from PyQt5 import QtCore, QtGui, QtWidgets
from PyQt5.QtCore import QObject, pyqtSlot, QThread, pyqtSignal, QLocale, QVariant, QSize
# from enum import IntEnum
from easydict import EasyDict as edict
from pyqtgraph.parametertree import Parameter, ParameterTree
import pyqtgraph.parametertree.parameterTypes as pTypes
import pymodaq.daq_utils.custom_parameter_tree
from pymodaq.daq_utils.daq_utils import ThreadCommand,find_file,find_in_path,get_names,make_enum
import os
import sys
import numpy as np
comon_parameters=[{'title': 'Units:', 'name': 'units', 'type': 'str', 'value': '', 'readonly' : True},
{'name': 'epsilon', 'type': 'float', 'value': 0.01},
{'title': 'Timeout (ms):', 'name': 'timeout', 'type': 'int', 'value': 10000, 'default': 10000},
{'title': 'Bounds:', 'name': 'bounds', 'type': 'group', 'children':[
{'title': 'Set Bounds:', 'name': 'is_bounds', 'type': 'bool', 'value': False},
{'title': 'Min:', 'name': 'min_bound', 'type': 'float', 'value': 0, 'default': 0},
{'title': 'Max:', 'name': 'max_bound', 'type': 'float', 'value': 1, 'default': 1},]},
{'title': 'Scaling:', 'name': 'scaling', 'type': 'group', 'children':[
{'title': 'Use scaling:', 'name': 'use_scaling', 'type': 'bool', 'value': False, 'default': False},
{'title': 'Scaling factor:', 'name': 'scaling', 'type': 'float', 'value': 1., 'default': 1.},
{'title': 'Offset factor:', 'name': 'offset', 'type': 'float', 'value': 0., 'default': 0.}]}]
[docs]class DAQ_Move_base(QObject):
""" The base class to be herited by all actuator modules
This base class implements all necessary parameters and methods for the plugin to communicate with its parent (the
DAQ_Move module)
Parameters
----------
parent : DAQ_Move_stage instance (see daq_viewer_main module)
params_state : Parameter instance (pyqtgraph) from which the module will get the initial settings (as defined in the preset)
:ivar Move_Done_signal: pyqtSignal signal represented by a float. Is emitted each time the hardware reached the target
position within the epsilon precision (see comon_parameters variable)
:ivar controller: the object representing the hardware in the plugin. Used to access hardware functionality
:ivar status: easydict instance to set information (str), controller object, stage object (if required) and initialized
state (bool) to return to parent after initialization
:ivar settings: Parameter instance representing the hardware settings defined from the params attribute. Modifications
on the GUI settings will be transferred to this attribute. It stores at all times the current state of the hardware/plugin
:ivar params: class level attribute. List of dict used to create a Parameter object. Its definition on the class level enable
the automatic update of the GUI settings when changing plugins (even in preset mode creation). To be populated
on the plugin level as the base class does't represents a real hardware
:ivar is_multiaxes: class level attribute (bool). Defines if the plugin controller controls multiple axes. If True, one has to define
a Master instance of this plugin and slave instances of this plugin (all sharing the same controller_ID Parameter)
:ivar current_position: (float) stores the current position after each call to the check_position in the child module
:ivar target_position: (float) stores the target position the controller should reach within epsilon
"""
Move_Done_signal=pyqtSignal(float)
is_multiaxes=False
params= []
_controller_units = ''
def __init__(self,parent=None,params_state=None):
super(DAQ_Move_base,self).__init__()
self.move_is_done = False
self.parent=parent
self.controller=None
self.stage=None
self.status=edict(info="",controller=None,stage=None,initialized=False)
self.current_position=0
self.target_position=0
self.settings=Parameter.create(name='Settings', type='group', children=self.params)
if params_state is not None:
self.settings.restoreState(params_state)
self.settings.sigTreeStateChanged.connect(self.send_param_status)
self.controller_units = self._controller_units
@property
def controller_units(self):
return self._controller_units
@controller_units.setter
def controller_units(self, units: str = ''):
self._controller_units = units
self.settings.child(('units')).setValue(units)
def check_bound(self,position):
self.move_is_done = False
if self.settings.child('bounds','is_bounds').value():
if position>self.settings.child('bounds','max_bound').value():
position=self.settings.child('bounds','max_bound').value()
self.emit_status(ThreadCommand('outofbounds',[]))
elif position<self.settings.child('bounds','min_bound').value():
position=self.settings.child('bounds','min_bound').value()
self.emit_status(ThreadCommand('outofbounds',[]))
return position
[docs] def emit_status(self,status):
"""
| Emit the statut signal from the given status parameter.
|
| The signal is sended to the gui to update the user interface.
=============== ===================== ========================================================================================================================================
**Parameters** **Type** **Description**
*status* ordered dictionnary dictionnary containing keys:
* *info* : string displaying various info
* *controller*: instance of the controller object in order to control other axes without the need to init the same controller twice
* *stage*: instance of the stage (axis or whatever) object
* *initialized*: boolean indicating if initialization has been done corretly
=============== ===================== ========================================================================================================================================
"""
if self.parent is not None:
self.parent.status_sig.emit(status)
else:
print(status)
[docs] def commit_settings(self,param):
"""
to subclass to transfer parameters to hardware
"""
pass
def commit_common_settings(self,param):
pass
[docs] def get_position_with_scaling(self,pos):
"""
Get the current position from the hardware with scaling conversion.
=============== ========= =====================
**Parameters** **Type** **Description**
*pos* float the current position
=============== ========= =====================
Returns
=======
float
the computed position.
"""
if self.settings.child('scaling','use_scaling').value():
pos=(pos-self.settings.child('scaling','offset').value())*self.settings.child('scaling','scaling').value()
return pos
[docs] def move_done(self, position=None):#the position argument is just there to match some signature of child classes
"""
| Emit a move done signal transmitting the float position to hardware.
| The position argument is just there to match some signature of child classes.
=============== ========== =============================================================================
**Arguments** **Type** **Description**
*position* float The position argument is just there to match some signature of child classes
=============== ========== =============================================================================
"""
position=self.check_position()
self.Move_Done_signal.emit(position)
self.move_is_done = True
[docs] def poll_moving(self):
"""
Poll the current moving. In case of timeout emit the raise timeout Thread command.
See Also
--------
DAQ_utils.ThreadCommand, move_done
"""
sleep_ms=50
ind=0
while np.abs(self.check_position()-self.target_position)>self.settings.child(('epsilon')).value():
if self.move_is_done:
self.emit_status(ThreadCommand('Move has been stopped'))
break
QThread.msleep(sleep_ms)
ind+=1
if ind*sleep_ms >= self.settings.child(('timeout')).value():
self.emit_status(ThreadCommand('raise_timeout'))
break
self.current_position=self.check_position()
QtWidgets.QApplication.processEvents()
self.move_done()
[docs] def send_param_status(self,param,changes):
"""
| Send changes value updates to the gui to update consequently the User Interface.
| The message passing is made via the Thread Command "update_settings".
=============== =================================== ==================================================
**Parameters** **Type** **Description**
*param* instance of pyqtgraph parameter The parameter to be checked
*changes* (parameter,change,infos)tuple list The (parameter,change,infos) list to be treated
=============== =================================== ==================================================
See Also
========
DAQ_utils.ThreadCommand
"""
for param, change, data in changes:
path = self.settings.childPath(param)
if path is not None:
childName = '.'.join(path)
else:
childName = param.name()
if change == 'childAdded':
self.emit_status(ThreadCommand('update_settings',[path,data,change])) #send parameters values/limits back to the GUI
elif change == 'value' or change == 'limits' or change=='options':
self.emit_status(ThreadCommand('update_settings',[path,data,change])) #parent is the main detector object and status_sig will be send to the GUI thrad
elif change == 'parent':
pass
[docs] def set_position_with_scaling(self, pos):
"""
Set the current position from the parameter and hardware with scaling conversion.
=============== ========= ==========================
**Parameters** **Type** **Description**
*pos* float the position to be setted
=============== ========= ==========================
Returns
=======
float
the computed position.
"""
if self.settings.child('scaling', 'use_scaling').value():
pos=pos/self.settings.child('scaling', 'scaling').value()+self.settings.child('scaling', 'offset').value()
return pos
[docs] def set_position_relative_with_scaling(self, pos):
"""
Set the scaled positions in case of relative moves
"""
if self.settings.child('scaling', 'use_scaling').value():
pos = pos/self.settings.child('scaling', 'scaling').value()
return pos
[docs] @pyqtSlot(edict)
def update_settings(self,settings_parameter_dict):#settings_parameter_dict=edict(path=path,param=param)
"""
Receive the settings_parameter signal from the param_tree_changed method and make hardware updates of mmodified values.
========================== =========== ==========================================================================================================
**Arguments** **Type** **Description**
*settings_parameter_dict* dictionnary Dictionnary with the path of the parameter in hardware structure as key and the parameter name as element
========================== =========== ==========================================================================================================
See Also
--------
send_param_status, commit_settings
"""
path=settings_parameter_dict.path
param=settings_parameter_dict.param
try:
self.settings.sigTreeStateChanged.disconnect(self.send_param_status)
except: pass
self.settings.child(*path[1:]).setValue(param.value())
self.settings.sigTreeStateChanged.connect(self.send_param_status)
self.commit_common_settings(param)
self.commit_settings(param)
if __name__=='__main__':
test=DAQ_Move_base()