cgse 2024.7.0__py3-none-any.whl → 2025.0.2__py3-none-any.whl

egse/hexapod/symetrie/zonda_ui.py

@@ -1,449 +0,0 @@
-"""
-A Graphical User Interface for monitoring and commanding the Symétrie ZONDA Hexapod.
-
-Start the GUI from your terminal as follows:
-
-    zonda_ui [--type proxy|direct|simulator]
-
-This GUI is based on the SYM_positioning application from Symétrie. The intent
-is to provide operators a user interface which is platform independent, but
-familiar.
-
-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 threading
-from typing import List
-
-multiprocessing.current_process().name = "zonda_ui"
-
-import pyqtgraph as pg
-from PyQt5.QtCore import QDateTime, QLockFile
-from PyQt5.QtCore import Qt
-from PyQt5.QtGui import QIcon
-from PyQt5.QtWidgets import QApplication, QMessageBox
-from PyQt5.QtWidgets import QFrame
-from PyQt5.QtWidgets import QGroupBox
-from PyQt5.QtWidgets import QHBoxLayout
-from PyQt5.QtWidgets import QLabel
-from PyQt5.QtWidgets import QLineEdit
-from PyQt5.QtWidgets import QVBoxLayout
-from PyQt5.QtWidgets import QWidget
-from prometheus_client import start_http_server
-
-from egse.gui import show_warning_message
-from egse.gui.led import Indic
-from egse.gui.states import States
-from egse.gui.stripchart import StripChart
-from egse.hexapod.symetrie.hexapod_ui import ActuatorStates
-from egse.hexapod.symetrie.hexapod_ui import HexapodUIController
-from egse.hexapod.symetrie.hexapod_ui import HexapodUIModel
-from egse.hexapod.symetrie.hexapod_ui import HexapodUIView
-from egse.hexapod.symetrie.zonda import ZondaController
-from egse.hexapod.symetrie.zonda import ZondaProxy
-from egse.hexapod.symetrie.zonda import ZondaSimulator
-from egse.process import ProcessStatus
-from egse.resource import get_resource
-from egse.settings import Settings
-from egse.system import do_every
-
-MODULE_LOGGER = logging.getLogger(__name__)
-
-# Status LEDs define the number of status leds (length of the list), the description and the
-# default color when the LED is on.
-
-STATUS_LEDS = [
-    ["Error", Indic.RED],  # bit 0
-    ["System Initialized", Indic.GREEN],  # bit 1
-    ["Control On", Indic.GREEN],  # bit 2
-    ["In Position", Indic.GREEN],  # bit 3
-    ["Motion Task Running", Indic.GREEN],  # bit 4
-    ["Home Task Running", Indic.GREEN],  # bit 5
-    ["Home Complete", Indic.GREEN],  # bit 6
-    ["Home Virtual", Indic.GREEN],  # bit 7
-    ["Phase Found", Indic.GREEN],  # bit 8
-    ["Brake on", Indic.GREEN],  # bit 9
-    ["Motion Restricted", Indic.RED],  # bit 10
-    ["Power on Encoders", Indic.GREEN],  # bit 11
-    ["Power on Limit switches", Indic.GREEN],  # bit 12
-    ["Power on Drives", Indic.GREEN],  # bit 13
-    ["Emergency Stop", Indic.RED],  # bit 14
-]
-
-# The index of the Control LED
-
-CONTROL_ONOFF = 2
-
-ACTUATOR_STATE_LABELS = [
-    "Error: ",
-    "Control On: ",
-    "In Position: ",
-    "Motion Task Running: ",
-    "Home task running: ",
-    "Home complete: ",
-    "Phase found: ",
-    "Brake on: ",
-    "Home HW input: ",
-    "Negative HW limit switch: ",
-    "Positive HW limit switch: ",
-    "SW limit reached: ",
-    "Following Error: ",
-    "Drive fault: ",
-    "Encoder error: ",
-]
-
-SPECIFIC_POSITIONS = ["Position ZERO", "Position RETRACTED"]
-
-GUI_SETTINGS = Settings.load("ZONDA GUI")
-
-class TemperatureLog(QWidget):
-    """This Widget allows to view the temperature value of all six actuators."""
-    def __init__(self, temp: List[str] = None):
-        super().__init__()
-
-        self.stripchart = None
-
-        self.temperatures = temp
-
-        # Switch to using white background and black foreground for pyqtgraph stripcharts
-
-        pg.setConfigOption("background", "w")
-        pg.setConfigOption("foreground", "k")
-
-        vbox = QVBoxLayout()
-        vbox.addWidget(QLabel("Temperature values in C"))
-        vbox.setAlignment(Qt.AlignTop | Qt.AlignLeft)
-
-        self.create_temperature_stripchart_widget = self.create_temperature_stripchart()
-        vbox.addWidget(self.create_temperature_stripchart_widget)
-
-        self.create_temperature_box_widget = self.create_temperature_box()
-        vbox.addWidget(self.create_temperature_box_widget)
-
-        self.setLayout(vbox)
-
-    def create_temperature_box(self):
-        vbox = QVBoxLayout()
-        vbox.setSpacing(0)
-
-        for box in range(6):
-            wbox = QHBoxLayout()
-            wbox.setSpacing(0)
-            wbox.addWidget(QLabel(f"Temp.{box + 1}: "))
-            wbox.setSpacing(0)
-            editbox = QLineEdit()
-            editbox.setReadOnly(True)
-            editbox.setFixedSize(80, 20)
-            wbox.setSpacing(0)
-            wbox.addWidget(editbox)
-            wbox.setSpacing(0)
-            vbox.addLayout(wbox)
-            vbox.setSpacing(0)
-
-        create_temperature_box = QGroupBox()
-        create_temperature_box.setLayout(vbox)
-
-        return create_temperature_box
-
-    def create_temperature_stripchart(self):
-        self.stripchart = StripChart(
-            labels={"left": ("measure", "C"), "bottom": ("Time", "d hh:mm:ss")}
-        )
-        self.stripchart.setInterval(60 * 60 * 12)  # 12h of data
-        self.stripchart.set_yrange(0, 40)
-
-        vbox = QVBoxLayout()
-        vbox.addStretch(1)
-        vbox.addWidget(self.stripchart)
-
-        create_temperature_stripchart = QGroupBox()
-        create_temperature_stripchart.setLayout(vbox)
-
-        return create_temperature_stripchart
-
-class ZondaUIView(HexapodUIView):
-    def __init__(self):
-        super().__init__()
-
-        self.setWindowTitle("Hexapod ZONDA Controller")
-
-        self.actuator_states = ActuatorStates(labels=ACTUATOR_STATE_LABELS)
-
-        self.temperature_log = TemperatureLog()
-
-        self.temperature_values = self.temperature_log.create_temperature_box_widget
-        self.temperature_values = self.temperature_values.findChildren(QLineEdit)
-        for temp in range(len(self.temperature_values)):
-            self.temperature_values[temp].setText("0.00")
-
-        self.temperature_stripchart = self.temperature_log.create_temperature_stripchart_widget
-        self.temperature_stripchart = self.temperature_stripchart.findChildren(StripChart)
-        self.temperature_stripchart = self.temperature_stripchart[0]
-
-        self.init_gui()
-
-    def init_gui(self):
-
-        # The main frame in which all the other frames are located, the outer Application frame
-
-        app_frame = QFrame()
-        app_frame.setObjectName("AppFrame")
-
-        # The left part which shows the states and positions
-
-        status_frame = QFrame()
-        status_frame.setObjectName("StatusFrame")
-
-        # The right part which has tabs that allow settings, movements, maintenance etc.
-
-        tabs_frame = QFrame()
-        tabs_frame.setObjectName("TabsFrame")
-
-        # The states of the Hexapod (contains all the leds)
-
-        states_frame = QFrame()
-        states_frame.setObjectName("StatesFrame")
-
-        # The user, machine positions and actuator lengths
-
-        positions_frame = QFrame()
-        positions_frame.setObjectName("PositionsFrame")
-
-        hbox = QHBoxLayout()
-        vbox_left = QVBoxLayout()
-        vbox_right = QVBoxLayout()
-
-        self.createToolbar()
-        self.createStatusBar()
-
-        self.states = States(STATUS_LEDS)
-
-        user_positions_widget = self.createUserPositionWidget()
-        mach_positions_widget = self.createMachinePositionWidget()
-        actuator_length_widget = self.createActuatorLengthWidget()
-
-        vbox_right.addWidget(user_positions_widget)
-        vbox_right.addWidget(mach_positions_widget)
-        vbox_right.addWidget(actuator_length_widget)
-
-        positions_frame.setLayout(vbox_right)
-
-        vbox_left.addWidget(self.states)
-
-        states_frame.setLayout(vbox_left)
-
-        hbox.addWidget(states_frame)
-        hbox.addWidget(positions_frame)
-
-        status_frame.setLayout(hbox)
-
-        tabbed_widget = self.create_tabbed_widget()
-
-        hbox = QHBoxLayout()
-        hbox.addWidget(tabbed_widget)
-        tabs_frame.setLayout(hbox)
-
-        hbox = QHBoxLayout()
-        hbox.addWidget(status_frame)
-        hbox.addWidget(tabs_frame)
-
-        app_frame.setLayout(hbox)
-
-        self.setCentralWidget(app_frame)
-
-    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 updatePositions(self, userPositions, machinePositions, actuatorLengths):
-
-        if userPositions is None:
-            MODULE_LOGGER.warning("no userPositions passed into updatePositions(), returning.")
-            return
-
-        for upos in range(len(self.user_positions)):
-            try:
-                self.user_positions[upos][1].setText(f"{userPositions[upos]:10.4f}")
-            except IndexError:
-                MODULE_LOGGER.error(f"IndexError in user_positions, upos = {upos}")
-
-        if machinePositions is None:
-            MODULE_LOGGER.warning("no machinePositions passed into updatePositions(), returning.")
-            return
-
-        for mpos in range(len(self.mach_positions)):
-            self.mach_positions[mpos][1].setText(f"{machinePositions[mpos]:10.4f}")
-
-        if actuatorLengths is None:
-            MODULE_LOGGER.warning("no actuatorLengths passed into updatePositions(), returning.")
-            return
-
-        for idx, alen in enumerate(self.actuator_lengths):
-            alen[1].setText(f"{actuatorLengths[idx]:10.4f}")
-
-    def updateStates(self, states):
-
-        if states is None:
-            return
-
-        self.updateControlButton(states[CONTROL_ONOFF])
-        self.states.set_states(states)
-
-    def updateControlButton(self, flag):
-
-        self.control.set_selected(on=flag)
-
-    def updateTemperature(self, temp):
-        if temp is None:
-            MODULE_LOGGER.warning("no temperature passed into updateTemperature(), returning.")
-            return
-        else:
-            #TODO: How to add the 6 temperature values to the stripchart?
-            value = temp[0]
-            self.temperature_stripchart.update(QDateTime.currentMSecsSinceEpoch(), value)
-            for t in range(len(self.temperature_values)):
-                self.temperature_values[t].setText(f"{temp[t]:10.4f}")
-
-
-class ZondaUIModel(HexapodUIModel):
-    def __init__(self, connection_type):
-
-        if connection_type == "proxy":
-            device = ZondaProxy()
-        elif connection_type == "direct":
-            device = ZondaController()
-            device.connect()
-        elif connection_type == "simulator":
-            device = ZondaSimulator()
-        else:
-            raise ValueError(
-                f"Unknown type of Hexapod implementation passed into the model: {connection_type}"
-            )
-
-        super().__init__(connection_type, device)
-
-        if device is not None:
-            MODULE_LOGGER.debug(f"Hexapod initialized as {device.__class__.__name__}")
-
-    def get_speed(self):
-        speed_settings = self.device.get_speed()
-        return speed_settings["vt"], speed_settings["vr"]
-
-    def get_temperature(self):
-        temp = self.device.get_temperature()
-        return temp
-
-
-class ZondaUIController(HexapodUIController):
-    def __init__(self, model: ZondaUIModel, view: ZondaUIView):
-        super().__init__(model, view)
-        self.set_help_topic_home("zonda_ui")
-
-    def update_values(self):
-
-        super().update_values()
-
-        # Add here any updates to ZONDA specific widgets
-
-        temp = self.model.get_temperature()
-        self.view.updateTemperature(temp)
-
-
-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 Hexapod 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("~/zonda_ui.app.lock").expanduser()))
-
-    styles_location = get_resource(":/styles/default.qss")
-    app_logo = get_resource(":/icons/logo-zonda.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 = ZondaProxy()
-            if not proxy.ping():
-                description = "Could not connect to Hexapod 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 = ZondaUIView()
-        model = ZondaUIModel(args.type)
-        ZondaUIController(model, view)
-
-        view.show()
-
-        return app.exec_()
-    else:
-        error_message = QMessageBox()
-        error_message.setIcon(QMessageBox.Warning)
-        error_message.setWindowTitle("Error")
-        error_message.setText("The Zonda GUI application is already running!")
-        error_message.setStandardButtons(QMessageBox.Ok)
-
-        return error_message.exec()
-
-
-if __name__ == "__main__":
-
-    logging.basicConfig(level=logging.DEBUG, format=Settings.LOG_FORMAT_FULL)
-
-    sys.exit(main())