def closeEvent(self, event):
acsc.stopBuffer(self.hcomm, 5)
acsc.closeComm(self.hcomm)
acsc.unregisterEmergencyStop()
self.settings["Last window location"] = [self.pos().x(),
self.pos().y()]
self.settings["Mode index"] = self.ui.tabWidgetMode.currentIndex()
for key, val in self.traverse_offset_actions.items():
if val.isChecked():
offset = key
self.settings["Traverse offset"] = offset
self.settings["Point-to-point"] = {
"absolute": self.ui.rbAbsolute.isChecked(),
"pos": self.ui.posSpinBox.value(),
"vel": self.ui.velSpinBox.value(),
"acc": self.ui.accSpinBox.value()}
self.settings["Back-and-forth"] = {
"absolute": self.ui.rbAbsolute_baf.isChecked(),
"p1": self.ui.posSpinBox_baf1.value(),
"p2": self.ui.posSpinBox_baf2.value(),
"v1": self.ui.velSpinBox_baf1.value(),
"v2": self.ui.velSpinBox_baf2.value(),
"a1": self.ui.accSpinBox_baf1.value(),
"a2": self.ui.accSpinBox_baf2.value(),
"loop": self.ui.checkBox_loop.isChecked()}
with open(self.settings_fpath, "w") as f:
json.dump(self.settings, f, indent=4)
def abort(self):
"""This should stop everything."""
acsc.stopBuffer(self.hc, 19)
acsc.halt(self.hc, 4)
self.acsdaqthread.stop()
self.daqthread.clear()
self.aborted = True
def on_JogPendant(self):
if self.jogmode == False:
self.jogmode = True
acsc.runBuffer(self.hcomm, 5, None)
elif self.jogmode == True:
acsc.stopBuffer(self.hcomm, 5)
self.jogmode = False
def abort(self):
"""This should stop everything."""
acsc.stopBuffer(self.hc, 19)
acsc.halt(self.hc, 4)
self.acsdaqthread.stop()
self.daqthread.clear()
self.aborted = True
def abort(self):
"""This should stop everything."""
print("Aborting turbine tow")
self.aborted = True
acsc.stopBuffer(self.hc, 19)
acsc.halt(self.hc, 0)
acsc.halt(self.hc, 1)
acsc.halt(self.hc, 4)
acsc.halt(self.hc, 5)
def abort(self):
"""This should stop everything."""
print("Aborting turbine tow")
self.aborted = True
acsc.stopBuffer(self.hc, 19)
acsc.halt(self.hc, 0)
acsc.halt(self.hc, 1)
acsc.halt(self.hc, 4)
acsc.halt(self.hc, 5)
def autoabort(self):
"""This should stop everything and return carriage and turbine back
to zero."""
self.autoaborted = True
acsc.stopBuffer(self.hc, 19)
acsc.halt(self.hc, 0)
acsc.halt(self.hc, 1)
acsc.halt(self.hc, 4)
acsc.halt(self.hc, 5)
acsc.toPoint(self.hc, None, 4, 0.0)
acsc.setVelocity(self.hc, 5, 0.5)
acsc.toPoint(self.hc, None, 5, 0.0)
def autoabort(self):
"""This should stop everything and return carriage and turbine back
to zero."""
self.autoaborted = True
acsc.stopBuffer(self.hc, 19)
acsc.halt(self.hc, 0)
acsc.halt(self.hc, 1)
acsc.halt(self.hc, 4)
acsc.halt(self.hc, 5)
acsc.toPoint(self.hc, None, 4, 0.0)
acsc.setVelocity(self.hc, 5, 0.5)
acsc.toPoint(self.hc, None, 5, 0.0)
def on_timer_slow(self):
self.axis_enabled = acsc.getMotorEnabled(self.hcomm, self.axis)
if self.axis_enabled:
self.ui.enableAxis.setChecked(True)
self.ui.enableAxis.setText("Disable")
self.ui.enableAxis.setIcon(QIcon(":icons/cancelx.png"))
else:
self.ui.enableAxis.setChecked(False)
self.ui.enableAxis.setText("Enable")
self.ui.enableAxis.setIcon(QIcon(":icons/checkmark.png"))
self.jogmode = False
acsc.stopBuffer(self.hcomm, 5)
if self.simulator == False:
self.homecounter = acsc.readInteger(self.hcomm, None,
"homeCounter_tow")
def on_halt(self):
acsc.writeInteger(self.hcomm, "move", 0)
acsc.stopBuffer(self.hcomm, 19)
acsc.halt(self.hcomm, self.axis)
def __init__(self, parent=None):
QtGui.QMainWindow.__init__(self)
self.ui = Ui_MainWindow()
self.ui.setupUi(self)
# Set up some parameters
self.axis = 5
self.homecounter = 0
self.jogmode = False
self.leftlimit = 24.9
self.platform = 9.0
self.override = False
self.axis_enabled = False
# Set maximum velocities to 2 m/s
self.ui.velSpinBox.setMaximum(2.0)
self.ui.velSpinBox_baf1.setMaximum(2.0)
self.ui.velSpinBox_baf2.setMaximum(2.0)
# Set initial states of all buttons
self.ui.rbAbsolute.setEnabled(False)
self.ui.rbAbsolute_baf.setEnabled(False)
self.ui.enableAxis.setEnabled(False)
self.ui.actionRunHoming.setEnabled(False)
self.ui.dock_jog.setEnabled(False)
self.ui.groupBox_shortcuts.setEnabled(False)
self.ui.tabWidgetMode.setEnabled(False)
self.ui.toolBar_Jog.setEnabled(False)
self.ui.enableAxis.setIcon(QIcon())
self.ui.posSpinBox.setMinimum(-self.leftlimit)
self.ui.posSpinBox.setMaximum(self.leftlimit)
self.ui.posSpinBox_baf1.setMinimum(-self.leftlimit)
self.ui.posSpinBox_baf1.setMaximum(self.leftlimit)
self.ui.posSpinBox_baf2.setMinimum(-self.leftlimit)
self.ui.posSpinBox_baf2.setMaximum(self.leftlimit)
self.ui.posSpinBox_baf2.setDisabled(True)
# Add some labels to the status bar
self.hlabel = QLabel()
self.hlabel.setText("Not homed ")
self.ui.statusBar.addWidget(self.hlabel)
self.poslabel = QLabel()
self.poslabel.setText("Pos. (m): ")
self.ui.statusBar.addWidget(self.poslabel)
self.vellabel = QLabel()
self.vellabel.setText("Vel. (m/s): ")
self.ui.statusBar.addWidget(self.vellabel)
# Add a button to the toolbar
self.ui.toolBar_Jog.addWidget(self.ui.pbJogPlus)
self.ui.toolBar_Jog.addWidget(self.ui.pbJogMinus)
self.ui.pbJogMinus.setFixedHeight(27)
self.ui.pbJogPlus.setFixedHeight(27)
self.ui.pbJogMinus.setFixedWidth(32)
self.ui.pbJogPlus.setFixedWidth(32)
self.ui.dock_jog.close()
# Set up timers
self.timer_slow = QTimer()
self.timer_slow.timeout.connect(self.on_timer_slow)
self.timer_fast = QTimer()
self.timer_fast.timeout.connect(self.on_timer_fast)
# Connect to the controller
self.simulator = False
self.retry = True
if self.simulator:
self.hcomm = acsc.openCommDirect()
else:
self.hcomm = acsc.openCommEthernetTCP("10.0.0.100", 701)
# If connection fails, bring up error message box
while self.hcomm == acsc.INVALID and self.retry:
msgtxt = "Unable to connect to controller.\n\n"
msgtxt += "Check that controller is powered-on and "
msgtxt += "SPiiPlus User Mode Driver is running."
c_err_box = QMessageBox()
c_err_box.setIcon(QMessageBox.Critical)
c_err_box.setWindowIcon(QIcon(':/icons/tow_icon.svg'))
c_err_box.setWindowTitle("Connection Error")
c_err_box.setText(msgtxt)
c_err_box.setStandardButtons(QMessageBox.Retry | QMessageBox.Abort)
c_err_box.setDefaultButton(QMessageBox.Retry)
c_err_box.addButton("Use &Simulator",
QMessageBox.AcceptRole)
ret = c_err_box.exec_()
if ret == QMessageBox.Retry:
if self.simulator: self.hcomm = acsc.openCommDirect()
else: self.hcomm = acsc.openCommEthernetTCP("10.0.0.100", 701)
elif ret == QMessageBox.Abort:
self.connectfail = True
self.retry = False
self.timer_fast.start(10)
elif ret == QMessageBox.AcceptRole:
self.simulator = True
self.hcomm = acsc.openCommDirect()
if self.hcomm != acsc.INVALID:
self.timer_slow.start(150)
self.timer_fast.start(50)
self.ui.enableAxis.setEnabled(True)
self.ui.actionRunHoming.setEnabled(True)
# Register the emergency stop button
acsc.registerEmergencyStop()
# Make sure jog program is not running
acsc.stopBuffer(self.hcomm, 5)
# Create the jog group action group
self.offset_group = QActionGroup(self)
self.ui.traverseOff.setActionGroup(self.offset_group)
self.ui.traverse1m.setActionGroup(self.offset_group)
self.ui.traverse2m.setActionGroup(self.offset_group)
self.ui.traverse3m.setActionGroup(self.offset_group)
self.ui.traverse4m.setActionGroup(self.offset_group)
self.traverse_offset_actions = {"off": self.ui.traverseOff,
"1m": self.ui.traverse1m,
"2m": self.ui.traverse2m,
"3m": self.ui.traverse3m,
"4m": self.ui.traverse4m}
# Create TCP server for remote control
remoteserver = QtNetwork.QTcpServer()
print(str(remoteserver.serverAddress().toString()))
# Connect signals and slots
self.connectslots()
# Load settings
self.load_settings()
