cgse 2023.38.0__py3-none-any.whl → 2024.1.3__py3-none-any.whl

egse/stages/huber/smc9300_ui.py

@@ -1,973 +0,0 @@
-"""
-A Graphical User Interface for monitoring and commanding the HUBER Stages.
-
-Start the GUI from your terminal as follows:
-
-    smc9300_ui [--type proxy|direct|simulator]
-
-The application is completely written in Python/Qt5 and can therefore run on any
-platform that supports Python and Qt5.
-
-"""
-import argparse
-import logging
-import multiprocessing
-from pathlib import Path
-
-import sys
-import textwrap
-import threading
-from typing import Callable
-from typing import Optional
-
-from egse.stages.huber.smc9300 import HuberSMC9300Interface
-
-multiprocessing.current_process().name = "smc9300_ui"
-
-import pyqtgraph as pg
-from PyQt5.QtCore import QSize, QLockFile
-from PyQt5.QtCore import QTime
-from PyQt5.QtCore import QTimer
-from PyQt5.QtCore import Qt
-from PyQt5.QtGui import QIcon
-from PyQt5.QtGui import QIntValidator
-from PyQt5.QtWidgets import QAction, QMessageBox
-from PyQt5.QtWidgets import QApplication
-from PyQt5.QtWidgets import QComboBox
-from PyQt5.QtWidgets import QDialog
-from PyQt5.QtWidgets import QDialogButtonBox
-from PyQt5.QtWidgets import QFrame
-from PyQt5.QtWidgets import QGridLayout
-from PyQt5.QtWidgets import QGroupBox
-from PyQt5.QtWidgets import QHBoxLayout
-from PyQt5.QtWidgets import QLabel
-from PyQt5.QtWidgets import QLineEdit
-from PyQt5.QtWidgets import QMainWindow
-from PyQt5.QtWidgets import QPushButton
-from PyQt5.QtWidgets import QSizePolicy
-from PyQt5.QtWidgets import QVBoxLayout
-from PyQt5.QtWidgets import QWidget
-from prometheus_client import Summary
-from prometheus_client import start_http_server
-
-from egse.decorators import deprecate
-from egse.gui import VLine
-from egse.gui import show_warning_message
-from egse.gui.buttons import ToggleButton
-from egse.gui.buttons import TouchButton
-from egse.gui.limitswitch import Indic
-from egse.gui.limitswitch import LimitSwitch
-from egse.gui.stripchart import StripChart
-from egse.help.help_ui import HELP_TOPICS
-from egse.help.help_ui import HelpWindow
-from egse.observer import Observable
-from egse.observer import Observer
-from egse.process import ProcessStatus
-from egse.resource import get_resource
-from egse.settings import Settings
-from egse.stages.huber.smc9300 import HuberSMC9300Controller
-from egse.stages.huber.smc9300 import HuberSMC9300Proxy
-from egse.stages.huber.smc9300 import HuberSMC9300Simulator
-from egse.state import UnknownStateError
-from egse.system import do_every
-
-MODULE_LOGGER = logging.getLogger(__name__)
-
-SETTINGS = Settings.load("Huber Controller")
-GUI_SETTINGS = Settings.load("SMC9300 GUI")
-
-AXIS_NAMES = {
-    SETTINGS.BIG_ROTATION_STAGE: "Big Rotation Stage",
-    SETTINGS.SMALL_ROTATION_STAGE: "Small Rotation Stage",
-    SETTINGS.TRANSLATION_STAGE: "Translation Stage",
-}
-
-AXIS_LABELS = {
-    SETTINGS.BIG_ROTATION_STAGE: "ROT 01",
-    SETTINGS.SMALL_ROTATION_STAGE: "ROT 02",
-    SETTINGS.TRANSLATION_STAGE: "TRANS 03",
-}
-
-
-class Stage(QFrame, Observable):
-    """
-    Generic GUI Frame for one of the HUBER stages.
-
-    Args:
-        title: The full name of the stage
-        label: A short label to identify the stage
-        stage_nr: the integer ID for the stage
-    """
-
-    def __init__(self, title: str, label: str, stage_nr: int, unit: str, unit_long: str):
-
-        super().__init__()
-
-        self._title = title
-        self._label = label
-        self._stage_nr = stage_nr
-        self._unit = unit
-        self._unit_long = unit_long
-
-        self._encoder_type = True
-
-        self.current_position = None
-        self.current_position_edit = None
-        self.current_encoder_position = None
-
-        self.movement_type = None
-        self.move_button = None
-
-        self.stripchart = None
-
-        self.slew_speed_label: QLabel = QLabel()
-
-        self.limit_switch_state: LimitSwitch = LimitSwitch(size=QSize(15, 15))
-
-    def create_gui(self):
-
-        toolbar = StageToolBar(connect=self.axis_settings)
-
-        group_box = QGroupBox(self._title)
-
-        # Create the label fields that display the current position and encoder values -------------
-
-        grid_show = QGridLayout()
-        grid_show.setSpacing(0)
-
-        grid_show.addWidget(QLabel(self._label), 0, 0)
-
-        self.current_position = QLabel(self)
-        self.current_position.setAlignment(Qt.AlignRight)
-        self.current_position.setText("0.0000")
-
-        grid_show.addWidget(self.current_position, 0, 1)
-
-        self.current_encoder_position = QLabel(self)
-        self.current_encoder_position.setAlignment(Qt.AlignRight)
-        self.current_encoder_position.setText("0.0000")
-        self.current_encoder_position.setStyleSheet("font: 9pt;")
-        self.current_encoder_position.mouseReleaseEvent = self.set_encoder_type
-
-        grid_show.addWidget(self.current_encoder_position, 1, 1)
-
-        grid_show.addWidget(QLabel(f" {self._unit}"), 0, 2)
-
-        grid_show.setColumnStretch(1, 10)
-
-        # Create the edit text field for setting the position --------------------------------------
-
-        hbox_edit = QHBoxLayout()
-        hbox_edit.setContentsMargins(0, 0, 0, 0)
-
-        self.current_position_edit = QLineEdit(self)
-        self.current_position_edit.setAlignment(Qt.AlignRight)
-        self.current_position_edit.setText("0.0000")
-
-        self.movement_type = QComboBox()
-
-        self.movement_type.addItems(["Absolute", "Relative"])
-        self.movement_type.setMinimumContentsLength(8)
-        self.movement_type.adjustSize()
-
-        self.move_button = QPushButton("Move To")
-        self.move_button.setToolTip(
-            "Perform a relative or absolute movement according to selection in the combobox."
-            "<ul>"
-            "<li><strong>Relative</strong> moves the stage relative to the current position"
-            "<li><strong>Absolute</strong> moves the stage to the given absolute position"
-            "</ul>"
-        )
-        self.move_button.clicked.connect(self.goto_position)
-
-        hbox_edit.addWidget(QLabel("Set position: "))
-        hbox_edit.addWidget(self.current_position_edit)
-        hbox_edit.addWidget(QLabel(self._unit))
-        hbox_edit.addWidget(self.movement_type)
-        hbox_edit.addWidget(self.move_button)
-
-        vbox = QVBoxLayout()
-        vbox.setSpacing(4)
-        vbox.addLayout(grid_show)
-        vbox.addStretch(1)
-        vbox.addLayout(hbox_edit)
-
-        # Add a StripChart for this stage ----------------------------------------------------------
-
-        self.stripchart = StripChart(
-            labels={"left": ("Position", f"{self._unit_long}"), "bottom": ("Time", "hh:mm:ss")}
-        )
-        vbox.addWidget(self.stripchart)
-
-        group_box.setLayout(vbox)
-
-        # The settings box contains the view on the speed and other settings -----------------------
-
-        settings_box = QHBoxLayout()
-
-        settings_box.addWidget(self.limit_switch_state)
-        settings_box.addWidget(QLabel("Speed:"))
-        settings_box.addWidget(self.slew_speed_label)
-        settings_box.addStretch()
-
-        vbox = QVBoxLayout()
-        vbox.setSpacing(4)
-        vbox.setContentsMargins(0, 0, 0, 0)
-        vbox.addWidget(toolbar)
-        vbox.addWidget(group_box)
-        vbox.addLayout(settings_box)
-        self.setLayout(vbox)
-
-    def axis_settings(self):
-        MODULE_LOGGER.info(f"Handle settings for axis {self._stage_nr}.")
-        settings = SettingsDialog(self._stage_nr, self.slew_speed_label.text(), parent=self)
-        if rc := settings.exec():
-            slew_speed = int(settings.speed_box.text())
-            MODULE_LOGGER.debug(f"{rc=}, {slew_speed=}")
-            self.actionObservers({"set_speed": (self._stage_nr, slew_speed)})
-
-    def goto_position(self):
-        new_position = float(self.current_position_edit.text())
-        movement_type = self.movement_type.currentText()
-
-        cmd = "move_absolute" if movement_type == "Absolute" else "move_relative"
-
-        self.actionObservers({cmd: [self._stage_nr, new_position]})
-
-    def set_encoder_type(self, event):
-        self._encoder_type = not self._encoder_type
-
-    def update_encoder_position(self, position, counter):
-        if self._encoder_type:
-            self.current_encoder_position.setText(f"{position:.6f}")
-        else:
-            self.current_encoder_position.setText(f"{counter:.0f}")
-
-    def update_current_position(self, position):
-        self.current_position.setText(f"{position:.4f}")
-
-    def update_speed(self, speed):
-        self.slew_speed_label.setText(f"{speed}")
-
-    def update_limit_switch_state(self, state: int):
-        self.limit_switch_state.set_state(Indic.from_state(state))
-
-    def update_stripchart(self, time, position):
-        self.stripchart.update(time, position)
-
-
-class BigRotationStage(Stage):
-    def __init__(self):
-        super().__init__(
-            AXIS_NAMES[SETTINGS.BIG_ROTATION_STAGE],
-            AXIS_LABELS[SETTINGS.BIG_ROTATION_STAGE],
-            SETTINGS.BIG_ROTATION_STAGE,
-            unit="deg", unit_long="degrees",
-        )
-        self.create_gui()
-
-
-class SmallRotationStage(Stage):
-    def __init__(self):
-        super().__init__(
-            AXIS_NAMES[SETTINGS.SMALL_ROTATION_STAGE],
-            AXIS_LABELS[SETTINGS.SMALL_ROTATION_STAGE],
-            SETTINGS.SMALL_ROTATION_STAGE,
-            unit="deg", unit_long="degrees",
-        )
-        self.create_gui()
-
-
-class TranslationStage(Stage):
-    def __init__(self):
-        super().__init__(
-            AXIS_NAMES[SETTINGS.TRANSLATION_STAGE],
-            AXIS_LABELS[SETTINGS.TRANSLATION_STAGE],
-            SETTINGS.TRANSLATION_STAGE,
-            unit="mm", unit_long="millimeter",
-        )
-        self.create_gui()
-
-
-class StageToolBar(QFrame):
-    def __init__(self, connect: Callable = None, parent: Optional[QWidget] = None):
-        super().__init__(parent=parent)
-        spacer = QWidget()
-        spacer.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
-
-        toolbar_hbox = QHBoxLayout()
-        toolbar_hbox.setContentsMargins(0, 0, 0, 0)
-        toolbar_hbox.addWidget(spacer)
-        toolbar_hbox.setAlignment(Qt.AlignVCenter)
-
-        br_settings = TouchButton(
-            width=25, height=25, selected=get_resource(":/icons/settings.svg"),
-            parent=self
-        )
-        br_settings.clicked.connect(connect)
-
-        br_time_window = QComboBox(parent=self)
-        br_time_window.addItems(["5s", "10m", "1h", "12h"])
-        br_time_window.setCurrentIndex(1)
-
-        toolbar_hbox.addWidget(br_time_window)
-        toolbar_hbox.addWidget(br_settings)
-
-        self.setLayout(toolbar_hbox)
-        self.setContentsMargins(0, 0, 0, 0)
-
-
-class HuberUIView(QMainWindow, Observable):
-    def __init__(self):
-        super().__init__()
-
-        # Define those variables that we will need/use in different methods
-
-        self.homing_action = None
-        self.clear_action = None
-        self.reconnect_action = None
-        self.toolbar = None
-
-        self.homing = None
-        self.clear_errors = None
-        self.cs_connection = None
-        self.device_connection = None
-        self.stop_action = None
-        self.help_action = None
-
-        # Switch to using white background and black foreground for pyqtgraph stripcharts
-        # This must be done before the pyqtgraphs are created.
-
-        pg.setConfigOption("background", "w")
-        pg.setConfigOption("foreground", "k")
-
-        self.big_rotation_stage = BigRotationStage()
-        self.small_rotation_stage = SmallRotationStage()
-        self.translation_stage = TranslationStage()
-
-        self.setGeometry(300, 300, 1500, 500)
-        self.setWindowTitle("Huber Controller")
-
-        # The mode_label describes the current mode in which the controller is running.
-        # The mode can be Proxy, Simulator, Direct
-
-        self.mode_label = QLabel("")
-
-        self.axes = {
-            SETTINGS.BIG_ROTATION_STAGE: self.big_rotation_stage,
-            SETTINGS.SMALL_ROTATION_STAGE: self.small_rotation_stage,
-            SETTINGS.TRANSLATION_STAGE: self.translation_stage,
-        }
-
-        # The main frame in which all the other frames are located, the outer Application frame
-
-        app_frame = QFrame()
-        app_frame.setObjectName("AppFrame")
-
-        hbox = QHBoxLayout()
-
-        self.create_toolbar()
-        self.create_status_bar()
-
-        hbox.addWidget(self.big_rotation_stage)
-        hbox.addWidget(self.small_rotation_stage)
-        hbox.addWidget(self.translation_stage)
-
-        app_frame.setLayout(hbox)
-
-        self.setCentralWidget(app_frame)
-
-    def addObserver(self, observer):
-        super().addObserver(observer)
-        self.big_rotation_stage.addObserver(observer)
-        self.small_rotation_stage.addObserver(observer)
-        self.translation_stage.addObserver(observer)
-
-    def is_cs_action_enabled(self):
-        return self.cs_connection.isEnabled()
-
-    def disable_cs_action(self):
-        self.cs_connection.disable()
-
-    def enable_cs_action(self):
-        self.cs_connection.enable()
-
-    def check_cs_action(self):
-        self.cs_connection.set_selected()
-
-    def uncheck_cs_action(self):
-        self.cs_connection.set_selected(False)
-
-    def check_device_action(self):
-        self.device_connection.set_selected()
-
-    def uncheck_device_action(self):
-        self.device_connection.set_selected(False)
-
-    def set_connection_state(self, state):
-        # enable or disable all actions that involve a device or cs connection
-        # don't change the action buttons for the device nor the cs, that is handled
-        # in the caller because it might be a device connection loss that causes this state
-        # or a control server, or both...
-
-        MODULE_LOGGER.debug(f"{state=}")
-
-        if state == "connected":
-            self.homing.enable()
-            self.clear_errors.enable()
-        elif state == "disconnected":
-            self.homing.disable()
-            self.clear_errors.disable()
-        else:
-            raise UnknownStateError(
-                f"Unknown State ({state}), expected 'connected' or 'disconnected'."
-            )
-
-    def create_status_bar(self):
-
-        self.statusBar().setStyleSheet("border: 0; background-color: #FFF8DC;")
-        self.statusBar().setStyleSheet("QStatusBar::item {border: none;}")
-        self.statusBar().addPermanentWidget(VLine())
-        self.statusBar().addPermanentWidget(self.mode_label)
-
-    def create_toolbar(self):
-
-        # The Home action is used to command the Homing to the Hexapod.
-
-        self.homing = TouchButton(
-            name="HOMING",
-            status_tip="perform a homing operation (ON ALL THE STAGES)",
-            selected=get_resource(":/icons/home.svg"),
-            disabled=get_resource(":/icons/home-disabled.svg"),
-        )
-        self.homing.clicked.connect(self.on_click)
-
-        # The Clear action is used to command the ClearErrors to the Hexapod.
-
-        self.clear_errors = TouchButton(
-            name="CLEAR-ERRORS",
-            status_tip="clear the error list on the controller (FOR ALL STAGES)",
-            selected=get_resource(":/icons/erase.svg"),
-            disabled=get_resource(":/icons/erase-disabled.svg"),
-        )
-        self.clear_errors.clicked.connect(self.on_click)
-
-        # The Reconnect action is used to reconnect to the control server
-
-        self.cs_connection = ToggleButton(
-            name="CS-CONNECT",
-            status_tip="connect-disconnect huber stages control server.",
-            selected=get_resource(":/icons/cs-connected.svg"),
-            not_selected=get_resource(":/icons/cs-not-connected.svg"),
-            disabled=get_resource(":/icons/cs-connected-disabled.svg")
-        )
-        self.cs_connection.clicked.connect(self.on_click)
-
-        # The Reconnect action is used to reconnect the device
-
-        self.device_connection = ToggleButton(
-            name="DEVICE-CONNECT",
-            status_tip="connect-disconnect the huber stages controller",
-            selected=get_resource(":/icons/plugged.svg"),
-            not_selected=get_resource(":/icons/unplugged.svg"),
-            disabled=get_resource(":/icons/plugged-disabled.svg")
-        )
-        self.device_connection.clicked.connect(self.on_click)
-
-        # The STOP button is used to immediately stop the current motion
-
-        stop_button = QIcon(str(get_resource(":/icons/stop.svg")))
-
-        self.stop_action = QAction(stop_button, "STOP", self)
-        self.stop_action.setToolTip("STOP Movement")
-        self.stop_action.triggered.connect(self.on_click)
-
-        # The HELP button is used to show the on-line help in a browser window
-
-        help_button = QIcon(str(get_resource(":/icons/info.svg")))
-
-        self.help_action = QAction(help_button, "INFO", self)
-        self.help_action.setToolTip("Browse the on-line documentation")
-        self.help_action.triggered.connect(self.on_click)
-
-        # spacer widget to help with aligning STOP button to the right
-
-        spacer = QWidget()
-        spacer.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
-
-        self.toolbar = self.addToolBar("MainToolbar")
-        self.toolbar.addWidget(self.homing)
-        self.toolbar.addWidget(self.clear_errors)
-        self.toolbar.addWidget(self.device_connection)
-        self.toolbar.addWidget(self.cs_connection)
-        self.toolbar.addWidget(spacer)
-        self.toolbar.addAction(self.stop_action)
-        self.toolbar.addAction(self.help_action)
-
-        return self.toolbar
-
-    def update_stripchart(self, axis, time, pos):
-        self.axes[axis].stripchart.update(time, pos)
-
-    def update_status_bar(self, message=None, mode=None, timeout=2000):
-        if message:
-            self.statusBar().showMessage(message, msecs=timeout)
-        if mode:
-            self.mode_label.setStyleSheet(
-                f"border: 0; " f"color: {'red' if 'Simulator' in mode else 'black'};"
-            )
-            self.mode_label.setText(f"mode: {mode}")
-        self.statusBar().repaint()
-
-    def update_position(self, axis, position):
-        self.axes[axis].update_current_position(position)
-
-    def update_speed(self, axis, speed):
-        self.axes[axis].update_speed(speed)
-
-    def update_encoder_position(self, axis, position, counter):
-        self.axes[axis].update_encoder_position(position, counter)
-
-    def on_click(self):
-
-        sender = self.sender()
-
-        # MODULE_LOGGER.debug(f"sender.text() = {sender.text()}")
-        # MODULE_LOGGER.debug(f"sender.isChecked() = {sender.isChecked()}")
-
-        self.notifyObservers(sender)
-
-
-class SettingsDialog(QDialog):
-
-    def __init__(self, axis: int, speed: int,  parent=None):  # <1>
-        super().__init__(parent)
-
-        self.axis = axis
-        self.speed = speed
-
-        self.setWindowTitle(f"Settings for {AXIS_NAMES[axis]}")
-
-        self.buttons = QDialogButtonBox.Ok | QDialogButtonBox.Cancel
-
-        self.buttonBox = QDialogButtonBox(self.buttons)
-        self.buttonBox.accepted.connect(self.accept)
-        self.buttonBox.rejected.connect(self.reject)
-
-        self.layout = QVBoxLayout()
-        hbox = QHBoxLayout()
-        message = QLabel("Slew speed:")
-        self.speed_box = QLineEdit(f"{self.speed}")
-        self.speed_box.setValidator(QIntValidator())
-        hbox.addWidget(message)
-        hbox.addWidget(self.speed_box)
-        self.layout.addLayout(hbox)
-        self.layout.addWidget(self.buttonBox)
-        self.setLayout(self.layout)
-
-
-class CustomErrorDialog(QDialog):
-    def __init__(self, exc: Exception, parent=None):
-        super().__init__(parent)
-
-        self.exc = exc
-
-        self.title = f"{exc.__class__.__name__}"
-        self.setWindowTitle(self.title)
-
-        self.button_box = QDialogButtonBox(QDialogButtonBox.Ok)
-        self.button_box.accepted.connect(self.accept)
-
-        self.layout = QVBoxLayout()
-        message = QLabel(
-            textwrap.dedent(
-                f"""\
-            We caught a {self.exc.__class__.__name__}: 
-
-               {self.exc.args[0]}
-
-            """
-            ))
-        self.layout.addWidget(message)
-        self.layout.addWidget(self.button_box)
-        self.setLayout(self.layout)
-
-
-class HuberUIController(Observer):
-    def __init__(self, model, view):
-        self.model = model
-        self.view: HuberUIView = view
-        self.view.addObserver(self)
-
-        self.help_window = HelpWindow(topic_url=HELP_TOPICS["smc9300_ui"])
-
-        self._metrics = {
-            "execution_time": Summary('ui_update_execution_time_seconds',
-                                      'Time spent updating the values in the GUI', ["type"]),
-        }
-
-        self.states_capture_timer = None
-        self.states_capture_timer_interval = GUI_SETTINGS.STATES_TIMER_INTERVAL
-        self.stripchart_timer = None
-        self.stripchart_timer_interval = GUI_SETTINGS.STRIPCHART_TIMER_INTERVAL
-        self.create_timer()
-
-        try:
-            if self.model.is_device_connected():
-                mode = self.model.connection_type.capitalize()
-                if self.model.is_simulator():
-                    mode = f"{mode} [Simulator]"
-                self.view.update_status_bar(mode=mode)
-                self.view.check_device_action()
-            else:
-                self.view.uncheck_device_action()
-
-            if self.model.is_cs_connected():
-                self.view.check_cs_action()
-            else:
-                self.view.uncheck_cs_action()
-
-            MODULE_LOGGER.debug(f"{self.model.is_device_connected()=}, {self.model.is_cs_connected()=}")
-
-            if model.connection_type in ["direct", "simulator"]:
-                view.disable_cs_action()
-
-            if self.has_connection():
-                self.view.set_connection_state("connected")
-                self.start_timer()
-            else:
-                self.view.set_connection_state("disconnected")
-                self.stop_timer()
-        except NotImplementedError:
-            MODULE_LOGGER.warning(
-                "There was no connection to the control server during startup, "
-                "GUI starts in disconnected mode."
-            )
-            self.view.uncheck_cs_action()
-            self.view.uncheck_device_action()
-            self.view.set_connection_state("disconnected")
-
-    def has_connection(self):
-        """
-        Returns True if the controller has a connection to the device. This takes into account
-        that the control server might be disabled when the controller is directly connected to
-        the device or to a simulator.
-        """
-        if self.view.is_cs_action_enabled():
-            return bool(self.model.is_device_connected() and self.model.is_cs_connected())
-        else:
-            return bool(self.model.is_device_connected())
-
-    def create_timer(self):
-        """Create a Timer that will update the States every second."""
-
-        self.states_capture_timer = QTimer()
-        self.states_capture_timer.timeout.connect(self.update_values)
-        self.states_capture_timer.setInterval(self.states_capture_timer_interval)
-
-        self.stripchart_timer = QTimer()
-        self.stripchart_timer.timeout.connect(self.update_stripcharts)
-        self.stripchart_timer.setInterval(self.stripchart_timer_interval)
-
-    def start_timer(self):
-        self.states_capture_timer.start()
-        self.stripchart_timer.start()
-
-    def stop_timer(self):
-        self.states_capture_timer.stop()
-        self.stripchart_timer.stop()
-
-    def update_values(self):
-
-        with self._metrics["execution_time"].labels(type="values").time():
-            # This method should not be called when not connected, by design!
-
-            for axis in (
-                SETTINGS.BIG_ROTATION_STAGE,
-                SETTINGS.SMALL_ROTATION_STAGE,
-                SETTINGS.TRANSLATION_STAGE,
-            ):
-                # If there is a communication problem with the server, resulting in a None being
-                # returned, we skip also the other updates.
-                if (pos := self.model.get_current_position(axis)) is None:
-                    continue
-                self.view.update_position(axis, pos)
-
-                speed = self.model.get_speed(axis)
-                self.view.axes[axis].update_speed(speed)
-
-                pos = self.model.get_current_encoder_position(axis)
-                cnt = self.model.get_current_encoder_counter_value(axis)
-                self.view.update_encoder_position(axis, pos, cnt)
-
-                state = self.model.get_state(axis)
-                self.view.axes[axis].update_limit_switch_state(state)
-
-    def update_stripcharts(self):
-
-        with self._metrics["execution_time"].labels(type="stripcharts").time():
-            for axis in (
-                SETTINGS.BIG_ROTATION_STAGE,
-                SETTINGS.SMALL_ROTATION_STAGE,
-                SETTINGS.TRANSLATION_STAGE,
-            ):
-                if (pos := self.model.get_current_position(axis)) is None:
-                    continue
-                self.view.update_stripchart(axis, QTime.currentTime().msecsSinceStartOfDay(), pos)
-
-    def update(self, changed_object):
-        # This method is part of the Observer protocol and will be called when there is a
-        # notification of a change in the Observable.
-
-        text = changed_object.text()
-
-        if text == "STOP":
-            self.model.stop()
-
-        if text == "INFO":
-            self.help_window.show()
-
-        if text == "CS-CONNECT":
-            if changed_object.is_selected():
-                MODULE_LOGGER.debug("Reconnecting the HUBER Stages Control Server.")
-                self.model.reconnect_cs()
-                if not self.model.has_commands():
-                    self.model.load_commands()
-                self.start_timer()
-                if self.model.is_device_connected() and self.model.is_cs_connected():
-                    self.view.set_connection_state("connected")
-                    self.view.device_connection.enable()
-            else:
-                MODULE_LOGGER.debug("Disconnecting the HUBER Stages Control Server.")
-                self.stop_timer()
-                self.model.disconnect_cs()
-                self.view.device_connection.disable()
-                self.view.set_connection_state("disconnected")
-            return
-
-        if text == "DEVICE-CONNECT":
-            print(f"Pressed {text}")
-
-            if changed_object.is_selected():
-                MODULE_LOGGER.debug("Reconnecting the HUBER Stages controller.")
-                if self.model.reconnect_device():
-                    self.view.set_connection_state("connected")
-                    if not self.model.has_commands():
-                        self.model.load_commands()
-                    self.start_timer()
-                else:
-                    self.view.device_connection.set_selected(False)
-            else:
-                MODULE_LOGGER.debug("Disconnecting the HUBER Stages Controller.")
-                self.stop_timer()
-                self.model.disconnect()
-                self.view.set_connection_state("disconnected")
-            return
-
-        if text == "HOMING":
-            self.model.homing()
-            return
-
-        if text == "CLEAR-ERRORS":
-            self.model.clear_error()
-            return
-
-    def do(self, actions):
-        # This method is part of the Observer protocol and will be called when there is a
-        # action requested by the Observable.
-
-        for action, value in actions.items():
-            MODULE_LOGGER.debug(f"do {action} with {value}")
-            if action == "move_absolute":
-                axis, position = value
-                # MODULE_LOGGER.info(f"do: goto({axis}, {position})")
-                try:
-                    self.model.goto(axis, position)
-                except ValueError as exc:
-                    dialog = CustomErrorDialog(exc, parent=self.view)
-                    dialog.exec_()
-            elif action == "move_relative":
-                axis, distance = value
-                # MODULE_LOGGER.info(f"do: move({axis}, {distance})")
-                self.model.move(axis, distance)
-            elif action == "set_speed":
-                axis, speed = value
-                # MODULE_LOGGER.info(f"do: set_speed({axis=}, {speed=})")
-                self.model.set_speed(axis, speed)
-
-
-class HuberUIModel:
-    def __init__(self, type_):
-        self.connection_type = type_
-
-        self.huber: HuberSMC9300Interface
-
-        if self.connection_type == "proxy":
-            self.huber = HuberSMC9300Proxy()
-        elif self.connection_type == "direct":
-            self.huber = HuberSMC9300Controller()
-            self.huber.connect()
-        elif self.connection_type == "simulator":
-            self.huber = HuberSMC9300Simulator()
-        else:
-            raise ValueError(f"Unknown type of Huber implementation passed into the model: {type}")
-
-        if self.huber is not None:
-            MODULE_LOGGER.debug(f"HUBER Controller initialized as {self.huber.__class__.__name__}")
-
-    def has_commands(self):
-        if self.connection_type == "proxy":
-            return True  # with the new dynamic_command decorator there are always commands
-        return True
-
-    def load_commands(self):
-        if self.connection_type == "proxy":
-            return  # no need anymore to load commands
-
-    def is_simulator(self):
-        return self.huber.is_simulator()
-
-    def is_cs_connected(self):
-        return self.huber.is_cs_connected() if self.connection_type == "proxy" else False
-
-    def is_device_connected(self):
-        return self.huber.is_connected()
-
-    def goto(self, axis, position):
-        self.huber.goto(axis=axis, position=position, wait=False)
-
-    def move(self, axis, value):
-        self.huber.move(axis=axis, distance=value, wait=False)
-
-    def homing(self):
-        MODULE_LOGGER.warning("Homing done for all HUBER stages.")
-        self.huber.goto(axis=SETTINGS.BIG_ROTATION_STAGE, position=0.0, wait=False)
-        self.huber.goto(axis=SETTINGS.SMALL_ROTATION_STAGE, position=0.0, wait=False)
-        self.huber.goto(axis=SETTINGS.TRANSLATION_STAGE, position=0.0, wait=False)
-
-    def clear_error(self):
-        MODULE_LOGGER.warning("Clearing errors is done for all HUBER stages.")
-        self.huber.clear_error(SETTINGS.BIG_ROTATION_STAGE)
-        self.huber.clear_error(SETTINGS.SMALL_ROTATION_STAGE)
-        self.huber.clear_error(SETTINGS.TRANSLATION_STAGE)
-
-    def stop(self):
-        MODULE_LOGGER.warning("STOP immediately terminates all HUBER stages.")
-        self.huber.quit()
-
-    @deprecate(alternative="reconnect_device")
-    def reconnect(self):
-        self.reconnect_device()
-
-    def reconnect_device(self):
-        self.huber.reconnect()
-        return self.huber.is_connected()
-
-    def reconnect_cs(self):
-        self.huber.reconnect_cs()
-        return self.huber.is_cs_connected()
-
-    def disconnect(self):
-        self.huber.disconnect()
-
-    def disconnect_cs(self):
-        self.huber.disconnect_cs()
-
-    def get_speed(self, axis):
-        return self.huber.get_slew_speed(axis)
-
-    def set_speed(self, axis, speed):
-        return self.huber.set_slew_speed(axis, speed)
-
-    def get_current_position(self, axis):
-        return self.huber.get_current_position(axis)
-
-    def get_current_encoder_position(self, axis):
-        return self.huber.get_current_encoder_position(axis)
-
-    def get_current_encoder_counter_value(self, axis):
-        return self.huber.get_current_encoder_counter_value(axis)
-
-    def get_state(self, axis) -> int:
-        return self.huber.get_state(axis)
-
-
-def parse_arguments():
-    """
-    Prepare the arguments that are specific for this application.
-    """
-    parser = argparse.ArgumentParser()
-    parser.add_argument(
-        "--type",
-        dest="type",
-        action="store",
-        choices={"proxy", "simulator", "direct"},
-        help="Specify Huber implementation you want to connect to.",
-        default="proxy",
-    )
-    parser.add_argument(
-        "--profile",
-        default=False,
-        action="store_true",
-        help="Enable info logging messages with method profile information.",
-    )
-    return parser.parse_args()
-
-
-def main():
-    lock_file = QLockFile(str(Path("~/scm9300_ui.app.lock").expanduser()))
-    styles_location = get_resource(":/styles/default.qss")
-    app_logo = get_resource(":/icons/logo-huber.svg")
-
-    args = list(sys.argv)
-    args[1:1] = ["-stylesheet", str(styles_location)]
-    app = QApplication(args)
-    app.setWindowIcon(QIcon(str(app_logo)))
-
-    if lock_file.tryLock(100):
-
-        process_status = ProcessStatus()
-
-        timer_thread = threading.Thread(target=do_every, args=(10, process_status.update))
-        timer_thread.daemon = True
-        timer_thread.start()
-
-        start_http_server(GUI_SETTINGS.METRICS_PORT)
-
-        args = parse_arguments()
-
-        if args.profile:
-            Settings.set_profiling(True)
-
-        if args.type == "proxy":
-            proxy = HuberSMC9300Proxy()
-            if not proxy.ping():
-                description = "Could not connect to Stages Control Server"
-                info_text = (
-                    "The GUI will start, but the connection button will show a disconnected state. "
-                    "Please check if the Control Server is running and start the server if needed. "
-                    "Otherwise, check if the correct HOSTNAME for the control server is set in the "
-                    "Settings.yaml "
-                    "configuration file."
-                )
-
-                show_warning_message(description, info_text)
-
-        view = HuberUIView()
-        model = HuberUIModel(args.type)
-        HuberUIController(model, view)
-
-        view.show()
-        sys.exit(app.exec_())
-    else:
-        error_message = QMessageBox()
-        error_message.setIcon(QMessageBox.Warning)
-        error_message.setWindowTitle("Error")
-        error_message.setText("The SCM9300 GUI application is already running!")
-        error_message.setStandardButtons(QMessageBox.Ok)
-
-        return error_message.exec()
-
-
-if __name__ == "__main__":
-    main()