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Merge branch 'master' of github.com:anderssandstrom/ecmc_plugin_motion

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This commit is contained in:
sandst_a
2023-08-16 14:27:55 +02:00
parent 9baf4364ef 3f122134d3
commit b094397ec8
2 changed files with 130 additions and 35 deletions
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24
ecmc_plugin_motion/src/ecmcMotionPlg.cpp
View File

@@ -894,9 +894,9 @@ asynStatus ecmcMotionPlg::writeInt32(asynUser *pasynUser, epicsInt32 value) {
setEnable(value > 0);
return asynSuccess;
} else if( function == asynAxisId_){
return setAxis(value) ? asynSuccess : asynError;
return setAxis(value) > 0 ? asynSuccess : asynError;
} else if( function == asynModeId_){
return setMode((TRIGG_MODE)value) ? asynSuccess : asynError;
return setMode((TRIGG_MODE)value) > 0 ? asynSuccess : asynError;
} else if( function == asynModeId_){
return setTrigg(value) ? asynSuccess :asynError;
}
@@ -909,6 +909,9 @@ asynStatus ecmcMotionPlg::readInt32(asynUser *pasynUser, epicsInt32 *value) {
if( function == asynEnableId_ ) {
*value = cfgEnable_;
return asynSuccess;
} else if( function == asynAxisId_){
*value = cfgAxisIndex_;
return asynSuccess;
} else if( function == asynTriggId_ ){
*value = triggOnce_;
return asynSuccess;
@@ -949,16 +952,25 @@ asynStatus ecmcMotionPlg::readFloat64(asynUser *pasynUser, epicsFloat64 *value)
int ecmcMotionPlg::setAxis(int axisId) {
ecmcAxisBase *temp= (ecmcAxisBase*) getAxisPointer(axisId);
if(!temp) {
printf("Warning selected axis index out of range.\n");
return ECMC_PLUGIN_MOTION_ERROR_AXIS_OUT_OF_RANGE;
printf("Warning selected axis index out of range.\n");
//set old value again
setParamAlarmStatus(asynAxisId_,1);
setParamAlarmSeverity(asynAxisId_,1);
setIntegerParam(asynAxisId_, (epicsInt32)cfgAxisIndex_);
callParamCallbacks();
return ECMC_PLUGIN_MOTION_ERROR_AXIS_OUT_OF_RANGE;
}
epicsMutexLock(axisMutex_);
clearBuffers();
axis_ = temp;
cfgAxisIndex_ = axisId;
epicsMutexUnlock(axisMutex_);
setParamAlarmStatus(asynAxisId_,0);
setParamAlarmSeverity(asynAxisId_,0);
setIntegerParam(asynAxisId_, (epicsInt32)cfgAxisIndex_);
callParamCallbacks();
return 0;
}

141
tools/ecmcMotionMainPyQtGraph.py
View File

@@ -20,14 +20,8 @@ from PyQt5 import QtWidgets
from PyQt5.QtCore import *
from PyQt5.QtGui import *
import numpy as np
#import matplotlib
#matplotlib.use("Qt5Agg")
#from matplotlib.figure import Figure
#from matplotlib.animation import TimedAnimation
#from matplotlib.lines import Line2D
#from matplotlib.backends.backend_qt5agg import FigureCanvasQTAgg as FigureCanvas
#from matplotlib.backends.backend_qt5agg import NavigationToolbar2QT as NavigationToolbar
#import matplotlib.pyplot as plt
import time
import pyqtgraph as pg
import threading
@@ -70,6 +64,13 @@ pvBinary = ['Ena-Arr',
'EncSrc-Arr',
'AtTrg-Arr']
# MCU info PVs
pvAxisCompleteNamePart1 ='MCU-Cfg-AX'
pvAxisCompleteNamePart2 ='-PfxNam'
pvFistAxisIndexName = 'MCU-Cfg-AX-FrstObjId'
pvNextAxisIndexNamePart1 = 'MCU-Cfg-AX'
pvNextAxisIndexNamePart2 = '-NxtObjId'
pvmiddlestring='Plg-Mtn'
class comSignal(QObject):
@@ -86,6 +87,7 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
self.datalength = {}
self.plottedLineAnalog = {}
self.plottedLineBinary = {}
self.axisList = []
for pv in pvAnalog:
self.plottedLineAnalog[pv] = None
@@ -174,6 +176,7 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
self.graphicsLayoutWidget.setBackground('w')
self.plotItemAnalog = self.graphicsLayoutWidget.addPlot(row=0,col=0)
self.plotItemBinary = self.graphicsLayoutWidget.addPlot(row=1,col=0)
self.plotItemBinary.setFixedHeight(150)
self.plotItemBinary.setMouseEnabled(y=False)
self.plotItemBinary.setLabel('bottom', 'Time [s]')
self.pauseBtn = QPushButton(text = 'pause')
@@ -208,8 +211,12 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
self.progressBar.setFixedHeight(20)
# Fix layout
self.setGeometry(300, 300, 900, 700)
layoutHor = QHBoxLayout()
self.setGeometry(300, 300, 1200, 900)
frameMainLeft = QFrame(self)
#frameHorMainLeft.setLayout(layoutHorMain)
layoutVertMain = QVBoxLayout()
# Bottom button section
@@ -243,7 +250,7 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
framePlotsSelectionUpper = QFrame(self)
layoutVertPlotsSelection.setSpacing(0)
layoutVertPlotsSelectionUpper = QVBoxLayout()
anaSelectLabel=QLabel('Analog:')
anaSelectLabel = QLabel('Analog:')
layoutVertPlotsSelectionUpper.addWidget(anaSelectLabel)
self.checkBoxListAnalog={}
@@ -252,6 +259,7 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
self.checkBoxListAnalog[pv].setChecked(True)
self.checkBoxListAnalog[pv].setStyleSheet("color: " + self.checkboxColor[pv])
layoutVertPlotsSelectionUpper.addWidget(self.checkBoxListAnalog[pv])
self.checkBoxListAnalog[pv].toggled.connect(self.checkBoxStateChangedAnalog)
layoutVertPlotsSelectionUpper.addSpacing(200)
@@ -269,9 +277,12 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
self.checkBoxListBinary[pv].setChecked(True)
self.checkBoxListBinary[pv].setStyleSheet("color: " + self.checkboxColor[pv])
layoutVertPlotsSelectionLower.addWidget(self.checkBoxListBinary[pv])
self.checkBoxListBinary[pv].toggled.connect(self.checkBoxStateChangedBinary)
framePlotsSelectionLower.setLayout(layoutVertPlotsSelectionLower)
layoutVertPlotsSelectionLower.addSpacing(200)
layoutVertPlotsSelection.addSpacing(200)
layoutVertPlotsSelection.addWidget(framePlotsSelectionLower)
framePlotsSelection.setLayout(layoutVertPlotsSelection)
@@ -280,8 +291,31 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
layoutVertMain.addWidget(framePlots)
layoutVertMain.addWidget(frameControl)
layoutVertMain.addWidget(self.progressBar)
self.setLayout(layoutVertMain)
frameMainLeft.setLayout(layoutVertMain)
frameMotion = QFrame(self)
layoutMotionGrid = QGridLayout()
frameMotion.setLayout(layoutMotionGrid)
btn = QPushButton(text = 'Test')
btn.setFixedSize(100, 50)
layoutMotionGrid.addWidget(btn,0,0)
label = QLabel('Axis id:')
self.cmbBxSelectAxis = QComboBox()
self.cmbBxSelectAxis.currentIndexChanged.connect(self.changeAxisIndex)
layoutMotionGrid.addWidget(label,1,0)
layoutMotionGrid.addWidget(self.cmbBxSelectAxis,1,1)
layoutVertMain.addWidget(frameMotion)
layoutMain = QHBoxLayout()
layoutMain.addWidget(frameMainLeft)
layoutMain.addWidget(frameMotion)
self.setLayout(layoutMain)
def setStatusOfWidgets(self):
self.saveBtn.setEnabled(self.allowSave)
@@ -324,20 +358,28 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
if self.data['Mde-RB'] is None:
print("pvs['Mde-RB'].get() failed")
return
# Mode
self.modeStr = "NO_MODE"
self.triggBtn.setEnabled(False) # Only enable if mode = TRIGG = 2
if self.data['Mde-RB'] == 1:
self.modeStr = "CONT"
self.modeCombo.setCurrentIndex(self.data['Mde-RB']-1) # Index starta t zero
self.modeCombo.setCurrentIndex(self.data['Mde-RB']-1) # Index start at zero
if self.data['Mde-RB'] == 2:
self.modeStr = "TRIGG"
self.triggBtn.setEnabled(True)
self.modeCombo.setCurrentIndex(self.data['Mde-RB']-1) # Index starta t zero
self.modeCombo.setCurrentIndex(self.data['Mde-RB']-1) # Index start at zero
#if self.data['AxCmd-RB'] is not None:
# self.cmbBxSelectAxis.setValue(int(self.data['AxCmd-RB']))
#else:
# self.cmbBxSelectAxis.setValue(1)
self.setWindowTitle("ecmc Mtn Main plot: prefix=" + self.pvPrefixStr + " , mtnId=" + str(self.mtnPluginId) +
", rate=" + str(self.sampleRate))
", rate=" + str(self.sampleRate))
self.readAxisList()
def addData(self, pvName, values):
# Check if first assignment
@@ -525,7 +567,21 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
self.data['Stat'] = value
def sig_cb_AxCmd_RB(self,value):
self.data['AxCmd-RB'] = value
if value is None:
return
print('Axis Id Value: ' + str(value))
self.data['AxCmd-RB'] = value
i = 0
for ax in self.axisList:
if ax==value:
self.cmbBxSelectAxis.setCurrentIndex(i)
i+=1
name = self.pvPrefixStr + pvAxisCompleteNamePart1 + str(int(value)) + pvAxisCompleteNamePart2
namePV = epics.PV(name)
newName = namePV.get()
if newName is not None:
print('PV name of axis:' + newName)
def sig_cb_SmpHz_RB(self,value):
self.data['SmpHz-RB'] = value
@@ -544,15 +600,42 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
self.data['EnaCmd-RB'] = value
return
# def callbackFuncBuffIdAct(self, value):
# if self.NMtn is None:
# return
# if(self.NMtn>0):
# self.progressBar.setValue(value/self.NMtn*100)
# if value/self.NMtn*100 < 80 and value/self.NMtn*100 >1:
# self.MtnYDataValid = False
# self.RawYDataValid = False
# return
# State chenge for Analog checkboxes
def checkBoxStateChangedAnalog(self, int):
# refresh plots
self.plotAnalog()
# State chenge for Binary checkboxes
def checkBoxStateChangedBinary(self, int):
# refresh plots
self.plotBinary()
def readAxisList(self):
axIdPV = epics.PV(self.pvPrefixStr + pvFistAxisIndexName)
axId = axIdPV.get()
if axId is None:
print('ERROR: First Axis Index PV not found.')
return
self.axisList.append(axId)
print('First Axis Index:' + str(axId))
while axId >= 0:
# Get next axis id
pvName = self.pvPrefixStr + pvNextAxisIndexNamePart1 + str(int(axId)) + pvNextAxisIndexNamePart2
print('axislist pvname: ' + pvName)
axIdPV = epics.PV(pvName)
axId = axIdPV.get()
if axId > 0:
self.axisList.append(axId)
self.cmbBxSelectAxis.clear()
for ax in self.axisList:
self.cmbBxSelectAxis.addItem(str(int(ax)))
def changeAxisIndex(self,xxx):
self.pvs['AxCmd-RB'].put(self.cmbBxSelectAxis.currentData(), use_complete=True)
###### Widget callbacks
def pauseBtnAction(self):