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VBAcmd1.pyw
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VBAcmd1.pyw
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'''
(c) 2017 The Trustees of Columbia University in the City of New York. All Rights Reserved.
Started July 21, 2015
@author: Carl Schoonover
GUI and control of virtual burrow assay v. 3+
'''
from __future__ import division
# Generate py code from .ui file. Runs in ~100ms, can comment out once development is finished
from os import path
from subprocess import Popen
winFilepath = path.dirname(path.realpath(__file__))
p = Popen('pyuic4 -x '+winFilepath+'\VBAcmd.ui -o '+winFilepath+'\window.pyw', shell=True)
p.wait()
from PyQt4 import QtGui, QtCore, Qt
import PyQt4.Qwt5 as Qwt
from window import Ui_MainWindow
import sys
from VBAFSMthread3 import VBAFSMthread
from PyDAQmx import *
from time import sleep, time
import numpy
from ParamLoad import ParamLoad
"""""""""""""""""""""""""""""""""""""""""""""""""""
NI-DAQmx callback class
"""""""""""""""""""""""""""""""""""""""""""""""""""
class DAQCallbackTask(Task):
global DAQmx_Val_RSE,DAQmx_Val_Volts, DAQmx_Val_Rising, DAQmx_Val_ContSamps, DAQmx_Val_Acquired_Into_Buffer, DAQmx_Val_GroupByScanNumber, DAQmx_Val_GroupByChannel, DAQmx_Val_ChanForAllLines,DAQmx_Val_OnDemand
def __init__(self,initialUsrPrms):
self.initialUsrPrms = initialUsrPrms
Task.__init__(self)
# ANALOG INPUT (ai0: Laser / ai1: Force / ai2: Servo position)
self.numChannels = 3
self.aiChannelIDs = "dev5/ai0:2"
self.airt = 1000 # Hz
self.DAQBufferEpoch = 100 # ms
self.numBuffsPerSec = int(round(1000 / self.DAQBufferEpoch)) # Hz
self.DAQBufferSize = int(round(self.airt/self.numBuffsPerSec)) # Samples
self.timeout = 10.0 # s
self.Vrange = [-10.0, 10.0]
self.autostart = 0
self.read = int32()
self.totNumBuffers = int(0)
# Hardware ranges and scaling factors
self.scaleForce = 10
self.rangeServo = [0, 30] # travel range 0 to 30 mm
self.rangeServoVout = [0, 3.3] # output signal 0 to 3.3 V
self.rangeServoSet = [0.0, 5.0] # setting signal 0 to 5 V
self.scaleServo = self.rangeServo[1] / self.rangeServoVout[1] # 30 mm range encoded between 0V and 3.3 V
self.rangeLaser = [0, 50] # 0 to 50 mm
self.rangeLaserVout = [1, 5] # 1V to 5V
self.scaleLaser = self.rangeLaser[1] / (self.rangeLaserVout[1]-self.rangeLaserVout[0]) # 50 mm range encoded between 1V and 5V
# Circular buffers
self.circBuffEpoch = 8000 # ms
self.circBuffSamps = int(round( (self.circBuffEpoch/1000) * self.airt))
self.circBufferLaser = numpy.zeros((self.circBuffSamps),dtype=float32)
self.circBufferForce = numpy.zeros((self.circBuffSamps),dtype=float32)
self.circBufferServo = numpy.zeros((self.circBuffSamps),dtype=float32)
self.circBufferDI = numpy.zeros((self.circBuffSamps/self.DAQBufferSize),dtype=float32)
self.circBufferServoSlope = numpy.zeros((self.circBuffSamps/self.DAQBufferSize),dtype=float32)
self.circBufferLaserThreshold = numpy.zeros((self.circBuffSamps/self.DAQBufferSize),dtype=float32) + self.initialUsrPrms.laserThreshold
self.circBufferForceThreshold = numpy.zeros((self.circBuffSamps/self.DAQBufferSize),dtype=float32) + self.initialUsrPrms.forceThreshold
self.circBufferTimeLong = numpy.linspace(start=0,stop=self.circBuffEpoch/1000,num=self.circBufferLaser.size)
self.circBufferTimeShort = numpy.linspace(start=0,stop=self.circBuffEpoch/1000,num=self.circBufferDI.size)
# DAQ read data buffer
self.DAQbufferDataIn = numpy.tile(numpy.zeros((self.DAQBufferSize,), dtype=numpy.float64),(self.numChannels,1)) # Time column-wise
# self.DAQbufferDataIn = numpy.tile(numpy.zeros((self.DAQBufferSize,), dtype=numpy.float64),(self.numChannels,1)) # Time row-wise
self.CreateAIVoltageChan(self.aiChannelIDs,"Analog inputs",DAQmx_Val_RSE,self.Vrange[0],self.Vrange[1],DAQmx_Val_Volts,None)
self.CfgSampClkTiming("",self.airt,DAQmx_Val_Rising,DAQmx_Val_ContSamps,self.DAQBufferSize)
self.AutoRegisterEveryNSamplesEvent(DAQmx_Val_Acquired_Into_Buffer,self.DAQBufferSize,0,name='EveryNCallback')
self.AutoRegisterDoneEvent(0,name='DoneCallback')
self.StartTask()
# self.ReadAnalogF64(self.DAQBufferSize,self.timeout,DAQmx_Val_GroupByChannel,self.DAQbufferDataIn,self.DAQBufferSize*self.numChannels,byref(self.read),None)
# ANALOG OUTPUT (ao0: Servo control)
self.ao = Task()
self.ao.servowritedata = numpy.arange(1, dtype=numpy.float64)*0
self.ao.numsamples = 1
self.ao.write = int32()
self.ao.CreateAOVoltageChan("dev5/ao0","Analog output",self.rangeServoSet[0],self.rangeServoSet[1],DAQmx_Val_Volts,None)
self.ao.StartTask()
# self.ao.WriteAnalogF64(self.ao.numsamples,self.autostart,self.timeout,DAQmx_Val_GroupByChannel,self.ao.servowritedata+2.5,self.ao.write,None)
# DIGITAL INPUT (di0: Start signal from olfactometer)
self.di = Task()
self.di.fillMode = 1
self.di.numSampsPerChan = 1
self.di.read = int32()
self.di.numBytesPerSamp = int32()
self.di.readData = numpy.array([0], dtype=numpy.uint8)
self.di.arraySizeInBytes = self.di.readData.__len__()
self.di.CreateDIChan("dev5/port0/line0","Digital input",DAQmx_Val_ChanForAllLines)
self.di.StartTask()
# self.di.ReadDigitalLines(self.di.numSampsPerChan, self.timeout, self.di.fillMode, self.di.readData, self.di.arraySizeInBytes, self.di.read, byref(self.di.numBytesPerSamp), None)
# DIGITAL OUTPUT (do0: Trigger state to loop closer)
self.do = Task()
self.do.CreateDOChan("dev5/port1/line0","Digital output",DAQmx_Val_ChanForAllLines)
self.do.StartTask()
# self.do.WriteDigitalScalarU32(1,1,0,None)
# VBA finite state machine
self.vbafsm = VBAFSMthread()
self.vbafsm.rt = self.DAQBufferEpoch/(2*1000)
self.vbafsm.doPrint = 0
self.vbafsm.doAutoCycle = 0
self.vbafsm.CMDolfactometerSaysPull = [True, True]
self.vbafsm.start()
self.VBAFSMstate = ['state', 'state']
self.vbafsm.CMDtriggerHigh = 0
def EveryNCallback(self):
# Get analog input
self.ReadAnalogF64(self.DAQBufferSize,self.timeout,DAQmx_Val_GroupByChannel,self.DAQbufferDataIn,self.DAQBufferSize*self.numChannels,byref(self.read),None)
self.aiDataForSigProc = self.DAQbufferDataIn
# Get digital input and update window if it changes
self.di.ReadDigitalLines(self.di.numSampsPerChan, self.timeout, self.di.fillMode, self.di.readData, self.di.arraySizeInBytes, self.di.read, byref(self.di.numBytesPerSamp), None)
self.vbafsm.CMDolfactometerSaysPull[0] = self.vbafsm.CMDolfactometerSaysPull[1]
self.vbafsm.CMDolfactometerSaysPull[1] = self.di.readData[0]
# Update window if digital start signal changes
if self.vbafsm.CMDolfactometerSaysPull[1] != self.vbafsm.CMDolfactometerSaysPull[0]:
window.updateDIstateSignal.emit()
if window.controlMode_manual:
self.di.readData[0] = 0
# Get state of finite state machine from thread
self.VBAFSMstate[0] = self.VBAFSMstate[1]
self.VBAFSMstate[1] = self.vbafsm.state
# Update window if finite state machine state changes
if self.VBAFSMstate[1] != self.VBAFSMstate[0]:
window.updateStateSignal.emit()
# Keep track of buffers
self.totNumBuffers += 1
window.writeSignal.emit() # Emit signal to write data
return 0 # The function should return an integer
def DoneCallback(self, status):
print "Status ",status.value
return 0 # The function should return an integer
def updateOutputTrigger(self,state):
self.do.WriteDigitalScalarU32(1,1,state,None)
def updateServoPosition(self,position):
scaledPosition = self.ao.servowritedata + (position/self.rangeServo[1])*self.rangeServoSet[1]
self.ao.WriteAnalogF64(self.ao.numsamples,self.autostart,self.timeout,DAQmx_Val_GroupByChannel,scaledPosition,self.ao.write,None)
def clearDAQ(self):
self.ao.StopTask()
self.ao.ClearTask()
self.do.StopTask()
self.do.ClearTask()
self.di.StopTask()
self.di.ClearTask()
self.StopTask()
self.ClearTask()
"""""""""""""""""""""""""""""""""""""""""""""""""""
UI and signal processing
"""""""""""""""""""""""""""""""""""""""""""""""""""
class Main(QtGui.QMainWindow):
writeSignal = QtCore.pyqtSignal()
drawTraceSignal = QtCore.pyqtSignal()
updateDIstateSignal = QtCore.pyqtSignal()
updateStateSignal = QtCore.pyqtSignal()
def __init__(self):
# Load previous user parameters if they exist. or else set them
self.paramLoad = ParamLoad(__file__)
self.usrPrms = self.paramLoad.loadUserParams()
if self.usrPrms.loadedOldParams == 1:
pass
else:
self.usrPrms.laserThreshold = 30 # (mm)
self.usrPrms.forceThreshold = 3.5 # (g)
self.usrPrms.struggleWait = 4 # (s) amount of time to wait after animal done struggling
self.usrPrms.pullPosition = 10 # (mm)
self.usrPrms.slackPosition = 20 # (mm)
self.usrPrms.movementWait = 1 # (s) amount of time to wait to make sure animal not moving
self.usrPrms.servoWait = 2 # (s) amount of time to wait after servo moves before transitioning
# Launch the UI
QtGui.QMainWindow.__init__(self)
self.ui = Ui_MainWindow()
self.ui.setupUi(self)
self.setWindowTitle("VBAcmd")
self.ui.tubeStateTextLabel.setText('MANUAL CONTROL')
# Picks some colors for the widgets
self.ui.positionPlot.setCanvasBackground(Qt.Qt.white)
self.ui.forcePlot.setCanvasBackground(Qt.Qt.white)
self.ui.startSig.setStyleSheet("background-color: white;")
self.ui.chartTitle_servoPosition.setStyleSheet("color: red")
self.ui.chartTitle_laserPosition.setStyleSheet("color: blue")
# Run mode parameters
self.controlMode_manual = 1
self.servoState_slackening = 1
self.outputTriggerHigh = 0
self.timer = 0
# Set default user values
self.ui.laserThresholdDoubleSpinBox.setValue(self.usrPrms.laserThreshold)
self.ui.laserWaitTimeDoubleSpinBox.setValue(self.usrPrms.movementWait)
self.ui.servoWaitTimeDoubleSpinBox.setValue(self.usrPrms.servoWait)
self.ui.forceThresholdDoubleSpinBox.setValue(self.usrPrms.forceThreshold)
self.ui.forceTimeBeforeSlackDoubleSpinBox.setValue(self.usrPrms.struggleWait)
self.ui.pullPositionDoubleSpinBox.setValue(self.usrPrms.pullPosition)
self.ui.slackPositionDoubleSpinBox.setValue(self.usrPrms.slackPosition)
self.ui.manualRadioButton.toggle()
self.ui.slackPositionRadioButton.toggle()
# Set plotting parameters
self.circBufLaserIndex = 0
self.circBufForceIndex = 0
self.plotEveryNBuffers = 1
self.circBufIndex = 0
# Connect clicking signals
self.ui.laserThresholdDoubleSpinBox.valueChanged.connect(self.laserThresholdDoubleSpinBox_changed)
self.ui.laserWaitTimeDoubleSpinBox.valueChanged.connect(self.laserWaitTimeDoubleSpinBox_changed)
self.ui.servoWaitTimeDoubleSpinBox.valueChanged.connect(self.servoWaitTimeDoubleSpinBox_changed)
self.ui.forceThresholdDoubleSpinBox.valueChanged.connect(self.forceThresholdDoubleSpinBox_changed)
self.ui.forceTimeBeforeSlackDoubleSpinBox.valueChanged.connect(self.forceTimeBeforeSlackDoubleSpinBox_changed)
self.ui.pullPositionDoubleSpinBox.valueChanged.connect(self.pullPositionDoubleSpinBox_changed)
self.ui.slackPositionDoubleSpinBox.valueChanged.connect(self.slackPositionDoubleSpinBox_changed)
self.ui.manualRadioButton.toggled.connect(self.manualRadioButton_toggled)
self.ui.slackPositionRadioButton.toggled.connect(self.slackPositionRadioButton_toggled)
# Set up event signals
app.aboutToQuit.connect(self.shutDown)
self.writeSignal.connect(self.sigProcess)
self.drawTraceSignal.connect(self.plotTraces)
self.updateDIstateSignal.connect(self.updateDIstate)
self.updateStateSignal.connect(self.updateState)
# Create the DAQ object
self.task = DAQCallbackTask(self.usrPrms)
# Set some variables and UI values that depend on DAQ initialization
self.ui.forceTimeBeforeSlackDoubleSpinBox.setMaximum(self.task.circBuffEpoch/1000)
self.ui.laserWaitTimeDoubleSpinBox.setMaximum(self.task.circBuffEpoch/1000)
self.ui.servoWaitTimeDoubleSpinBox.setMaximum(self.task.circBuffEpoch/1000)
self.forceCheckWindow = int(self.usrPrms.struggleWait * self.task.airt)
self.laserCheckWindow = int(self.usrPrms.movementWait * self.task.airt)
self.servoCheckWindow = int(self.usrPrms.servoWait * (self.task.airt/self.task.DAQBufferEpoch))
self.updateDIstate()
def sigProcess(self):
execTimingStart = time()
# Check if VBAFSM is in launch state and if so, update the trigger on D.O.
if self.outputTriggerHigh != self.task.vbafsm.CMDtriggerHigh:
self.outputTriggerHigh = self.task.vbafsm.CMDtriggerHigh
self.task.updateOutputTrigger(self.outputTriggerHigh)
# Set up indexing to move AI and DI to circular buffer
if self.circBufIndex >= self.task.circBufferDI.size:
self.circBufIndex = 0
indexLong = [self.circBufIndex*self.task.DAQBufferSize, self.circBufIndex*self.task.DAQBufferSize+self.task.DAQBufferSize]
# Construct circular buffer of analog and digital inputs (1:LASER, 2:FORCE, 3:SERVO)
self.task.circBufferLaser[indexLong[0]:indexLong[1]] = (self.task.aiDataForSigProc[0,:] - 1)* (self.task.scaleLaser-1)
self.task.circBufferForce[indexLong[0]:indexLong[1]] = self.task.aiDataForSigProc[1,:] * self.task.scaleForce
self.task.circBufferServo[indexLong[0]:indexLong[1]] = self.task.rangeServo[1] - (self.task.aiDataForSigProc[2,:] * self.task.scaleServo)
self.task.circBufferDI[self.circBufIndex] = self.task.vbafsm.CMDolfactometerSaysPull[1]
# Construct circular buffer of thresholds
self.task.circBufferLaserThreshold[self.circBufIndex] = self.usrPrms.laserThreshold
self.task.circBufferForceThreshold[self.circBufIndex] = self.usrPrms.forceThreshold
# Figure out whether animal is below position threshold (measured by laser)
self.task.belowPositionThreshold = all(self.task.circBufferLaser[indexLong[0]:indexLong[1]] < self.usrPrms.laserThreshold)
# Figure out whether animal has not moved for N seconds
circBufferLaserRolled = numpy.roll(self.task.circBufferLaser,-(indexLong[1]))
self.task.animalNotMovedInNSeconds = all(circBufferLaserRolled[-self.laserCheckWindow:] < self.usrPrms.laserThreshold)
# Figure out whether animal has not been struggling for N seconds
circBufferForceRolled = numpy.roll(self.task.circBufferForce,-(indexLong[1]))
self.task.animalNotStruggledInNSeconds = all(circBufferForceRolled[-self.forceCheckWindow:] < self.usrPrms.forceThreshold)
# Figure out whether servo has not moved for N seconds (absolute value of servo signal diff)
servoSlopeCurrent = abs(numpy.polyfit(numpy.r_[0: self.task.DAQBufferSize],self.task.circBufferServo[indexLong[0]:indexLong[1]],1))*1000
self.task.circBufferServoSlope[self.circBufIndex] = servoSlopeCurrent[0]
circBufferServoSlopeRolled = numpy.roll(self.task.circBufferServoSlope,-(self.circBufIndex))
timeLag = ((time()-self.timer)*1000 > self.task.DAQBufferEpoch*3) # Need to wait a couple of updates before servo signal derivative changes
self.task.servoStationary = all(circBufferServoSlopeRolled[-self.servoCheckWindow:] < 1) and timeLag
# Set the trigger variables for the finite state machine
self.task.vbafsm.CMDdoneStruggling = self.task.servoStationary and self.task.animalNotStruggledInNSeconds # CONDITIONS: (1) Servo hasn't moved for N seconds; (2) Animal hasn't crossed force threshold for N seconds
self.task.vbafsm.CMDanimalEscaped = not self.task.belowPositionThreshold # CONDITIONS: (1) Laser says animal moved
self.task.vbafsm.CMDanimalReady = self.task.servoStationary and self.task.animalNotMovedInNSeconds # CONDITIONS: (1) Servo hasn't moved for N seconds; (2) Animal hasn't crosed laser threshold for N seconds
''' # FSM AUTOCYCLE
self.task.vbafsm.CMDdoneStruggling = numpy.random.random_sample() > 0.9
self.task.vbafsm.CMDanimalEscaped = numpy.random.random_sample() > 0.9
self.task.vbafsm.CMDanimalReady = numpy.random.random_sample() > 0.9 '''
# Plot curves in GUI
if self.task.totNumBuffers % self.plotEveryNBuffers == 0:
self.drawTraceSignal.emit()
# Update position of circular buffer for next DAQ read
self.circBufIndex = self.circBufIndex + 1
# Make sure signal processing isn't taking too long relative to acquisition buffer length
execTiming = (time()-execTimingStart) * 1000
if (self.task.DAQBufferEpoch/2) < execTiming:
print 'Warning: sigProcess is taking', execTiming, 'ms ; DAQBufferEpoch is set to', self.task.DAQBufferEpoch, 'ms'
def plotTraces(self):
## TOP PLOT
# Generate and plot laser threshold curve
self.curveLaserThreshold = Qwt.QwtPlotCurve()
self.curveLaserThreshold.attach(self.ui.positionPlot)
self.curveLaserThreshold.setPen(Qt.QPen(Qt.Qt.darkCyan, 1))
self.curveLaserThreshold.setData(self.task.circBufferTimeShort,self.task.circBufferLaserThreshold)
# Generate and plot laser position curve
self.curveLaser = Qwt.QwtPlotCurve()
self.curveLaser.attach(self.ui.positionPlot)
if self.task.animalNotMovedInNSeconds: penColor = Qt.Qt.blue; penSize = 2
else: penColor = Qt.Qt.darkBlue; penSize = 1
self.curveLaser.setPen(Qt.QPen(penColor, penSize))
self.curveLaser.setData(self.task.circBufferTimeLong,self.task.circBufferLaser)
# Generate and plot servo position curve
self.curveServo = Qwt.QwtPlotCurve()
self.curveServo.attach(self.ui.positionPlot)
if self.task.servoStationary: penColor = Qt.Qt.red; penSize = 2
else: penColor = Qt.Qt.darkMagenta; penSize = 1
self.curveServo.setPen(Qt.QPen(penColor, penSize))
self.curveServo.setData(self.task.circBufferTimeLong,self.task.circBufferServo)
## BOTTOM PLOT
# Generate and plot force curve
self.curveForceThreshold = Qwt.QwtPlotCurve()
self.curveForceThreshold.attach(self.ui.forcePlot)
self.curveForceThreshold.setPen(Qt.QPen(Qt.Qt.darkCyan, 1))
self.curveForceThreshold.setData(self.task.circBufferTimeShort,self.task.circBufferForceThreshold)
# Generate and plot force curve
self.curveForce = Qwt.QwtPlotCurve()
self.curveForce.attach(self.ui.forcePlot)
if self.task.animalNotStruggledInNSeconds: penColor = Qt.Qt.black; penSize = 2
else: penColor = Qt.Qt.darkGray; penSize = 1
self.curveForce.setPen(Qt.QPen(penColor, penSize))
self.curveForce.setData(self.task.circBufferTimeLong,self.task.circBufferForce)
# Update plot window
self.ui.positionPlot.replot()
self.curveLaser.detach()
self.curveServo.detach()
self.curveLaserThreshold.detach()
self.ui.forcePlot.replot()
self.curveForce.detach()
self.curveForceThreshold.detach()
def updateDIstate(self):
if self.task.vbafsm.CMDolfactometerSaysPull[1] and not self.controlMode_manual:
self.ui.startSig.setText('OLFACTOMETER SAYS PULL')
elif self.task.vbafsm.CMDolfactometerSaysPull[1] and self.controlMode_manual:
self.ui.startSig.setText('OLF: PULL BUT MANUAL')
elif not self.task.vbafsm.CMDolfactometerSaysPull[1]:
self.ui.startSig.setText('_____________________')
def updateState(self):
if self.controlMode_manual: # Set servo position manually
if self.servoState_slackening:
self.task.updateServoPosition(self.ui.slackPositionDoubleSpinBox.value())
if not self.servoState_slackening:
self.task.updateServoPosition(self.ui.pullPositionDoubleSpinBox.value())
else:
if self.task.VBAFSMstate[1] == 'waiting4start':
self.ui.tubeStateTextLabel.setText('WAITING FOR START SIGNAL')
self.ui.tubeStateTextLabel.setStyleSheet('color: black')
self.timer = time()
self.task.updateServoPosition(self.ui.slackPositionDoubleSpinBox.value()) # Set servo position to slack
elif self.task.VBAFSMstate[1] == 'pullingBack':
self.ui.tubeStateTextLabel.setText('PULLING BACK')
self.ui.tubeStateTextLabel.setStyleSheet('color: darkCyan')
self.timer = time()
self.task.updateServoPosition(self.ui.pullPositionDoubleSpinBox.value()) # Set servo position to pull
elif self.task.VBAFSMstate[1] == 'slackening':
self.ui.tubeStateTextLabel.setText('SLACKENING')
self.ui.tubeStateTextLabel.setStyleSheet('color: darkGreen')
self.timer = time()
self.task.updateServoPosition(self.ui.slackPositionDoubleSpinBox.value()) # Set servo position to slack
elif self.task.VBAFSMstate[1] == 'ready':
self.ui.tubeStateTextLabel.setText('READY TO LAUNCH')
self.ui.tubeStateTextLabel.setStyleSheet('color: darkMagenta')
elif self.task.VBAFSMstate[1] == 'launching':
self.ui.tubeStateTextLabel.setText('!!! LAUNCHING !!!')
self.ui.tubeStateTextLabel.setStyleSheet('color: red')
else:
print 'WARNING: Not in manual mode and also not in one of the FSM states'
def shutDown(self):
try:
self.task
except:
pass
else:
self.task.updateServoPosition(self.ui.slackPositionDoubleSpinBox.value()) # Set servo position to slack
self.task.vbafsm.CMDhaltLoopSignal = 1
self.paramLoad.saveUserParams(self.usrPrms)
self.task.updateOutputTrigger(0)
self.task.clearDAQ()
def laserThresholdDoubleSpinBox_changed(self):
self.usrPrms.laserThreshold = self.ui.laserThresholdDoubleSpinBox.value()
def laserWaitTimeDoubleSpinBox_changed(self):
self.usrPrms.movementWait = self.ui.laserWaitTimeDoubleSpinBox.value()
self.laserCheckWindow = int(self.usrPrms.movementWait * self.task.airt)
def servoWaitTimeDoubleSpinBox_changed(self):
self.usrPrms.servoWait = self.ui.servoWaitTimeDoubleSpinBox.value()
self.servoCheckWindow = int(self.usrPrms.servoWait * (self.task.airt/self.task.DAQBufferEpoch))
def forceThresholdDoubleSpinBox_changed(self):
self.usrPrms.forceThreshold = self.ui.forceThresholdDoubleSpinBox.value()
def forceTimeBeforeSlackDoubleSpinBox_changed(self):
self.usrPrms.struggleWait = self.ui.forceTimeBeforeSlackDoubleSpinBox.value()
self.forceCheckWindow = self.usrPrms.struggleWait * self.task.airt
def pullPositionDoubleSpinBox_changed(self):
self.usrPrms.pullPosition = self.ui.pullPositionDoubleSpinBox.value()
self.updateState()
def slackPositionDoubleSpinBox_changed(self):
self.usrPrms.slackPosition = self.ui.slackPositionDoubleSpinBox.value()
self.updateState()
def manualRadioButton_toggled(self):
self.task.vbafsm.CMDrestartSignal = 1
if self.ui.manualRadioButton.isChecked():
self.controlMode_manual = 1
self.servoState_slackening = 1
self.updateDIstate()
self.ui.slackPositionRadioButton.setEnabled(True)
self.ui.pullPositionRadioButton.setEnabled(True)
if not self.ui.slackPositionRadioButton.isChecked():
self.ui.slackPositionRadioButton.toggle()
self.ui.tubeStateTextLabel.setText('MANUAL CONTROL')
self.ui.tubeStateTextLabel.setStyleSheet('color: black')
self.task.updateOutputTrigger(0)
else:
self.controlMode_manual = 0
self.updateDIstate()
self.ui.slackPositionRadioButton.setEnabled(False)
self.ui.pullPositionRadioButton.setEnabled(False)
self.ui.tubeStateTextLabel.setText('AUTOMATIC')
self.ui.tubeStateTextLabel.setStyleSheet('color: black')
def slackPositionRadioButton_toggled(self):
if self.ui.slackPositionRadioButton.isChecked(): self.servoState_slackening = 1
else: self.servoState_slackening = 0
self.updateState()
""""""""""""""""""""""""""""""""""""""""""""""""""""""
if __name__ == '__main__':
app = QtGui.QApplication(sys.argv)
window = Main()
window.show()
sys.exit(app.exec_())