import logging from pipython import GCSDevice from PyQt5 import QtCore from PyQt5 import uic from PyQt5 import QtWidgets from PyQt5.QtWidgets import QApplication from PyQt5.QtWidgets import QMainWindow from PyQt5.QtWidgets import QLineEdit from PyQt5.QtWidgets import QMessageBox from PyQt5.QtWidgets import QWidget from PyQt5.QtWidgets import QGridLayout from PyQt5.QtWidgets import QPushButton from PyQt5.QtWidgets import QLabel from PyQt5.QtWidgets import QTextBrowser from PyQt5.QtWidgets import QDesktopWidget from PyQt5.QtWidgets import QSplashScreen from PyQt5.QtGui import * from PyQt5.QtCore import Qt from PyQt5.QtCore import QThread from PyQt5.QtCore import pyqtSignal from AppMap_setup import Appmap import sys import os, time #python -m PyQt5.uic.pyuic PI_GUI.ui -o PI_GUI.py #python -m PyQt5.uic.pyuic PI_GUI_App_Map.ui -o PI_GUI_App_Map.py # logger=logging.getLogger(__name__) # QTextBrowser.append(logging.Handler) # handler= logging.basicConfig(format='%(pathname)s, %(filename)s, %(lineno)s, %(funcName)s, %(message)s',level=logging.INFO) #####Monkey Patch def AddnRefresh(self,content): self.append(content) self.verticalScrollBar().setValue(self.verticalScrollBar().maximum()) QTextBrowser.AddnRefresh=AddnRefresh #####Class: Subwindow in Child Thread class Subwins(QThread): #Class for creating a new window thread move_request=pyqtSignal(int) def __init__(self,target_class): super().__init__() self.target_class=target_class def run(self): self.win=QWidget() self.ui=self.target_class(self.win,self.move_request) self.win.show() #####Class: Micropositioner Connect and Control in Child Thread class PIDevice(QThread): #Class for initialising the micropositioner control thread connecting=pyqtSignal(str) # Connecting signal referencing=pyqtSignal(str) # Referencing signal devicelist=pyqtSignal(list) #Output device to be controlled by the parent class errorupload=pyqtSignal(str) #Output error def __init__(self): super().__init__() def run(self): STAGES = ['M-605.1DD'] # Connect stages to axes REFMODES = ['FRF'] # Reference the connected stages devdic={0:'X',1:'Y',2:'Z'} devlist=devx=devy=devz=None errlist=[] try: logging.info('Connection thread trying to connect') self.connecting.emit('Z') devz=GCSDevice('C-863') devz.OpenRS232DaisyChain(comport=8, baudrate=9600) chainid=devz.dcid devz.ConnectDaisyChainDevice(3, chainid) self.connecting.emit('Y') devy=GCSDevice('C-863') devy.ConnectDaisyChainDevice(2, chainid) devx=GCSDevice('C-863') self.connecting.emit('X') devx.ConnectDaisyChainDevice(1, chainid) except Exception as arg_err: self.errorupload.emit(str(arg_err)) errlist.append(arg_err) devlist=[devx,devy,devz] if None not in devlist and errlist==[]: logging.info('All device found, connection thread trying to reference') if errlist==[]: self.devicelist.emit(devlist) #####Class: Main GUI class Mainwin(QMainWindow): def __init__(self): super().__init__() self.ui=uic.loadUi('PI_GUI.ui',self) self.devlist=[] self.threadlist=[] self.devstring={0:'X',1:'Y',2:'Z'} #Splash Session (Connecting to Devices) splash_img = QPixmap('splash.png') self.splash = QSplashScreen(splash_img, QtCore.Qt.WindowStaysOnTopHint) self.splash.show() QApplication.processEvents() time.sleep(1) self.splash.showMessage('starting...',color=QColor('white')) QApplication.processEvents() time.sleep(1) self.main() self.Connect_Dev() self.splash.close() QApplication.processEvents() self.ServoInitialise() def main(self): self.setWindowTitle('Microuija') self.setWindowIcon(QIcon('icon.png')) self.resize(1500,300) #Widget Wrapping self.labelaxiset=[self.label_xaxis,self.label_yaxis,self.label_zaxis] self.btnlset=[self.pushButton_xl,self.pushButton_yl,self.pushButton_zl] self.btnrset=[self.pushButton_xr,self.pushButton_yr,self.pushButton_zr] self.lineEdit_axisset=[self.lineEdit_x,self.lineEdit_y,self.lineEdit_z] self.lineEdit_tpset=[self.lineEdit_xtp,self.lineEdit_ytp,self.lineEdit_ztp] self.lineEdit_ssset=[self.lineEdit_xss,self.lineEdit_yss,self.lineEdit_zss] self.lineEdit_velset=[self.lineEdit_xvel,self.lineEdit_yvel,self.lineEdit_zvel] self.servoset=[self.checkBox_x,self.checkBox_y,self.checkBox_z] #Widget Style Setting self.pushButton_halt.setStyleSheet("background-color: red") self.lineEdit_x.setText('0.0000') self.lineEdit_y.setText('0.0000') self.lineEdit_z.setText('0.0000') self.lineEdit_x.setFont(QFont('MS Shell Dlg 2',26)) self.lineEdit_y.setFont(QFont('MS Shell Dlg 2',26)) self.lineEdit_z.setFont(QFont('MS Shell Dlg 2',26)) self.checkBox_x.setFont(QFont('Roboto',10)) self.checkBox_y.setFont(QFont('Roboto',10)) self.checkBox_z.setFont(QFont('Roboto',10)) self.lineEdit_x.setAlignment(Qt.AlignCenter) self.lineEdit_y.setAlignment(Qt.AlignCenter) self.lineEdit_z.setAlignment(Qt.AlignCenter) self.textBrowser_log.setFont(QFont('Roboto',10)) self.textBrowser_log.setText('Program Logļ¼š\n') self.pushButton_halt.setFont(QFont('Roboto',16)) self.pushButton_appmap.setFont(QFont('Roboto',16)) #GUI Initialising if None in self.devlist: for w in self.findChildren(QPushButton): w.setEnabled(False) self.pushButton_appmap.setEnabled(False) #Signal-Slot Binding self.actionconnect.triggered.connect(self.Connect_Dev) self.pushButton_appmap.clicked.connect(self.Run_Appmap) self.pushButton_xl.clicked.connect( lambda: self.MoveTo(0,'-'+self.lineEdit_xss.text(),self.lineEdit_xvel.text())) self.pushButton_yl.clicked.connect( lambda: self.MoveTo(1,'-'+self.lineEdit_yss.text(),self.lineEdit_yvel.text())) self.pushButton_zl.clicked.connect( lambda: self.MoveTo(2,'-'+self.lineEdit_zss.text(),self.lineEdit_zvel.text())) self.pushButton_xr.clicked.connect( lambda: self.MoveTo(0,self.lineEdit_xss.text(),self.lineEdit_xvel.text())) self.pushButton_yr.clicked.connect( lambda: self.MoveTo(1,self.lineEdit_yss.text(),self.lineEdit_yvel.text())) self.pushButton_zr.clicked.connect( lambda: self.MoveTo(2,self.lineEdit_zss.text(),self.lineEdit_zvel.text())) self.pushButton_xgo.clicked.connect( lambda: self.GoTo(0,self.lineEdit_xtp.text(),self.lineEdit_xvel.text()) ) self.pushButton_ygo.clicked.connect( lambda: self.GoTo(1,self.lineEdit_ytp.text(),self.lineEdit_yvel.text()) ) self.pushButton_zgo.clicked.connect( lambda: self.GoTo(2,self.lineEdit_ztp.text(),self.lineEdit_zvel.text()) ) self.pushButton_halt.clicked.connect(self.Halt) self.checkBox_x.clicked.connect(lambda: self.Servo(0)) self.checkBox_y.clicked.connect(lambda: self.Servo(1)) self.checkBox_z.clicked.connect(lambda: self.Servo(2)) #####GUI Operation def GUI_Activate(self,devlist): # Pass devices to main thread, activate main GUI self.devlist=devlist self.textBrowser_log.AddnRefresh('Connected') for w in self.findChildren(QPushButton): w.setEnabled(True) for w in self.lineEdit_ssset: w.setText('1') for w in self.lineEdit_velset: w.setText('2') self.ShowPos() def ShowPos(self): try: self.lineEdit_x.setText(str(format(self.devlist[0].qPOS('1')['1'],'.4f'))) self.lineEdit_y.setText(str(format(self.devlist[1].qPOS('1')['1'],'.4f'))) self.lineEdit_z.setText(str(format(self.devlist[2].qPOS('1')['1'],'.4f'))) except Exception as arg_err: print(arg_err) self.ShowPos() def Run_Appmap(self): self.appmap_win=Appmap(self) self.appmap_win.show() def closeEvent(self,event): print('Closing') for dev in self.devlist: dev.CloseConnection() for thread in self.threadlist: thread.terminate() #####Micropositioner Operation def Connect_Dev(self): # Establish micropositioners conection in a new thread for w in self.findChildren(QPushButton): w.setEnabled(False) self.dev_thrd=PIDevice() self.dev_thrd.connecting.connect(self.Connecting) self.dev_thrd.referencing.connect(self.Referencing) self.dev_thrd.devicelist.connect(self.GUI_Activate) self.dev_thrd.errorupload.connect(self.ConnectError) self.dev_thrd.start() self.dev_thrd.wait() def ServoInitialise(self): self.textBrowser_log.AddnRefresh('Initialising Servo') try: for devnum in range(len(self.devlist)): if self.devlist[devnum].qSVO()['1']: self.textBrowser_log.AddnRefresh('axis '+str(devnum)+' checked') self.servoset[devnum].setChecked(True) self.labelaxiset[devnum].setStyleSheet('color: lime') else: self.servoset[devnum].setChecked(False) self.labelaxiset[devnum].setStyleSheet('color: red') except Exception as arg_err: self.textBrowser_log.AddnRefresh(str(arg_err)) def Connecting(self,axis): self.textBrowser_log.AddnRefresh(axis+' Axis'+'Connecting...') self.splash.showMessage(axis+' Axis'+'Connecting...',color=QColor('white')) QApplication.processEvents() def Referencing(self,axis): self.textBrowser_log.AddnRefresh(axis+' Axis '+'Referencing...') self.splash.showMessage(axis+' Axis'+'Referencing...',color=QColor('white')) def ConnectError(self,error): self.errormsg=QMessageBox() self.errormsg.setIcon(QMessageBox.Critical) self.errormsg.setText('Device Error:\n'+str(error)) self.errormsg.setStandardButtons(QMessageBox.Ok) self.errormsg.setWindowTitle('Error') self.errormsg.show() self.textBrowser_log.AddnRefresh(str(error)) def Servo(self, axis): if self.servoset[axis].isChecked()==True: try: self.devlist[axis].SVO(1,True) if self.devlist[axis].qSVO()['1']==True: self.labelaxiset[axis].setStyleSheet('color: lime') self.servoset[axis].setChecked(True) else: self.labelaxiset[axis].setStyleSheet('color: red') self.servoset[axis].setChecked(False) except Exception as arg_err: self.textBrowser_log.AddnRefresh(str(arg_err)) else: try: self.devlist[axis].SVO(1,False) if self.devlist[axis].qSVO()['1']==True: self.labelaxiset[axis].setStyleSheet('color: lime') self.servoset[axis].setChecked(True) else: self.labelaxiset[axis].setStyleSheet('color: red') self.servoset[axis].setChecked(False) except Exception as arg_err: self.textBrowser_log.AddnRefresh(str(arg_err)) def Halt(self): for thread in self.threadlist: thread.quit() thread.wait() for dev in self.devlist: dev.HLT('1',noraise=True) for w in self.findChildren(QPushButton): w.setEnabled(False) QApplication.processEvents() self.textBrowser_log.AddnRefresh( "" 'HALT!' "") for devn in range(len(self.devlist)): self.labelaxiset[devn].setStyleSheet('color: red') QApplication.processEvents() self.textBrowser_log.AddnRefresh('Terminating threads...') for devn in range(len(self.devlist)): self.OnTarget(self.devlist[devn],self.lineEdit_axisset[devn],self.labelaxiset[devn]) QApplication.processEvents() for w in self.findChildren(QPushButton): w.setEnabled(True) self.textBrowser_log.AddnRefresh('Back Online') def MoveTo(self,index,step='0',vel='2'): Label=self.labelaxiset[index] step=float(step) vel=float(vel) Label.setStyleSheet('color:yellow') QApplication.processEvents() cpos=float(format(self.devlist[index].qPOS('1')['1'],'.4f')) tpos=cpos+step self.textBrowser_log.AddnRefresh('axis '+self.devstring[index]+': '+str(cpos) +' to '+ str(tpos)) self.devlist[index].VEL('1',vel) self.devlist[index].MVR('1',step) self.OnTarget(self.devlist[index],self.lineEdit_axisset[index],Label) def GoTo(self,index,tpos,vel): Label=self.labelaxiset[index] tpos=float(format(float(tpos),'.4f')) cpos=float(format(self.devlist[index].qPOS('1')['1'],'.4f')) vel=float(vel) Label.setStyleSheet('color:yellow') QApplication.processEvents() self.textBrowser_log.AddnRefresh('axis '+self.devstring[index]+': '+str(format(cpos,'.4f')) +' to '+ str(tpos)) self.devlist[index].VEL('1',vel) self.devlist[index].MVE('1',tpos) self.OnTarget(self.devlist[index],self.lineEdit_axisset[index],Label) def OnTarget(self,dev,LineEdit,Label): err=1 ontcount=0 while ontcount<5 or err!=0: pos1=dev.qPOS('1')['1'] time.sleep(0.2) pos2=dev.qPOS('1')['1'] err=abs(pos2-pos1) LineEdit.setText(str(format(dev.qPOS('1')['1'],'.4f'))) if err<0.0001: ontcount+=1 QApplication.processEvents() LineEdit.setText(str(format(dev.qPOS('1')['1'],'.4f'))) Label.setStyleSheet('color:lime') def ServoCheck(self): permission=True for dev in self.devlist: if dev.qSVO()['1']==False: permission=False if permission==True: self.appmap_win.permission=True ##### Handlers def Receiver(self,para): self.MoveTo(para[0],para[1],abs(para[1])+0.001) if __name__=='__main__': app = QApplication(sys.argv) # win=QMainWindow() # ui=mainwin(win) win=Mainwin() win.show() sys.exit(app.exec_())