-
Notifications
You must be signed in to change notification settings - Fork 1
/
Copy pathDetLabStage.py
executable file
·249 lines (199 loc) · 7.28 KB
/
DetLabStage.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
#! /usr/bin/env python
# Luis Ardila [email protected] 22/03/15
import sys
from PyQt4 import QtGui, QtCore, uic
tangoEnable = True
if tangoEnable:
import PyTango
class Axis(QtGui.QWidget):
def __init__(self, parent, Title, Device, uiFile):
super(Axis, self).__init__(parent)
self.ui = uic.loadUi(uiFile)
#Declaring Device
if tangoEnable:
self.axis = PyTango.DeviceProxy(Device)
#Jogging Plus
self.connect(self.ui.JogPlus, QtCore.SIGNAL("pressed()"), self.JogPlus)
self.connect(self.ui.JogPlus, QtCore.SIGNAL("released()"), self.Stop)
#Jogging Minus
self.connect(self.ui.JogMinus, QtCore.SIGNAL("pressed()"), self.JogMinus)
self.connect(self.ui.JogMinus, QtCore.SIGNAL("released()"), self.Stop)
#Home
self.connect(self.ui.Home, QtCore.SIGNAL("clicked()"), self.Home)
#Move
self.connect(self.ui.MoveAB, QtCore.SIGNAL("clicked()"), self.MoveAB)
self.connect(self.ui.MoveRE, QtCore.SIGNAL("clicked()"), self.MoveRE)
##Stop
self.connect(self.ui.Stop, QtCore.SIGNAL("clicked()"), self.Stop)
##Limits
self.connect(self.ui.Limits, QtCore.SIGNAL("clicked()"), self.Limits)
#Scroll
self.connect(self.ui.Scroll, QtCore.SIGNAL("valueChanged(int)"), self.UpdateDesiredPosScroll)
#Updating State - Position
self.timer = QtCore.QTimer()
self.timer.start(100)
self.connect(self.timer, QtCore.SIGNAL("timeout()"), self.UpdateState)
self.connect(self.timer, QtCore.SIGNAL("timeout()"), self.CurrentPosition)
#####################
# Initializing Widget
self.UpdateDesiredPos()
self.ui.setWindowTitle(Title)
# Var
self.currentPos = 0
self.Title = Title
self.lenght = self.ui.DesirePos.maximum()
def JogPlus(self):
if tangoEnable:
self.axis.forward()
else:
self.ui.StatusLabel.setText("JogPlus")
def JogMinus(self):
if tangoEnable:
self.axis.backward()
else:
self.ui.StatusLabel.setText("JogMinus")
def Home(self):
ret = QtGui.QMessageBox.warning(self, "Homming",
"Please Check the setup!\n\nAre you sure you really want\nto Home the motor?",
QtGui.QMessageBox.Yes, QtGui.QMessageBox.Cancel | QtGui.QMessageBox.Escape )
if ret == QtGui.QMessageBox.Yes:
if tangoEnable:
self.axis.initializeReferencePosition()
else:
self.ui.StatusLabel.setText("Home")
def Stop(self):
if tangoEnable:
self.axis.stop()
else:
self.ui.StatusLabel.setText("")
self.UpdateDesiredPos()
def Limits(self):
self.Limits = Limits(self)
def MoveAB(self):
pos = self.ui.DesirePos.value()
if tangoEnable:
self.axis.position = pos
else:
self.ui.StatusLabel.setText(str(pos))
self.currentPos = self.ui.DesirePos.value()
self.ui.CurrentPos.display(self.currentPos)
self.ui.Scroll.setValue(pos)
def MoveRE(self):
movement = self.ui.RelativePos.value()
UpperLimit = self.ui.DesirePos.maximum()
LowerLimit = self.ui.DesirePos.minimum()
if self.currentPos + movement > UpperLimit:
movement = UpperLimit - self.currentPos
elif self.currentPos + movement < LowerLimit:
movement = LowerLimit - self.currentPos
if tangoEnable:
self.axis.MoveMotorRelative(movement)
else:
self.ui.StatusLabel.setText(str(movement))
self.currentPos = self.currentPos + movement
self.ui.CurrentPos.display(self.currentPos)
self.UpdateDesiredPos()
def UpdateDesiredPosScroll(self):
pos = self.ui.Scroll.value()
self.ui.DesirePos.setValue(pos)
def UpdateDesiredPos(self):
if tangoEnable:
pos = self.axis.position
self.ui.DesirePos.setValue(pos)
self.ui.Scroll.setValue(pos)
def CurrentPosition(self):
if tangoEnable:
self.currentPos = self.axis.position
self.ui.CurrentPos.display(self.currentPos)
def UpdateState(self):
if tangoEnable:
state = self.axis.state()
self.ui.StatusLabel.setText(str(state))
def run(self):
self.ui.show()
class Limits(QtGui.QDialog):
def __init__(self, parent):
QtGui.QDialog.__init__(self, parent)
# Declaring GUI
self.ui = uic.loadUi('Limits.ui')
self.ui.show()
self.connect(self.ui.ButtonBox, QtCore.SIGNAL("accepted()"), lambda: self.Accepted(parent))
self.connect(self.ui.UpperLimit, QtCore.SIGNAL("valueChanged(double)"), lambda: self.UpdateUpperLimit(parent))
self.connect(self.ui.LowerLimit, QtCore.SIGNAL("valueChanged(double)"), lambda: self.UpdateLowerLimit(parent))
self.ui.setWindowTitle(str(parent.Title + " Limits"))
self.ui.UpperLimit.setMaximum(parent.lenght*2)
self.ui.LowerLimit.setMaximum(parent.lenght*2)
self.ui.UpperLimit.setMinimum(-parent.lenght*2)
self.ui.LowerLimit.setMinimum(-parent.lenght*2)
self.ui.UpperLimit.setValue(parent.ui.DesirePos.maximum())
self.ui.LowerLimit.setValue(parent.ui.DesirePos.minimum())
def UpdateUpperLimit(self, parent):
self.UpperLimit = self.ui.UpperLimit.value()
self.LowerLimit = self.ui.LowerLimit.value()
if self.UpperLimit - self.LowerLimit > parent.lenght:
self.ui.LowerLimit.setValue(self.UpperLimit - parent.lenght)
elif self.UpperLimit <= self.LowerLimit:
self.ui.LowerLimit.setValue(self.UpperLimit - 1)
def UpdateLowerLimit(self, parent):
self.UpperLimit = self.ui.UpperLimit.value()
self.LowerLimit = self.ui.LowerLimit.value()
if self.LowerLimit + parent.lenght < self.UpperLimit:
self.ui.UpperLimit.setValue(self.LowerLimit + parent.lenght)
elif self.LowerLimit >= self.UpperLimit:
self.ui.UpperLimit.setValue(self.LowerLimit + 1)
def Accepted(self, parent):
parent.ui.DesirePos.setMaximum(self.ui.UpperLimit.value())
parent.ui.DesirePos.setMinimum(self.ui.LowerLimit.value())
parent.ui.Scroll.setMaximum(self.ui.UpperLimit.value())
parent.ui.Scroll.setMinimum(self.ui.LowerLimit.value())
class MainWidget(QtGui.QWidget):
def __init__(self, parent=None):
super(MainWidget, self).__init__(parent)
self.stack = QtGui.QStackedWidget()
layout = QtGui.QVBoxLayout(self)
layout.addWidget(self.stack)
#############################################################
# SAMPLE
# X Sample
XS_Title = "X Sample"
XS_Device = "anka/motor_detlab/xsample"
XS_uiFile = "XWidget.ui"
self.XSample = Axis(self, XS_Title, XS_Device, XS_uiFile)
# Y Sample
YS_Title = "Y Sample"
YS_Device = "anka/motor_detlab/ysample"
YS_uiFile = "YWidget.ui"
self.YSample = Axis(self, YS_Title, YS_Device, YS_uiFile)
##############################################################
# DETECTOR
# X Detector
XD_Title = "X Detector"
XD_Device = "anka/motor_detlab/xdet"
XD_uiFile = "XWidget.ui"
self.XDetector = Axis(self, XD_Title, XD_Device, XD_uiFile)
# Y Detector
YD_Title = "Y Detector"
YD_Device = "anka/motor_detlab/ydet"
YD_uiFile = "YWidget.ui"
self.YDetector = Axis(self, YD_Title, YD_Device, YD_uiFile)
# Z Detector
ZD_Title = "Z Detector"
ZD_Device = "anka/motor_detlab/zdet"
ZD_uiFile = "ZWidget.ui"
self.ZDetector = Axis(self, ZD_Title, ZD_Device, ZD_uiFile)
################################################################
# MAIN WINDOW
self.stack.addWidget(self.YSample)
self.stack.addWidget(self.XSample)
self.stack.addWidget(self.YDetector)
self.stack.addWidget(self.XDetector)
self.stack.addWidget(self.ZDetector)
self.XSample.run()
self.YSample.run()
self.XDetector.run()
self.YDetector.run()
self.ZDetector.run()
if __name__ == "__main__":
app = QtGui.QApplication(sys.argv)
win = MainWidget()
sys.exit(app.exec_())