCheckBox()
         checkBox.setChecked(True)
         button = QtWidgets.QPushButton("Go")
@@ -363,6 +381,8 @@ class MotorActions(Enum):
 class MotorControl(QThread):
     coordinates_updated = pyqtSignal(float, float)  # Signal to emit current coordinates
     limits_retrieved = pyqtSignal(list, list)  # Signal to emit current limits
+    speed_retrieved = pyqtSignal(int, int)  # Signal to emit current speed
+    update_frequency_retrieved = pyqtSignal(int, int)  # Signal to emit current update frequency
     move_finished = pyqtSignal()  # Signal to emit when the move is finished
     motors_loaded = pyqtSignal(list, list)  # Signal to emit when the motors are loaded
     motors_selected = pyqtSignal(object, object)  # Signal to emit when the motors are selected
@@ -437,6 +457,42 @@ class MotorControl(QThread):
         """Get the limits of a motor"""
         return motor.limits
 
+    def get_motor_config(self, motor) -> dict:
+        """Get the configuration of a motor"""  # TODO at this moment just for speed and update_frequency
+        return motor.get_device_config()
+
+    def get_motor_speed(self, motor) -> float:
+        """Get the speed of a motor"""
+        return motor.speed
+
+    def set_motor_speed(self, motor, speed: float) -> None:
+        """Set the speed of a motor"""
+        motor.speed = speed
+
+    def get_motor_update_frequency(self, motor) -> float:
+        """Get the update frequency of a motor"""
+        return motor.update_frequency
+
+    def set_motor_update_frequency(self, motor, update_frequency: float) -> None:
+        """Set the update frequency of a motor"""
+        motor.update_frequency = update_frequency
+
+    def retrieve_motor_speed(
+        self, motor_x, motor_y
+    ) -> None:  # TODO can be migrated to some general config function
+        """Get the speed of a motor"""
+        speed_x = motor_x.get_device_config()["speed"]
+        speed_y = motor_y.get_device_config()["speed"]
+        self.speed_retrieved.emit(int(speed_x), int(speed_y))
+
+    def retrieve_motor_update_frequency(
+        self, motor_x, motor_y
+    ) -> None:  # TODO can be migrated to some general config function
+        """Get the speed of a motor"""
+        update_frequency_x = motor_x.get_device_config()["update_frequency"]
+        update_frequency_y = motor_y.get_device_config()["update_frequency"]
+        self.update_frequency_retrieved.emit(int(update_frequency_x), int(update_frequency_y))
+
     def retrieve_motor_limits(self, motor_x, motor_y):
         limit_x = self.get_motor_limits(motor_x)
         limit_y = self.get_motor_limits(motor_y)