diff --git a/Makefile b/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..70e97cb5b22d4982fd4919129c1679cd5d13d0db
--- /dev/null
+++ b/Makefile
@@ -0,0 +1,18 @@
+NAME = slu-totem-compressor-gui
+MAIN = slu-totem-compressor.py
+
+DIRNAME = $(NAME:-gui=)
+PY_FILES += $(wildcard src/*.py)
+
+default: bin ${PY_FILES}
+ @cp ${PY_FILES} bin/${DIRNAME}
+ @echo "#!/bin/bash\nexec /runtime/bin/${DIRNAME}/${MAIN}" > bin/${NAME}
+ @chmod +x bin/${NAME} bin/${DIRNAME}/${MAIN}
+
+bin:
+ @test -d $@ || mkdir -p $@/${DIRNAME}
+
+clean:
+ @rm -fr bin/ src/*~
+
+.PHONY: clean
diff --git a/src/slu-totem-compressor.py b/src/slu-totem-compressor.py
new file mode 100644
index 0000000000000000000000000000000000000000..31fd48f13d10073ebe364fe4fe61ac55f8c185f2
--- /dev/null
+++ b/src/slu-totem-compressor.py
@@ -0,0 +1,352 @@
+#!/usr/bin/python
+
+from __future__ import division
+import sys
+import PyTango
+from PyQt4.QtCore import *
+from PyQt4.QtGui import *
+import numpy as np
+import time
+
+global massimo
+massimo = 27.3
+global minimo
+minimo = 15.3
+global devprodic
+devprodic = {}
+devprodic['motor1'] = PyTango.DeviceProxy('slu/motor/trls_slu.02')
+devprodic['motor2'] = PyTango.DeviceProxy('slu/motor/trls_slu.04')
+devprodic['ranges'] = PyTango.DeviceProxy('slu/misc/ranges')
+
+class MainWindow(QDialog):
+ def __init__(self, parent=None):
+ super(MainWindow, self).__init__(parent)
+ self.compressor1pos = QLineEdit("")
+ self.compressor1pos.setReadOnly(1)
+ self.compressor1pos.setStyleSheet("background-color: rgb(237, 237, 237)")
+ self.compressor2pos = QLineEdit("")
+ self.compressor2pos.setReadOnly(1)
+ self.compressor2pos.setStyleSheet("background-color: rgb(237, 237, 237)")
+ self.state_motor1 = QLineEdit("")
+ self.state_motor1.setReadOnly(1)
+ self.state_motor2 = QLineEdit("")
+ self.state_motor2.setReadOnly(1)
+ self.comune_inputabs = QLineEdit("")
+ self.comune_inputrel = QLineEdit("")
+ self.comune_goto = QPushButton("Go to")
+ self.comune_goto.clicked.connect(self.comando_comune_goto)
+ self.comune_b = QPushButton("<")
+ self.comune_b.clicked.connect(self.comando_comune_b)
+ self.comune_f = QPushButton(">")
+ self.comune_f.clicked.connect(self.comando_comune_f)
+ self.comune_stop = QPushButton("STOP")
+ self.comune_stop.clicked.connect(self.comando_comune_stop)
+ #self.cb_stimaritardo = QCheckBox("Start delay record")
+ #self.cb_stimaritardo.clicked.connect(self.comando_delay_record)
+ #self.stimaritardo = QLineEdit("")
+ #self.stimaritardo.setReadOnly(1)
+ #self.stimaritardo.setStyleSheet("background-color: rgb(237, 237, 237)")
+ #self.stimaritardo.setDisabled(1)
+ self.motore1_pos = QLineEdit("")
+ self.motore1_pos.setReadOnly(1)
+ self.motore1_pos.setStyleSheet("background-color: rgb(237, 237, 237)")
+ self.motore1_offset_read = QLineEdit("")
+ self.motore1_offset_read.setReadOnly(1)
+ self.motore1_offset_read.setStyleSheet("background-color: rgb(237, 237, 237)")
+ self.motore1_offset_write = QLineEdit("")
+ self.motore1_offset_change = QPushButton("Change")
+ self.motore1_offset_change.clicked.connect(self.comando_motor1_change)
+ self.motore1_posabs = QLineEdit("")
+ self.motore1_goto = QPushButton("Go to")
+ self.motore1_goto.clicked.connect(self.comando_motor1_goto)
+ self.motore1_stop = QPushButton("STOP")
+ self.motore1_stop.clicked.connect(self.comando_motor1_stop)
+ self.motore1_stop.setMinimumHeight(150)
+ self.motore1_b = QPushButton("<")
+ self.motore1_b.clicked.connect(self.comando_motor1_b)
+ self.motore1_posrel = QLineEdit("")
+ self.motore1_f = QPushButton(">")
+ self.motore1_f.clicked.connect(self.comando_motor1_f)
+ self.motore1_status = QLineEdit("")
+ self.motore1_status.setReadOnly(1)
+ self.motore1_init = QPushButton("INIT")
+ self.motore1_init.clicked.connect(self.comando_motor1_init)
+ self.motore2_pos = QLineEdit("")
+ self.motore2_pos.setReadOnly(1)
+ self.motore2_pos.setStyleSheet("background-color: rgb(237, 237, 237)")
+ self.motore2_offset_read = QLineEdit("")
+ self.motore2_offset_read.setReadOnly(1)
+ self.motore2_offset_read.setStyleSheet("background-color: rgb(237, 237, 237)")
+ self.motore2_offset_write = QLineEdit("")
+ self.motore2_offset_change = QPushButton("Change")
+ self.motore2_offset_change.clicked.connect(self.comando_motor2_change)
+ self.motore2_posabs = QLineEdit("")
+ self.motore2_goto = QPushButton("Go to")
+ self.motore2_goto.clicked.connect(self.comando_motor2_goto)
+ self.motore2_stop = QPushButton("STOP")
+ self.motore2_stop.clicked.connect(self.comando_motor2_stop)
+ self.motore2_stop.setMinimumHeight(150)
+ self.motore2_b = QPushButton("<")
+ self.motore2_b.clicked.connect(self.comando_motor2_b)
+ self.motore2_posrel = QLineEdit("")
+ self.motore2_f = QPushButton(">")
+ self.motore2_f.clicked.connect(self.comando_motor2_f)
+ self.motore2_status = QLineEdit("")
+ self.motore2_status.setReadOnly(1)
+ self.motore2_init = QPushButton("INIT")
+ self.motore2_init.clicked.connect(self.comando_motor2_init)
+ self.contienitab = QTabWidget()
+ self.tab1 = QWidget()
+ self.tab2 = QWidget()
+ self.tab3 = QWidget()
+ #self.tab4 = QWidget()
+ self.contienitab.addTab(self.tab1, "Compressor")
+ self.contienitab.addTab(self.tab2, "trls_slu.02")
+ self.contienitab.addTab(self.tab3, "trls_slu.04")
+ #self.contienitab.addTab(self.tab4, "Info")
+ lot1 = QGridLayout()
+ lot1.addWidget(QLabel("ABSOLUTE Movement"), 0, 0, 1, 4)
+ lot1.addWidget(self.comune_inputabs, 0, 4, 1, 3)
+ lot1.addWidget(self.comune_goto, 0, 7, 1, 3)
+ lot1.addWidget(self.comune_stop, 0, 10, 1, 1)
+ lot1.addWidget(QLabel("RELATIVE Movement"), 1, 0, 1, 4)
+ lot1.addWidget(self.comune_b, 1, 4, 1, 2)
+ lot1.addWidget(self.comune_inputrel, 1, 6, 1, 3)
+ lot1.addWidget(self.comune_f, 1, 9, 1, 2)
+ #lot1.addWidget(QLabel("Delay"), 2, 0, 1, 4)
+ #lot1.addWidget(self.cb_stimaritardo, 2, 4, 1, 3)
+ #lot1.addWidget(self.stimaritardo, 2, 7, 1, 3)
+ self.tab1.setLayout(lot1)
+ self.tab1.layout().setSizeConstraint(QLayout.SetFixedSize)
+ lot2 = QGridLayout()
+ lot2.addWidget(QLabel("Position"), 0, 0, 1, 1)
+ lot2.addWidget(self.motore1_pos, 0, 1, 1, 1)
+ lot2.addWidget(self.motore1_posabs, 0, 2, 1, 1)
+ lot2.addWidget(self.motore1_goto, 0, 3, 1, 1)
+ lot2.addWidget(self.motore1_b, 1, 1, 1, 1)
+ lot2.addWidget(self.motore1_posrel, 1, 2, 1, 1)
+ lot2.addWidget(self.motore1_f, 1, 3, 1, 1)
+ lot2.addWidget(QLabel("Offset"), 2, 0, 1, 1)
+ lot2.addWidget(self.motore1_offset_read, 2, 1, 1, 1)
+ lot2.addWidget(self.motore1_offset_write, 2, 2, 1, 1)
+ lot2.addWidget(self.motore1_offset_change, 2, 3, 1, 1)
+ lot2.addWidget(QLabel("Status"), 3, 0, 1, 1)
+ lot2.addWidget(self.motore1_status, 3, 1, 1, 2)
+ lot2.addWidget(self.motore1_init, 3, 3, 1, 1)
+ lot2.addWidget(self.motore1_stop, 0, 4, 4, 1)
+ self.tab2.setLayout(lot2)
+ self.tab2.layout().setSizeConstraint(QLayout.SetFixedSize)
+ lot3 = QGridLayout()
+ lot3.addWidget(QLabel("Position"), 0, 0, 1, 1)
+ lot3.addWidget(self.motore2_pos, 0, 1, 1, 1)
+ lot3.addWidget(self.motore2_posabs, 0, 2, 1, 1)
+ lot3.addWidget(self.motore2_goto, 0, 3, 1, 1)
+ lot3.addWidget(self.motore2_b, 1, 1, 1, 1)
+ lot3.addWidget(self.motore2_posrel, 1, 2, 1, 1)
+ lot3.addWidget(self.motore2_f, 1, 3, 1, 1)
+ lot3.addWidget(QLabel("Offset"), 2, 0, 1, 1)
+ lot3.addWidget(self.motore2_offset_read, 2, 1, 1, 1)
+ lot3.addWidget(self.motore2_offset_write, 2, 2, 1, 1)
+ lot3.addWidget(self.motore2_offset_change, 2, 3, 1, 1)
+ lot3.addWidget(QLabel("Status"), 3, 0, 1, 1)
+ lot3.addWidget(self.motore2_status, 3, 1, 1, 2)
+ lot3.addWidget(self.motore2_init, 3, 3, 1, 1)
+ lot3.addWidget(self.motore2_stop, 0, 4, 4, 1)
+ self.tab3.setLayout(lot3)
+ self.tab3.layout().setSizeConstraint(QLayout.SetFixedSize)
+ lo = QGridLayout()
+ lo.addWidget(QLabel("Compressor 1 State & Position"), 0, 0, 1, 3)
+ lo.addWidget(self.state_motor1, 1, 1, 1, 1)
+ lo.addWidget(self.compressor1pos, 1, 2, 1, 1)
+ lo.addWidget(QLabel("Compressor 2 State & Position"), 0, 4, 1, 3)
+ lo.addWidget(self.state_motor2, 1, 5, 1, 1)
+ lo.addWidget(self.compressor2pos, 1, 6, 1, 1)
+ lo.addWidget(self.contienitab, 2, 0, 1, 7)
+ self.setLayout(lo)
+ self.layout().setSizeConstraint(QLayout.SetFixedSize)
+ self.setStyleSheet("QDialog {background-color: rgb(200, 255, 200)}" + "QGroupBox {background-color: rgb(210, 255, 210)}")
+ self.setWindowTitle("SLU TOTEM COMPRESSOR")
+ self.show()
+ self.timer = QBasicTimer()
+ self.timer.start(1000, self)
+
+ def timerEvent(self, event):
+ self.update()
+
+ def __del__(self):
+ self.timer.stop()
+ pass
+
+ def update(self):
+ chiamata_motor_1 = devprodic['motor1'].read_attributes(['Position', 'State', 'Status', 'NegativeLimitSwitch', 'PositiveLimitSwitch'])
+ self.state_motor1.setText(str(chiamata_motor_1[1].value))
+ self.motore1_pos.setText(str(round(chiamata_motor_1[0].value, 3)))
+ self.motore1_status.setText(str(chiamata_motor_1[2].value))
+ chiamata_motor_2 = devprodic['motor2'].read_attributes(['Position', 'State', 'Status', 'NegativeLimitSwitch', 'PositiveLimitSwitch'])
+ self.state_motor2.setText(str(chiamata_motor_2[1].value))
+ self.motore2_pos.setText(str(round(chiamata_motor_2[0].value, 3)))
+ self.motore2_status.setText(str(chiamata_motor_2[2].value))
+ chiamata_offset = devprodic['ranges'].read_attributes(['Totem_compressor_Motor_1_offset', 'Totem_compressor_Motor_2_offset'])
+ self.motore1_offset_read.setText(str(chiamata_offset[0].value))
+ self.motore2_offset_read.setText(str(chiamata_offset[1].value))
+ self.compressor1pos.setText(str(round(chiamata_offset[0].value - chiamata_motor_1[0].value, 3)))
+ self.compressor2pos.setText(str(round(chiamata_offset[1].value - chiamata_motor_2[0].value, 3)))
+ if chiamata_motor_1[3].value or chiamata_motor_1[4].value:
+ self.state_motor1.setStyleSheet("background-color: #ff0000")
+ self.state_motor1.setText('L.S. activated!!')
+ else:
+ self.state_motor1.setStyleSheet("background-color: #ffffff")
+ if chiamata_motor_2[3].value or chiamata_motor_2[4].value:
+ self.state_motor2.setStyleSheet("background-color: #ff0000")
+ self.state_motor2.setText('L.S. activated!!')
+ else:
+ self.state_motor2.setStyleSheet("background-color: #ffffff")
+
+ def comando_comune_goto(self):
+ gol = float(self.comune_inputabs.text())
+ if gol <= massimo and gol >= minimo:
+ gol1 = devprodic['ranges'].Totem_compressor_Motor_1_offset - gol
+ gol2 = devprodic['ranges'].Totem_compressor_Motor_2_offset - gol
+ devprodic['motor1'].write_attribute('AxisCurrentPosition', gol1)
+ devprodic['motor2'].write_attribute('AxisCurrentPosition', gol2)
+ else:
+ self.msgBox = QMessageBox()
+ self.msgBox.setIcon(QMessageBox.Question)
+ self.msgBox.setStandardButtons(QMessageBox.Ok)
+ self.msgBox.setText("Max gap is " + str(massimo) + "mm. Min gap is " + str(minimo) + "mm.")
+ risp = self.msgBox.exec_()
+ time.sleep(0.5)
+ semaf1 = str(devprodic['motor1'].state())
+ semaf2 = str(devprodic['motor2'].state())
+ liberitutti = 0
+ while semaf1 == 'MOVING' or semaf2 == 'MOVING' or liberitutti == 0 and liberitutti != 10:
+ print('i = ' + str(liberitutti) + 'm1: ' + semaf1 + ', m2: ' + semaf2)
+ liberitutti = liberitutti +1
+ time.sleep(0.3)
+ semaf1 = str(devprodic['motor1'].state())
+ semaf2 = str(devprodic['motor2'].state())
+
+
+ def comando_comune_b(self):
+ gol = float(self.comune_inputrel.text())
+ if float(self.compressor2pos.text()) - gol >= minimo or float(self.compressor1pos.text()) - gol >= minimo:
+ #print(float(self.compressor2pos.text()) - gol)
+ devprodic['motor1'].command_inout('AxisGoToRelativePosition', gol)
+ devprodic['motor2'].command_inout('AxisGoToRelativePosition', gol)
+ else:
+ self.msgBox = QMessageBox()
+ self.msgBox.setIcon(QMessageBox.Question)
+ self.msgBox.setStandardButtons(QMessageBox.Ok)
+ self.msgBox.setText("Max gap is " + str(massimo) + "mm. Min gap is " + str(minimo) + "mm.")
+ risp = self.msgBox.exec_()
+ time.sleep(0.5)
+ semaf1 = str(devprodic['motor1'].state())
+ semaf2 = str(devprodic['motor2'].state())
+ liberitutti = 0
+ while semaf1 == 'MOVING' or semaf2 == 'MOVING' or liberitutti == 0 and liberitutti != 10:
+ print('i = ' + str(liberitutti) + 'm1: ' + semaf1 + ', m2: ' + semaf2)
+ liberitutti = liberitutti +1
+ time.sleep(0.3)
+ semaf1 = str(devprodic['motor1'].state())
+ semaf2 = str(devprodic['motor2'].state())
+
+
+ def comando_comune_f(self):
+ gol = float(self.comune_inputrel.text())
+ if float(self.compressor2pos.text()) + gol <= massimo or float(self.compressor1pos.text()) + gol <= massimo:
+ #print(float(self.compressor2pos.text()) + gol)
+ devprodic['motor1'].command_inout('AxisGoToRelativePosition', -gol)
+ devprodic['motor2'].command_inout('AxisGoToRelativePosition', -gol)
+ else:
+ self.msgBox = QMessageBox()
+ self.msgBox.setIcon(QMessageBox.Question)
+ self.msgBox.setStandardButtons(QMessageBox.Ok)
+ self.msgBox.setText("Max gap is " + str(massimo) + "mm. Min gap is " + str(minimo) + "mm.")
+ risp = self.msgBox.exec_()
+ time.sleep(0.5)
+ semaf1 = str(devprodic['motor1'].state())
+ semaf2 = str(devprodic['motor2'].state())
+ liberitutti = 0
+ while semaf1 == 'MOVING' or semaf2 == 'MOVING' or liberitutti == 0 and liberitutti != 10:
+ print('i = ' + str(liberitutti) + 'm1: ' + semaf1 + ', m2: ' + semaf2)
+ liberitutti = liberitutti +1
+ time.sleep(0.3)
+ semaf1 = str(devprodic['motor1'].state())
+ semaf2 = str(devprodic['motor2'].state())
+
+ def comando_comune_stop(self):
+ devprodic['motor1'].axisstop()
+ devprodic['motor2'].axisstop()
+
+ #def comando_delay_record(self):
+ #self.stimaritardo.setDisabled(0)
+
+ def comando_motor1_change(self):
+ gol = float(self.motore1_offset_write.text())
+ devprodic['ranges'].write_attribute('Totem_compressor_Motor_1_offset', gol)
+
+ def comando_motor1_goto(self):
+ gol = float(self.motore1_posabs.text())
+ devprodic['motor1'].write_attribute('AxisCurrentPosition', gol)
+
+ def comando_motor1_stop(self):
+ devprodic['motor1'].axisstop()
+
+ def comando_motor1_b(self):
+ gol = float(self.motore1_posrel.text())
+ devprodic['motor1'].command_inout('AxisGoToRelativePosition', -gol)
+
+ def comando_motor1_f(self):
+ gol = float(self.motore1_posrel.text())
+ devprodic['motor1'].command_inout('AxisGoToRelativePosition', gol)
+
+ def comando_motor1_init(self):
+ devprodic['motor1'].AxisInit()
+
+ def comando_motor2_change(self):
+ gol = float(self.motore2_offset_write.text())
+ devprodic['ranges'].write_attribute('Totem_compressor_Motor_2_offset', gol)
+
+ def comando_motor2_goto(self):
+ gol = float(self.motore2_posabs.text())
+ devprodic['motor2'].write_attribute('AxisCurrentPosition', gol)
+
+ def comando_motor2_stop(self):
+ devprodic['motor2'].axisstop()
+
+ def comando_motor2_b(self):
+ gol = float(self.motore2_posrel.text())
+ devprodic['motor2'].command_inout('AxisGoToRelativePosition', -gol)
+
+ def comando_motor2_f(self):
+ gol = float(self.motore2_posrel.text())
+ devprodic['motor2'].command_inout('AxisGoToRelativePosition', gol)
+
+ def comando_motor2_init(self):
+ devprodic['motor2'].AxisInit()
+
+#####################
+if __name__ == '__main__':
+ app = QApplication([])
+ try:
+ tmpdim = sys.argv[1]
+ tmpdim = tmpdim.split('x')
+ dimensione = [float(tmpdim[0]), float(tmpdim[1])]
+ except:
+ screen = QDesktopWidget().screenGeometry()
+ larghezzaaltezza = [screen.width(), screen.height()]
+ print(larghezzaaltezza)
+ if max(larghezzaaltezza) > 3000:
+ dimensione = max(larghezzaaltezza)*0.38
+ elif max(larghezzaaltezza) > 2000:
+ dimensione = max(larghezzaaltezza)*0.6
+ elif max(larghezzaaltezza) > 1000:
+ dimensione = max(larghezzaaltezza)*0.7
+ else:
+ dimensione = max(larghezzaaltezza)*2
+ font_pannello = QFont("Arial", round(dimensione/150.0), -1, False)
+ app.setFont(font_pannello)
+ window = MainWindow()
+ window.resize(larghezzaaltezza[0]/6, larghezzaaltezza[1]/6)
+ window.show()
+ app.exec_()