class AutostepProxyApp(QtWidgets.QMainWindow, Ui_MainWindow):
def __init__(self, parent=None):
super(AutostepProxyApp, self).__init__(parent)
self.setupUi(self)
self.initialize_ui()
self.tracking_mode_disable_list = [
self.currentPositionGroupBox,
self.setToGroupBox,
self.drivePowerGroupBox,
self.jogPositionGroupBox,
self.moveToPositionGroupBox,
self.runGroupBox,
self.stopGroupBox,
self.runGroupBox,
self.stopGroupBox,
]
self.busy_wait_disable_list = [
self.setToGroupBox,
self.drivePowerGroupBox,
self.jogPositionGroupBox,
self.moveToPositionGroupBox,
self.runGroupBox,
self.trackingModeGroupBox,
]
self.autostep_proxy = AutostepProxy()
self.enable_drive_power()
self.drivePowerCheckBox.setChecked(True)
self.set_tracking_mode(False)
self.trackingModeCheckBox.setChecked(False)
self.positionPollCheckBox.setChecked(True)
self.running = False
def initialize_ui(self):
self.set_lcd_colors()
self.timer = QtCore.QTimer()
self.timer_period = 100
self.timer.start(self.timer_period)
self.setToLineEdit.setText(str(0))
self.setToLineEditValidator = QtGui.QDoubleValidator()
self.setToLineEdit.setValidator(self.setToLineEditValidator)
self.jogStepLineEdit.setText(str(10))
self.jogStepLineEditValidator = QtGui.QDoubleValidator()
self.jogStepLineEdit.setValidator(self.jogStepLineEditValidator)
self.moveToLineEdit.setText(str(0))
self.moveToLineEditValidator = QtGui.QDoubleValidator()
self.moveToLineEdit.setValidator(self.moveToLineEditValidator)
self.runLineEdit.setText(str(50))
self.runLineEditValidator = QtGui.QDoubleValidator()
self.runLineEdit.setValidator(self.runLineEditValidator)
self.connect_ui_actions()
def set_lcd_colors(self):
palette = self.currentPositionLcdNumber.palette()
palette.setColor(palette.WindowText, QtGui.QColor(0, 200, 255))
palette.setColor(palette.Light, QtGui.QColor(0, 0, 0))
palette.setColor(palette.Dark, QtGui.QColor(0, 0, 0))
palette.setColor(palette.Background, QtGui.QColor(0, 0, 0))
self.currentPositionLcdNumber.setPalette(palette)
def connect_ui_actions(self):
self.timer.timeout.connect(self.on_timer)
self.setToPushButton.clicked.connect(self.on_setTo_button_clicked)
self.jogPosPushButton.clicked.connect(self.on_jog_pos_button_clicked)
self.jogNegPushButton.clicked.connect(self.on_jog_neg_button_clicked)
self.moveToPushButton.clicked.connect(self.on_move_to_button_clicked)
self.drivePowerCheckBox.stateChanged.connect(
self.on_drive_power_changed)
self.trackingModeCheckBox.stateChanged.connect(
self.on_tracking_mode_changed)
self.stopPushButton.clicked.connect(self.on_stop_button_clicked)
self.runPushButton.clicked.connect(self.on_run_button_clicked)
def on_setTo_button_clicked(self):
value = float(self.setToLineEdit.text())
self.set_position(value)
def on_jog_pos_button_clicked(self):
value = float(self.jogStepLineEdit.text())
self.jog_position(value)
def on_jog_neg_button_clicked(self):
value = -float(self.jogStepLineEdit.text())
self.jog_position(value)
def on_move_to_button_clicked(self):
value = float(self.moveToLineEdit.text())
self.move_to_position(value)
def on_drive_power_changed(self, value):
if value == QtCore.Qt.Checked:
self.enable_drive_power()
else:
self.disable_drive_power()
def on_tracking_mode_changed(self, value):
if value == QtCore.Qt.Checked:
self.tracking_mode_enabled = True
self.autostep_proxy.enable_tracking_mode()
else:
self.autostep_proxy.disable_tracking_mode()
self.tracking_mode_enabled = False
self.set_widget_enabled_for_tracking_mode()
def on_stop_button_clicked(self):
self.autostep_proxy.soft_stop()
self.running = False
def on_run_button_clicked(self):
value = float(self.runLineEdit.text())
self.running = True
self.autostep_proxy.run(value)
def on_timer(self):
position_str = ''
if self.position_poll_enabled():
position = self.autostep_proxy.get_position()
if position is not None:
position = round(position, 1)
position_str = '{:0.1f}'.format(position)
self.currentPositionLcdNumber.display(position_str)
proxy_is_busy = self.autostep_proxy.is_busy()
self.set_widget_enabled_for_busy(proxy_is_busy or self.running)
def set_widget_enabled_for_tracking_mode(self):
if self.tracking_mode_enabled:
for widget in self.tracking_mode_disable_list:
self.timer.stop()
self.currentPositionLcdNumber.display('')
widget.setEnabled(False)
else:
for widget in self.tracking_mode_disable_list:
widget.setEnabled(True)
self.timer.start(self.timer_period)
def enable_drive_power(self):
self.autostep_proxy.enable()
def disable_drive_power(self):
self.autostep_proxy.release()
def set_position(self, value):
self.autostep_proxy.set_position(value)
def move_to_position(self, value):
self.autostep_proxy.move_to(value)
def jog_position(self, value):
self.autostep_proxy.set_move_mode('jog')
self.autostep_proxy.move_by(value)
def set_tracking_mode(self, value):
if value:
self.autostep_proxy.enable_tracking_mode()
self.tracking_mode_enabled = True
else:
self.autostep_proxy.disable_tracking_mode()
self.tracking_mode_enabled = False
def set_widget_enabled_for_busy(self, is_busy):
if is_busy:
for widget in self.busy_wait_disable_list:
widget.setEnabled(False)
else:
for widget in self.busy_wait_disable_list:
widget.setEnabled(True)
def position_poll_enabled(self):
return self.positionPollCheckBox.isChecked()
autostep.run(100)
time.sleep(2.0)
print(' execute soft_stop')
autostep.soft_stop()
print(' returning to zero')
autostep.move_to(0.0)
autostep.busy_wait()
print()
# -----------------------------------------------------------------------------
if False:
print('* testing set_position command')
position_list = [123.0, 0.0]
for new_position in position_list:
print(' setting position to {}'.format(new_position))
autostep.set_position(new_position)
position = autostep.get_position()
print(' checking, position = {}'.format(position))
print()
# -----------------------------------------------------------------------------
if False:
print('* testing get_position command')
position = autostep.get_position()
print(' position = {}'.format(position))
print()
# -----------------------------------------------------------------------------
if False:
print('* testing set move mode')
print(' setting to max')
#!/usr/bin/env python
from __future__ import print_function
import sys
import time
import scipy
import rospy
import std_msgs.msg
from autostep_proxy import AutostepProxy
from autostep_ros.msg import TrackingData
autostep = AutostepProxy()
cmd = sys.argv[1]
if cmd.lower() == 'true':
print('* testing enable/disable tracking mode')
print(' enabling')
autostep.set_position(0.0)
autostep.enable_tracking_mode()
else:
print(' disabling')
autostep.disable_tracking_mode()