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rework motor tweak

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This commit is contained in:
zamofing_t
2022-08-19 09:51:21 +02:00
parent 9e72b681a4
commit 3ef576f690
5 changed files with 108 additions and 73 deletions
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72
epics_widgets/MotorTweak.py
View File

@@ -43,10 +43,12 @@ class MotorTweak(QWidget, Ui_MotorTweak):
def connect_motor(self, motor_base, short_name=None, **kwargs):
# TODO: DO NOT USE Motor base class, but reduce to the only really needed PV: s.a. class QopticZoom(object)
# TODO: have a own motor Class as class SimMotor:
m = Motor(motor_base)
m.get_position()
self._ignore_limits = m.HLM == m.LLM # if both high/low limits are equal they are meaningless
self.motor = m
self._motor = m
if not short_name:
short_name = m.description
self.short_name = short_name
@@ -73,8 +75,8 @@ class MotorTweak(QWidget, Ui_MotorTweak):
# self.jog_forward.released.connect(lambda: self.jog('forward', False))
# self.jog_reverse.released.connect(lambda: self.jog('reverse', False))
self.tweak_forward.clicked.connect(lambda m: self.motor.tweak('forward'))
self.tweak_reverse.clicked.connect(lambda m: self.motor.tweak('reverse'))
self.tweak_forward.clicked.connect(lambda x: m.tweak('forward'))
self.tweak_reverse.clicked.connect(lambda x: m.tweak('reverse'))
self.bind_wheel()
@@ -101,7 +103,7 @@ class MotorTweak(QWidget, Ui_MotorTweak):
def set_motor_validator(self, **kwargs):
m = self.motor
m = self._motor
lineedit = self._drive_val
min, max = m.PV('LLM').get(), m.PV('HLM').get()
if min == max:
@@ -111,18 +113,35 @@ class MotorTweak(QWidget, Ui_MotorTweak):
def move_relative(self, dist):
self.motor.move(dist, ignore_limits=True, relative=True)
try:
self._val+=dist
except AttributeError:
pass
self._motor.move(dist, ignore_limits=True, relative=True)
def is_done(self):
self.motor.refresh()
return 1 == self.motor.done_moving
m=self._motor
m.refresh()
return 1 == m.done_moving
def get_position(self):
return self.motor.get_position(readback=True)
def get_rbv(self):
#return self._motor.get('RBV')
m=self._motor
return m.get_position(readback=True)
def get_val(self):
#return self._motor.get('VAL')
try:
v=self._val
except AttributeError:
m=self._motor
self._val=v=m.get('VAL')
return v
def is_homed(self):
self.motor.refresh()
status = DeltatauMotorStatus(self.motor.motor_status)
m=self._motor
m.refresh()
status = DeltatauMotorStatus(m.motor_status)
return bool(DeltatauMotorStatus.MOTOR_HAS_BEEN_HOMED & status)
def move_motor_to_position(self, drive=None, wait=False, assert_position=False):
@@ -130,9 +149,14 @@ class MotorTweak(QWidget, Ui_MotorTweak):
drive = float(self._drive_val.text())
if assert_position:
wait=True
self.motor.move(drive, wait=wait, ignore_limits=True, relative=False)
try:
self._val=drive
except AttributeError:
pass
m=self._motor
m.move(drive, wait=wait, ignore_limits=True, relative=False)
if assert_position:
assert_motor_positions([(self.motor, drive, 0.1)], timeout=1)
assert_motor_positions([(m, drive, 0.1)], timeout=1)
def emit_signals(self, **kw):
'''
@@ -191,7 +215,7 @@ class MotorTweak(QWidget, Ui_MotorTweak):
self.event_axis_fault.emit(self._pvname, kw)
def update_label(self, **kwargs):
m = self.motor
m = self._motor
self.label.setText(self._templates[self._label_style].format(rbv=m.readback))
self.jog_forward.setToolTip('jog forward at {:.3f} {}/s'.format(m.jog_speed, m.units))
self.jog_reverse.setToolTip('jog reverse at {:.3f} {}/s'.format(m.jog_speed, m.units))
@@ -199,7 +223,7 @@ class MotorTweak(QWidget, Ui_MotorTweak):
self.tweak_reverse.setToolTip('tweak reverse by {:.3f} {}'.format(m.tweak_val, m.units))
def update_jog_speed(self, event):
m = self.motor
m = self._motor
speed = m.jog_speed
sign = math.copysign(1, event.angleDelta().y())
m.jog_speed = speed + (sign * 0.1 * speed)
@@ -207,7 +231,7 @@ class MotorTweak(QWidget, Ui_MotorTweak):
self.jog_reverse.setToolTip('jog reverse at {:.3f} {}/s'.format(m.jog_speed, m.units))
def tweak_event(self, event):
m = self.motor
m = self._motor
sign = event.angleDelta().y()
if sign < 0:
m.tweak_reverse = 1
@@ -219,14 +243,14 @@ class MotorTweak(QWidget, Ui_MotorTweak):
self.tweak_reverse.wheelEvent = self.tweak_event
def jog(self, direction, enable):
m = self.motor
m = self._motor
if 'forw' in direction:
m.jog_forward = int(enable)
else:
m.jog_reverse = int(enable)
def contextMenuEvent(self, event):
m = self.motor
m = self._motor
menu = QMenu(self)
menu.setTitle(self.short_name)
@@ -267,7 +291,7 @@ class MotorTweak(QWidget, Ui_MotorTweak):
prec, ok = QInputDialog.getInt(self, msg, msg, prec, 0, 10)
_log.debug('prec after (%d) %d', ok, prec)
if ok:
self.motor.put('PREC', prec, wait=True)
m.put('PREC', prec, wait=True)
elif action == changejogspeedAction:
name = m.NAME
@@ -275,7 +299,7 @@ class MotorTweak(QWidget, Ui_MotorTweak):
msg = 'Jog speed for motor {}'.format(name)
speed, ok = QInputDialog.getDouble(self, msg, msg, speed, 0.01, m.slew_speed, m.precision)
if ok:
self.motor.put('JVEL', speed, wait=True)
m.put('JVEL', speed, wait=True)
elif action == changetweakstepAction:
name = m.NAME
@@ -283,13 +307,13 @@ class MotorTweak(QWidget, Ui_MotorTweak):
msg = 'Tweak step for motor {} at {} {}'.format(name, tv, m.units)
tv, ok = QInputDialog.getDouble(self, msg, msg, tv, pow(10, -m.precision), m.slew_speed, m.precision)
if ok:
self.motor.put('TWV', tv, wait=True)
m.put('TWV', tv, wait=True)
elif action == tozeroAction:
m.move(0.0, ignore_limits=True)
elif action == stopmotorAction:
self.motor.stop_go = SPMG_STOP if m.stop_go == SPMG_GO else SPMG_GO
m.stop_go = SPMG_STOP if m.stop_go == SPMG_GO else SPMG_GO
elif action == autolabelsAction:
self._auto_labels = not self._auto_labels
@@ -315,7 +339,7 @@ class MotorTweak(QWidget, Ui_MotorTweak):
self.update_label()
def update_label_template(self):
m = self.motor
m = self._motor
source = self._templates_source
target = self._templates
@@ -340,7 +364,7 @@ class MotorTweak(QWidget, Ui_MotorTweak):
qp.end()
def _draw_limits(self, qp):
m = self.motor
m = self._motor
width, height = self.size().width(), self.size().height()
pad = 5
rounding = 2

63
epics_widgets/SimMotorTweak.py
View File

@@ -58,9 +58,9 @@ class SimMotorTweak(QWidget, Ui_MotorTweak):
def connect_motor(self, rec_name, short_name=None, *args, **kwargs):
self.label.setToolTip('{} => {}'.format(rec_name, short_name))
self.motor=SimMotor(rec_name, short_name)
self._motor=m=SimMotor(rec_name, short_name)
self.set_motor_validator()
self._drive_val.setText(str(self.motor._pos))
self._drive_val.setText(str(m._pos))
self._drive_val.returnPressed.connect(self.move_motor_to_position)
self.jog_forward.hide()
@@ -68,7 +68,7 @@ class SimMotorTweak(QWidget, Ui_MotorTweak):
tweak_min = kwargs.get("tweak_min", 0.0001)
tweak_max = kwargs.get("tweak_max", 20.0)
self._tweak_val.setText(str(self.motor._twv))
self._tweak_val.setText(str(m._twv))
self._tweak_val.setValidator(QDoubleValidator(tweak_min, tweak_max, 4, self._tweak_val))
#self._tweak_val.editingFinished.connect(lambda m=self._pv_tweak_val: m.put(self._tweak_val.text()))
self.tweak_forward.clicked.connect(lambda m: self.move_relative(float(self._tweak_val.text())))
@@ -93,8 +93,9 @@ class SimMotorTweak(QWidget, Ui_MotorTweak):
def set_motor_validator(self, **kwargs):
m=self._motor
lineedit = self._drive_val
min, max = self.motor._llm, self.motor._hlm
min, max = m._llm, m._hlm
if min == max:
min = -1e6
max = 1e6
@@ -102,15 +103,19 @@ class SimMotorTweak(QWidget, Ui_MotorTweak):
def move_relative(self, dist, delay=None):
self.motor._pos += dist
m=self._motor
m._pos += dist
if delay:
sleep(delay)
_log.debug('{} rel move => {}'.format(self.motor._short_name, dist))
_log.debug('{} rel move => {}'.format(m._short_name, dist))
self.update_label()
self.emit_signals(source_field='VAL')
def get_position(self):
return self.motor._pos
def get_rbv(self):
return self._motor._pos
def get_val(self):
return self._motor._pos
def is_homed(self):
return True
@@ -140,32 +145,34 @@ class SimMotorTweak(QWidget, Ui_MotorTweak):
return True # in (0, 3)
def move_motor_to_position(self, drive=None, wait=False, assert_position=False):
m=self._motor
if assert_position:
wait=True
if drive is None:
_log.debug('{} abs target from widget'.format(self.motor._short_name))
_log.debug('{} abs target from widget'.format(m._short_name))
drive = float(self._drive_val.text())
_log.debug('{} abs move => {}'.format(self.motor._short_name, drive))
self.motor._pos=drive
_log.debug('{} abs move => {}'.format(m._short_name, drive))
m._pos=drive
self.update_label()
self.emit_signals(source_field='VAL')
def emit_signals(self, **kw):
m=self._motor
field = kw['source_field']
if field == 'VAL':
self.event_val.emit(self.motor._rec_name, kw)
self.event_val.emit(m._rec_name, kw)
elif field == 'RBV':
self.event_readback.emit(self.motor._rec_name, kw)
self.event_readback.emit(m._rec_name, kw)
elif field == 'LVIO':
self.event_soft_limit.emit(self.motor._rec_name, kw)
self.event_soft_limit.emit(m._rec_name, kw)
elif field == 'HLS':
self.event_high_hard_limit.emit(self.motor._rec_name, kw)
self.event_axis_fault.emit(self.motor._rec_name, kw)
self.event_high_hard_limit.emit(m._rec_name, kw)
self.event_axis_fault.emit(m._rec_name, kw)
elif field == 'LVIO':
self.event_low_hard_limit.emit(self.motor._rec_name, kw)
self.event_axis_fault.emit(self.motor._rec_name, kw)
self.event_low_hard_limit.emit(m._rec_name, kw)
self.event_axis_fault.emit(m._rec_name, kw)
elif field == 'STAT':
self.event_axis_fault.emit(self.motor._rec_name, kw)
self.event_axis_fault.emit(m._rec_name, kw)
def set_val_on_status_change(self, **kw):
@@ -194,11 +201,12 @@ class SimMotorTweak(QWidget, Ui_MotorTweak):
self._drive_val.setText(v)
def update_label(self, **kwargs):
self.label.setText(self._templates[self._label_style].format(rbv=self.motor._pos))
self._drive_val.setText(f'{self.motor._pos:.3f}')
m=self._motor
self.label.setText(self._templates[self._label_style].format(rbv=m._pos))
self._drive_val.setText(f'{m._pos:.3f}')
twv=float(self._tweak_val.text())
self.tweak_forward.setToolTip('tweak forward by {:.3f} {}'.format(twv, self.motor._units))
self.tweak_reverse.setToolTip('tweak reverse by {:.3f} {}'.format(twv, self.motor._units))
self.tweak_forward.setToolTip('tweak forward by {:.3f} {}'.format(twv, m._units))
self.tweak_reverse.setToolTip('tweak reverse by {:.3f} {}'.format(twv, m._units))
def tweak_event(self, event):
sign = event.angleDelta().y()
@@ -278,15 +286,16 @@ class SimMotorTweak(QWidget, Ui_MotorTweak):
pass
def update_label_template(self):
m=self._motor
source = self._templates_source
target = self._templates
for k in source:
target[k] = source[k].format(
short_name=self.motor._short_name,
precision=self.motor._prec,
units=self.motor._units)
self.label.setText(target[self._label_style].format(rbv=self.motor._pos))
short_name=m._short_name,
precision=m._prec,
units=m._units)
self.label.setText(target[self._label_style].format(rbv=m._pos))
def paintEvent(self, e):
qp = QPainter()

3
epics_widgets/SmaractMotorTweak.py
View File

@@ -46,6 +46,7 @@ class SmaractMotorTweak(QWidget, Ui_MotorTweak):
def connect_motor(self, motor_base, short_name=None, *args, **kwargs):
# TODO: DO NOT USE so many PVs, but reduce to the only really needed PV: s.a. class QopticZoom(object)
self._pvname = motor_base+':DRIVE'
self._pv_name = PV(motor_base+':NAME')
self._pv_drive = PV(motor_base+':DRIVE')
@@ -126,7 +127,7 @@ class SmaractMotorTweak(QWidget, Ui_MotorTweak):
sleep(delay)
self._pv_drive.put(target)
def get_position(self):
def get_rbv(self):
return self._pv_readback.get(use_monitor=False)
def is_homed(self):

30
swissmx.py
View File

@@ -290,7 +290,7 @@ class Main(QMainWindow, Ui_MainWindow):
self.prepare_microscope_page()
self.prepare_embl_gui()
self.prepare_left_tabs()
#self.update_beam_marker(qoptic_zoom.get_position()) #ZAC: orig. code
#self.update_beam_marker(qoptic_zoom.get_sp()) #ZAC: orig. code
self._centerpiece_stack.setCurrentIndex(0)
self._centerpiece_stack.currentChanged.connect(self.center_piece_update)
self.init_validators()
@@ -300,7 +300,7 @@ class Main(QMainWindow, Ui_MainWindow):
self.create_helical_widgets() #ZAC: orig. code
self.center_piece_update(0) # start camera updater
curzoom = app._zoom.get_sp()
curzoom = app._zoom.get_val()
_log.debug(f"starting app with zoom at {curzoom}")
self.zoom_changed_cb(curzoom)
self._tabs_daq_methods.currentChanged.connect(self.switch_task)
@@ -973,9 +973,9 @@ class Main(QMainWindow, Ui_MainWindow):
app = QApplication.instance()
self._tab_daq_method_embl.setLayout(QVBoxLayout())
layout = self._tab_daq_method_embl.layout()
motors = self.get_gonio_motors()
#motors = self.get_gonio_motors()
self._embl_module = EmblWidget(self) #ZAC: orig. code
self._embl_module.configure(motors, app._camera, app._zoom)
#self._embl_module.configure(motors, app._camera, app._zoom)
layout.addWidget(self._embl_module)
def prepare_microscope_page(self):
@@ -1074,12 +1074,12 @@ class Main(QMainWindow, Ui_MainWindow):
# state = (zoom, fx, fy) (created at first call of self.track_objects() )
app=QApplication.instance()
geo=app._geometry
zoom = app._zoom.get_sp()
zoom = app._zoom.get_val()
fast_x=self.tweakers["fast_x"];fast_y=self.tweakers["fast_y"]
# TODO: get_position() is delayed as it is the RBV. do same as for the zoom
# TODO: and return the last set_point
fx=fast_x.get_position()
fy=fast_y.get_position()
fx=fast_x.get_val()
fy=fast_y.get_val()
try:
tracked=self._goTracked
zoom_old,fx_old,fy_old=tracked['state']
@@ -1176,7 +1176,7 @@ class Main(QMainWindow, Ui_MainWindow):
self._mouse_pos = pos
task = self.active_task()
xy = self._goImg.mapFromScene(pos)
z = app._zoom.get_sp()
z = app._zoom.get_val()
#_log.debug('mouse_pos:{} scene_pos:{} zoom:{}'.format(pos,xy,z))
#TODO: implement mouse handling
# if self._ppm_toolbox._force_ppm > 0:
@@ -1217,7 +1217,7 @@ class Main(QMainWindow, Ui_MainWindow):
def mouse_click_event_geometry_calib(self, event):
app=QApplication.instance()
zoom = app._zoom.get()
zoom = app._zoom.get_val()
fast_x=self.tweakers["fast_x"];fast_y=self.tweakers["fast_y"]
if self._btn_pix2pos.isChecked():
try:
@@ -1225,8 +1225,8 @@ class Main(QMainWindow, Ui_MainWindow):
except KeyError as e:
raw=app._raw_pix2pos[zoom]=list()
imgPos=self._goImg.mapFromScene(event.scenePos())
fx=fast_x.get_position();
fy=fast_y.get_position()
fx=fast_x.get_rbv();
fy=fast_y.get_rbv()
x=imgPos.x();y=imgPos.y()
_log.debug('append calib: zoom:{} stage_x_y:{}/{} cam_pix_x_y:{}/{}'.format(zoom, fx, fy, x, y))
raw.append((fx, fy, x, y))
@@ -1321,7 +1321,7 @@ class Main(QMainWindow, Ui_MainWindow):
event.ignore()
return
pos = event.scenePos()
zoom_level = app._zoom.get()
zoom_level = app._zoom.get_val()
_log.debug(" zoom {}".format(zoom_level))
try:
@@ -1440,7 +1440,7 @@ class Main(QMainWindow, Ui_MainWindow):
def get_beam_mark_on_camera_xy(self):
app=QApplication.instance()
z = app._zoom.get()
z = app._zoom.get_val()
try:
bx = self.beamx_fitter(z)
by = self.beamy_fitter(z)
@@ -2125,8 +2125,8 @@ class Main(QMainWindow, Ui_MainWindow):
def daq_grid_add_grid(self, gx=None, gy=None):
grid_index = len(self._grids)
if gx in (False, None):
gx=self.tweakers["fast_x"].get_position()
gy=self.tweakers["fast_y"].get_position()
gx=self.tweakers["fast_x"].get_rbv()
gy=self.tweakers["fast_y"].get_rbv()
xstep = self._sb_grid_x_step.value()
ystep = self._sb_grid_y_step.value()
xoffset = self._sb_grid_x_offset.value()

13
zoom.py
View File

@@ -70,7 +70,7 @@ class Zoom(QGroupBox, Ui_Zoom):
buttons=((1, "1"), (200, "200"), (400, "400"), (600, "600"), (800, "800"), (1000, "1000"),)
zoom=QApplication.instance()._zoom
current_zoom_value = zoom.get_rb()
current_zoom_value = zoom.get_val()
# zoom widgets
layout = QVBoxLayout()
@@ -306,21 +306,22 @@ class QopticZoom(object):
self._pv[name]=pv
return pv
def get_rb(self) -> int:
# get_rb somtimes lags. therefore get_sp will get the last set_point without usage of pvs
def get_rbv(self) -> int:
# get_rbv lags. therefore get_val is often the better choicewill get the last set_point without usage of pvs
# default do not get the RBV, because this might be delayed
try:
pv = self.getPv('POS_RB') #default do not get the RBV, because this might be delayed
pv = self.getPv('POS_RB')
except AttributeError:
val=self._val; _log.debug('simulated mode:{}'.format(val))
return val
else:
return pv.get()
def get_sp(self) -> int:
def get_val(self) -> int:
try:
val=self._val
except AttributeError:
pv=self.getPv('POS_RB') # default do not get the RBV, because this might be delayed
pv=self.getPv('POS_SP')
self._val=val=pv.get()
return val