Thomas Ales
407 lines
14 KiB
Python
Executable File
407 lines
14 KiB
Python
Executable File
"""Focusing Control Panel — Qt UI module for ScanEngine-3.
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This module provides a dialog-based control panel for the T3R stepper
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controller, allowing users to home, step, jog, and monitor the focus
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axis in real time. It integrates with scanengine via the hardware
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abstraction layer (hardware.t3r_driver).
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Usage:
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from sc3_aui_focusing import FocusingControlPanel
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panel = FocusingControlPanel(parent_window)
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panel.show()
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Signals:
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focus_position_changed(ch, position) — emitted after each move/jog completes
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focus_error(ch, message) — emitted on controller errors
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"""
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from __future__ import annotations
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import logging
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from typing import Optional
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try:
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from PyQt6.QtWidgets import (
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QDialog, QDoubleSpinBox, QPushButton, QLabel, QGroupBox, QVBoxLayout,
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QHBoxLayout, QSpacerItem, QSizePolicy, QErrorMessage, QMessageBox,
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)
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from PyQt6.QtCore import Qt, pyqtSignal
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except ImportError:
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from PyQt5.QtWidgets import (
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QDialog, QDoubleSpinBox, QPushButton, QLabel, QGroupBox, QVBoxLayout,
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QHBoxLayout, QSpacerItem, QSizePolicy, QErrorMessage, QMessageBox,
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)
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from PyQt5.QtCore import Qt, pyqtSignal
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from hardware import T3RStepperDriver
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logger = logging.getLogger(__name__)
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class FocusingControlPanel(QDialog):
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"""Qt dialog for controlling the T3R focus stepper."""
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focus_position_changed = pyqtSignal(int, float)
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focus_error = pyqtSignal(int, str)
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def __init__(self, parent=None):
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super().__init__(parent)
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self.setWindowTitle("Focusing Control Panel")
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self.setWindowFlags(Qt.Window | Qt.WindowCloseButtonHint)
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self.setMinimumWidth(780)
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self.setMinimumHeight(560)
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self._driver = None
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self._connected = False
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self._build_ui()
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def _build_ui(self):
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main_layout = QVBoxLayout(self)
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main_layout.setContentsMargins(20, 20, 20, 20)
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main_layout.setSpacing(10)
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title_label = QLabel("Focusing Control Panel")
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title_label.setFont(title_label.font().copy(size=Qt.FontSize.Fixed))
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title_label.setAlignment(Qt.AlignmentFlag.AlignCenter)
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main_layout.addWidget(title_label)
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status_groupbox = QGroupBox("Status")
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status_layout = QHBoxLayout(status_groupbox)
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self.status_label = QLabel("Not connected")
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self.status_label.setMinimumWidth(200)
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status_layout.addWidget(self.status_label)
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main_layout.addWidget(status_groupbox)
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axis_groupbox = QGroupBox("T-axis (Focus)")
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axis_layout = QHBoxLayout(axis_groupbox)
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self.position_label = QLabel("Position: 0")
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self.position_label.setAlignment(Qt.AlignmentFlag.AlignCenter)
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axis_layout.addWidget(self.position_label)
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main_layout.addWidget(axis_groupbox)
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controls_groupbox = QGroupBox("Controls")
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controls_layout = QVBoxLayout(controls_groupbox)
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controls_layout.setSpacing(6)
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home_row = QHBoxLayout()
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self.home_button = QPushButton("Home")
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home_row.addWidget(self.home_button)
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spacer = QSpacerItem(40, 20, QSizePolicy.Policy.Expanding, QSizePolicy.Policy.Minimum)
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home_row.addSpacerItem(spacer)
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controls_layout.addLayout(home_row)
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step_row = QHBoxLayout()
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self.step_minus_button = QPushButton("< Step (-)")
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self.steps_spinbox = QDoubleSpinBox()
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self.steps_spinbox.setMinimum(-10000.0)
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self.steps_spinbox.setMaximum(10000.0)
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self.steps_spinbox.setSingleStep(100.0)
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self.step_plus_button = QPushButton("Step (+) >")
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step_row.addWidget(self.step_minus_button)
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step_row.addWidget(self.steps_spinbox)
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step_row.addWidget(self.step_plus_button)
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controls_layout.addLayout(step_row)
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jog_row = QHBoxLayout()
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self.jog_minus_button = QPushButton("< Jog (-)")
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self.velocity_spinbox = QDoubleSpinBox()
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self.velocity_spinbox.setMinimum(-10000.0)
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self.velocity_spinbox.setMaximum(10000.0)
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self.velocity_spinbox.setSingleStep(500.0)
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self.jog_plus_button = QPushButton("Jog (+) >")
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jog_row.addWidget(self.jog_minus_button)
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jog_row.addWidget(self.velocity_spinbox)
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jog_row.addWidget(self.jog_plus_button)
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controls_layout.addLayout(jog_row)
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accel_row = QHBoxLayout()
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self.accel_minus_button = QPushButton("< Accel (-)")
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self.accel_spinbox = QDoubleSpinBox()
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def connect(self, port="/dev/ttyUSB0", spd=115200):
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"""Connect to the T3R controller and start polling."""
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try:
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self._driver = T3RStepperDriver()
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self._driver.connect(port=port, spd=spd)
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self._connected = True
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self.status_label.setText("Connected")
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self.position_label.setText(f"Position: {self._driver.get_position(0):,.0f}")
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return True
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except Exception as e:
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logger.exception("Failed to connect to T3R controller")
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self.status_label.setText(f"Connection error: {e!s}")
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return False
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def disconnect(self):
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"""Disconnect from the controller."""
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if self._driver is not None:
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try:
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self._driver.disconnect()
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except Exception as e:
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logger.warning("Error disconnecting: %s", e)
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self._driver = None
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self._connected = False
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self.status_label.setText("Not connected")
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def home(self):
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"""Home the T-axis."""
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if not self._connected or self._driver is None:
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return
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try:
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self._driver.move(0, steps=0, velocity=8000, accel=4000)
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self.position_label.setText("Position: 0")
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except Exception as e:
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logger.exception("Home failed")
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self.focus_error.emit(0, f"Home error: {e!s}")
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def step(self, direction=1):
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"""Step by the amount in steps_spinbox."""
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if not self._connected or self._driver is None:
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return
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try:
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steps = int(round(self.steps_spinbox.value()))
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if steps == 0:
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return
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sign = 1 if direction > 0 else -1
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self._driver.move(0, steps=sign * steps, velocity=8000, accel=4000)
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pos = self._driver.get_position(0)
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self.position_label.setText(f"Position: {pos:,}")
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except Exception as e:
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logger.exception("Step failed")
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self.focus_error.emit(0, f"Step error: {e!s}")
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def jog(self, direction=1):
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"""Jog at the velocity in velocity_spinbox."""
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if not self._connected or self._driver is None:
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return
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try:
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vel = int(round(self.velocity_spinbox.value()))
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if vel == 0:
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return
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sign = 1 if direction > 0 else -1
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accel = int(round(self.accel_spinbox.value()))
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self._driver.jog(0, velocity=sign * vel, accel=accel)
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except Exception as e:
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logger.exception("Jog failed")
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self.focus_error.emit(0, f"Jog error: {e!s}")
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def stop(self):
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"""Stop any motion."""
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if not self._connected or self._driver is None:
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return
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try:
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self._driver.stop(0)
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except Exception as e:
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logger.exception("Stop failed")
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self.focus_error.emit(0, f"Stop error: {e!s}")
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def refresh_position(self):
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"""Update the position label (called from polling thread)."""
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if not self._connected or self._driver is None:
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return
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try:
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pos = self._driver.get_position(0)
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self.position_label.setText(f"Position: {pos:,}")
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except Exception:
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pass
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# ── Polling integration ──────────────────────────────────────────────────
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def start_polling(self, interval=0.3):
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"""Start periodic position polling (called after connect)."""
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if self._driver is None:
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return
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self._driver.start_polling(interval)
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def stop_polling(self):
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"""Stop polling."""
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if self._driver is not None:
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self._driver.stop_polling()
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def poll_loop(self):
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"""Run the polling loop (typically in a separate thread)."""
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self.refresh_position()
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import time
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while self._connected and self._driver is not None:
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try:
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self._driver.start_polling(0.3)
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except Exception:
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pass
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time.sleep(0.5)
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# ── Signal handlers ──────────────────────────────────────────────────────
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def _on_home_clicked(self):
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self.home()
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def _on_step_minus_clicked(self):
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self.step(-1)
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def _on_step_plus_clicked(self):
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self.step(+1)
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def _on_jog_minus_clicked(self):
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self.jog(-1)
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def _on_jog_plus_clicked(self):
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self.jog(+1)
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def _on_accel_minus_clicked(self):
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pass # accel is just a jog parameter, handled by jog()
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def _on_accel_plus_clicked(self):
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pass
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def _on_stop_clicked(self):
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self.stop()
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def _on_close_clicked(self):
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self.close()
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# Wire up all buttons to their handlers
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self.home_button.clicked.connect(_on_home_clicked)
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self.step_minus_button.clicked.connect(_on_step_minus_clicked)
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self.step_plus_button.clicked.connect(_on_step_plus_clicked)
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self.jog_minus_button.clicked.connect(_on_jog_minus_clicked)
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self.jog_plus_button.clicked.connect(_on_jog_plus_clicked)
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self.accel_minus_button.clicked.connect(_on_accel_minus_clicked)
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self.accel_plus_button.clicked.connect(_on_accel_plus_clicked)
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self.stop_button.clicked.connect(_on_stop_clicked)
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self.close_button.clicked.connect(_on_close_clicked)
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# ── Signal handlers ──────────────────────────────────────────────────────
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def _on_home_clicked(self):
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self.home()
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def _on_step_minus_clicked(self):
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self.step(-1)
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def _on_step_plus_clicked(self):
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self.step(+1)
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def _on_jog_minus_clicked(self):
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self.jog(-1)
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def _on_jog_plus_clicked(self):
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self.jog(+1)
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def _on_accel_minus_clicked(self):
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pass # accel is just a jog parameter, handled by jog()
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def _on_accel_plus_clicked(self):
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pass
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def _on_stop_clicked(self):
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self.stop()
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def _on_close_clicked(self):
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self.close()
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# Wire up all buttons to their handlers
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self.home_button.clicked.connect(_on_home_clicked)
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self.step_minus_button.clicked.connect(_on_step_minus_clicked)
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self.step_plus_button.clicked.connect(_on_step_plus_clicked)
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self.jog_minus_button.clicked.connect(_on_jog_minus_clicked)
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self.jog_plus_button.clicked.connect(_on_jog_plus_clicked)
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self.accel_minus_button.clicked.connect(_on_accel_minus_clicked)
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self.accel_plus_button.clicked.connect(_on_accel_plus_clicked)
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self.stop_button.clicked.connect(_on_stop_clicked)
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self.close_button.clicked.connect(_on_close_clicked)
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def closeEvent(self, event):
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"""Save state and cleanup."""
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self.disconnect()
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# ── Polling integration ──────────────────────────────────────────────────
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def start_polling(self, interval=0.3):
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"""Start periodic position polling (called after connect)."""
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if self._driver is None:
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return
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self._driver.start_polling(interval)
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def stop_polling(self):
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"""Stop polling."""
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if self._driver is not None:
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self._driver.stop_polling()
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def poll_loop(self):
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"""Run the polling loop (typically in a separate thread)."""
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self.refresh_position()
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import time
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while self._connected and self._driver is not None:
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try:
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self._driver.start_polling(0.3)
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except Exception:
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pass
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time.sleep(0.5)
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# ── Module documentation ───────────────────────────────────────────────────
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__all__ = ["FocusingControlPanel"]
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if __name__ == "__main__":
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import sys
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from PyQt6.QtWidgets import QApplication
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app = QApplication(sys.argv)
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panel = FocusingControlPanel()
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panel.show()
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sys.exit(app.exec())
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# ── Polling integration ──────────────────────────────────────────────────
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def start_polling(self, interval=0.3):
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"""Start periodic position polling (called after connect)."""
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if self._driver is None:
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return
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self._driver.start_polling(interval)
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def stop_polling(self):
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"""Stop polling."""
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if self._driver is not None:
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self._driver.stop_polling()
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def poll_loop(self):
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"""Run the polling loop (typically in a separate thread)."""
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self.refresh_position()
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import time
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while self._connected and self._driver is not None:
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try:
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self._driver.start_polling(0.3)
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except Exception:
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pass
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time.sleep(0.5)
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event.accept()
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self.accel_spinbox.setMinimum(-10000.0)
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self.accel_spinbox.setMaximum(10000.0)
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self.accel_spinbox.setSingleStep(500.0)
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self.accel_plus_button = QPushButton("Accel (+) >")
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accel_row.addWidget(self.accel_minus_button)
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accel_row.addWidget(self.accel_spinbox)
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accel_row.addWidget(self.accel_plus_button)
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controls_layout.addLayout(accel_row)
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stop_row = QHBoxLayout()
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self.stop_button = QPushButton("Stop")
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stop_row.addWidget(self.stop_button)
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controls_layout.addLayout(stop_row)
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main_layout.addWidget(controls_groupbox)
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self.close_button = QPushButton("Close")
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main_layout.addWidget(self.close_button)
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# ── Module documentation ───────────────────────────────────────────────────
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__all__ = ["FocusingControlPanel"]
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if __name__ == "__main__":
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import sys
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from PyQt6.QtWidgets import QApplication
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app = QApplication(sys.argv)
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panel = FocusingControlPanel()
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panel.show()
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sys.exit(app.exec()) |