class MotorsControlsGroup(QGroupBox):
def __init__(self, *args, **kwargs):
super(MotorsControlsGroup, self).__init__(*args, **kwargs)
# physical devices
self.hor_motor = None
self.vert_motor = None
self.CT_motor = None
self.shutter = None
self.time_motor = None
self.connect_time_motor_func()
self.motors = [
self.hor_motor,
self.vert_motor,
self.CT_motor,
self.shutter,
self.time_motor,
]
# connect buttons
self.connect_hor_mot_button = QPushButton("Horizontal")
self.connect_vert_mot_button = QPushButton("Vertical")
self.connect_CT_mot_button = QPushButton("CT stage")
self.connect_shutter_button = QPushButton("Shutter")
# this are to be implemented depending on low-level interface (EPICS/Tango/etc)
self.connect_hor_mot_button.clicked.connect(
self.connect_hor_motor_func)
self.connect_vert_mot_button.clicked.connect(
self.connect_vert_motor_func)
self.connect_CT_mot_button.clicked.connect(self.connect_CT_motor_func)
self.connect_shutter_button.clicked.connect(self.connect_shutter_func)
# device labels
self.CT_mot_label = QLabel()
self.CT_mot_label.setText("<b>CT STAGE</b>")
self.CT_mot_label.setStyleSheet("color: green")
self.CT_mot_label.setAlignment(Qt.AlignCenter)
self.vert_mot_label = QLabel()
self.vert_mot_label.setText("<b>SAMPLE VERTICAL</b>")
self.vert_mot_label.setStyleSheet("color: green")
self.vert_mot_label.setAlignment(Qt.AlignCenter)
self.hor_mot_label = QLabel()
self.hor_mot_label.setText("<b>SAMPLE HORIZONTAL</b>")
self.hor_mot_label.setStyleSheet("color: green")
self.hor_mot_label.setAlignment(Qt.AlignCenter)
self.shutter_label = QLabel()
self.shutter_label.setText("<b>IMAGING SHUTTER</b>")
self.shutter_label.setStyleSheet("color: green")
self.shutter_label.setAlignment(Qt.AlignCenter)
# position indicators
self.hor_mot_value = QLabel()
self.hor_mot_value.setText("Disconnected")
# self.hor_mot_pos_entry = QLabel()
self.vert_mot_value = QLabel()
self.vert_mot_value.setText("Disconnected")
# self.vert_mot_pos_entry = QLabel()
self.CT_mot_value = QLabel()
self.CT_mot_value.setText("Disconnected")
# self.CT_mot_pos_entry = QLabel()
self.shutter_status = QLabel()
self.shutter_status.setText("Disconnected")
# self.shutter_entry = QLabel()
# position entry
self.hor_mot_pos_move = QDoubleSpinBox()
self.hor_mot_pos_move.setDecimals(3)
self.hor_mot_pos_move.setRange(-100, 100)
self.vert_mot_pos_move = QDoubleSpinBox()
self.vert_mot_pos_move.setDecimals(3)
self.vert_mot_pos_move.setRange(-100, 100)
self.CT_mot_pos_move = QDoubleSpinBox()
self.CT_mot_pos_move.setDecimals(3)
self.CT_mot_pos_move.setRange(-720, 720)
self.hor_mot_rel_move = QDoubleSpinBox()
self.hor_mot_rel_move.setDecimals(3)
self.hor_mot_rel_move.setRange(-100, 100)
self.vert_mot_rel_move = QDoubleSpinBox()
self.vert_mot_rel_move.setDecimals(3)
self.vert_mot_rel_move.setRange(-100, 100)
self.CT_mot_rel_move = QDoubleSpinBox()
self.CT_mot_rel_move.setDecimals(3)
self.CT_mot_rel_move.setRange(-720, 720)
# Move Buttons
self.stop_motors_button = QPushButton("STOP ALL")
self.move_hor_mot_button = QPushButton("Move To")
self.move_hor_mot_button.setEnabled(False)
self.move_vert_mot_button = QPushButton("Move To")
self.move_vert_mot_button.setEnabled(False)
self.move_CT_mot_button = QPushButton("Move To")
self.move_CT_mot_button.setEnabled(False)
self.home_CT_mot_button = QPushButton("Home")
self.home_CT_mot_button.setEnabled(False)
self.reset_CT_mot_button = QPushButton("Reset")
self.reset_CT_mot_button.setEnabled(False)
self.open_shutter_button = QPushButton("Open")
self.open_shutter_button.setEnabled(False)
self.close_shutter_button = QPushButton("Close")
self.close_shutter_button.setEnabled(False)
self.move_hor_rel_plus = QPushButton("+")
self.move_hor_rel_plus.setStyleSheet("font: bold")
self.move_hor_rel_plus.setEnabled(False)
self.move_vert_rel_plus = QPushButton("+")
self.move_vert_rel_plus.setStyleSheet("font: bold")
self.move_vert_rel_plus.setEnabled(False)
self.move_CT_rel_plus = QPushButton("+")
self.move_CT_rel_plus.setStyleSheet("font: bold")
self.move_CT_rel_plus.setEnabled(False)
self.move_hor_rel_minus = QPushButton("-")
self.move_hor_rel_minus.setStyleSheet("font: bold")
self.move_hor_rel_minus.setEnabled(False)
self.move_vert_rel_minus = QPushButton("-")
self.move_vert_rel_minus.setStyleSheet("font: bold")
self.move_vert_rel_minus.setEnabled(False)
self.move_CT_rel_minus = QPushButton("-")
self.move_CT_rel_minus.setStyleSheet("font: bold")
self.move_CT_rel_minus.setEnabled(False)
# signals
self.move_hor_mot_button.clicked.connect(self.hor_move_func)
self.move_vert_mot_button.clicked.connect(self.vert_move_func)
self.home_CT_mot_button.clicked.connect(self.CT_home_func)
self.reset_CT_mot_button.clicked.connect(self.CT_reset_func)
self.move_CT_mot_button.clicked.connect(self.CT_move_func)
self.open_shutter_button.clicked.connect(self.open_shutter_func)
self.close_shutter_button.clicked.connect(self.close_shutter_func)
self.stop_motors_button.clicked.connect(self.stop_motors_func)
self.move_hor_rel_plus.clicked.connect(self.hor_rel_plus_func)
self.move_vert_rel_plus.clicked.connect(self.vert_rel_plus_func)
self.move_CT_rel_plus.clicked.connect(self.CT_rel_plus_func)
self.move_hor_rel_minus.clicked.connect(self.hor_rel_minus_func)
self.move_vert_rel_minus.clicked.connect(self.vert_rel_minus_func)
self.move_CT_rel_minus.clicked.connect(self.CT_rel_minus_func)
# decoration
self.line_vertical = QVSeparationLine()
self.line_vertical2 = QVSeparationLine()
self.line_vertical3 = QVSeparationLine()
self.line_vertical4 = QVSeparationLine()
# switch
self.CT_vel_select = Switch()
self.CT_vel_select.clicked.connect(self.CT_vel_func)
self.CT_vel_select.setEnabled(False)
self.CT_vel_low_label = QLabel()
self.CT_vel_low_label.setText("5 deg/s")
self.CT_vel_low_label.setAlignment(Qt.AlignCenter)
self.CT_vel_high_label = QLabel()
self.CT_vel_high_label.setText("20 deg/s")
self.CT_vel_high_label.setAlignment(Qt.AlignCenter)
# THREADS
self.motion_hor = None
self.motion_CT = None
self.motion_vert = None
self.motion_hor = None
self.set_layout()
def set_layout(self):
"""
Layout of widgets. Using a grid to layout the items.
The layout of the devices are by columns in sections.
device: columns
stop: 0 -1
CT: 3 -6
vertical: 8 - 10
horizontal: 12 - 14
shutter: 16 - 18
vertical lines: 2, 7, 11, 15
"""
layout = QGridLayout()
# stop
layout.addWidget(self.stop_motors_button, 2, 0, 1, 1)
# CT
layout.addWidget(self.connect_CT_mot_button, 2, 3)
layout.addWidget(self.move_CT_mot_button, 2, 5)
layout.addWidget(self.CT_mot_label, 0, 3, 1, 4)
layout.addWidget(self.CT_mot_pos_move, 2, 4)
layout.addWidget(self.CT_mot_rel_move, 3, 4)
layout.addWidget(self.home_CT_mot_button, 2, 6)
layout.addWidget(self.reset_CT_mot_button, 3, 6)
layout.addWidget(self.CT_mot_value, 1, 4)
layout.addWidget(self.move_CT_rel_plus, 3, 5)
layout.addWidget(self.move_CT_rel_minus, 3, 3)
layout.addWidget(self.CT_vel_select, 4, 4)
layout.addWidget(self.CT_vel_low_label, 4, 3)
layout.addWidget(self.CT_vel_high_label, 4, 5)
# vertical
layout.addWidget(self.vert_mot_label, 0, 8, 1, 3)
layout.addWidget(self.connect_vert_mot_button, 2, 8)
layout.addWidget(self.move_vert_mot_button, 2, 10)
layout.addWidget(self.move_vert_rel_plus, 3, 10)
layout.addWidget(self.move_vert_rel_minus, 3, 8)
layout.addWidget(self.vert_mot_value, 1, 9)
layout.addWidget(self.vert_mot_pos_move, 2, 9)
layout.addWidget(self.vert_mot_rel_move, 3, 9)
# horizontal
layout.addWidget(self.hor_mot_label, 0, 12, 1, 3)
layout.addWidget(self.connect_hor_mot_button, 2, 12)
layout.addWidget(self.move_hor_mot_button, 2, 14)
layout.addWidget(self.move_hor_rel_plus, 3, 14)
layout.addWidget(self.move_hor_rel_minus, 3, 12)
layout.addWidget(self.hor_mot_value, 1, 13)
layout.addWidget(self.hor_mot_pos_move, 2, 13)
layout.addWidget(self.hor_mot_rel_move, 3, 13)
# shutter
layout.addWidget(self.shutter_label, 0, 16, 1, 3)
layout.addWidget(self.connect_shutter_button, 2, 16)
layout.addWidget(self.open_shutter_button, 2, 18)
layout.addWidget(self.close_shutter_button, 3, 18)
layout.addWidget(self.shutter_status, 2, 17)
# lines
layout.addWidget(self.line_vertical, 0, 2, 5, 1)
layout.addWidget(self.line_vertical2, 0, 7, 5, 1)
layout.addWidget(self.line_vertical3, 0, 11, 5, 1)
layout.addWidget(self.line_vertical4, 0, 15, 5, 1)
# layout
self.setLayout(layout)
def connect_hor_motor_func(self):
"""Connect to horizontal stage motor."""
try:
self.hor_motor = CLSLinear("SMTR1605-2-B10-11:mm", encoded=True)
except:
error_message("Can not connect to horizontal stage, try again")
if self.hor_motor is not None:
self.hor_mot_value.setText("Position [mm]")
self.connect_hor_mot_button.setEnabled(False)
self.move_hor_mot_button.setEnabled(True)
self.move_hor_rel_plus.setEnabled(True)
self.move_hor_rel_minus.setEnabled(True)
self.hor_mot_monitor = EpicsMonitorFloat(self.hor_motor.RBV)
self.hor_mot_monitor.i0_state_changed_signal.connect(
self.hor_mot_value.setText)
self.hor_mot_monitor.i0.run_callback(self.hor_mot_monitor.call_idx)
def connect_vert_motor_func(self):
"""Connect to vertical stage motor."""
try:
self.vert_motor = CLSLinear("SMTR1605-2-B10-10:mm", encoded=True)
except:
error_message("Can not connect to vertical stage, try again")
if self.vert_motor is not None:
self.vert_mot_value.setText("Position [mm]")
self.connect_vert_mot_button.setEnabled(False)
self.move_vert_mot_button.setEnabled(True)
self.move_vert_rel_plus.setEnabled(True)
self.move_vert_rel_minus.setEnabled(True)
self.vert_mot_monitor = EpicsMonitorFloat(self.vert_motor.RBV)
self.vert_mot_monitor.i0_state_changed_signal.connect(
self.vert_mot_value.setText)
self.vert_mot_monitor.i0.run_callback(
self.vert_mot_monitor.call_idx)
def connect_CT_motor_func(self):
"""Connect to CT stage.
In this case, ABRS is an air-bearing rotation stage."""
try:
self.CT_motor = ABRS("ABRS1605-01:deg", encoded=True)
except:
error_message("Could not connect to CT stage, try again")
if self.CT_motor is not None:
self.CT_mot_value.setText("Position [deg]")
self.connect_CT_mot_button.setEnabled(False)
self.move_CT_mot_button.setEnabled(True)
self.move_CT_rel_plus.setEnabled(True)
self.move_CT_rel_minus.setEnabled(True)
self.home_CT_mot_button.setEnabled(True)
self.reset_CT_mot_button.setEnabled(True)
self.CT_vel_select.setEnabled(True)
self.CT_motor.base_vel = 5 * q.deg / q.sec
self.CT_mot_monitor = EpicsMonitorFloat(self.CT_motor.RBV)
self.CT_mot_monitor.i0_state_changed_signal.connect(
self.CT_mot_value.setText)
self.CT_mot_monitor.i0.run_callback(self.CT_mot_monitor.call_idx)
def connect_shutter_func(self):
"""Connect the shutter."""
try:
self.shutter = CLSShutter("ABRS1605-01:fis")
except:
error_message(
"Could not connect to fast imaging shutter, try again")
if self.shutter is not None:
self.shutter_status.setText("Connected")
self.connect_shutter_button.setEnabled(False)
self.open_shutter_button.setEnabled(True)
self.close_shutter_button.setEnabled(True)
self.shutter_monitor = EpicsMonitorFIS(self.shutter.STATE,
self.shutter_status)
self.shutter_monitor.i0_state_changed_signal.connect(
self.shutter_status.setText)
self.shutter_monitor.i0.run_callback(self.shutter_monitor.call_idx)
def connect_time_motor_func(self):
"""Connect to a SimMotor."""
try:
self.time_motor = SimMotor(1.0 * q.mm)
except:
error_message("Can not connect to timer")
def open_shutter_func(self):
"""Open shutter."""
if self.shutter is None:
return
else:
try:
self.shutter.open().join()
except TransitionNotAllowed:
return
def close_shutter_func(self):
"""Close shutter."""
if self.shutter is None:
return
else:
try:
self.shutter.close().join()
except TransitionNotAllowed:
return
def CT_home_func(self):
"""Home the stage."""
if self.CT_motor is None:
return
else:
# if you move to x then home() you can't move to x
# setting choice to 0 at home position seems to fix this
self.motion_CT = HomeThread(self.CT_motor)
self.motion_CT.start()
# there is a behaviour that the stage will not be able to move
# to the same position twice in a row so reset the motion
self.CT_mot_pos_move.setValue(0.0)
# self.CT_move_func()
def CT_move_func(self):
"""Move the stage to a selected position."""
if self.CT_motor is None:
return
else:
# self.CT_motor.stepvelocity = 5.0 * q.deg/q.sec
self.CT_motor.stepvelocity = self.CT_motor.base_vel
self.motion_CT = MotionThread(self.CT_motor,
self.CT_mot_pos_move.value())
self.motion_CT.start()
def CT_rel_plus_func(self):
"""Move the stage a relative amount in positive direction."""
if self.CT_motor is None:
return
else:
# self.CT_motor.stepvelocity = 5.0 * q.deg/q.sec
self.CT_motor.stepvelocity = self.CT_motor.base_vel
self.motion_CT = MotionThread(self.CT_motor,
self.CT_mot_pos_move.value(),
self.CT_mot_rel_move.value(), 1)
self.motion_CT.start()
def CT_rel_minus_func(self):
"""Move the stage a relative amount in negative direction"""
if self.CT_motor is None:
return
else:
# self.CT_motor.stepvelocity = 5.0 * q.deg/q.sec
self.CT_motor.stepvelocity = self.CT_motor.base_vel
self.motion_CT = MotionThread(self.CT_motor,
self.CT_mot_pos_move.value(),
self.CT_mot_rel_move.value(), -1)
self.motion_CT.start()
def CT_reset_func(self):
"""Reset the stage and move to home."""
if self.CT_motor is None:
return
else:
self.CT_motor.reset()
self.CT_mot_pos_move.setValue(0.0)
self.CT_move_func()
info_message(
"Reset finished. Please wait for state motion to stop.")
def CT_vel_func(self):
"""Select base velocity."""
if self.CT_motor is None:
return
else:
if self.CT_vel_select.isChecked():
self.CT_motor.base_vel = 20 * q.deg / q.sec
else:
self.CT_motor.base_vel = 5 * q.deg / q.sec
def hor_move_func(self):
"""Move the horizontal motor to a selected position."""
if self.hor_motor is None:
return
else:
self.motion_hor = MotionThread(self.hor_motor,
self.hor_mot_pos_move.value())
self.motion_hor.start()
def hor_rel_plus_func(self):
"""Move the horizontal motor a relative amount in positive direction."""
if self.hor_motor is None:
return
else:
self.motion_hor = MotionThread(self.hor_motor,
self.hor_mot_pos_move.value(),
self.hor_mot_rel_move.value(), 1)
self.motion_hor.start()
def hor_rel_minus_func(self):
"""Move the horizontal motor a relative amount in negative direction."""
if self.hor_motor is None:
return
else:
self.motion_hor = MotionThread(self.hor_motor,
self.hor_mot_pos_move.value(),
self.hor_mot_rel_move.value(), -1)
self.motion_hor.start()
def vert_move_func(self):
"""Move the vertical motor to a selected position."""
if self.vert_motor is None:
return
else:
self.motion_vert = MotionThread(self.vert_motor,
self.vert_mot_pos_move.value())
self.motion_vert.start()
def vert_rel_plus_func(self):
"""Move the vertical motor a relative amount in positive direction."""
if self.vert_motor is None:
return
else:
self.motion_vert = MotionThread(self.vert_motor,
self.vert_mot_pos_move.value(),
self.vert_mot_rel_move.value(), 1)
self.motion_vert.start()
def vert_rel_minus_func(self):
"""Move the vertical motor a relative amount in negative direction."""
if self.vert_motor is None:
return
else:
self.motion_vert = MotionThread(self.vert_motor,
self.vert_mot_pos_move.value(),
self.vert_mot_rel_move.value(), -1)
self.motion_vert.start()
def stop_motors_func(self):
# pyqt threads
if self.motion_CT is not None:
self.motion_CT.abort()
if self.motion_vert is not None:
self.motion_vert.abort()
if self.motion_hor is not None:
self.motion_hor.abort()
# concert devices
device_abort(m for m in self.motors if m is not None)
