bec-widgets 0.53.2__py3-none-any.whl → 0.54.0__py3-none-any.whl

bec_widgets/widgets/motor_control/motor_table/motor_table.py

@@ -0,0 +1,483 @@
+# pylint: disable = no-name-in-module,missing-module-docstring
+import os
+
+from qtpy import uic
+from qtpy.QtCore import Qt
+from qtpy.QtCore import Signal as pyqtSignal
+from qtpy.QtCore import Slot as pyqtSlot
+from qtpy.QtGui import QDoubleValidator, QKeySequence
+from qtpy.QtWidgets import (
+    QCheckBox,
+    QLineEdit,
+    QMessageBox,
+    QPushButton,
+    QShortcut,
+    QTableWidget,
+    QTableWidgetItem,
+)
+
+from bec_widgets.widgets.motor_control.motor_control import MotorControlWidget
+
+
+class MotorCoordinateTable(MotorControlWidget):
+    """
+    Widget to save coordinates from motor, display them in the table and move back to them.
+    There are two modes of operation:
+        - Individual: Each row is a single coordinate.
+        - Start/Stop: Each pair of rows is a start and end coordinate.
+    Signals:
+        plot_coordinates_signal (pyqtSignal(list, str, str)): Signal to plot the coordinates in the MotorMap.
+    Slots:
+        add_coordinate (pyqtSlot(tuple)): Slot to add a coordinate to the table.
+        mode_switch (pyqtSlot): Slot to switch between individual and start/stop mode.
+    """
+
+    plot_coordinates_signal = pyqtSignal(list, str, str)
+
+    def _load_ui(self):
+        """Load the UI for the coordinate table."""
+        current_path = os.path.dirname(__file__)
+        uic.loadUi(os.path.join(current_path, "motor_table.ui"), self)
+
+    def _init_ui(self):
+        """Initialize the UI"""
+        # Setup table behaviour
+        self._setup_table()
+        self.table.setSelectionBehavior(QTableWidget.SelectRows)
+
+        # for tag columns default tag
+        self.tag_counter = 1
+
+        # Connect signals and slots
+        self.checkBox_resize_auto.stateChanged.connect(self.resize_table_auto)
+        self.comboBox_mode.currentIndexChanged.connect(self.mode_switch)
+
+        # Keyboard shortcuts for deleting a row
+        self.delete_shortcut = QShortcut(QKeySequence(Qt.Key_Delete), self.table)
+        self.delete_shortcut.activated.connect(self.delete_selected_row)
+        self.backspace_shortcut = QShortcut(QKeySequence(Qt.Key_Backspace), self.table)
+        self.backspace_shortcut.activated.connect(self.delete_selected_row)
+
+        # Warning message for mode switch enable/disable
+        self.warning_message = True
+
+    @pyqtSlot(dict)
+    def on_config_update(self, config: dict) -> None:
+        """
+        Update config dict
+        Args:
+            config(dict): New config dict
+        """
+        self.config = config
+
+        # Get motor names
+        self.motor_x, self.motor_y = (
+            self.config["motor_control"]["motor_x"],
+            self.config["motor_control"]["motor_y"],
+        )
+
+        # Decimal precision of the table coordinates
+        self.precision = self.config["motor_control"].get("precision", 3)
+
+        # Mode switch default option
+        self.mode = self.config["motor_control"].get("mode", "Individual")
+
+        # Set combobox to default mode
+        self.comboBox_mode.setCurrentText(self.mode)
+
+        self._init_ui()
+
+    def _setup_table(self):
+        """Setup the table with appropriate headers and configurations."""
+        mode = self.comboBox_mode.currentText()
+
+        if mode == "Individual":
+            self._setup_individual_mode()
+        elif mode == "Start/Stop":
+            self._setup_start_stop_mode()
+            self.start_stop_counter = 0  # TODO: remove this??
+
+        self.wipe_motor_map_coordinates()
+
+    def _setup_individual_mode(self):
+        """Setup the table for individual mode."""
+        self.table.setColumnCount(5)
+        self.table.setHorizontalHeaderLabels(["Show", "Move", "Tag", "X", "Y"])
+        self.table.verticalHeader().setVisible(False)
+
+    def _setup_start_stop_mode(self):
+        """Setup the table for start/stop mode."""
+        self.table.setColumnCount(8)
+        self.table.setHorizontalHeaderLabels(
+            [
+                "Show",
+                "Move [start]",
+                "Move [end]",
+                "Tag",
+                "X [start]",
+                "Y [start]",
+                "X [end]",
+                "Y [end]",
+            ]
+        )
+        self.table.verticalHeader().setVisible(False)
+        # Set flag to track if the coordinate is stat or the end of the entry
+        self.is_next_entry_end = False
+
+    def mode_switch(self):
+        """Switch between individual and start/stop mode."""
+        last_selected_index = self.comboBox_mode.currentIndex()
+
+        if self.table.rowCount() > 0 and self.warning_message is True:
+            msgBox = QMessageBox()
+            msgBox.setIcon(QMessageBox.Critical)
+            msgBox.setText(
+                "Switching modes will delete all table entries. Do you want to continue?"
+            )
+            msgBox.setStandardButtons(QMessageBox.Ok | QMessageBox.Cancel)
+            returnValue = msgBox.exec()
+
+            if returnValue is QMessageBox.Cancel:
+                self.comboBox_mode.blockSignals(True)  # Block signals
+                self.comboBox_mode.setCurrentIndex(last_selected_index)
+                self.comboBox_mode.blockSignals(False)  # Unblock signals
+                return
+
+        # Wipe table
+        self.wipe_motor_map_coordinates()
+
+        # Initiate new table with new mode
+        self._setup_table()
+
+    @pyqtSlot(tuple)
+    def add_coordinate(self, coordinates: tuple):
+        """
+        Add a coordinate to the table.
+        Args:
+            coordinates(tuple): Coordinates (x,y) to add to the table.
+        """
+        tag = f"Pos {self.tag_counter}"
+        self.tag_counter += 1
+        x, y = coordinates
+        self._add_row(tag, x, y)
+
+    def _add_row(self, tag: str, x: float, y: float) -> None:
+        """
+        Add a row to the table.
+        Args:
+            tag(str): Tag of the coordinate.
+            x(float): X coordinate.
+            y(float): Y coordinate.
+        """
+
+        mode = self.comboBox_mode.currentText()
+        if mode == "Individual":
+            checkbox_pos = 0
+            button_pos = 1
+            tag_pos = 2
+            x_pos = 3
+            y_pos = 4
+            coordinate_reference = "Individual"
+            color = "green"
+
+            # Add new row -> new entry
+            row_count = self.table.rowCount()
+            self.table.insertRow(row_count)
+
+            # Add Widgets
+            self._add_widgets(
+                tag,
+                x,
+                y,
+                row_count,
+                checkbox_pos,
+                tag_pos,
+                button_pos,
+                x_pos,
+                y_pos,
+                coordinate_reference,
+                color,
+            )
+
+        if mode == "Start/Stop":
+            # These positions are always fixed
+            checkbox_pos = 0
+            tag_pos = 3
+
+            if self.is_next_entry_end is False:  # It is the start position of the entry
+                print("Start position")
+                button_pos = 1
+                x_pos = 4
+                y_pos = 5
+                coordinate_reference = "Start"
+                color = "blue"
+
+                # Add new row -> new entry
+                row_count = self.table.rowCount()
+                self.table.insertRow(row_count)
+
+                # Add Widgets
+                self._add_widgets(
+                    tag,
+                    x,
+                    y,
+                    row_count,
+                    checkbox_pos,
+                    tag_pos,
+                    button_pos,
+                    x_pos,
+                    y_pos,
+                    coordinate_reference,
+                    color,
+                )
+
+                # Next entry will be the end of the current entry
+                self.is_next_entry_end = True
+
+            elif self.is_next_entry_end is True:  # It is the end position of the entry
+                print("End position")
+                row_count = self.table.rowCount() - 1  # Current row
+                button_pos = 2
+                x_pos = 6
+                y_pos = 7
+                coordinate_reference = "Stop"
+                color = "red"
+
+                # Add Widgets
+                self._add_widgets(
+                    tag,
+                    x,
+                    y,
+                    row_count,
+                    checkbox_pos,
+                    tag_pos,
+                    button_pos,
+                    x_pos,
+                    y_pos,
+                    coordinate_reference,
+                    color,
+                )
+                self.is_next_entry_end = False  # Next entry will be the start of the new entry
+
+        # Auto table resize
+        self.resize_table_auto()
+
+    def _add_widgets(
+        self,
+        tag: str,
+        x: float,
+        y: float,
+        row: int,
+        checkBox_pos: int,
+        tag_pos: int,
+        button_pos: int,
+        x_pos: int,
+        y_pos: int,
+        coordinate_reference: str,
+        color: str,
+    ) -> None:
+        """
+        Add widgets to the table.
+        Args:
+            tag(str): Tag of the coordinate.
+            x(float): X coordinate.
+            y(float): Y coordinate.
+            row(int): Row of the QTableWidget where to add the widgets.
+            checkBox_pos(int): Column where to put CheckBox.
+            tag_pos(int): Column where to put Tag.
+            button_pos(int): Column where to put Move button.
+            x_pos(int): Column where to link x coordinate.
+            y_pos(int): Column where to link y coordinate.
+            coordinate_reference(str): Reference to the coordinate for MotorMap.
+            color(str): Color of the coordinate for MotorMap.
+        """
+        # Add widgets
+        self._add_checkbox(row, checkBox_pos, x_pos, y_pos)
+        self._add_move_button(row, button_pos, x_pos, y_pos)
+        self.table.setItem(row, tag_pos, QTableWidgetItem(tag))
+        self._add_line_edit(x, row, x_pos, x_pos, y_pos, coordinate_reference, color)
+        self._add_line_edit(y, row, y_pos, x_pos, y_pos, coordinate_reference, color)
+
+        # # Emit the coordinates to be plotted
+        self.emit_plot_coordinates(x_pos, y_pos, coordinate_reference, color)
+
+        # Connect item edit to emit coordinates
+        self.table.itemChanged.connect(
+            lambda: print(f"item changed from {coordinate_reference} slot \n {x}-{y}-{color}")
+        )
+        self.table.itemChanged.connect(
+            lambda: self.emit_plot_coordinates(x_pos, y_pos, coordinate_reference, color)
+        )
+
+    def _add_checkbox(self, row: int, checkBox_pos: int, x_pos: int, y_pos: int):
+        """
+        Add a checkbox to the table.
+        Args:
+            row(int): Row of QTableWidget where to add the checkbox.
+            checkBox_pos(int): Column where to put CheckBox.
+            x_pos(int): Column where to link x coordinate.
+            y_pos(int): Column where to link y coordinate.
+        """
+        show_checkbox = QCheckBox()
+        show_checkbox.setChecked(True)
+        show_checkbox.stateChanged.connect(lambda: self.emit_plot_coordinates(x_pos, y_pos))
+        self.table.setCellWidget(row, checkBox_pos, show_checkbox)
+
+    def _add_move_button(self, row: int, button_pos: int, x_pos: int, y_pos: int) -> None:
+        """
+        Add a move button to the table.
+        Args:
+            row(int): Row of QTableWidget where to add the move button.
+            button_pos(int): Column where to put move button.
+            x_pos(int): Column where to link x coordinate.
+            y_pos(int): Column where to link y coordinate.
+        """
+        move_button = QPushButton("Move")
+        move_button.clicked.connect(lambda: self.handle_move_button_click(x_pos, y_pos))
+        self.table.setCellWidget(row, button_pos, move_button)
+
+    def _add_line_edit(
+        self,
+        value: float,
+        row: int,
+        line_pos: int,
+        x_pos: int,
+        y_pos: int,
+        coordinate_reference: str,
+        color: str,
+    ) -> None:
+        """
+        Add a QLineEdit to the table.
+        Args:
+            value(float): Initial value of the QLineEdit.
+            row(int): Row of QTableWidget where to add the QLineEdit.
+            line_pos(int): Column where to put QLineEdit.
+            x_pos(int): Column where to link x coordinate.
+            y_pos(int): Column where to link y coordinate.
+            coordinate_reference(str): Reference to the coordinate for MotorMap.
+            color(str): Color of the coordinate for MotorMap.
+        """
+        # Adding validator
+        validator = QDoubleValidator()
+        validator.setDecimals(self.precision)
+
+        # Create line edit
+        edit = QLineEdit(str(f"{value:.{self.precision}f}"))
+        edit.setValidator(validator)
+        edit.setAlignment(Qt.AlignmentFlag.AlignCenter)
+
+        # Add line edit to the table
+        self.table.setCellWidget(row, line_pos, edit)
+        edit.textChanged.connect(
+            lambda: self.emit_plot_coordinates(x_pos, y_pos, coordinate_reference, color)
+        )
+
+    def wipe_motor_map_coordinates(self):
+        """Wipe the motor map coordinates."""
+        try:
+            self.table.itemChanged.disconnect()  # Disconnect all previous connections
+        except TypeError:
+            print("No previous connections to disconnect")
+        self.table.setRowCount(0)
+        reference_tags = ["Individual", "Start", "Stop"]
+        for reference_tag in reference_tags:
+            self.plot_coordinates_signal.emit([], reference_tag, "green")
+
+    def handle_move_button_click(self, x_pos: int, y_pos: int) -> None:
+        """
+        Handle the move button click.
+        Args:
+            x_pos(int): X position of the coordinate.
+            y_pos(int): Y position of the coordinate.
+        """
+        button = self.sender()
+        row = self.table.indexAt(button.pos()).row()
+
+        x = self.get_coordinate(row, x_pos)
+        y = self.get_coordinate(row, y_pos)
+        self.move_motor(x, y)
+
+    def emit_plot_coordinates(self, x_pos: float, y_pos: float, reference_tag: str, color: str):
+        """
+        Emit the coordinates to be plotted.
+        Args:
+            x_pos(float): X position of the coordinate.
+            y_pos(float): Y position of the coordinate.
+            reference_tag(str): Reference tag of the coordinate.
+            color(str): Color of the coordinate.
+        """
+        print(
+            f"Emitting plot coordinates: x_pos={x_pos}, y_pos={y_pos}, reference_tag={reference_tag}, color={color}"
+        )
+        coordinates = []
+        for row in range(self.table.rowCount()):
+            show = self.table.cellWidget(row, 0).isChecked()
+            x = self.get_coordinate(row, x_pos)
+            y = self.get_coordinate(row, y_pos)
+
+            coordinates.append((x, y, show))  # (x, y, show_flag)
+        self.plot_coordinates_signal.emit(coordinates, reference_tag, color)
+
+    def get_coordinate(self, row: int, column: int) -> float:
+        """
+        Helper function to get the coordinate from the table QLineEdit cells.
+        Args:
+            row(int): Row of the table.
+            column(int): Column of the table.
+        Returns:
+            float: Value of the coordinate.
+        """
+        edit = self.table.cellWidget(row, column)
+        value = float(edit.text()) if edit and edit.text() != "" else None
+        if value:
+            return value
+
+    def delete_selected_row(self):
+        """Delete the selected row from the table."""
+        selected_rows = self.table.selectionModel().selectedRows()
+        for row in selected_rows:
+            self.table.removeRow(row.row())
+        if self.comboBox_mode.currentText() == "Start/Stop":
+            self.emit_plot_coordinates(x_pos=4, y_pos=5, reference_tag="Start", color="blue")
+            self.emit_plot_coordinates(x_pos=6, y_pos=7, reference_tag="Stop", color="red")
+            self.is_next_entry_end = False
+        elif self.comboBox_mode.currentText() == "Individual":
+            self.emit_plot_coordinates(x_pos=3, y_pos=4, reference_tag="Individual", color="green")
+
+    def resize_table_auto(self):
+        """Resize the table to fit the contents."""
+        if self.checkBox_resize_auto.isChecked():
+            self.table.resizeColumnsToContents()
+
+    def move_motor(self, x: float, y: float) -> None:
+        """
+        Move the motor to the target coordinates.
+        Args:
+            x(float): Target x coordinate.
+            y(float): Target y coordinate.
+        """
+        self.motor_thread.move_absolute(self.motor_x, self.motor_y, (x, y))
+
+    @pyqtSlot(str, str)
+    def change_motors(self, motor_x: str, motor_y: str) -> None:
+        """
+        Change the active motors and update config.
+        Can be connected to the selected_motors_signal from MotorControlSelection.
+        Args:
+            motor_x(str): New motor X to be controlled.
+            motor_y(str): New motor Y to be controlled.
+        """
+        self.motor_x = motor_x
+        self.motor_y = motor_y
+        self.config["motor_control"]["motor_x"] = motor_x
+        self.config["motor_control"]["motor_y"] = motor_y
+
+    @pyqtSlot(int)
+    def set_precision(self, precision: int) -> None:
+        """
+        Set the precision of the coordinates.
+        Args:
+            precision(int): Precision of the coordinates.
+        """
+        self.precision = precision
+        self.config["motor_control"]["precision"] = precision

bec_widgets/widgets/motor_control/movement_absolute/movement_absolute.py

@@ -0,0 +1,157 @@
+import os
+
+from qtpy import uic
+from qtpy.QtCore import Signal as pyqtSignal
+from qtpy.QtCore import Slot as pyqtSlot
+
+from bec_widgets.widgets.motor_control.motor_control import MotorControlWidget
+
+
+class MotorControlAbsolute(MotorControlWidget):
+    """
+    Widget for controlling the motors to absolute coordinates.
+
+    Signals:
+        coordinates_signal (pyqtSignal(tuple)): Signal to emit the coordinates.
+    Slots:
+        change_motors (pyqtSlot): Slot to change the active motors.
+        enable_motor_controls (pyqtSlot(bool)): Slot to enable/disable the motor controls.
+    """
+
+    coordinates_signal = pyqtSignal(tuple)
+
+    def _load_ui(self):
+        """Load the UI from the .ui file."""
+        current_path = os.path.dirname(__file__)
+        uic.loadUi(os.path.join(current_path, "movement_absolute.ui"), self)
+
+    def _init_ui(self):
+        """Initialize the UI."""
+
+        # Check if there are any motors connected
+        if self.motor_x is None or self.motor_y is None:
+            self.motorControl_absolute.setEnabled(False)
+            return
+
+        # Move to absolute coordinates
+        self.pushButton_go_absolute.clicked.connect(
+            lambda: self.move_motor_absolute(
+                self.spinBox_absolute_x.value(), self.spinBox_absolute_y.value()
+            )
+        )
+
+        self.pushButton_set.clicked.connect(self.save_absolute_coordinates)
+        self.pushButton_save.clicked.connect(self.save_current_coordinates)
+        self.pushButton_stop.clicked.connect(self.motor_thread.stop_movement)
+
+        # Enable/Disable GUI
+        self.motor_thread.lock_gui.connect(self.enable_motor_controls)
+
+        # Error messages
+        self.motor_thread.motor_error.connect(
+            lambda error: MotorControlErrors.display_error_message(error)
+        )
+
+        # Keyboard shortcuts
+        self._init_keyboard_shortcuts()
+
+    @pyqtSlot(dict)
+    def on_config_update(self, config: dict) -> None:
+        """Update config dict"""
+        self.config = config
+
+        # Get motor names
+        self.motor_x, self.motor_y = (
+            self.config["motor_control"]["motor_x"],
+            self.config["motor_control"]["motor_y"],
+        )
+
+        # Update step precision
+        self.precision = self.config["motor_control"]["precision"]
+
+        self._init_ui()
+
+    @pyqtSlot(bool)
+    def enable_motor_controls(self, enable: bool) -> None:
+        """
+        Enable or disable the motor controls.
+        Args:
+            enable(bool): True to enable, False to disable.
+        """
+
+        # Disable or enable all controls within the motorControl_absolute group box
+        for widget in self.motorControl_absolute.findChildren(QWidget):
+            widget.setEnabled(enable)
+
+        # Enable the pushButton_stop if the motor is moving
+        self.pushButton_stop.setEnabled(True)
+
+    @pyqtSlot(str, str)
+    def change_motors(self, motor_x: str, motor_y: str):
+        """
+        Change the active motors and update config.
+        Can be connected to the selected_motors_signal from MotorControlSelection.
+        Args:
+            motor_x(str): New motor X to be controlled.
+            motor_y(str): New motor Y to be controlled.
+        """
+        self.motor_x = motor_x
+        self.motor_y = motor_y
+        self.config["motor_control"]["motor_x"] = motor_x
+        self.config["motor_control"]["motor_y"] = motor_y
+
+    @pyqtSlot(int)
+    def set_precision(self, precision: int) -> None:
+        """
+        Set the precision of the coordinates.
+        Args:
+            precision(int): Precision of the coordinates.
+        """
+        self.precision = precision
+        self.config["motor_control"]["precision"] = precision
+        self.spinBox_absolute_x.setDecimals(precision)
+        self.spinBox_absolute_y.setDecimals(precision)
+
+    def move_motor_absolute(self, x: float, y: float) -> None:
+        """
+        Move the motor to the target coordinates.
+        Args:
+            x(float): Target x coordinate.
+            y(float): Target y coordinate.
+        """
+        # self._enable_motor_controls(False)
+        target_coordinates = (x, y)
+        self.motor_thread.move_absolute(self.motor_x, self.motor_y, target_coordinates)
+        if self.checkBox_save_with_go.isChecked():
+            self.save_absolute_coordinates()
+
+    def _init_keyboard_shortcuts(self):
+        """Initialize the keyboard shortcuts."""
+        # Go absolute button
+        self.pushButton_go_absolute.setShortcut("Ctrl+G")
+        self.pushButton_go_absolute.setToolTip("Ctrl+G")
+
+        # Set absolute coordinates
+        self.pushButton_set.setShortcut("Ctrl+D")
+        self.pushButton_set.setToolTip("Ctrl+D")
+
+        # Save Current coordinates
+        self.pushButton_save.setShortcut("Ctrl+S")
+        self.pushButton_save.setToolTip("Ctrl+S")
+
+        # Stop Button
+        self.pushButton_stop.setShortcut("Ctrl+X")
+        self.pushButton_stop.setToolTip("Ctrl+X")
+
+    def save_absolute_coordinates(self):
+        """Emit the setup coordinates from the spinboxes"""
+
+        x, y = round(self.spinBox_absolute_x.value(), self.precision), round(
+            self.spinBox_absolute_y.value(), self.precision
+        )
+        self.coordinates_signal.emit((x, y))
+
+    def save_current_coordinates(self):
+        """Emit the current coordinates from the motor thread"""
+        x, y = self.motor_thread.get_coordinates(self.motor_x, self.motor_y)
+        self.coordinates_signal.emit((round(x, self.precision), round(y, self.precision)))