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Phase 5: shared worker base, self-rescheduling polls, driver robustness

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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
2026-07-28 11:21:29 -05:00
parent afe33249d1
commit 44febe34b8
8 changed files with 833 additions and 444 deletions
Download Patch File Download Diff File Expand all files Collapse all files
hardware/pybbd202/bbd20x.py
+48 -40
View File
@@ -12,12 +12,18 @@ from .apt_messages import APTProtocol
from .serial_comms import SerialSnooper
# APT bay addresses for the two stage axes
AXIS_X_ADDR = 0x21
AXIS_Y_ADDR = 0x22
class ThorlabsServoDriver():
# These are specific to the MLS203-1
# change for a different application
counts_per_mm = 20000
accel_scaling = 13.744
velocity_scaling = 134217.73
TRAVEL_MM = (110.0, 75.0) # usable travel per channel (X, Y)
def __init__(self):
self.am_connected = False
@@ -83,10 +89,27 @@ class ThorlabsServoDriver():
pass
if not self.bays_present:
print(" [WARN] No bays detected!")
# Fail loudly: reporting success with no bays made connecting to
# the wrong port look like it worked, and every later command
# then silently went nowhere.
self.disconnect()
raise RuntimeError(
f"No BBD202 bays responded on {port}. Check the port, the "
f"controller power, and that no other process holds the device."
)
self.am_connected = True
@staticmethod
def _channel_for(axis):
"""Map an APT axis address to this driver's 0-based channel index."""
if axis == AXIS_X_ADDR:
return 0
if axis == AXIS_Y_ADDR:
return 1
raise ValueError(f"Unknown axis address 0x{axis:02x} "
f"(expected 0x{AXIS_X_ADDR:02x} or 0x{AXIS_Y_ADDR:02x})")
# ── Worker threads ───────────────────────────────────────────
def _tx_worker(self):
@@ -223,15 +246,18 @@ class ThorlabsServoDriver():
APTProtocol.build_message(0x0002, destination=addr,
source=0x01))
time.sleep(0.2) # let TX worker flush them out
# Stop all worker loops, then wait for threads to exit
# Stop all worker loops, then wait for threads to exit. Joins
# are bounded: disconnect() runs from closeEvent, and a wedged
# reader must not hang application shutdown.
self.am_listening = False
self.serial_snoop.stop()
self._rx_thread.join()
self._tx_thread.join()
self._poll_thread.join()
self.serial_snoop.join()
for thread in (self._rx_thread, self._tx_thread, self._poll_thread,
self.serial_snoop):
if thread is not None:
thread.join(timeout=2.0)
# Close port only after all threads are done
self.serial_snoop.close()
self.am_connected = False
# ── State update handlers ────────────────────────────────────
@@ -305,13 +331,8 @@ class ThorlabsServoDriver():
toggle_enabled_state(axis) - enables the axis if disabled. disables
if enabled. not much more to it.
'''
if axis == 0x21:
ch = 0
elif axis == 0x22:
ch = 1
else:
raise ValueError("I don't know that axis!")
# get the old state and flip it like a sample
ch = self._channel_for(axis)
# Read the cached state and invert it
new_state = not self.am_enabled[ch]
self.send_message(0x0210, chan_ident=1,
enable_state=0x01 if new_state else 0x02,
@@ -323,12 +344,7 @@ class ThorlabsServoDriver():
power up. Default timeout is 60s, but 20-30s is fine as well if
you're in that much of a hurry.
'''
if axis == 0x21:
ch = 0
elif axis == 0x22:
ch = 1
else:
raise ValueError("I don't know that axis!")
ch = self._channel_for(axis)
self.send_and_wait(0x0443, timeout=timeout, retries=0, chan_ident=1,
destination=axis, source=0x01)
@@ -340,11 +356,11 @@ class ThorlabsServoDriver():
moves the specified axis a specified distance in mm.
Timeout defaults to ten seconds.
'''
# sanity check
if axis == 0x21 and abs(distance_in_mm) > 110.0:
raise ValueError("You can't move farther than the stage is long.")
elif axis == 0x22 and abs(distance_in_mm) > 75.0:
raise ValueError("You can't move farther than the stage is wide.")
travel = self.TRAVEL_MM[self._channel_for(axis)]
if abs(distance_in_mm) > travel:
raise ValueError(
f"Relative move of {distance_in_mm:.3f} mm exceeds the "
f"{travel:g} mm travel of this axis.")
_distance_in_encoder = int(round(distance_in_mm * self.counts_per_mm))
self.send_and_wait(0x0448, timeout=timeout, chan_ident=1,
@@ -358,10 +374,12 @@ class ThorlabsServoDriver():
moves the specified axis to an absolute position in mm.
Timeout defaults to ten seconds.
'''
if axis == 0x21 and (position_in_mm < 0.0 or position_in_mm > 110.0):
raise ValueError("Position out of range for X axis (0-110 mm).")
elif axis == 0x22 and (position_in_mm < 0.0 or position_in_mm > 75.0):
raise ValueError("Position out of range for Y axis (0-75 mm).")
ch = self._channel_for(axis)
travel = self.TRAVEL_MM[ch]
if not 0.0 <= position_in_mm <= travel:
raise ValueError(
f"Position {position_in_mm:.3f} mm is out of range for the "
f"{'XY'[ch]} axis (0-{travel:g} mm).")
_position_in_encoder = int(round(position_in_mm * self.counts_per_mm))
self.send_and_wait(0x0453, timeout=timeout, chan_ident=1,
@@ -377,12 +395,7 @@ class ThorlabsServoDriver():
for the specified axis. Returns a dict with keys:
min_velocity (mm/s), acceleration (mm/s2), max_velocity (mm/s)
'''
if axis == 0x21:
ch = 0
elif axis == 0x22:
ch = 1
else:
raise ValueError("I don't know that axis!")
ch = self._channel_for(axis)
result = self.send_and_wait(0x0414, timeout=timeout, chan_ident=1,
zero_this=0x00, destination=axis,
@@ -405,12 +418,7 @@ class ThorlabsServoDriver():
Values are in mm/s and mm/s2 respectively. Any parameter
left as None keeps its current value.
'''
if axis == 0x21:
ch = 0
elif axis == 0x22:
ch = 1
else:
raise ValueError("I don't know that axis!")
ch = self._channel_for(axis)
# Only query current params if we need to fill in a missing value
if max_velocity is None or acceleration is None: