356 lines
13 KiB
Python
356 lines
13 KiB
Python
import math
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import logging
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from time import sleep
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from PyQt5.QtCore import Qt, pyqtSignal
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from PyQt5.QtGui import QPainter, QBrush, QColor, QPainterPath, QPen, QDoubleValidator
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from PyQt5.QtWidgets import QMenu, QInputDialog, QAction
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from PyQt5.uic import loadUiType
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from epics import Motor
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from epics.ca import pend_event
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from app_utils import DeltatauMotorStatus, assert_motor_positions
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Ui_MotorTweak, QWidget = loadUiType('epics_widgets/MotorTweak.ui')
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logger = logging.getLogger(__name__)
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logger.setLevel(logging.INFO)
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SPMG_STOP = 0
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SPMG_PAUSE = 1
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SPMG_MOVE = 2
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SPMG_GO = 3
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class MotorTweak(QWidget, Ui_MotorTweak):
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event_val = pyqtSignal(str, dict)
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event_readback = pyqtSignal(str, float, dict)
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event_soft_limit = pyqtSignal(str, dict)
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event_high_hard_limit = pyqtSignal(str, dict)
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event_low_hard_limit = pyqtSignal(str, dict)
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event_axis_fault = pyqtSignal(str, dict)
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def __init__(self, parent=None):
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super(MotorTweak, self).__init__(parent=parent)
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self.setupUi(self)
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self._wheel_tweaks = True
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self._auto_labels = True
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self._locked = False
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self._label_style = 'basic'
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self._templates_source = {
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'basic': '<b>{short_name}</b> <font color="#080">{{rbv:.{precision}f}} {units}</font>',
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'small': '<small>{short_name} <font size="small" color="#080">{{rbv:.{precision}f}} {units}</font><small>',
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'2 lines': '<b>{short_name}</b><br><font size="small" color="#080">{{rbv:.{precision}f}} {units}</font>',
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'busy': '<b>{short_name}</b> <font color="#080">{{rbv:.{precision}f}} {units}</font>'
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}
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self._templates = {}
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def connect_motor(self, motor_base, short_name=None, **kwargs):
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m = Motor(motor_base)
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m.get_position()
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self._ignore_limits = m.HLM == m.LLM # if both high/low limits are equal they are meaningless
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self.motor = m
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if not short_name:
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short_name = m.description
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self.short_name = short_name
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self._pvname = motor_base
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for attr in ['RTYP', 'JVEL', 'HLS', 'LLS', 'TWV', 'RBV', 'VAL', 'LVIO', 'HLM', 'LLM']:
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# logger.debug('connecting to field {}'.format(attr))
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m.PV(attr, connect=True)
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self.set_motor_validator()
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self._drive_val.setText(m.get('VAL', as_string=True))
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self._drive_val.returnPressed.connect(self.move_motor_to_position)
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tweak_min = kwargs.get("tweak_min", 0.0001)
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tweak_max = kwargs.get("tweak_max", 10.0)
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self._tweak_val.setText(m.get('TWV', as_string=True))
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self._tweak_val.setValidator(QDoubleValidator(tweak_min, tweak_max, 4, self._tweak_val))
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self._tweak_val.editingFinished.connect(lambda m=m: m.PV('TWV').put(self._tweak_val.text()))
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self.jog_reverse.hide()
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self.jog_forward.hide()
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# self.jog_forward.pressed.connect(lambda: self.jog('forward', True))
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# self.jog_reverse.pressed.connect(lambda: self.jog('reverse', True))
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# self.jog_forward.released.connect(lambda: self.jog('forward', False))
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# self.jog_reverse.released.connect(lambda: self.jog('reverse', False))
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self.tweak_forward.clicked.connect(lambda m: self.motor.tweak('forward'))
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self.tweak_reverse.clicked.connect(lambda m: self.motor.tweak('reverse'))
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self.bind_wheel()
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self.update_label_template()
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m.add_callback('VAL', self.set_val)
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m.add_callback('RBV', self.update_label)
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m.set_callback('HLS', self.update_label)
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m.set_callback('LLS', self.update_label)
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m.set_callback('VAL', self.emit_signals, {'source_field': 'VAL'})
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m.set_callback('RBV', self.emit_signals, {'source_field': 'RBV'})
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m.set_callback('HLS', self.emit_signals, {'source_field': 'HLS'})
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m.set_callback('LLS', self.emit_signals, {'source_field': 'LLS'})
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m.set_callback('LVIO', self.emit_signals, {'source_field': 'LVIO'})
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m.set_callback('STAT', self.emit_signals, {'source_field': 'STAT'})
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m.set_callback('HLM', self.set_motor_validator)
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def set_val(self, **kw):
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v = kw['char_value']
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logger.debug('updating VAL = {}'.format(v))
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self._drive_val.setText(v)
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def set_motor_validator(self, **kwargs):
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m = self.motor
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lineedit = self._drive_val
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min, max = m.PV('LLM').get(), m.PV('HLM').get()
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if min == max:
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min = -1e6
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max = 1e6
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lineedit.setValidator(QDoubleValidator(min, max, m.PV('PREC').get(), lineedit))
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def move_relative(self, dist):
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self.motor.move(dist, ignore_limits=True, relative=True)
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def is_done(self):
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self.motor.refresh()
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return 1 == self.motor.done_moving
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def get_position(self):
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return self.motor.get_position(readback=True)
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def is_homed(self):
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self.motor.refresh()
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status = DeltatauMotorStatus(self.motor.motor_status)
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return bool(DeltatauMotorStatus.MOTOR_HAS_BEEN_HOMED & status)
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def move_motor_to_position(self, drive=None, wait=False, assert_position=False):
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if drive is None:
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drive = float(self._drive_val.text())
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if assert_position:
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wait=True
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self.motor.move(drive, wait=wait, ignore_limits=True, relative=False)
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if assert_position:
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assert_motor_positions([(self.motor, drive, 0.1)], timeout=1)
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def emit_signals(self, **kw):
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'''
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:param kw: info about the channel {
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'access': 'read-only',
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'char_value': '-0.105',
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'chid': 36984304,
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'count': 1,
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'enum_strs': None,
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'ftype': 20,
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'host': 'SAR-CPPM-EXPMX1.psi.ch:5064',
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'lower_alarm_limit': None,
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'lower_ctrl_limit': 0.0,
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'lower_disp_limit': 0.0,
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'lower_warning_limit': None,
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'motor_field': 'RBV',
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'nelm': 1,
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'precision': 3,
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'pvname': 'SAR-EXPMX:MOT_ROT_Y.RBV',
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'read_access': True,
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'severity': 0,
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'source_field': 'RBV',
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'status': 0,
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'timestamp': 1522314072.878331,
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'type': 'time_double',
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'typefull': 'time_double',
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'units': b'deg',
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'upper_alarm_limit': None,
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'upper_ctrl_limit': 0.0,
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'upper_disp_limit': 0.0,
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'upper_warning_limit': None,
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'value': -0.105,
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'write_access': False}
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:return:
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'''
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field = kw['motor_field']
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src = kw['source_field']
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kw['alias'] = self.short_name
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if field != src:
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return
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if field == 'VAL':
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self.event_val.emit(self._pvname, kw)
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elif field == 'RBV':
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self.event_readback.emit(kw['alias'], kw['value'], kw)
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elif field == 'LVIO':
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self.event_soft_limit.emit(self._pvname, kw)
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elif field == 'HLS':
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self.event_high_hard_limit.emit(self._pvname, kw)
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self.event_axis_fault.emit(self._pvname, kw)
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elif field == 'LVIO':
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self.event_low_hard_limit.emit(self._pvname, kw)
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self.event_axis_fault.emit(self._pvname, kw)
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elif field == 'STAT':
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self.event_axis_fault.emit(self._pvname, kw)
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def update_label(self, **kwargs):
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m = self.motor
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self.label.setText(self._templates[self._label_style].format(rbv=m.readback))
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self.jog_forward.setToolTip('jog forward at {:.3f} {}/s'.format(m.jog_speed, m.units))
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self.jog_reverse.setToolTip('jog reverse at {:.3f} {}/s'.format(m.jog_speed, m.units))
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self.tweak_forward.setToolTip('tweak forward by {:.3f} {}'.format(m.tweak_val, m.units))
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self.tweak_reverse.setToolTip('tweak reverse by {:.3f} {}'.format(m.tweak_val, m.units))
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def update_jog_speed(self, event):
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m = self.motor
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speed = m.jog_speed
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sign = math.copysign(1, event.angleDelta().y())
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m.jog_speed = speed + (sign * 0.1 * speed)
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self.jog_forward.setToolTip('jog forward at {:.3f} {}/s'.format(m.jog_speed, m.units))
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self.jog_reverse.setToolTip('jog reverse at {:.3f} {}/s'.format(m.jog_speed, m.units))
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def tweak_event(self, event):
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m = self.motor
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sign = event.angleDelta().y()
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if sign < 0:
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m.tweak_reverse = 1
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else:
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m.tweak_forward = 1
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def bind_wheel(self):
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self.tweak_forward.wheelEvent = self.tweak_event
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self.tweak_reverse.wheelEvent = self.tweak_event
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def jog(self, direction, enable):
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m = self.motor
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if 'forw' in direction:
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m.jog_forward = int(enable)
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else:
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m.jog_reverse = int(enable)
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def contextMenuEvent(self, event):
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m = self.motor
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menu = QMenu(self)
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menu.setTitle(self.short_name)
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lockmotor = QAction('lock motor', menu, checkable=True)
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lockmotor.setChecked(self._locked)
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menu.addAction(lockmotor)
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autolabelsAction = QAction('auto', menu, checkable=True)
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autolabelsAction.setChecked(self._auto_labels)
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menu.addAction(autolabelsAction)
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wheel_tweaks = QAction('Mouse wheel tweaks motor', menu, checkable=True)
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wheel_tweaks.setChecked(self._wheel_tweaks)
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menu.addAction(wheel_tweaks)
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stopmotorAction = QAction('Stopped', menu, checkable=True)
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stopmotorAction.setChecked(SPMG_STOP == m.stop_go)
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menu.addAction(stopmotorAction)
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changeprecAction = menu.addAction("Change Precision")
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changejogspeedAction = menu.addAction("Jog speed {:.3f} {}/s".format(m.jog_speed, m.units))
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changetweakstepAction = menu.addAction("Tweak step {:.3f} {}".format(m.tweak_val, m.units))
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tozeroAction = menu.addAction("move to Zero")
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action = menu.exec_(self.mapToGlobal(event.pos()))
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if action == lockmotor:
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self._locked = not self._locked
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if self._locked:
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self._controlbox.setDisabled(True)
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else:
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self._controlbox.setDisabled(False)
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elif action == changeprecAction:
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name = m.NAME
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prec = m.PREC
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msg = 'Precision for motor {}'.format(name)
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logger.debug('prec before %d', prec)
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prec, ok = QInputDialog.getInt(self, msg, msg, prec, 0, 10)
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logger.debug('prec after (%d) %d', ok, prec)
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if ok:
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self.motor.put('PREC', prec, wait=True)
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elif action == changejogspeedAction:
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name = m.NAME
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speed = m.jog_speed
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msg = 'Jog speed for motor {}'.format(name)
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speed, ok = QInputDialog.getDouble(self, msg, msg, speed, 0.01, m.slew_speed, m.precision)
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if ok:
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self.motor.put('JVEL', speed, wait=True)
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elif action == changetweakstepAction:
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name = m.NAME
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tv = m.tweak_val
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msg = 'Tweak step for motor {} at {} {}'.format(name, tv, m.units)
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tv, ok = QInputDialog.getDouble(self, msg, msg, tv, pow(10, -m.precision), m.slew_speed, m.precision)
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if ok:
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self.motor.put('TWV', tv, wait=True)
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elif action == tozeroAction:
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m.move(0.0, ignore_limits=True)
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elif action == stopmotorAction:
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self.motor.stop_go = SPMG_STOP if m.stop_go == SPMG_GO else SPMG_GO
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elif action == autolabelsAction:
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self._auto_labels = not self._auto_labels
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elif action == wheel_tweaks:
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self._wheel_tweaks = not self._wheel_tweaks
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self.bind_wheel()
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self.update_label_template()
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def resizeEvent(self, event):
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return # FIXME disable for the time being
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if not self._auto_labels:
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return
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w, h = event.size().width(), event.size().height()
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if w < 400:
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self.jog_reverse.hide()
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self.jog_forward.hide()
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else:
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self.jog_reverse.show()
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self.jog_forward.show()
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self.update_label()
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def update_label_template(self):
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m = self.motor
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source = self._templates_source
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target = self._templates
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for k in source:
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target[k] = source[k].format(
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short_name=self.short_name,
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precision=m.PREC,
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units=m.units)
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self.label.setText(target[self._label_style].format(rbv=m.readback))
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def paintEvent(self, e):
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qp = QPainter()
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qp.begin(self)
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qp.setRenderHint(QPainter.Antialiasing)
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self._draw_limits(qp)
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qp.end()
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def _draw_limits(self, qp):
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m = self.motor
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width, height = self.size().width(), self.size().height()
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pad = 5
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rounding = 2
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size = 10
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if m.HLS:
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x, y, w, h = width - size, pad, size, height - 2 * pad
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elif m.LLS:
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x, y, w, h = 0, pad, size, height - 2 * pad
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else:
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return
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color = QColor('indianred')
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qp.setBrush(QBrush(color, Qt.SolidPattern))
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qp.setPen(QPen(color))
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path = QPainterPath()
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path.setFillRule(Qt.WindingFill)
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path.addRoundedRect(x, y, w, h, rounding, rounding)
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qp.drawPath(path)
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