def __init__(
self,
onValueChanged: Callable[[int], None],
parent: Optional[QWidget] = None,
*args: Tuple[Any, Any],
**kwargs: Tuple[Any, Any],
) -> None:
"""
Slow/fast slider for maze solver agents speed
"""
super(MazeSolverSpeedControlView, self).__init__(parent=parent,
*args,
**kwargs)
self.setContentsMargins(0, 0, 0, 0)
layout = QVBoxLayout(self)
layout.setContentsMargins(0, 0, 0, 0)
slider = QSlider(Qt.Orientations.Horizontal)
# minimum of 1 op/s (0 would result in a divide by zero op and thus crash)
slider.setMinimum(1)
# maximum of 50 op/s
slider.setMaximum(70)
# initial value in the middle
slider.setValue(35)
# connect the onValueChange event to the method passed to this widget
slider.valueChanged.connect(onValueChanged) # type: ignore
# slow/fast horizontal labels view
slowFastLabelsLayout = QHBoxLayout()
slowFastLabelsLayout.setContentsMargins(0, 0, 0, 0)
slowLabel = QLabel("Slow")
fastLabel = QLabel("Fast")
slowFastLabelsLayout.addWidget(slowLabel)
slowFastLabelsLayout.addStretch()
slowFastLabelsLayout.addWidget(fastLabel)
layout.addWidget(slider)
layout.addLayout(slowFastLabelsLayout)
self.setLayout(layout)
class DataGUI(QWidget):
def __init__(self):
super().__init__()
self.experiment_file_name = None
self.experiment_file_directory = None
self.data_directory = None
self.max_rois = 50
self.roi_type = 'freehand'
self.roi_radius = None
self.existing_roi_set_paths = {}
self.current_roi_index = 0
self.current_z_slice = 0
self.current_channel = 1 # index
self.image_series_name = ''
self.series_number = None
self.roi_response = []
self.roi_mask = []
self.roi_path = []
self.roi_image = None
self.roi_path_list = []
self.blank_image = np.zeros((1, 1))
self.colors = [
mcolors.to_rgb(x) for x in list(mcolors.TABLEAU_COLORS)[:20]
]
self.initUI()
def initUI(self):
self.grid = QGridLayout(self)
self.file_control_grid = QGridLayout()
self.file_control_grid.setSpacing(3)
self.grid.addLayout(self.file_control_grid, 0, 0)
self.file_tree_grid = QGridLayout()
self.file_tree_grid.setSpacing(3)
self.grid.addLayout(self.file_tree_grid, 1, 0)
self.group_control_grid = QGridLayout()
self.group_control_grid.setSpacing(3)
self.grid.addLayout(self.group_control_grid, 0, 1)
self.attribute_grid = QGridLayout()
self.attribute_grid.setSpacing(3)
self.grid.addLayout(self.attribute_grid, 1, 1)
self.roi_control_grid = QGridLayout()
self.roi_control_grid.setSpacing(3)
self.grid.addLayout(self.roi_control_grid, 0, 2)
self.plot_grid = QGridLayout()
self.plot_grid.setSpacing(3)
self.grid.addLayout(self.plot_grid, 1, 2)
# # # # File control browser: # # # # # # # # (0,0)
loadButton = QPushButton("Load expt. file", self)
loadButton.clicked.connect(self.selectDataFile)
# Label with current expt file
self.currentExperimentLabel = QLabel('')
self.file_control_grid.addWidget(loadButton, 0, 0)
self.file_control_grid.addWidget(self.currentExperimentLabel, 1, 0)
directoryButton = QPushButton("Select data directory", self)
directoryButton.clicked.connect(self.selectDataDirectory)
self.file_control_grid.addWidget(directoryButton, 0, 1)
self.data_directory_display = QLabel('')
self.data_directory_display.setFont(QtGui.QFont('SansSerif', 8))
self.file_control_grid.addWidget(self.data_directory_display, 1, 1)
# Attach metadata to file
attachDatabutton = QPushButton("Attach metadata to file", self)
attachDatabutton.clicked.connect(self.attachData)
self.file_control_grid.addWidget(attachDatabutton, 2, 0, 1, 2)
# Select image data file
selectImageDataFileButton = QPushButton("Select image data file", self)
selectImageDataFileButton.clicked.connect(self.selectImageDataFile)
self.file_control_grid.addWidget(selectImageDataFileButton, 3, 0, 1, 2)
# # # # File tree: # # # # # # # # (1,0)
self.groupTree = QTreeWidget(self)
self.groupTree.setHeaderHidden(True)
self.groupTree.itemClicked.connect(self.onTreeItemClicked)
self.file_tree_grid.addWidget(self.groupTree, 3, 0, 2, 7)
# # # # Group control: # # # # # # # # (0, 1)
deleteGroupButton = QPushButton("Delete selected group", self)
deleteGroupButton.clicked.connect(self.deleteSelectedGroup)
self.group_control_grid.addWidget(deleteGroupButton, 0, 0, 1, 2)
# File name display
self.currentImageFileNameLabel = QLabel('')
self.group_control_grid.addWidget(self.currentImageFileNameLabel, 1, 0)
# Channel drop down
ch_label = QLabel('Channel:')
self.ChannelComboBox = QComboBox(self)
self.ChannelComboBox.addItem("1")
self.ChannelComboBox.addItem("0")
self.ChannelComboBox.activated.connect(self.selectChannel)
self.group_control_grid.addWidget(ch_label, 2, 0)
self.group_control_grid.addWidget(self.ChannelComboBox, 2, 1)
# # # # Attribute table: # # # # # # # # (1, 1)
self.tableAttributes = QTableWidget()
self.tableAttributes.setStyleSheet("")
self.tableAttributes.setColumnCount(2)
self.tableAttributes.setObjectName("tableAttributes")
self.tableAttributes.setRowCount(0)
item = QTableWidgetItem()
font = QtGui.QFont()
font.setPointSize(10)
item.setFont(font)
item.setBackground(QtGui.QColor(121, 121, 121))
brush = QtGui.QBrush(QtGui.QColor(91, 91, 91))
brush.setStyle(QtCore.Qt.BrushStyle.SolidPattern)
item.setForeground(brush)
self.tableAttributes.setHorizontalHeaderItem(0, item)
item = QTableWidgetItem()
item.setBackground(QtGui.QColor(123, 123, 123))
brush = QtGui.QBrush(QtGui.QColor(91, 91, 91))
brush.setStyle(QtCore.Qt.BrushStyle.SolidPattern)
item.setForeground(brush)
self.tableAttributes.setHorizontalHeaderItem(1, item)
self.tableAttributes.horizontalHeader().setCascadingSectionResizes(
True)
self.tableAttributes.horizontalHeader().setHighlightSections(False)
self.tableAttributes.horizontalHeader().setSortIndicatorShown(True)
self.tableAttributes.horizontalHeader().setStretchLastSection(True)
self.tableAttributes.verticalHeader().setVisible(False)
self.tableAttributes.verticalHeader().setHighlightSections(False)
item = self.tableAttributes.horizontalHeaderItem(0)
item.setText("Attribute")
item = self.tableAttributes.horizontalHeaderItem(1)
item.setText("Value")
self.tableAttributes.itemChanged.connect(self.update_attrs_to_file)
self.attribute_grid.addWidget(self.tableAttributes, 3, 0, 1, 8)
# # # # Roi control # # # # # # # # (0, 2)
# ROI type drop-down
self.RoiTypeComboBox = QComboBox(self)
self.RoiTypeComboBox.addItem("freehand")
radii = [1, 2, 3, 4, 6, 8]
for radius in radii:
self.RoiTypeComboBox.addItem("circle:" + str(radius))
self.RoiTypeComboBox.activated.connect(self.selectRoiType)
self.roi_control_grid.addWidget(self.RoiTypeComboBox, 0, 0)
# Clear all ROIs button
self.clearROIsButton = QPushButton("Clear ROIs", self)
self.clearROIsButton.clicked.connect(self.clearRois)
self.roi_control_grid.addWidget(self.clearROIsButton, 0, 2)
# Response display type dropdown
self.RoiResponseTypeComboBox = QComboBox(self)
self.RoiResponseTypeComboBox.addItem("RawTrace")
self.RoiResponseTypeComboBox.addItem("TrialAverage")
self.RoiResponseTypeComboBox.addItem("TrialResponses")
self.RoiResponseTypeComboBox.addItem("TrialAverageDFF")
self.roi_control_grid.addWidget(self.RoiResponseTypeComboBox, 2, 2)
# ROIset file name line edit box
self.defaultRoiSetName = "roi_set_name"
self.le_roiSetName = QLineEdit(self.defaultRoiSetName)
self.roi_control_grid.addWidget(self.le_roiSetName, 1, 1)
# Save ROIs button
self.saveROIsButton = QPushButton("Save ROIs", self)
self.saveROIsButton.clicked.connect(self.saveRois)
self.roi_control_grid.addWidget(self.saveROIsButton, 1, 0)
# Load ROI set combobox
self.loadROIsComboBox = QComboBox(self)
self.loadROIsComboBox.addItem("(load existing ROI set)")
self.loadROIsComboBox.activated.connect(self.selectedExistingRoiSet)
self.roi_control_grid.addWidget(self.loadROIsComboBox, 1, 2)
self.updateExistingRoiSetList()
# Delete current roi button
self.deleteROIButton = QPushButton("Delete ROI", self)
self.deleteROIButton.clicked.connect(self.deleteRoi)
self.roi_control_grid.addWidget(self.deleteROIButton, 2, 0)
# Current roi slider
self.roiSlider = QSlider(QtCore.Qt.Orientation.Horizontal, self)
self.roiSlider.setMinimum(0)
self.roiSlider.setMaximum(self.max_rois)
self.roiSlider.valueChanged.connect(self.sliderUpdated)
self.roi_control_grid.addWidget(self.roiSlider, 2, 1, 1, 1)
ctx = plt.rc_context({
'xtick.major.size': 1,
'axes.spines.top': False,
'axes.spines.right': False,
'xtick.labelsize': 'xx-small',
'ytick.labelsize': 'xx-small',
'xtick.major.size': 1.0,
'ytick.major.size': 1.0,
'xtick.major.pad': 1.0,
'ytick.major.pad': 1.0
})
with ctx:
self.responseFig = plt.figure(frameon=False, layout='constrained')
self.responsePlot = self.responseFig.add_subplot(111)
self.responseCanvas = FigureCanvas(self.responseFig)
self.responseCanvas.draw_idle()
self.plot_grid.addWidget(self.responseCanvas, 0, 0)
# # # # Image canvas # # # # # # # # (1, 2)
self.roi_fig = plt.figure()
self.roi_ax = self.roi_fig.add_subplot(111)
self.roi_canvas = FigureCanvas(self.roi_fig)
self.toolbar = NavigationToolbar(self.roi_canvas, self)
self.roi_ax.set_aspect('equal')
self.roi_ax.set_axis_off()
self.plot_grid.addWidget(self.toolbar, 1, 0)
self.plot_grid.addWidget(self.roi_canvas, 2, 0)
self.plot_grid.setRowStretch(0, 1)
self.plot_grid.setRowStretch(1, 3)
self.plot_grid.setRowStretch(2, 3)
# Current z slice slider
self.zSlider = QSlider(QtCore.Qt.Orientation.Horizontal, self)
self.zSlider.setMinimum(0)
self.zSlider.setMaximum(50)
self.zSlider.setValue(0)
self.zSlider.valueChanged.connect(self.zSliderUpdated)
self.plot_grid.addWidget(self.zSlider, 3, 0)
self.roi_fig.tight_layout()
self.setWindowTitle('Visanalysis')
self.setGeometry(200, 200, 1200, 600)
self.show()
def _populateTree(self, widget, dict):
widget.clear()
self.fill_item(widget.invisibleRootItem(), dict)
def fill_item(self, item, value):
item.setExpanded(True)
if type(value) is dict:
for key, val in sorted(value.items()):
child = QTreeWidgetItem()
child.setText(0, key)
item.addChild(child)
self.fill_item(child, val)
elif type(value) is list:
for val in value:
child = QTreeWidgetItem()
item.addChild(child)
if type(val) is dict:
child.setText(0, '[dict]')
self.fill_item(child, val)
elif type(val) is list:
child.setText(0, '[list]')
self.fill_item(child, val)
else:
child.setText(0, val)
child.setExpanded(True)
else:
child = QTreeWidgetItem()
child.setText(0, value)
item.addChild(child)
def onTreeItemClicked(self, item, column):
file_path = os.path.join(self.experiment_file_directory,
self.experiment_file_name + '.hdf5')
group_path = h5io.getPathFromTreeItem(
self.groupTree.selectedItems()[0])
self.clearRois()
self.series_number = None
if 'series_' in group_path:
self.series_number = int(
group_path.split('series_')[-1].split('/')[0])
if self.plugin.dataIsAttached(file_path, self.series_number):
self.plugin.updateImagingDataObject(
self.experiment_file_directory, self.experiment_file_name,
self.series_number)
# look for image_file_name or ask user to select it
if self.data_directory is not None:
image_file_name = h5io.readImageFileName(
file_path, self.series_number)
if image_file_name is None or image_file_name == '':
image_file_path, _ = QFileDialog.getOpenFileName(
self, "Select image file")
print('User selected image file at {}'.format(
image_file_path))
image_file_name = os.path.split(image_file_path)[-1]
self.data_directory = os.path.split(
image_file_path)[:-1][0]
h5io.attachImageFileName(file_path, self.series_number,
image_file_name)
print('Attached image_file_name {} to series {}'.format(
image_file_name, self.series_number))
print('Data directory is {}'.format(self.data_directory))
self.image_file_name = image_file_name
self.currentImageFileNameLabel.setText(self.image_file_name)
else: # clicked part of the tree upstream of any series
self.series_number = None
if item.parent() is not None:
if item.parent().text(
column) == 'rois': # selected existing roi group
roi_set_name = item.text(column)
# print('Selected roi set {} from series {}'.format(roi_set_name, self.series_number))
self.le_roiSetName.setText(roi_set_name)
roi_set_path = h5io.getPathFromTreeItem(
self.groupTree.selectedItems()[0])
self.loadRois(roi_set_path)
self.redrawRoiTraces()
if group_path != '':
attr_dict = h5io.getAttributesFromGroup(file_path, group_path)
editable_values = True # user can edit metadata
self.populate_attrs(attr_dict=attr_dict,
editable_values=editable_values)
# show roi image
if self.series_number is not None: # Clicked on node of the tree associated with a single series
if self.data_directory is not None: # user has selected a raw data directory
if self.plugin.dataIsAttached(file_path, self.series_number):
self.plugin.updateImageSeries(
data_directory=self.data_directory,
image_file_name=self.image_file_name,
series_number=self.series_number,
channel=self.current_channel)
self.roi_image = self.plugin.mean_brain
self.zSlider.setValue(0)
self.zSlider.setMaximum(self.roi_image.shape[2] - 1)
self.redrawRoiTraces()
else:
print('Attach metadata to file before drawing rois')
else:
print('Select a data directory before drawing rois')
# # # TEST # # #
memory_usage = psutil.Process(os.getpid()).memory_info().rss * 10**-9
print('Current Memory Usage: {:.2f}GB'.format(memory_usage))
sys.stdout.flush()
# # # TEST # # #
def updateExistingRoiSetList(self):
if self.experiment_file_name is not None:
file_path = os.path.join(self.experiment_file_directory,
self.experiment_file_name + '.hdf5')
self.existing_roi_set_paths = self.plugin.getRoiSetPaths(
file_path) # dictionary of name: full path
self.loadROIsComboBox.clear()
for r_path in self.existing_roi_set_paths:
self.loadROIsComboBox.addItem(r_path)
self.show()
def selectedExistingRoiSet(self):
file_path = os.path.join(self.experiment_file_directory,
self.experiment_file_name + '.hdf5')
roi_set_key = self.loadROIsComboBox.currentText()
roi_set_path = self.existing_roi_set_paths[roi_set_key]
_, _, self.roi_path, self.roi_mask = self.plugin.loadRoiSet(
file_path, roi_set_path)
if self.series_number is not None:
self.roi_response = []
for new_path in self.roi_path:
new_roi_resp = self.plugin.getRoiDataFromPath(
roi_path=new_path)
self.roi_response.append(new_roi_resp)
# update slider to show most recently drawn roi response
self.current_roi_index = len(self.roi_response) - 1
self.roiSlider.setValue(self.current_roi_index)
# Update figures
self.redrawRoiTraces()
def selectDataFile(self):
filePath, _ = QFileDialog.getOpenFileName(
self, "Open experiment (hdf5) file")
self.experiment_file_name = os.path.split(filePath)[1].split('.')[0]
self.experiment_file_directory = os.path.split(filePath)[0]
if self.experiment_file_name != '':
self.currentExperimentLabel.setText(self.experiment_file_name)
self.initializeDataAnalysis()
self.populateGroups()
self.updateExistingRoiSetList()
def selectDataDirectory(self):
filePath = str(
QFileDialog.getExistingDirectory(self, "Select data directory"))
self.data_directory = filePath
self.data_directory_display.setText('..' + self.data_directory[-24:])
def initializeDataAnalysis(self):
file_path = os.path.join(self.experiment_file_directory,
self.experiment_file_name + '.hdf5')
data_type = h5io.getDataType(file_path)
# Load plugin based on Rig name in hdf5 file
if data_type == 'Bruker':
from visanalysis.plugin import bruker
self.plugin = bruker.BrukerPlugin()
elif data_type == 'AODscope':
from visanalysis.plugin import aodscope
self.plugin = aodscope.AodScopePlugin()
else:
self.plugin = h5io.BasePlugin()
self.plugin.parent_gui = self
# # # TEST # # #
memory_usage = psutil.Process(os.getpid()).memory_info().rss * 10**-9
print('Current memory usage: {:.2f}GB'.format(memory_usage))
sys.stdout.flush()
# # # TEST # # #
def attachData(self):
if self.data_directory is not None:
file_path = os.path.join(self.experiment_file_directory,
self.experiment_file_name + '.hdf5')
self.plugin.attachData(self.experiment_file_name, file_path,
self.data_directory)
print('Data attached')
else:
print('Select a data directory before attaching new data')
def selectImageDataFile(self):
file_path = os.path.join(self.experiment_file_directory,
self.experiment_file_name + '.hdf5')
image_file_path, _ = QFileDialog.getOpenFileName(
self, "Select image file")
print('User selected image file at {}'.format(image_file_path))
self.image_file_name = os.path.split(image_file_path)[-1]
self.data_directory = os.path.split(image_file_path)[:-1][0]
h5io.attachImageFileName(file_path, self.series_number,
self.image_file_name)
print('Attached image_file_name {} to series {}'.format(
self.image_file_name, self.series_number))
print('Data directory is {}'.format(self.data_directory))
self.currentImageFileNameLabel.setText(self.image_file_name)
# show roi image
if self.series_number is not None:
if self.data_directory is not None: # user has selected a raw data directory
self.plugin.updateImageSeries(
data_directory=self.data_directory,
image_file_name=self.image_file_name,
series_number=self.series_number,
channel=self.current_channel)
self.roi_image = self.plugin.mean_brain
self.zSlider.setValue(0)
self.zSlider.setMaximum(self.roi_image.shape[2] - 1)
self.redrawRoiTraces()
else:
print('Select a data directory before drawing rois')
def deleteSelectedGroup(self):
file_path = os.path.join(self.experiment_file_directory,
self.experiment_file_name + '.hdf5')
group_path = h5io.getPathFromTreeItem(
self.groupTree.selectedItems()[0])
group_name = group_path.split('/')[-1]
buttonReply = QMessageBox.question(
self, 'Delete series',
"Are you sure you want to delete group {}?".format(group_name),
QMessageBox.StandardButton.Yes | QMessageBox.StandardButton.No,
QMessageBox.StandardButton.No)
if buttonReply == QMessageBox.StandardButton.Yes:
h5io.deleteGroup(file_path=file_path, group_path=group_path)
print('Deleted group {}'.format(group_name))
self.updateExistingRoiSetList()
self.populateGroups()
else:
print('Delete aborted')
def populateGroups(self):
file_path = os.path.join(self.experiment_file_directory,
self.experiment_file_name + '.hdf5')
self.group_dset_dict = h5io.getHierarchy(file_path)
self._populateTree(self.groupTree, self.group_dset_dict)
def populate_attrs(self, attr_dict=None, editable_values=False):
"""Populate attribute for currently selected group."""
self.tableAttributes.blockSignals(
True) # block udpate signals for auto-filled forms
self.tableAttributes.setRowCount(0)
self.tableAttributes.setColumnCount(2)
self.tableAttributes.setSortingEnabled(False)
if attr_dict:
for num, key in enumerate(attr_dict):
self.tableAttributes.insertRow(self.tableAttributes.rowCount())
key_item = QTableWidgetItem(key)
key_item.setFlags(QtCore.Qt.ItemFlag.ItemIsSelectable
| QtCore.Qt.ItemFlag.ItemIsEnabled)
self.tableAttributes.setItem(num, 0, key_item)
val_item = QTableWidgetItem(str(attr_dict[key]))
if editable_values:
val_item.setFlags(QtCore.Qt.ItemFlag.ItemIsSelectable
| QtCore.Qt.ItemFlag.ItemIsEditable
| QtCore.Qt.ItemFlag.ItemIsEnabled)
else:
val_item.setFlags(QtCore.Qt.ItemFlag.ItemIsSelectable
| QtCore.Qt.ItemFlag.ItemIsEnabled)
self.tableAttributes.setItem(num, 1, val_item)
self.tableAttributes.blockSignals(False)
def update_attrs_to_file(self, item):
file_path = os.path.join(self.experiment_file_directory,
self.experiment_file_name + '.hdf5')
group_path = h5io.getPathFromTreeItem(
self.groupTree.selectedItems()[0])
attr_key = self.tableAttributes.item(item.row(), 0).text()
attr_val = item.text()
# update attr in file
h5io.changeAttribute(file_path=file_path,
group_path=group_path,
attr_key=attr_key,
attr_val=attr_val)
print('Changed attr {} to = {}'.format(attr_key, attr_val))
# %% # # # # # # # # ROI SELECTOR WIDGET # # # # # # # # # # # # # # # # # # #
def refreshLassoWidget(self, keep_paths=False):
self.roi_ax.clear()
init_lasso = False
if self.roi_image is not None:
if len(self.roi_mask) > 0:
newImage = plot_tools.overlayImage(
self.roi_image[:, :, self.current_z_slice],
self.roi_mask,
0.5,
self.colors,
z=self.current_z_slice)
else:
newImage = self.roi_image[:, :, self.current_z_slice]
self.roi_ax.imshow(newImage, cmap=cm.gray)
init_lasso = True
else:
self.roi_ax.imshow(self.blank_image)
self.roi_ax.set_axis_off()
self.roi_canvas.draw()
if not keep_paths:
self.roi_path_list = []
if init_lasso:
if self.roi_type == 'circle':
self.lasso_1 = EllipseSelector(self.roi_ax,
onselect=self.newEllipse,
button=1)
elif self.roi_type == 'freehand':
self.lasso_1 = LassoSelector(self.roi_ax,
onselect=self.newFreehand,
button=1)
self.lasso_2 = LassoSelector(self.roi_ax,
onselect=self.appendFreehand,
button=3)
else:
print(
'Warning ROI type not recognized. Choose circle or freehand'
)
def newFreehand(self, verts):
new_roi_path = path.Path(verts)
new_roi_path.z_level = self.zSlider.value()
new_roi_path.channel = self.current_channel
self.updateRoiSelection([new_roi_path])
def appendFreehand(self, verts):
print('Appending rois, hit Enter/Return to finish')
new_roi_path = path.Path(verts)
new_roi_path.z_level = self.zSlider.value()
new_roi_path.channel = self.current_channel
self.roi_path_list.append(new_roi_path)
def keyPressEvent(self, event):
if type(event) == QtGui.QKeyEvent:
if np.any([
event.key() == QtCore.Qt.Key.Key_Return,
event.key() == QtCore.Qt.Key.Key_Enter
]):
if len(self.roi_path_list) > 0:
event.accept()
self.updateRoiSelection(self.roi_path_list)
else:
event.ignore()
else:
event.ignore()
else:
event.ignore()
def newEllipse(self, pos1, pos2, definedRadius=None):
x1 = np.round(pos1.xdata)
x2 = np.round(pos2.xdata)
y1 = np.round(pos1.ydata)
y2 = np.round(pos2.ydata)
radiusX = np.sqrt((x1 - x2)**2) / 2
radiusY = np.sqrt((y1 - y2)**2) / 2
if self.roi_radius is not None:
radiusX = self.roi_radius
center = (np.round((x1 + x2) / 2), np.round((y1 + y2) / 2))
new_roi_path = path.Path.circle(center=center, radius=radiusX)
new_roi_path.z_level = self.zSlider.value()
new_roi_path.channel = self.current_channel
self.updateRoiSelection([new_roi_path])
def updateRoiSelection(self, new_roi_path):
mask = self.plugin.getRoiMaskFromPath(new_roi_path)
new_roi_resp = self.plugin.getRoiDataFromPath(roi_path=new_roi_path)
if mask.sum() == 0:
print('No pixels in the roi you just drew')
return
# update list of roi data
self.roi_mask.append(mask)
self.roi_path.append(new_roi_path) # list of lists of paths
self.roi_response.append(new_roi_resp)
# update slider to show most recently drawn roi response
self.current_roi_index = len(self.roi_response) - 1
self.roiSlider.setValue(self.current_roi_index)
# Update figures
self.redrawRoiTraces()
def sliderUpdated(self):
self.current_roi_index = self.roiSlider.value()
self.redrawRoiTraces()
def zSliderUpdated(self):
self.current_z_slice = self.zSlider.value()
if self.roi_image is not None:
self.refreshLassoWidget(keep_paths=True)
def redrawRoiTraces(self):
self.clearRoiArtists()
if self.current_roi_index < len(self.roi_response):
current_raw_trace = np.squeeze(
self.roi_response[self.current_roi_index])
fxn_name = self.RoiResponseTypeComboBox.currentText()
display_trace = getattr(self.plugin,
'getRoiResponse_{}'.format(fxn_name))(
[current_raw_trace])
self.responsePlot.plot(display_trace,
color=self.colors[self.current_roi_index],
linewidth=1,
alpha=0.5)
self.responsePlot.set_xlim([0, len(display_trace)])
y_min = np.nanmin(display_trace)
y_max = np.nanmax(display_trace)
self.responsePlot.set_ylim([y_min, y_max])
self.responseCanvas.draw()
self.refreshLassoWidget(keep_paths=False)
# %% # # # # # # # # LOADING / SAVING / COMPUTING ROIS # # # # # # # # # # # # # # # # # # #
def loadRois(self, roi_set_path):
file_path = os.path.join(self.experiment_file_directory,
self.experiment_file_name + '.hdf5')
self.roi_response, self.roi_image, self.roi_path, self.roi_mask = self.plugin.loadRoiSet(
file_path, roi_set_path)
self.zSlider.setValue(0)
self.zSlider.setMaximum(self.roi_image.shape[2] - 1)
def saveRois(self):
file_path = os.path.join(self.experiment_file_directory,
self.experiment_file_name + '.hdf5')
roi_set_name = self.le_roiSetName.text()
if roi_set_name in h5io.getAvailableRoiSetNames(
file_path, self.series_number):
buttonReply = QMessageBox.question(
self, 'Overwrite roi set',
"Are you sure you want to overwrite roi set: {}?".format(
roi_set_name),
QMessageBox.StandardButton.Yes | QMessageBox.StandardButton.No,
QMessageBox.StandardButton.No)
if buttonReply == QMessageBox.StandardButton.Yes:
self.plugin.saveRoiSet(file_path,
series_number=self.series_number,
roi_set_name=roi_set_name,
roi_mask=self.roi_mask,
roi_response=self.roi_response,
roi_image=self.roi_image,
roi_path=self.roi_path)
print('Saved roi set {} to series {}'.format(
roi_set_name, self.series_number))
self.populateGroups()
self.updateExistingRoiSetList()
else:
print('Overwrite aborted - pick a unique roi set name')
else:
self.plugin.saveRoiSet(file_path,
series_number=self.series_number,
roi_set_name=roi_set_name,
roi_mask=self.roi_mask,
roi_response=self.roi_response,
roi_image=self.roi_image,
roi_path=self.roi_path)
print('Saved roi set {} to series {}'.format(
roi_set_name, self.series_number))
self.populateGroups()
self.updateExistingRoiSetList()
def deleteRoi(self):
if self.current_roi_index < len(self.roi_response):
self.roi_mask.pop(self.current_roi_index)
self.roi_response.pop(self.current_roi_index)
self.roi_path.pop(self.current_roi_index)
self.roiSlider.setValue(self.current_roi_index - 1)
self.redrawRoiTraces()
def clearRois(self):
self.roi_mask = []
self.roi_response = []
self.roi_path = []
self.roi_image = None
self.clearRoiArtists()
self.redrawRoiTraces()
self.roi_ax.clear()
def clearRoiArtists(self):
for artist in self.responsePlot.lines + self.responsePlot.collections:
artist.remove()
def selectRoiType(self):
self.roi_type = self.RoiTypeComboBox.currentText().split(':')[0]
if 'circle' in self.RoiTypeComboBox.currentText():
self.roi_radius = int(
self.RoiTypeComboBox.currentText().split(':')[1])
else:
self.roi_radius = None
self.redrawRoiTraces()
def selectChannel(self):
self.current_channel = int(self.ChannelComboBox.currentText())
# show roi image
if self.series_number is not None:
if self.data_directory is not None: # user has selected a raw data directory
self.plugin.updateImageSeries(
data_directory=self.data_directory,
image_file_name=self.image_file_name,
series_number=self.series_number,
channel=self.current_channel)
self.roi_image = self.plugin.mean_brain
self.zSlider.setValue(0)
self.zSlider.setMaximum(self.roi_image.shape[2] - 1)
self.redrawRoiTraces()
else:
print('Select a data directory before drawing rois')
class MainWindow(QMainWindow):
def __init__(self):
super().__init__()
self.setFixedSize(800, 410)
self.setWindowTitle("PyLX16A Servo Testing Software")
self.port_selection_box = QComboBox(self)
self.port_selection_box.setFixedSize(200, 27)
self.port_selection_box.move(30, 65)
port_selection_box_label = QLabel("Select Port:", self)
port_selection_box_label.move(30, 35)
self.port_selection_box_refresh_button = QPushButton("Refresh", self)
self.port_selection_box_refresh_button.setFixedSize(60, 23)
self.port_selection_box_refresh_button.move(170, 38)
self.id_selection_box = QListWidget(self)
self.id_selection_box.setFixedSize(200, 200)
self.id_selection_box.move(30, 135)
id_selection_box_label = QLabel("Connected Servos:", self)
id_selection_box_label.setFixedWidth(200)
id_selection_box_label.move(30, 105)
self.id_selection_box_refresh_button = QPushButton("Refresh", self)
self.id_selection_box_refresh_button.setFixedSize(60, 23)
self.id_selection_box_refresh_button.move(170, 108)
self.set_id_line_edit = QLineEdit(self)
self.set_id_line_edit.setFixedSize(50, 27)
self.set_id_line_edit.move(80, 355)
set_id_line_edit_label = QLabel("Set ID:", self)
set_id_line_edit_label.move(30, 355)
set_id_line_edit_label.setFixedSize(50, 27)
self.set_id_button = QPushButton("Change ID!", self)
self.set_id_button.setFixedSize(85, 27)
self.set_id_button.move(145, 355)
self.position_slider = QSlider(Qt.Orientation.Horizontal, self)
self.position_slider.setMinimum(0)
self.position_slider.setMaximum(240)
self.position_slider.setFixedWidth(200)
self.position_slider.move(300, 55)
self.position_slider_readout = QLabel("0.00°", self)
self.position_slider_readout.setFixedWidth(50)
self.position_slider_readout.move(450, 30)
self.position_slider_readout.setAlignment(
Qt.AlignmentFlag.AlignRight | Qt.AlignmentFlag.AlignVCenter)
position_slider_label = QLabel("Angle (degrees):", self)
position_slider_label.move(300, 30)
self.position_offset_slider = QSlider(Qt.Orientation.Horizontal, self)
self.position_offset_slider.setMinimum(-30)
self.position_offset_slider.setMaximum(30)
self.position_offset_slider.setFixedWidth(200)
self.position_offset_slider.move(300, 125)
self.position_offset_slider_readout = QLabel("0.00°", self)
self.position_offset_slider_readout.setFixedWidth(50)
self.position_offset_slider_readout.move(450, 100)
self.position_offset_slider_readout.setAlignment(
Qt.AlignmentFlag.AlignRight | Qt.AlignmentFlag.AlignVCenter)
position_offset_slider_label = QLabel("Angle offset (degrees):", self)
position_offset_slider_label.setFixedWidth(200)
position_offset_slider_label.move(300, 100)
self.angle_lower_limit_textentry = QLineEdit(self)
self.angle_lower_limit_textentry.setFixedWidth(50)
self.angle_lower_limit_textentry.move(450, 175)
self.angle_lower_limit_textentry.setValidator(
QIntValidator(0, 240, self))
self.angle_upper_limit_textentry = QLineEdit(self)
self.angle_upper_limit_textentry.setFixedWidth(50)
self.angle_upper_limit_textentry.move(450, 210)
self.angle_upper_limit_textentry.setValidator(
QIntValidator(0, 240, self))
self.angle_lower_limit_textentry_label = QLabel(
"Lower Limit (degrees):", self)
self.angle_lower_limit_textentry_label.move(300, 175)
self.angle_lower_limit_textentry_label.setFixedWidth(150)
self.angle_upper_limit_textentry_label = QLabel(
"Upper Limit (degrees):", self)
self.angle_upper_limit_textentry_label.move(300, 210)
self.angle_upper_limit_textentry_label.setFixedWidth(150)
self.vin_lower_limit_textentry = QLineEdit(self)
self.vin_lower_limit_textentry.setFixedWidth(50)
self.vin_lower_limit_textentry.move(450, 265)
self.vin_lower_limit_textentry.setValidator(
QIntValidator(4500, 12000, self))
self.vin_upper_limit_textentry = QLineEdit(self)
self.vin_upper_limit_textentry.setFixedWidth(50)
self.vin_upper_limit_textentry.move(450, 300)
self.vin_upper_limit_textentry.setValidator(
QIntValidator(4500, 12000, self))
self.vin_lower_limit_textentry_label = QLabel(
"Voltage Lower Limit (mV):", self)
self.vin_lower_limit_textentry_label.move(300, 265)
self.vin_lower_limit_textentry_label.setFixedWidth(150)
self.vin_upper_limit_textentry_label = QLabel(
"Voltage Upper Limit (mV):", self)
self.vin_upper_limit_textentry_label.move(300, 300)
self.vin_upper_limit_textentry_label.setFixedWidth(150)
self.temp_limit_textentry = QLineEdit(self)
self.temp_limit_textentry.setFixedWidth(50)
self.temp_limit_textentry.move(450, 355)
self.temp_limit_textentry.setValidator(QIntValidator(50, 100, self))
self.temp_limit_textentry_label = QLabel("Temp Limit (°C):", self)
self.temp_limit_textentry_label.move(300, 355)
self.temp_limit_textentry_label.setFixedWidth(150)
self.servo_mode_radio_button = QRadioButton("Servo Mode", self)
self.servo_mode_radio_button.move(565, 50)
self.motor_mode_radio_button = QRadioButton("Motor Mode", self)
self.motor_mode_radio_button.move(565, 75)
self.motor_speed_slider = QSlider(Qt.Orientation.Horizontal, self)
self.motor_speed_slider.setMinimum(-1000)
self.motor_speed_slider.setMaximum(1000)
self.motor_speed_slider.setFixedWidth(200)
self.motor_speed_slider.move(565, 125)
motor_speed_slider_label = QLabel("Motor Speed:", self)
motor_speed_slider_label.move(565, 100)
self.torque_enabled_checkbox = QCheckBox("Torque Enabled", self)
self.torque_enabled_checkbox.move(565, 175)
self.torque_enabled_checkbox.setFixedWidth(200)
self.led_enabled_checkbox = QCheckBox("LED Enabled", self)
self.led_enabled_checkbox.move(565, 210)
self.led_enabled_checkbox.setFixedWidth(200)
self.led_over_temp_checkbox = QCheckBox("LED Over Temperature", self)
self.led_over_temp_checkbox.move(565, 258)
self.led_over_temp_checkbox.setFixedWidth(200)
self.led_over_voltage_checkbox = QCheckBox("LED Over Voltage", self)
self.led_over_voltage_checkbox.move(565, 283)
self.led_over_voltage_checkbox.setFixedWidth(200)
self.led_rotor_locked_checkbox = QCheckBox("LED Rotor Locked", self)
self.led_rotor_locked_checkbox.move(565, 308)
self.led_rotor_locked_checkbox.setFixedWidth(200)
self.physical_position_readout = QLabel("--°", self)
self.physical_position_readout.move(565, 367)
self.physical_position_readout.setFixedWidth(200)
self.physical_position_readout_label = QLabel("Position", self)
self.physical_position_readout_label.move(565, 347)
self.temperature_readout = QLabel("-- °C", self)
self.temperature_readout.move(635, 367)
self.temperature_readout.setFixedWidth(200)
self.temperature_readout_label = QLabel("Temperature", self)
self.temperature_readout_label.move(635, 347)
self.voltage_readout = QLabel("-- V", self)
self.voltage_readout.move(730, 367)
self.voltage_readout.setFixedWidth(200)
self.voltage_readout_label = QLabel("Voltage", self)
self.voltage_readout_label.move(730, 347)
self.readout_update_timer = QTimer(self)
self.readout_update_timer.timeout.connect(self.update_readouts)
self.readout_update_timer.start(250)
self.active_servo: LX16A = None
self.position_slider.setValue(0)
self.position_offset_slider.setValue(0)
self.motor_speed_slider.setValue(0)
self.id_selection_box_refresh_button.setEnabled(False)
self.disable_widgets()
self.port_selection_box.currentTextChanged.connect(
self.port_selection_box_changed)
self.port_selection_box_refresh_button.clicked.connect(
self.port_refresh_button_clicked)
self.id_selection_box.currentTextChanged.connect(
self.id_selection_box_changed)
self.id_selection_box_refresh_button.clicked.connect(
self.id_refresh_button_clicked)
self.set_id_button.pressed.connect(self.id_updated)
self.position_slider.sliderMoved.connect(self.position_slider_updated)
self.position_offset_slider.sliderMoved.connect(
self.position_offset_slider_updated)
self.angle_lower_limit_textentry.textChanged.connect(
self.angle_lower_limit_updated)
self.angle_upper_limit_textentry.textChanged.connect(
self.angle_upper_limit_updated)
self.vin_lower_limit_textentry.textChanged.connect(
self.vin_lower_limit_updated)
self.vin_upper_limit_textentry.textChanged.connect(
self.vin_upper_limit_updated)
self.temp_limit_textentry.textChanged.connect(self.temp_limit_updated)
self.servo_mode_radio_button.toggled.connect(
self.servo_mode_radio_button_toggled)
self.motor_mode_radio_button.toggled.connect(
self.motor_mode_radio_button_toggled)
self.motor_speed_slider.valueChanged.connect(
self.motor_speed_slider_updated)
self.torque_enabled_checkbox.stateChanged.connect(
self.torque_enabled_checkbox_toggled)
self.led_enabled_checkbox.stateChanged.connect(
self.led_enabled_checkbox_toggled)
self.led_over_temp_checkbox.stateChanged.connect(
self.led_error_triggers_checkbox_toggled)
self.led_over_voltage_checkbox.stateChanged.connect(
self.led_error_triggers_checkbox_toggled)
self.led_rotor_locked_checkbox.stateChanged.connect(
self.led_error_triggers_checkbox_toggled)
self.scan_for_ports()
def disable_widgets(self):
self.set_id_line_edit.setEnabled(False)
self.position_slider.setEnabled(False)
self.position_offset_slider.setEnabled(False)
self.angle_lower_limit_textentry.setEnabled(False)
self.angle_upper_limit_textentry.setEnabled(False)
self.vin_lower_limit_textentry.setEnabled(False)
self.vin_upper_limit_textentry.setEnabled(False)
self.temp_limit_textentry.setEnabled(False)
self.servo_mode_radio_button.setEnabled(False)
self.motor_mode_radio_button.setEnabled(False)
self.motor_speed_slider.setEnabled(False)
self.torque_enabled_checkbox.setEnabled(False)
self.led_enabled_checkbox.setEnabled(False)
self.led_over_temp_checkbox.setEnabled(False)
self.led_over_voltage_checkbox.setEnabled(False)
self.led_rotor_locked_checkbox.setEnabled(False)
def enable_widgets(self):
self.set_id_line_edit.setEnabled(True)
self.position_slider.setEnabled(True)
self.position_offset_slider.setEnabled(True)
self.angle_lower_limit_textentry.setEnabled(True)
self.angle_upper_limit_textentry.setEnabled(True)
self.vin_lower_limit_textentry.setEnabled(True)
self.vin_upper_limit_textentry.setEnabled(True)
self.temp_limit_textentry.setEnabled(True)
self.servo_mode_radio_button.setEnabled(True)
self.motor_mode_radio_button.setEnabled(True)
self.motor_speed_slider.setEnabled(True)
self.torque_enabled_checkbox.setEnabled(True)
self.led_enabled_checkbox.setEnabled(True)
self.led_over_temp_checkbox.setEnabled(True)
self.led_over_voltage_checkbox.setEnabled(True)
self.led_rotor_locked_checkbox.setEnabled(True)
def clear_servo(self):
self.active_servo = None
@catch_disconnection
def set_servo_id(self, id_):
if not id_.isdigit():
return
self.active_servo = LX16A(int(id_))
self.active_servo.enable_torque()
self.position_slider.setValue(
int(self.active_servo.get_physical_angle()))
self.position_slider_readout.setText(
f"{int(self.active_servo.get_physical_angle() * 25 / 6) * 6 / 25:0.2f}°"
)
self.position_offset_slider.setValue(
int(self.active_servo.get_angle_offset()))
self.position_offset_slider_readout.setText(
f"{int(self.active_servo.get_angle_offset() * 25 / 6) * 6 / 25:0.2f}°"
)
self.angle_lower_limit_textentry.setText(
str(int(self.active_servo.get_angle_limits()[0])))
self.angle_upper_limit_textentry.setText(
str(int(self.active_servo.get_angle_limits()[1])))
self.vin_lower_limit_textentry.setText(
str(self.active_servo.get_vin_limits()[0]))
self.vin_upper_limit_textentry.setText(
str(self.active_servo.get_vin_limits()[1]))
self.temp_limit_textentry.setText(
str(self.active_servo.get_temp_limit()))
self.motor_speed_slider.setValue(self.active_servo.get_motor_speed(
) if self.active_servo.is_motor_mode() else 0)
if self.active_servo.is_motor_mode():
self.motor_mode_radio_button.setChecked(True)
else:
self.servo_mode_radio_button.setChecked(True)
self.motor_speed_slider.setEnabled(self.active_servo.is_motor_mode())
self.torque_enabled_checkbox.setChecked(
self.active_servo.is_torque_enabled())
self.led_enabled_checkbox.setChecked(
self.active_servo.is_led_power_on())
self.led_over_temp_checkbox.setChecked(
self.active_servo.get_led_error_triggers()[0])
self.led_over_voltage_checkbox.setChecked(
self.active_servo.get_led_error_triggers()[1])
self.led_rotor_locked_checkbox.setChecked(
self.active_servo.get_led_error_triggers()[2])
@catch_disconnection
def scan_for_servos(self, port):
self.setCursor(Qt.CursorShape.WaitCursor)
LX16A.initialize(port)
self.id_selection_box.clear()
for i in range(0, 254):
try:
servo = LX16A(i)
self.id_selection_box.addItem(str(i))
except:
pass
self.setCursor(Qt.CursorShape.ArrowCursor)
@catch_disconnection
def scan_for_ports(self):
ports = serial.tools.list_ports.comports()
for port in ports:
self.port_selection_box.addItem(port.device)
@catch_disconnection
def update_readouts(self):
if self.active_servo is None:
return
try:
self.physical_position_readout.setText(
f"{self.active_servo.get_physical_angle():0.2f}°")
self.temperature_readout.setText(
f"{self.active_servo.get_temp()} °C")
self.voltage_readout.setText(
f"{self.active_servo.get_vin() / 1000} V")
except (ServoTimeoutError, ServoChecksumError):
pass
@catch_disconnection
def id_updated(self):
new_id = self.set_id_line_edit.text()
try:
servo = LX16A(int(new_id))
except ServoTimeoutError:
# Meaning this ID is not taken
self.active_servo.set_id(int(new_id))
self.id_selection_box.item(
self.id_selection_box.currentRow()).setText(new_id)
return
QMessageBox.warning(None, "Error", "ID already taken")
@catch_disconnection
def position_slider_updated(self, pos):
if float(self.voltage_readout.text()[:-2]) < 5:
QMessageBox.warning(
None,
"Error",
"The voltage going through the servo is too low. Is your battery powered on?",
)
return
self.active_servo.move(pos)
self.position_slider_readout.setText(
f"{int(pos * 25 / 6) * 6 / 25:0.2f}°")
@catch_disconnection
def position_offset_slider_updated(self, pos):
self.active_servo.set_angle_offset(pos)
self.position_offset_slider_readout.setText(
f"{int(pos * 25 / 6) * 6 / 25:0.2f}°")
@catch_disconnection
def angle_lower_limit_updated(self, text):
if (QIntValidator(0, 240, self).validate(text, 0) !=
QIntValidator.State.Acceptable):
return
if int(text) > int(self.angle_upper_limit_textentry.text()):
return
self.active_servo.set_angle_limits(
int(text), int(self.angle_upper_limit_textentry.text()))
@catch_disconnection
def angle_upper_limit_updated(self, text):
if (QIntValidator(0, 240, self).validate(text, 0) !=
QIntValidator.State.Acceptable):
return
if int(text) < int(self.angle_lower_limit_textentry.text()):
return
self.active_servo.set_angle_limits(
int(self.angle_lower_limit_textentry.text()), int(text))
@catch_disconnection
def vin_lower_limit_updated(self, text):
if (QIntValidator(4500, 12000, self).validate(text, 0) !=
QIntValidator.State.Acceptable):
return
if int(text) > int(self.vin_upper_limit_textentry.text()):
return
self.active_servo.set_vin_limits(
int(text), int(self.vin_upper_limit_textentry.text()))
@catch_disconnection
def vin_upper_limit_updated(self, text):
if (QIntValidator(4500, 12000, self).validate(text, 0) !=
QIntValidator.State.Acceptable):
return
if int(text) < int(self.vin_lower_limit_textentry.text()):
return
self.active_servo.set_vin_limits(
int(self.vin_lower_limit_textentry.text()), int(text))
@catch_disconnection
def temp_limit_updated(self, text):
if (QIntValidator(50, 100, self).validate(text, 0) !=
QIntValidator.State.Acceptable):
return
self.active_servo.set_temp_limit(int(text))
@catch_disconnection
def servo_mode_radio_button_toggled(self, checked):
if checked:
self.active_servo.servo_mode()
self.motor_speed_slider.setEnabled(False)
self.position_slider.setEnabled(True)
self.position_offset_slider.setEnabled(True)
else:
self.active_servo.motor_mode(int(self.motor_speed_slider.value()))
self.motor_speed_slider.setEnabled(True)
self.position_slider.setEnabled(False)
self.position_offset_slider.setEnabled(False)
@catch_disconnection
def motor_mode_radio_button_toggled(self, checked):
if checked:
self.active_servo.motor_mode(int(self.motor_speed_slider.value()))
self.motor_speed_slider.setEnabled(True)
self.position_slider.setEnabled(False)
self.position_offset_slider.setEnabled(False)
else:
self.active_servo.servo_mode()
self.motor_speed_slider.setEnabled(False)
self.position_slider.setEnabled(True)
self.position_offset_slider.setEnabled(True)
@catch_disconnection
def motor_speed_slider_updated(self, pos):
self.active_servo.motor_mode(pos)
@catch_disconnection
def torque_enabled_checkbox_toggled(self, checked):
if checked:
self.active_servo.enable_torque()
else:
self.active_servo.disable_torque()
self.position_slider.setEnabled(checked)
self.position_offset_slider.setEnabled(checked)
self.servo_mode_radio_button.setEnabled(checked)
self.motor_mode_radio_button.setEnabled(checked)
self.motor_speed_slider.setEnabled(checked)
@catch_disconnection
def led_enabled_checkbox_toggled(self, checked):
if checked:
self.active_servo.led_power_on()
else:
self.active_servo.led_power_off()
@catch_disconnection
def led_error_triggers_checkbox_toggled(self):
self.active_servo.set_led_error_triggers(
self.led_over_voltage_checkbox.isChecked(),
self.led_over_temp_checkbox.isChecked(),
self.led_rotor_locked_checkbox.isChecked(),
)
@catch_disconnection
def port_refresh_button_clicked(self, value):
self.id_selection_box_refresh_button.setEnabled(False)
self.disable_widgets()
self.port_selection_box.clear()
self.id_selection_box.clear()
self.scan_for_ports()
@catch_disconnection
def id_refresh_button_clicked(self, value):
self.disable_widgets()
self.id_selection_box.clear()
self.scan_for_servos(self.port_selection_box.currentText())
@catch_disconnection
def port_selection_box_changed(self, text):
if text == "":
return
self.id_selection_box_refresh_button.setEnabled(True)
self.disable_widgets()
self.id_selection_box.clear()
self.clear_servo()
self.scan_for_servos(text)
@catch_disconnection
def id_selection_box_changed(self, text):
if text == "":
return
self.enable_widgets()
self.set_servo_id(text)