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motors in a separate process working version #8

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motors in a separate process working version #8

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2 changes: 1 addition & 1 deletion twop/gui.py
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Original file line number Diff line number Diff line change
Expand Up @@ -200,7 +200,7 @@ def __init__(self):
self.scanning_widget = ScanningWidget(self.state)
self.experiment_widget = ExperimentControl(self.state)

self.motor_control_slider = MotionControlXYZ(self.state.motors)
self.motor_control_slider = MotionControlXYZ(self.state.input_queues, self.state.output_queues)

self.addDockWidget(
Qt.LeftDockWidgetArea,
Expand Down
136 changes: 112 additions & 24 deletions twop/objective_motor.py
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Original file line number Diff line number Diff line change
@@ -1,42 +1,116 @@
import pyvisa
from multiprocessing import Process
from queue import Empty
from time import sleep

class MotorMaster(Process):

def __init__(
self,
motors,
input_queues,
output_queues,
close_setup_event,
):
super().__init__()

self.input_queues = input_queues
self.output_queues = output_queues
self.close_setup_event = close_setup_event
self.motors = motors
self.positions = dict.fromkeys(motors)
self.motors_running = True
self.get_positions(first=True)

def run(self) -> None:
for ax in self.motors.keys():
self.motors[ax].open_communication()
while not self.close_setup_event.is_set():
self.get_positions()
self.move_motors()
self.close_setups()

def close_setups(self):
for axis in self.motors.keys():
self.motors[axis].end_session()

def get_positions(self, first=False):
for axis in self.motors.keys():
if not first:
actual_pos = self.motors[axis].get_position()
else:
actual_pos = self.motors[axis].get_position(first=True)
# print("actual pos mort", axis, actual_pos)
if actual_pos is not None:
self.positions[axis] = actual_pos
self.output_queues[axis].put(actual_pos)

def move_motors(self):

for axis in self.motors.keys():
package = self.get_last_entry(self.input_queues[axis])
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this is a bit mysterious, I suggest that get_last_entry (in a factored-out version) throws the Empty exception and then you can have the much more compact:

try:
   mov_amount, mov_type = self.get_last_entry(self.input_queues[axis])
   if mov_type == MovementType.relative:
   ...
except empty:
   return

if package:
mov_value = package[0]
mov_type = package[1].name
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again, this goes against the spirit of using Enums

empty_queue = False
else:
empty_queue = True

if empty_queue is False:
if mov_type == "relative":
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the point of using Enums is to avoid string comparisons

print(mov_value)
self.motors[axis].move_rel(mov_value)
elif mov_type == "absolute":
self.motors[axis].move_abs(mov_value)

@staticmethod
def get_last_entry(queue):
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this appears in many places, I suggest to factor it out

out = tuple()
while True:
try:
out = queue.get(timeout=0.001)
except Empty:
break
return out


class MotorControl:

def __init__(
self,
port,
baudrate=921600,
parity=pyvisa.constants.Parity.none,
encoding="ascii",
axes=None,
self,
port,
baudrate=921600,
parity=pyvisa.constants.Parity.none,
encoding="ascii",
axis=None,
):
self.baudrate = baudrate
self.parity = parity
self.encoding = encoding
self.port = port
axes = self.find_axis(axes)
axes = self.find_axis(axis)
self.axes = str(axes)
self.x = 0
self.y = 0
self.home_pos = None
rm = pyvisa.ResourceManager()
self.motor = rm.open_resource(
port, baud_rate=baudrate, parity=parity, encoding=encoding, timeout=10
)
self.start_session()
self.motor = None
self.connection = True

def get_position(self):
input_m = self.axes + "TP"
try:
output = self.motor.query(input_m)
def get_position(self, first=False):
if not first:
input_m = self.axes + "TP"
try:
output = [float(s) for s in output.split(",")]
except ValueError:
print("Got ", output, "from motor, what to do?")
return output[0]

except pyvisa.VisaIOError:
print(f"Error get position axes number {self.axes} ")
return None
output = self.motor.query(input_m)
try:
output = [float(s) for s in output.split(",")]
except ValueError:
print("Got ", output, "from motor", self.axes, ",what to do?")
except pyvisa.VisaIOError:
print(f"Error get position axes number {self.axes} ")
output = [None]
else:
output = [None]
return output[0]

def move_abs(self, coordinate):
coordinate = str(coordinate)
Expand Down Expand Up @@ -104,6 +178,14 @@ def end_session(self):
self.motor.close()
self.connection = False

def open_communication(self):
rm = pyvisa.ResourceManager()
self.motor = rm.open_resource(
self.port, baud_rate=self.baudrate, parity=self.parity,
encoding=self.encoding, timeout=10
)
self.start_session()

@staticmethod
def find_axis(axes):
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axes can be an Enum and this function just a dictionary lookup

if axes == "x":
Expand All @@ -113,3 +195,9 @@ def find_axis(axes):
elif axes == "z":
axes = 3
return axes


class PreMotor:
@staticmethod
def query(self):
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what is this?

return "None"
70 changes: 49 additions & 21 deletions twop/objective_motor_sliders.py
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Original file line number Diff line number Diff line change
Expand Up @@ -11,23 +11,33 @@

from PyQt5.QtGui import QColor
from PyQt5.QtCore import Qt, pyqtSignal, QPointF, QTimer
from enum import Enum
from queue import Empty

class MovementType(Enum):
absolute = True
relative = False


class MotionControlXYZ(QWidget):
def __init__(self, motors):
def __init__(self, input_queues, output_queues):
super().__init__()
self.setLayout(QGridLayout())

for key, value in motors.items():
wid = MotorSlider(name=key, motor=value)
for axis in input_queues.keys():
wid = MotorSlider(name=axis,
input_queue=input_queues[axis],
output_queue=output_queues[axis]
)
self.layout().addWidget(wid)


class PrecisionSingleSliderMotorControl(PrecisionSingleSlider):
def __init__(self, *args, motor=None, pos=None, **kwargs):
def __init__(self, *args, input_queue=None, output_queue=None, pos=None, **kwargs):
super().__init__(*args, **kwargs)
self.pos = pos
self.motor = motor
self.input_queue = input_queue
self.output_queue = output_queue
self.axes_pos = 0
self.indicator_color = QColor(178, 0, 0)

Expand Down Expand Up @@ -60,21 +70,24 @@ class MotorSlider(QWidget):
sig_changed = pyqtSignal(float)
sig_end_session = pyqtSignal()

def __init__(self, motor=None, move_limit_low=-3, move_limit_high=3, name=""):
def __init__(self, input_queue=None, output_queue=None, move_limit_low=-3, move_limit_high=3, name=""):
super().__init__()
self.name = name
self.grid_layout = QGridLayout()
self.grid_layout.setSpacing(0)
self.grid_layout.setContentsMargins(0, 0, 0, 0)
self.spin_val_desired_pos = QDoubleSpinBox()
self.spin_val_actual_pos = QDoubleSpinBox()

value = motor.home_pos
self.input_queue = input_queue
self.output_queue = output_queue
self.mov_type = MovementType(False)
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you would rather use the enum as MovementType.relative (the point of using Enums is that this mapping true, false or integers is arbitrary)

value = get_next_entry(self.output_queue)
min_range = value + move_limit_low
max_range = value + move_limit_high
self.position = value

self.slider = PrecisionSingleSliderMotorControl(
default_value=value, min=min_range, max=max_range, pos=value, motor=motor
default_value=value, min=min_range, max=max_range, pos=value, input_queue=None, output_queue=None,
)
for spin_val in [self.spin_val_actual_pos, self.spin_val_desired_pos]:
spin_val.setRange(min_range, max_range)
Expand All @@ -95,38 +108,53 @@ def __init__(self, motor=None, move_limit_low=-3, move_limit_high=3, name=""):

self.setLayout(self.grid_layout)
self.slider.sig_changed.connect(self.update_values)
self.sig_changed.connect(self.slider.motor.move_abs)

self._timer_painter = QTimer(self)
self._timer_painter.timeout.connect(self.update_actual_pos)
self._timer_painter.start()

def update_actual_pos(self):
if self.slider.motor.connection is True:
pos = self.slider.motor.get_position()
if pos is not None:
self.spin_val_actual_pos.setValue(pos)
self.slider.axes_pos = pos

def update_values(self, val):
self.spin_val_desired_pos.setValue(val)
self.sig_changed.emit(val)
while True:
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this again is the queue quering pattern that should be in a separate, common function

try:
pos = self.output_queue.get(timeout=0.001)
except Empty:
break
self.spin_val_actual_pos.setValue(pos)
self.slider.axes_pos = pos
self.position = pos

def update_values(self, new_val):
self.spin_val_desired_pos.setValue(new_val)
displacement = new_val - self.position
print("update_values", displacement)
self.input_queue.put((displacement, self.mov_type))

def update_slider(self, new_val):
self.slider.pos = new_val
self.slider.update()
self.sig_changed.emit(new_val)
displacement = new_val - self.position
print("update_slider", displacement)
self.input_queue.put((displacement, self.mov_type))

def update_external(self, new_val):
self.slider.pos = new_val
self.spin_val_actual_pos.setValue(new_val)
self.slider.update()


def get_next_entry(queue):
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this can be factored out in thecolonel (which can also get a new culinary name)

out = None
while out is None:
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again the pattern

try:
out = queue.get(timeout=0.001)
except Empty:
pass
return out

if __name__ == "__main__":
app = QApplication([])
app.setStyleSheet(qdarkstyle.load_stylesheet_pyqt5())
layout = QHBoxLayout()
win = MotionControlXYZ(None, None, None)
win.show()
app.exec_()
app.exec_()
20 changes: 14 additions & 6 deletions twop/state.py
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Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,8 @@
from enum import Enum
from time import sleep
from sequence_diagram import SequenceDiagram

from twop.objective_motor_sliders import MovementType
from twop.objective_motor import MotorMaster, MotorControl

class ExperimentSettings(ParametrizedQt):
def __init__(self):
Expand Down Expand Up @@ -130,15 +131,21 @@ def __init__(self, diagnostics=False):
)
self.save_status: Optional[SavingStatus] = None

self.input_queues = {"x": Queue(), "y": Queue(), "z": Queue()}
self.output_queues = {"x": Queue(), "y": Queue(), "z": Queue()} # not sure can be done with queue class
self.close_setup_event = Event()
self.move_type = MovementType(False)
self.motors = dict()
self.motors["x"] = MotorControl("COM6", axes="x")
self.motors["y"] = MotorControl("COM6", axes="y")
self.motors["z"] = MotorControl("COM6", axes="z")
for axis in ["x", "y", "z"]:
self.motors[axis] = MotorControl("COM6", axis=axis)
self.master_motor = MotorMaster(self.motors, self.input_queues,
self.output_queues, self.close_setup_event)
self.power_controller = LaserPowerControl()
self.scanning_settings.sig_param_changed.connect(self.send_scan_params)
self.scanning_settings.sig_param_changed.connect(self.send_save_params)
self.scanner.start()
self.reconstructor.start()
self.master_motor.start()
self.saver.start()
self.open_setup()

Expand Down Expand Up @@ -200,8 +207,7 @@ def close_setup(self):
end all parallel processes, close all communication channels

"""
for motor in self.motors.values():
motor.end_session()
self.close_setup_event.set()
self.power_controller.terminate_connection()
self.scanner.stop_event.set()
self.end_event.set()
Expand Down Expand Up @@ -245,3 +251,5 @@ def get_save_status(self) -> Optional[SavingStatus]:
except Empty:
pass
return None