Phase 5: shared worker base, self-rescheduling polls, driver robustness
gui/qt_workers.py — one QueueWorker base replaces the per-device command queue + dispatch + signal boilerplate. The loop blocks on the queue instead of waking 10-20x/second forever (test_idle_worker_does_not_spin asserts an idle worker burns ~no CPU). PollingQueueWorker adds self-rescheduling polling: the next poll is queued only after the previous finishes, so a device slower than the interval can't accumulate a backlog (test_polling_never_overlaps_or_backs_up). Helios responsiveness — the concrete bug that motivated the above: a free running 1 s QTimer queued a status poll that took ~2 s, so the queue grew for as long as the panel stayed connected. - helios_laser._query reads until the CR terminator instead of sleeping a fixed 0.05 + 0.2 s per query - one _query_int() helper replaces five copies of parse-with-logging - polling is now driven by the worker; HeliosWindow's QTimer is gone - dropped __del__, which disabled the laser and wrote to the serial port from the garbage collector at an unpredictable time helios_test_app.py — the worker was moveToThread'd but every call site invoked its methods directly, so all serial I/O (including the sleeps) ran on the GUI thread; Query All froze the UI for ~2 s. Calls now go through a queued signal to a pyqtSlot. Also: connect/disconnect cycles leaked a QThread + worker + 9 connections each time; 16 copies of the not-connected guard collapse to _require_connection(); the Query Power button called a method that has never existed (AttributeError popup) and is now disabled and documented in KNOWN_ISSUES. DCBiasImageWidget preallocates its image and uses set_data/set_clim, so the live preview stops rebuilding the array and the whole artist tree per row (O(rows^2) over a scan). bbd20x: connect() now raises when no bays respond instead of reporting success on the wrong port; disconnect() joins with a timeout so a wedged reader can't hang shutdown; one _channel_for() helper replaces four copy-pasted axis mappings; hardcoded travel limits become TRAVEL_MM; the joke error strings are gone. gui/widgets.py adds the shared ConnectionBar / PortSelector / bounded LogConsole / StatusGrid for the test benches to adopt. 65 tests passing. Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
This commit is contained in:
Thomas Ales
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"""Shared Qt worker base for hardware that must be driven off the GUI thread.
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Every device worker in this project was the same shape: a command queue, a
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`while running: get(timeout=…)` loop, an if/elif dispatch, and a standard
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connected/disconnected/failed signal trio. The timeout-poll versions woke
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10–20 times a second forever, even with nothing to do; this base blocks on
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the queue instead and wakes only when there is work.
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"""
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from __future__ import annotations
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import queue
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from PyQt6.QtCore import QObject, pyqtSignal, pyqtSlot
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_STOP = object()
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class QueueWorker(QObject):
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"""Base for a device worker living on its own QThread.
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Subclasses register handlers in ``self._handlers`` (command name →
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callable) and call ``self._enqueue(name, **kwargs)`` from the GUI thread.
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Override ``_on_stop`` to release hardware when the loop exits.
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"""
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connected = pyqtSignal()
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disconnected = pyqtSignal()
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connection_failed = pyqtSignal(str)
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error_occurred = pyqtSignal(str)
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def __init__(self):
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super().__init__()
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self._cmd_q: queue.Queue = queue.Queue()
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self._handlers: dict[str, callable] = {}
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self._running = False
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self.is_connected = False
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# ── Command submission (GUI thread) ───────────────────────────────────────
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def _enqueue(self, cmd_type: str, **kwargs):
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self._cmd_q.put((cmd_type, kwargs))
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def stop_worker(self):
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self._cmd_q.put(_STOP)
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# ── Worker loop ───────────────────────────────────────────────────────────
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@pyqtSlot()
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def run(self):
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self._running = True
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while self._running:
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item = self._cmd_q.get() # blocks — no idle wake-ups
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if item is _STOP:
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break
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cmd_type, kwargs = item
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handler = self._handlers.get(cmd_type)
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if handler is None:
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self.error_occurred.emit(f"Unknown command: {cmd_type}")
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continue
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try:
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handler(**kwargs)
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except Exception as exc:
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self.error_occurred.emit(str(exc))
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self._running = False
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self._on_stop()
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def _on_stop(self):
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"""Release hardware when the loop exits. Override as needed."""
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class PollingQueueWorker(QueueWorker):
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"""QueueWorker that also polls the device on an interval.
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The poll is self-rescheduling: the next one is queued only after the
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previous finishes, so a device slower than the interval can never
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accumulate a backlog of stale poll commands (which is exactly what the
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old free-running QTimer did to the Helios laser).
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"""
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POLL_CMD = "_poll"
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def __init__(self, poll_interval_s: float = 1.0):
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super().__init__()
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self._poll_interval_s = poll_interval_s
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self._polling = False
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self._handlers[self.POLL_CMD] = self._poll_and_reschedule
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def start_polling(self):
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if not self._polling:
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self._polling = True
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self._enqueue(self.POLL_CMD)
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def stop_polling(self):
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self._polling = False
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def _poll_and_reschedule(self):
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if not self._polling or not self.is_connected:
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self._polling = False
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return
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try:
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self._poll_once()
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finally:
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if self._polling and self.is_connected:
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self._schedule_next_poll()
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def _schedule_next_poll(self):
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# A timer thread rather than a sleep here, so the worker stays
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# responsive to commands during the interval.
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import threading
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t = threading.Timer(self._poll_interval_s,
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lambda: self._enqueue(self.POLL_CMD))
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t.daemon = True
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t.start()
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self._poll_timer = t
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def _poll_once(self):
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"""Read device state and emit updates. Implemented by subclasses."""
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+187
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"""Widgets shared by the main app and the per-device test benches.
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Each of these was hand-rolled several times across the apps, with slightly
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different behaviour every time (only one log console bounded its buffer,
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only one port picker sorted by device type).
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"""
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from __future__ import annotations
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from PyQt6.QtCore import Qt, pyqtSignal
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from PyQt6.QtGui import QFont
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from PyQt6.QtWidgets import (
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QComboBox, QGroupBox, QHBoxLayout, QLabel, QPlainTextEdit, QPushButton,
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QVBoxLayout, QWidget,
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)
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from hardware.serial_util import scored_ports
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def set_toggle(btn, checked: bool, text: str, enabled: bool = True):
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"""Update a checkable button without re-triggering its toggled signal."""
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btn.blockSignals(True)
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btn.setChecked(checked)
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btn.setText(text)
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btn.setEnabled(enabled)
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btn.blockSignals(False)
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class PortSelector(QWidget):
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"""Serial port combo + refresh button, likeliest device first."""
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def __init__(self, parent=None):
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super().__init__(parent)
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row = QHBoxLayout(self)
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row.setContentsMargins(0, 0, 0, 0)
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self.combo = QComboBox()
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self.combo.setMinimumWidth(220)
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refresh = QPushButton("⟳")
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refresh.setFixedWidth(30)
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refresh.setToolTip("Rescan serial ports")
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refresh.clicked.connect(self.refresh)
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row.addWidget(self.combo, stretch=1)
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row.addWidget(refresh)
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self.refresh()
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def refresh(self):
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"""Repopulate the list, preserving the current selection if present."""
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current = self.current_port()
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self.combo.clear()
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for device, label in scored_ports():
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self.combo.addItem(label, device)
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if self.combo.count() == 0:
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self.combo.addItem("(no serial ports found)", None)
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elif current:
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idx = self.combo.findData(current)
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if idx >= 0:
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self.combo.setCurrentIndex(idx)
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def current_port(self) -> str | None:
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return self.combo.currentData()
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def set_port(self, device: str):
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idx = self.combo.findData(device)
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if idx >= 0:
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self.combo.setCurrentIndex(idx)
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class ConnectionBar(QGroupBox):
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"""Port picker + connect toggle + status label.
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Emits connect_requested(port) / disconnect_requested(); the owner drives
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the state back through on_connected/on_disconnected/on_failed so the
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button can never disagree with the hardware.
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"""
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connect_requested = pyqtSignal(str)
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disconnect_requested = pyqtSignal()
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def __init__(self, title: str = "Connection", parent=None):
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super().__init__(title, parent)
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layout = QVBoxLayout(self)
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self.port_selector = PortSelector()
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layout.addWidget(self.port_selector)
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row = QHBoxLayout()
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self.toggle = QPushButton("Connect")
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self.toggle.setCheckable(True)
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self.toggle.toggled.connect(self._on_toggled)
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self.status = QLabel("Disconnected")
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self.status.setStyleSheet("font-weight: bold;")
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row.addWidget(self.toggle)
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row.addWidget(self.status, stretch=1)
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layout.addLayout(row)
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def _on_toggled(self, checked: bool):
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if checked:
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port = self.port_selector.current_port()
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if not port:
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set_toggle(self.toggle, False, "Connect")
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self.status.setText("No port selected")
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return
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self.toggle.setText("Connecting…")
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self.toggle.setEnabled(False)
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self.connect_requested.emit(port)
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else:
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self.disconnect_requested.emit()
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def on_connected(self, detail: str = "Connected"):
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set_toggle(self.toggle, True, "Disconnect")
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self.status.setText(detail)
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self.status.setStyleSheet("font-weight: bold; color: green;")
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def on_disconnected(self, detail: str = "Disconnected"):
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set_toggle(self.toggle, False, "Connect")
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self.status.setText(detail)
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self.status.setStyleSheet("font-weight: bold;")
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def on_failed(self, message: str):
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set_toggle(self.toggle, False, "Connect")
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self.status.setText(f"Failed: {message}")
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self.status.setStyleSheet("font-weight: bold; color: red;")
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class LogConsole(QWidget):
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"""Bounded, monospace, auto-scrolling log view with a Clear button.
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The block cap is the point: unbounded QTextEdit logs grew for the whole
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session in every app that hand-rolled one.
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"""
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KINDS = {"tx": "→", "rx": "←", "info": "●", "err": "!"}
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def __init__(self, max_blocks: int = 2000, parent=None):
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super().__init__(parent)
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layout = QVBoxLayout(self)
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layout.setContentsMargins(0, 0, 0, 0)
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self.view = QPlainTextEdit()
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self.view.setReadOnly(True)
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self.view.setMaximumBlockCount(max_blocks)
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font = QFont("Menlo")
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font.setStyleHint(QFont.StyleHint.Monospace)
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font.setPointSize(11)
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self.view.setFont(font)
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layout.addWidget(self.view)
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row = QHBoxLayout()
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row.addStretch(1)
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clear = QPushButton("Clear")
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clear.clicked.connect(self.view.clear)
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row.addWidget(clear)
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layout.addLayout(row)
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def log(self, message: str, kind: str = "info"):
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self.view.appendPlainText(f"{self.KINDS.get(kind, '●')} {message}")
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self.view.verticalScrollBar().setValue(
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self.view.verticalScrollBar().maximum())
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class StatusGrid(QWidget):
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"""Label/value rows with consistent ok/warn/error colouring."""
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_COLORS = {"ok": "green", "warn": "#b8860b", "error": "red", "": ""}
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def __init__(self, fields: list[str], parent=None):
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super().__init__(parent)
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layout = QVBoxLayout(self)
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layout.setContentsMargins(0, 0, 0, 0)
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self._values: dict[str, QLabel] = {}
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for name in fields:
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row = QHBoxLayout()
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label = QLabel(f"{name}:")
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value = QLabel("—")
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value.setAlignment(Qt.AlignmentFlag.AlignRight
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| Qt.AlignmentFlag.AlignVCenter)
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row.addWidget(label)
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row.addWidget(value, stretch=1)
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layout.addLayout(row)
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self._values[name] = value
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def set(self, name: str, text: str, state: str = ""):
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label = self._values.get(name)
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if label is None:
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return
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label.setText(text)
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color = self._COLORS.get(state, "")
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label.setStyleSheet(f"color: {color};" if color else "")
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