import os import linuxcnc import yaml import numpy as np from qtpy import uic from qtpy.QtCore import Qt from qtpy.QtWidgets import QWidget, QVBoxLayout from qtpyvcp.plugins import getPlugin from qtpyvcp.utilities import logger from qtpyvcp.actions.machine_actions import issue_mdi from matplotlib.backends.backend_qt5agg import FigureCanvasQTAgg as FigureCanvas from matplotlib.figure import Figure from mpl_toolkits.mplot3d import Axes3D # noqa: F401 from scipy.interpolate import griddata LOG = logger.getLogger(__name__) STATUS = getPlugin('status') TOOL_TABLE = getPlugin('tooltable') INI_FILE = linuxcnc.ini(os.getenv('INI_FILE_NAME')) class UserTab(QWidget): def __init__(self, parent=None): super(UserTab, self).__init__(parent) ui_file = os.path.splitext(os.path.basename(__file__))[0] + ".ui" uic.loadUi(os.path.join(os.path.dirname(__file__), ui_file), self) # Connect input field signals to update LinuxCNC parameters self.surface_scan_x0_3050.editingFinished.connect(self.update_parameters) self.surface_scan_x1_3051.editingFinished.connect(self.update_parameters) self.surface_scan_y0_3052.editingFinished.connect(self.update_parameters) self.surface_scan_y1_3053.editingFinished.connect(self.update_parameters) self.surface_scan_xprobes_3054.editingFinished.connect(self.update_parameters) self.surface_scan_yprobes_3055.editingFinished.connect(self.update_parameters) self.probe_fast_fr_3056.editingFinished.connect(self.update_parameters) self.probe_slow_fr_3057.editingFinished.connect(self.update_parameters) self.surface_scan_safez_3058.editingFinished.connect(self.update_parameters) self.surface_scan_depthz_3059.editingFinished.connect(self.update_parameters) # Connect your new button self.SaveProbeParameters.clicked.connect(self.save_probe_parameters) # Initialize the Matplotlib plot self.init_plots() # Update on button press self.ShowSurfaceMap.clicked.connect(self.update_surface_and_heightmap) # Load parameters from YAML on startup self.load_yaml_config() def get_config_path(self): config_dir = os.path.dirname(os.getenv('INI_FILE_NAME')) return os.path.join(config_dir, "surfacemap.yml") def load_yaml_config(self): try: with open(self.get_config_path(), 'r') as f: config = yaml.safe_load(f) # Set UI fields from config self.surface_scan_x0_3050.setText(str(config.get('surface_scan_x0', 0.0))) self.surface_scan_x1_3051.setText(str(config.get('surface_scan_x1', 0.0))) self.surface_scan_y0_3052.setText(str(config.get('surface_scan_y0', 0.0))) self.surface_scan_y1_3053.setText(str(config.get('surface_scan_y1', 0.0))) self.surface_scan_xprobes_3054.setText(str(config.get('surface_scan_xprobes', 0.0))) self.surface_scan_yprobes_3055.setText(str(config.get('surface_scan_yprobes', 0.0))) self.probe_fast_fr_3056.setText(str(config.get('probe_fast_fr', 0.0))) self.probe_slow_fr_3057.setText(str(config.get('probe_slow_fr', 0.0))) self.surface_scan_safez_3058.setText(str(config.get('surface_scan_safez', 0.0))) self.surface_scan_depthz_3059.setText(str(config.get('surface_scan_depthz', 0.0))) except Exception as e: LOG.error(f"Failed to load YAML config: {e}") def save_yaml_config(self): config = { 'surface_scan_x0': float(self.surface_scan_x0_3050.text() or 0.0), 'surface_scan_x1': float(self.surface_scan_x1_3051.text() or 0.0), 'surface_scan_y0': float(self.surface_scan_y0_3052.text() or 0.0), 'surface_scan_y1': float(self.surface_scan_y1_3053.text() or 0.0), 'surface_scan_xprobes': float(self.surface_scan_xprobes_3054.text() or 0.0), 'surface_scan_yprobes': float(self.surface_scan_yprobes_3055.text() or 0.0), 'probe_fast_fr': float(self.probe_fast_fr_3056.text() or 0.0), 'probe_slow_fr': float(self.probe_slow_fr_3057.text() or 0.0), 'surface_scan_safez': float(self.surface_scan_safez_3058.text() or 0.0), 'surface_scan_depthz': float(self.surface_scan_depthz_3059.text() or 0.0), } try: with open(self.get_config_path(), 'w') as f: yaml.safe_dump(config, f) LOG.info("YAML config saved successfully") except Exception as e: LOG.error(f"Failed to save YAML config: {e}") def save_probe_parameters(self): self.save_yaml_config() self.update_parameters() def update_parameters(self): """Write GUI input values to LinuxCNC numbered parameters using issue_mdi""" try: x0 = float(self.surface_scan_x0_3050.text() or 0.0) x1 = float(self.surface_scan_x1_3051.text() or 0.0) y0 = float(self.surface_scan_y0_3052.text() or 0.0) y1 = float(self.surface_scan_y1_3053.text() or 0.0) xprobes = float(self.surface_scan_xprobes_3054.text() or 0.0) yprobes = float(self.surface_scan_yprobes_3055.text() or 0.0) fast_fr = float(self.probe_fast_fr_3056.text() or 0.0) slow_fr = float(self.probe_slow_fr_3057.text() or 0.0) safez = float(self.surface_scan_safez_3058.text() or 0.0) depthz = float(self.surface_scan_depthz_3059.text() or 0.0) issue_mdi(f"#3050 = {x0}") issue_mdi(f"#3051 = {x1}") issue_mdi(f"#3052 = {y0}") issue_mdi(f"#3053 = {y1}") issue_mdi(f"#3054 = {xprobes}") issue_mdi(f"#3055 = {yprobes}") issue_mdi(f"#3056 = {fast_fr}") issue_mdi(f"#3057 = {slow_fr}") issue_mdi(f"#3058 = {safez}") issue_mdi(f"#3059 = {depthz}") LOG.info(f"Surface scan parameters updated: x0={x0}, x1={x1}, y0={y0}, y1={y1}, " f"xprobes={xprobes}, yprobes={yprobes}, fast_fr={fast_fr}, slow_fr={slow_fr}, " f"safez={safez}, depthz={depthz}") except ValueError as e: LOG.error(f"Error updating surface scan parameters: {e}") except Exception as e: LOG.error(f"Unexpected error updating surface scan parameters: {e}") # ... (rest of your plotting and other methods remain unchanged) ... def init_plots(self): """Initialize 3D surface and 2D height map canvases.""" # --- 3D surface plot --- self.fig_3d = Figure() self.canvas_3d = FigureCanvas(self.fig_3d) self.ax_3d = self.fig_3d.add_subplot(111, projection='3d') layout3d = self.mpl_canvas_container_3d.layout() or QVBoxLayout() self.mpl_canvas_container_3d.setLayout(layout3d) layout3d.addWidget(self.canvas_3d) # --- 2D height map --- self.fig_hmap = Figure() self.canvas_hmap = FigureCanvas(self.fig_hmap) self.ax_hmap = self.fig_hmap.add_subplot(111) layout_hmap = self.mpl_canvas_container_hmap.layout() or QVBoxLayout() self.mpl_canvas_container_hmap.setLayout(layout_hmap) layout_hmap.addWidget(self.canvas_hmap) def update_surface_and_heightmap(self): """Load probe data and update both 3D surface and 2D height map.""" config_dir = os.path.dirname(os.getenv('INI_FILE_NAME')) filename = os.path.join(config_dir, "probe-results.txt") try: data = np.loadtxt(filename) if data.size == 0: LOG.warning("Probe data file is empty") return # Extract x, y, z x = data[:,0] y = data[:,1] z = data[:,2] # Create a grid for interpolation xi = np.linspace(min(x), max(x), 50) yi = np.linspace(min(y), max(y), 50) xi, yi = np.meshgrid(xi, yi) # Interpolate z values on the grid using cubic interpolation zi = griddata((x, y), z, (xi, yi), method='cubic') # Fill NaNs using nearest-neighbor fallback zi_nn = griddata((x, y), z, (xi, yi), method='nearest') zi = np.where(np.isnan(zi), zi_nn, zi) # --- 3D surface plot --- self.ax_3d.clear() # Surface plot self.ax_3d.plot_surface(xi, yi, zi, cmap='viridis', edgecolor='none') # Plot original data points self.ax_3d.scatter(x, y, z, color='r') self.ax_3d.set_title("Interpolated Surface Map") self.ax_3d.set_xlabel("X") self.ax_3d.set_ylabel("Y") self.ax_3d.set_zlabel("Z") self.canvas_3d.draw() # --- 2D height map --- self.ax_hmap.clear() # Plot filled contours contour = self.ax_hmap.contourf(xi, yi, zi, levels=100, cmap='viridis') # Overlay the original measurement points in red self.ax_hmap.scatter(x, y, color='r', s=30, label='Measured Points') # Set correct aspect ratio self.ax_hmap.set_aspect('equal', adjustable='box') # --- COLORBAR HANDLING (IMPORTANT) --- # Remove old colorbar if it exists if hasattr(self, "cbar_hmap") and self.cbar_hmap: self.cbar_hmap.remove() # Create new colorbar and store reference self.cbar_hmap = self.fig_hmap.colorbar(contour, ax=self.ax_hmap, label="Height (mm)") self.ax_hmap.set_title("Interpolated Height Map") self.ax_hmap.set_xlabel("X") self.ax_hmap.set_ylabel("Y") self.canvas_hmap.draw() LOG.info("Surface and height maps updated successfully") except Exception as e: LOG.error(f"Failed to update surface and height maps: {e}")