Robot firefly

src/firefly/application.py

@@ -49,6 +49,10 @@ class FireflyApplication(PyDMApplication):
     registry: Registry = None
     registry_changed = Signal(Registry)
 
+    # For keeping track of ophyd devices used by the Firefly
+    registry: Registry = None
+    registry_changed = Signal(Registry)
+
     # Actions for showing window
     show_status_window_action: QtWidgets.QAction
     show_runs_window_action: QtWidgets.QAction
@@ -250,6 +254,15 @@ def setup_window_actions(self):
             ui_file="xrf_detector.py",
             device_key="DEV",
         )
+
+        self._prepare_device_windows(
+            device_label="robots",
+            attr_name="robot",
+            ui_file="robot.py",
+            device_key="DEVICE",
+            icon=qta.icon("mdi.robot-industrial"),
+        )
+
         self._setup_window_action(
             action_name="show_filters_window_action",
             text="Filters",

src/firefly/launcher.py

@@ -185,6 +185,7 @@ def main(default_fullscreen=False, default_display="status"):
     app.setup_instrument(load_instrument=not pydm_args.no_instrument)
 
     # Get rid of the splash screen now that we're ready to go
+
     splash.close()
 
     event_loop.run_until_complete(app.start())

src/firefly/main_window.py

@@ -170,6 +170,9 @@ def customize_ui(self):
         self.ui.positioners_menu.addSection("Tables")
         for action in app.table_actions.values():
             self.ui.positioners_menu.addAction(action)
+        self.ui.positioners_menu.addSection("Robots")
+        for action in app.robot_actions.values():
+            self.ui.positioners_menu.addAction(action)
         # Scans menu
         self.ui.menuScans = QtWidgets.QMenu(self.ui.menubar)
         self.ui.menuScans.setObjectName("menuScans")

src/firefly/robot.py

@@ -0,0 +1,147 @@
+import logging
+
+from bluesky_queueserver_api import BPlan
+from qtpy import QtWidgets
+
+from firefly import display
+from firefly.application import FireflyApplication
+from firefly.component_selector import ComponentSelector
+
+log = logging.getLogger(__name__)
+
+
+class LineScanRegion:
+    def __init__(self):
+        self.setup_ui()
+
+    def setup_ui(self):
+        self.layout = QtWidgets.QHBoxLayout()
+
+        # ComponentSelector
+        self.motor_box = ComponentSelector()
+        self.layout.addWidget(self.motor_box)
+
+        # Motor position for robot transferring samples
+        self.start_line_edit = QtWidgets.QLineEdit()
+        self.start_line_edit.setPlaceholderText("Position…")
+        self.layout.addWidget(self.start_line_edit)
+
+
+class RobotDisplay(display.FireflyDisplay):
+    """
+    A GUI for managing sample tranfer using a robot plan: robot_sample(robot, number/None, motor1, position1, motor2, position2, motor3, position...)
+    """
+
+    def sample_numbers(self):
+        sample_names = [name for name, device in self.device.samples.walk_subdevices()]
+        sample_numbers = [int(name.replace("sample", "")) for name in sample_names]
+        sample_numbers.append(None)
+        return sample_numbers
+
+    def customize_ui(self):
+        self.reset_default_regions()
+        # clear any exiting items in the combo box
+        self.ui.sample_combo_box.clear()
+        # Get the list of sample numbers
+        sample_numbers = self.sample_numbers()
+        # set the list of values for the combo box
+        for sam in sample_numbers:
+            self.ui.sample_combo_box.addItem(str(sam))
+
+        # disable the line edits in spin box
+        self.ui.num_motor_spin_box.lineEdit().setReadOnly(True)
+        self.ui.num_motor_spin_box.valueChanged.connect(self.update_regions)
+        self.ui.run_button.clicked.connect(self.queue_plan)
+
+    def reset_default_regions(self):
+        default_num_regions = 1
+        if not hasattr(self, "regions"):
+            self.regions = []
+            self.add_regions(default_num_regions)
+        self.ui.num_motor_spin_box.setValue(default_num_regions)
+        self.update_regions()
+
+    def add_regions(self, num=1):
+        for i in range(num):
+            region = LineScanRegion()
+            self.ui.regions_layout.addLayout(region.layout)
+            # Save it to the list
+            self.regions.append(region)
+
+    def remove_regions(self, num=1):
+        for i in range(num):
+            layout = self.regions[-1].layout
+            # iterate/wait, and delete all widgets in the layout in the end
+            while layout.count() > 0:
+                item = layout.takeAt(0)
+            if item.widget():
+                item.widget().deleteLater()
+            self.regions.pop()
+
+    def update_regions(self):
+        new_region_num = self.ui.num_motor_spin_box.value()
+        old_region_num = len(self.regions)
+        diff_region_num = new_region_num - old_region_num
+
+        if diff_region_num < 0:
+            self.remove_regions(abs(diff_region_num))
+        elif diff_region_num > 0:
+            self.add_regions(diff_region_num)
+
+    def queue_plan(self, *args, **kwargs):
+        """Execute this plan on the queueserver."""
+        # Get scan parameters from widgets
+        num_motor = self.ui.num_motor_spin_box.value()
+
+        # Get the sample number from the sample_spin_box
+        sam_num_str = self.ui.sample_combo_box.currentText()
+        # Convert sam_num_str to an integer if it's a string representation of a number
+        sam_num = int(sam_num_str) if sam_num_str.isdigit() else None
+
+        # get parameters from motor regions
+        motor_lst, position_lst = [], []
+        for region_i in self.regions:
+            motor_lst.append(region_i.motor_box.current_component().name)
+            position_lst.append(float(region_i.start_line_edit.text()))
+
+        args = [
+            values for motor_i in zip(motor_lst, position_lst) for values in motor_i
+        ]
+
+        # Build the queue item
+        robot = self.macros()["DEVICE"]
+        item = BPlan("robot_transfer_sample", robot, sam_num, *args)
+
+        # Submit the item to the queueserver
+        app = FireflyApplication.instance()
+        log.info("Add ``robot_transfer_sample()`` plan to queue.")
+        app.add_queue_item(item)
+
+    def ui_filename(self):
+        return "robot.ui"
+
+
+# -----------------------------------------------------------------------------
+# :author:    Yanna Chen
+# :email:     [email protected]
+# :copyright: Copyright © 2024, UChicago Argonne, LLC
+#
+# Distributed under the terms of the 3-Clause BSD License
+#
+# The full licens is in the file LICENSE, distributed with this software.
+#
+# DISCLAIMER
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+# A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+# HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+# DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+# THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+#
+# -----------------------------------------------------------------------------