Implemented stepper select and homing.

src/nqrduck_autotm/controller.py

@@ -98,7 +98,7 @@ class AutoTMController(ModuleController):
         MAX_FREQUENCY = 200e6  # Hz
 
         try:
-            start_frequence = start_frequency.replace(",", ".")
+            start_frequency = start_frequency.replace(",", ".")
             stop_frequency = stop_frequency.replace(",", ".")
             start_frequency = float(start_frequency) * 1e6
             stop_frequency = float(stop_frequency) * 1e6
@@ -264,6 +264,16 @@ class AutoTMController(ModuleController):
                 self.module.view.add_info_text("ATM Error: " + text[1:])
             elif text.startswith("v"):
                 self.process_voltage_sweep_result(text)
+            elif text.startswith("p"):
+                # Format is p<tuning_position>m<matching_position>
+                text = text[1:].split("m")
+                tuning_position, matching_position = map(int, text)
+                self.module.model.tuning_stepper.position = tuning_position
+                self.module.model.matching_stepper.position = matching_position
+                self.module.model.tuning_stepper.homed = True
+                self.module.model.matching_stepper.homed = True
+                logger.debug("Tuning position: %s, Matching position: %s", tuning_position, matching_position)
+                self.module.view.on_active_stepper_changed()
 
 
     def on_short_calibration(
@@ -609,3 +619,21 @@ class AutoTMController(ModuleController):
         """
         logger.debug("Homing")
         self.send_command("h")
+
+    @pyqtSlot(str)
+    def on_stepper_changed(self, stepper: str) -> None:
+        """This method is called when the stepper position is changed.
+        It sends the command to the atm system to change the stepper position.
+
+        Args:
+            stepper (str): The stepper that is being changed. Either 'tuning' or 'matching'.
+        """
+        logger.debug("Stepper %s changed", stepper)
+        stepper = stepper.lower()
+        if stepper == "tuning":
+            self.module.model.active_stepper = self.module.model.tuning_stepper
+        elif stepper == "matching":
+            self.module.model.active_stepper = self.module.model.matching_stepper
+        
+
+

src/nqrduck_autotm/model.py

@@ -217,6 +217,12 @@ class LookupTable:
         # Round to closest integer
         return int(round((frequency - self.start_frequency) / self.frequency_step))
 
+class Stepper:
+
+    def __init__(self) -> None:
+        self.homed = False
+        self.position = 0
+
 class ElectricalLookupTable(LookupTable):
     TYPE = "Electrical"
 
@@ -260,6 +266,7 @@ class AutoTMModel(ModuleModel):
     available_devices_changed = pyqtSignal(list)
     serial_changed = pyqtSignal(QSerialPort)
     data_points_changed = pyqtSignal(list)
+    active_stepper_changed = pyqtSignal(Stepper)
 
     short_calibration_finished = pyqtSignal(S11Data)
     open_calibration_finished = pyqtSignal(S11Data)
@@ -273,6 +280,10 @@ class AutoTMModel(ModuleModel):
         self.calibration = None
         self.serial = None
 
+        self.tuning_stepper = Stepper()
+        self.matching_stepper = Stepper()
+        self.active_stepper = self.tuning_stepper
+
     @property
     def available_devices(self):
         return self._available_devices
@@ -318,6 +329,15 @@ class AutoTMModel(ModuleModel):
         self._measurement = value
         self.measurement_finished.emit(value)
 
+    @property
+    def active_stepper(self):
+        return self._active_stepper
+    
+    @active_stepper.setter
+    def active_stepper(self, value):
+        self._active_stepper = value
+        self.active_stepper_changed.emit(value)
+
     # Calibration properties
 
     @property

src/nqrduck_autotm/resources/autotm_widget.ui

@@ -152,7 +152,7 @@
      <item>
       <widget class="QTabWidget" name="typeTab">
        <property name="currentIndex">
-        <number>1</number>
+        <number>0</number>
        </property>
        <widget class="QWidget" name="mechTab">
         <attribute name="title">
@@ -160,8 +160,8 @@
         </attribute>
         <layout class="QVBoxLayout" name="verticalLayout" stretch="0,1,0,0,0">
          <item>
-          <layout class="QGridLayout" name="gridLayout_4" rowstretch="0,0,0,0,0,0">
+          <layout class="QGridLayout" name="gridLayout_4" rowstretch="0,0,0,0,0,0,0">
-           <item row="4" column="1">
+           <item row="5" column="1">
             <widget class="QPushButton" name="homeButton">
              <property name="text">
               <string>Home</string>
@@ -181,6 +181,9 @@
              </property>
             </widget>
            </item>
+           <item row="6" column="1">
+            <widget class="QSpinBox" name="absoluteposBox"/>
+           </item>
            <item row="1" column="1">
             <widget class="QComboBox" name="stepperselectBox">
              <item>
@@ -195,14 +198,14 @@
              </item>
             </widget>
            </item>
-           <item row="4" column="0">
+           <item row="5" column="0">
             <widget class="QPushButton" name="decreaseButton">
              <property name="text">
               <string>-</string>
              </property>
             </widget>
            </item>
-           <item row="4" column="2">
+           <item row="5" column="2">
             <widget class="QPushButton" name="increaseButton">
              <property name="text">
               <string>+</string>
@@ -216,7 +219,14 @@
              </property>
             </widget>
            </item>
-           <item row="2" column="1">
+           <item row="6" column="0">
+            <widget class="QLabel" name="label_20">
+             <property name="text">
+              <string>Absolute:</string>
+             </property>
+            </widget>
+           </item>
+           <item row="3" column="1">
             <widget class="QSpinBox" name="stepsizeBox">
              <property name="minimum">
               <number>-1000</number>
@@ -229,29 +239,33 @@
              </property>
             </widget>
            </item>
-           <item row="2" column="0">
+           <item row="3" column="0">
             <widget class="QLabel" name="label_17">
              <property name="text">
               <string>Step Size:</string>
              </property>
             </widget>
            </item>
-           <item row="5" column="0">
+           <item row="6" column="2">
-            <widget class="QLabel" name="label_20">
-             <property name="text">
-              <string>Absolute:</string>
-             </property>
-            </widget>
-           </item>
-           <item row="5" column="2">
             <widget class="QPushButton" name="absoluteGoButton">
              <property name="text">
               <string>Go</string>
              </property>
             </widget>
            </item>
-           <item row="5" column="1">
+           <item row="2" column="0">
-            <widget class="QSpinBox" name="absoluteposBox"/>
+            <widget class="QLabel" name="label_4">
+             <property name="text">
+              <string>Position:</string>
+             </property>
+            </widget>
+           </item>
+           <item row="2" column="1">
+            <widget class="QLabel" name="stepperposLabel">
+             <property name="text">
+              <string>0</string>
+             </property>
+            </widget>
            </item>
           </layout>
          </item>

src/nqrduck_autotm/view.py

@@ -39,6 +39,9 @@ class AutoTMView(ModuleView):
 
         # Disable the connectButton while no devices are selected
         self._ui_form.connectButton.setDisabled(True)
+        self._ui_form.decreaseButton.setEnabled(False)
+        self._ui_form.increaseButton.setEnabled(False)
+        self._ui_form.absoluteGoButton.setEnabled(False)
 
         # On clicking of the refresh button scan for available usb devices
         self._ui_form.refreshButton.clicked.connect(self.module.controller.find_devices)
@@ -111,6 +114,12 @@ class AutoTMView(ModuleView):
         self._ui_form.startButton.setIcon(Logos.Play_16x16())
         self._ui_form.startButton.setIconSize(self._ui_form.startButton.size())
 
+        # Stepper selection
+        self._ui_form.stepperselectBox.currentIndexChanged.connect(lambda: self.module.controller.on_stepper_changed(self._ui_form.stepperselectBox.currentText()))
+
+        # Active  stepper changed
+        self.module.model.active_stepper_changed.connect(self.on_active_stepper_changed)
+
         self.init_plot()
         self.init_labels()
 
@@ -156,6 +165,10 @@ class AutoTMView(ModuleView):
             self._ui_form.connectButton.setEnabled(False)
         logger.debug("Updated available devices list")
 
+    def on_stepper_changed():
+        """Update the stepper position label according to the current stepper position."""
+        logger.debug("Updating stepper position label")
+
     @pyqtSlot()
     def on_connect_button_clicked(self) -> None:
         """This method is called when the connect button is clicked.
@@ -184,6 +197,23 @@ class AutoTMView(ModuleView):
 
         logger.debug("Updated serial connection label")
 
+    @pyqtSlot()
+    def on_active_stepper_changed(self) -> None:
+        """Update the stepper position label according to the current stepper position."""
+        logger.debug("Updating stepper position label")
+        self._ui_form.stepperposLabel.setText(str(self.module.model.active_stepper.position))
+        logger.debug("Updated stepper position label")
+
+        # Only allow position change when stepper is  homed
+        if self.module.model.active_stepper.homed:
+            self._ui_form.decreaseButton.setEnabled(True)
+            self._ui_form.increaseButton.setEnabled(True)
+            self._ui_form.absoluteGoButton.setEnabled(True)
+        else:
+            self._ui_form.decreaseButton.setEnabled(False)
+            self._ui_form.increaseButton.setEnabled(False)
+            self._ui_form.absoluteGoButton.setEnabled(False)
+
     def plot_measurement(self, data: "S11Data") -> None:
         """Update the S11 plot with the current data points.
 

src/nqrduck_autotm/widget.py

@@ -99,7 +99,7 @@ class Ui_Form(object):
         self.gridLayout_4.setObjectName("gridLayout_4")
         self.homeButton = QtWidgets.QPushButton(parent=self.mechTab)
         self.homeButton.setObjectName("homeButton")
-        self.gridLayout_4.addWidget(self.homeButton, 4, 1, 1, 1)
+        self.gridLayout_4.addWidget(self.homeButton, 5, 1, 1, 1)
         self.label_16 = QtWidgets.QLabel(parent=self.mechTab)
         font = QtGui.QFont()
         font.setBold(True)
@@ -107,6 +107,9 @@ class Ui_Form(object):
         self.label_16.setFont(font)
         self.label_16.setObjectName("label_16")
         self.gridLayout_4.addWidget(self.label_16, 0, 0, 1, 3)
+        self.absoluteposBox = QtWidgets.QSpinBox(parent=self.mechTab)
+        self.absoluteposBox.setObjectName("absoluteposBox")
+        self.gridLayout_4.addWidget(self.absoluteposBox, 6, 1, 1, 1)
         self.stepperselectBox = QtWidgets.QComboBox(parent=self.mechTab)
         self.stepperselectBox.setObjectName("stepperselectBox")
         self.stepperselectBox.addItem("")
@@ -114,31 +117,34 @@ class Ui_Form(object):
         self.gridLayout_4.addWidget(self.stepperselectBox, 1, 1, 1, 1)
         self.decreaseButton = QtWidgets.QPushButton(parent=self.mechTab)
         self.decreaseButton.setObjectName("decreaseButton")
-        self.gridLayout_4.addWidget(self.decreaseButton, 4, 0, 1, 1)
+        self.gridLayout_4.addWidget(self.decreaseButton, 5, 0, 1, 1)
         self.increaseButton = QtWidgets.QPushButton(parent=self.mechTab)
         self.increaseButton.setObjectName("increaseButton")
-        self.gridLayout_4.addWidget(self.increaseButton, 4, 2, 1, 1)
+        self.gridLayout_4.addWidget(self.increaseButton, 5, 2, 1, 1)
         self.label_18 = QtWidgets.QLabel(parent=self.mechTab)
         self.label_18.setObjectName("label_18")
         self.gridLayout_4.addWidget(self.label_18, 1, 0, 1, 1)
+        self.label_20 = QtWidgets.QLabel(parent=self.mechTab)
+        self.label_20.setObjectName("label_20")
+        self.gridLayout_4.addWidget(self.label_20, 6, 0, 1, 1)
         self.stepsizeBox = QtWidgets.QSpinBox(parent=self.mechTab)
         self.stepsizeBox.setMinimum(-1000)
         self.stepsizeBox.setMaximum(1000)
         self.stepsizeBox.setProperty("value", 500)
         self.stepsizeBox.setObjectName("stepsizeBox")
-        self.gridLayout_4.addWidget(self.stepsizeBox, 2, 1, 1, 1)
+        self.gridLayout_4.addWidget(self.stepsizeBox, 3, 1, 1, 1)
         self.label_17 = QtWidgets.QLabel(parent=self.mechTab)
         self.label_17.setObjectName("label_17")
-        self.gridLayout_4.addWidget(self.label_17, 2, 0, 1, 1)
+        self.gridLayout_4.addWidget(self.label_17, 3, 0, 1, 1)
-        self.label_20 = QtWidgets.QLabel(parent=self.mechTab)
-        self.label_20.setObjectName("label_20")
-        self.gridLayout_4.addWidget(self.label_20, 5, 0, 1, 1)
         self.absoluteGoButton = QtWidgets.QPushButton(parent=self.mechTab)
         self.absoluteGoButton.setObjectName("absoluteGoButton")
-        self.gridLayout_4.addWidget(self.absoluteGoButton, 5, 2, 1, 1)
+        self.gridLayout_4.addWidget(self.absoluteGoButton, 6, 2, 1, 1)
-        self.absoluteposBox = QtWidgets.QSpinBox(parent=self.mechTab)
+        self.label_4 = QtWidgets.QLabel(parent=self.mechTab)
-        self.absoluteposBox.setObjectName("absoluteposBox")
+        self.label_4.setObjectName("label_4")
-        self.gridLayout_4.addWidget(self.absoluteposBox, 5, 1, 1, 1)
+        self.gridLayout_4.addWidget(self.label_4, 2, 0, 1, 1)
+        self.stepperposLabel = QtWidgets.QLabel(parent=self.mechTab)
+        self.stepperposLabel.setObjectName("stepperposLabel")
+        self.gridLayout_4.addWidget(self.stepperposLabel, 2, 1, 1, 1)
         self.verticalLayout.addLayout(self.gridLayout_4)
         self.positionButton = QtWidgets.QPushButton(parent=self.mechTab)
         self.positionButton.setObjectName("positionButton")
@@ -277,7 +283,7 @@ class Ui_Form(object):
         self.horizontalLayout_2.setStretch(1, 1)
 
         self.retranslateUi(Form)
-        self.typeTab.setCurrentIndex(1)
+        self.typeTab.setCurrentIndex(0)
         QtCore.QMetaObject.connectSlotsByName(Form)
 
     def retranslateUi(self, Form):
@@ -300,9 +306,11 @@ class Ui_Form(object):
         self.decreaseButton.setText(_translate("Form", "-"))
         self.increaseButton.setText(_translate("Form", "+"))
         self.label_18.setText(_translate("Form", "Stepper:"))
-        self.label_17.setText(_translate("Form", "Step Size:"))
         self.label_20.setText(_translate("Form", "Absolute:"))
+        self.label_17.setText(_translate("Form", "Step Size:"))
         self.absoluteGoButton.setText(_translate("Form", "Go"))
+        self.label_4.setText(_translate("Form", "Position:"))
+        self.stepperposLabel.setText(_translate("Form", "0"))
         self.positionButton.setText(_translate("Form", "Saved Positions"))
         self.mechLUTButton.setText(_translate("Form", "Generate LUT"))
         self.viewmechLUTButton.setText(_translate("Form", "View LUT"))