from PyQt6.QtWidgets import * from PyQt6.QtCore import * from PyQt6.QtGui import * import serial import serial.tools.list_ports import re class Window(QMainWindow): def __init__(self): super().__init__() # Create a serial object for serial communication self.ser = serial.Serial() self.ser.baudrate = 115200 ################################################################ # GUI ################################################################ # Set the window title and icon self.setWindowTitle('SCARA GUI') self.setWindowIcon(QIcon('images/python.png')) # Create GUI items self.QComboBox_port = QComboBox() self.QComboBox_port.addItems(['No Ports']) self.QLabel_left_top = QLabel('Settings') self.QLabel_left_bottom = QLabel('System Status') self.QLabel_right_top = QLabel('Jog Controller') self.QLabel_right_bottom = QLabel('Console Controller') self.QLabel_baud = QLabel('Baud') self.QLabel_command = QLabel('Command: ') self.QLabel_console = QLabel('Console') self.QLabel_port = QLabel('Port') self.QLabel_stepSize = QLabel('XYZ\nStep\nSize:') self.QLabel_x = QLabel('X:') self.QLabel_y = QLabel('Y:') self.QLabel_z = QLabel('Z:') self.QLineEdit_baud = QLineEdit('115200') self.QLineEdit_baud.setReadOnly(True) self.QLineEdit_command = QLineEdit() self.QLineEdit_stepSize = QLineEdit('5') self.QLineEdit_x = QLineEdit('0') self.QLineEdit_x.setReadOnly(True) self.QLineEdit_y = QLineEdit('0') self.QLineEdit_y.setReadOnly(True) self.QLineEdit_z = QLineEdit('0') self.QLineEdit_z.setReadOnly(True) self.QPushButton_jog_xpos = QPushButton('X') self.QPushButton_jog_xneg = QPushButton('X-') self.QPushButton_jog_ypos = QPushButton('Y') self.QPushButton_jog_yneg = QPushButton('Y-') self.QPushButton_jog_zpos = QPushButton('Z') self.QPushButton_jog_zneg = QPushButton('Z-') self.QPushButton_connect = QPushButton('Connect') self.QPushButton_execute = QPushButton('Execute') self.QPushButton_refreshPorts = QPushButton('Refresh Ports') self.QPushButton_units = QPushButton('mm') self.QTextEdit_status = QTextEdit('Disconnected') self.QTextEdit_status.setReadOnly(True) self.QTextEdit_console = QTextEdit() self.QTextEdit_console.setReadOnly(True) # Create widgets self.QWidget_main = QWidget() self.QWidget_left_top = QWidget() self.QWidget_left_bottom = QWidget() self.QWidget_right_top = QWidget() self.QWidget_right_bottom = QWidget() # Create layouts self.QLayout_main = QGridLayout() self.QLayout_left_top = QVBoxLayout() self.QLayout_left_bottom = QGridLayout() self.QLayout_right_top = QGridLayout() self.QLayout_right_bottom = QVBoxLayout() # Add items to layouts self.QLayout_main.addWidget(self.QLabel_left_top, 0, 0) self.QLayout_main.addWidget(self.QWidget_left_top, 1, 0) self.QLayout_main.addWidget(self.QLabel_left_bottom, 2, 0) self.QLayout_main.addWidget(self.QWidget_left_bottom, 3, 0) self.QLayout_main.addWidget(self.QLabel_right_top, 0, 1) self.QLayout_main.addWidget(self.QWidget_right_top, 1, 1) self.QLayout_main.addWidget(self.QLabel_right_bottom, 2, 1) self.QLayout_main.addWidget(self.QWidget_right_bottom, 3, 1) self.QLayout_left_top.addWidget(self.QLabel_port) self.QLayout_left_top.addWidget(self.QPushButton_refreshPorts) self.QLayout_left_top.addWidget(self.QComboBox_port) self.QLayout_left_top.addWidget(self.QPushButton_connect) self.QLayout_left_top.addWidget(self.QLabel_baud) self.QLayout_left_top.addWidget(self.QLineEdit_baud) self.QLayout_left_bottom.addWidget(self.QTextEdit_status, 0, 0, 1, 2) self.QLayout_left_bottom.addWidget(self.QLabel_x, 1, 0) self.QLayout_left_bottom.addWidget(self.QLineEdit_x, 1, 1) self.QLayout_left_bottom.addWidget(self.QLabel_y, 2, 0) self.QLayout_left_bottom.addWidget(self.QLineEdit_y, 2, 1) self.QLayout_left_bottom.addWidget(self.QLabel_z, 3, 0) self.QLayout_left_bottom.addWidget(self.QLineEdit_z, 3, 1) self.QLayout_right_top.addWidget(self.QPushButton_jog_xpos, 0, 2) self.QLayout_right_top.addWidget(self.QPushButton_jog_xneg, 0, 0) self.QLayout_right_top.addWidget(self.QPushButton_jog_ypos, 0, 1) self.QLayout_right_top.addWidget(self.QPushButton_jog_yneg, 1, 1) self.QLayout_right_top.addWidget(self.QPushButton_jog_zpos, 1, 0) self.QLayout_right_top.addWidget(self.QPushButton_jog_zneg, 1, 2) self.QLayout_right_top.addWidget(self.QPushButton_units, 2, 0) self.QLayout_right_top.addWidget(self.QLabel_stepSize, 2, 1) self.QLayout_right_top.addWidget(self.QLineEdit_stepSize, 2, 2) self.QLayout_right_bottom.addWidget(self.QLabel_console) self.QLayout_right_bottom.addWidget(self.QTextEdit_console) self.QLayout_right_bottom.addWidget(self.QLabel_command) self.QLayout_right_bottom.addWidget(self.QLineEdit_command) self.QLayout_right_bottom.addWidget(self.QPushButton_execute) # Set layouts to widgets self.QWidget_main.setLayout(self.QLayout_main) self.QWidget_left_top.setLayout(self.QLayout_left_top) self.QWidget_left_bottom.setLayout(self.QLayout_left_bottom) self.QWidget_right_top.setLayout(self.QLayout_right_top) self.QWidget_right_bottom.setLayout(self.QLayout_right_bottom) # Set central widget self.setCentralWidget(self.QWidget_main) ################################################################ # STYLING ################################################################ size_1 = 32 size_2 = 64 self.QComboBox_port.setFixedHeight(size_1) self.QComboBox_port.setCursor(Qt.CursorShape.PointingHandCursor) self.QLabel_stepSize.setFixedSize(size_2, size_2) self.QLineEdit_baud.setFixedHeight(size_1) self.QLineEdit_command.setFixedHeight(size_2) self.QLineEdit_stepSize.setFixedSize(size_2, size_2) self.QLineEdit_x.setFixedHeight(size_2) self.QLineEdit_y.setFixedHeight(size_2) self.QLineEdit_z.setFixedHeight(size_2) self.QLineEdit_command.setStyleSheet('QLineEdit:hover{ background-color: "#fff1c1";}') self.QLineEdit_stepSize.setStyleSheet('QLineEdit:hover{ background-color: "#fff1c1";}') self.QLineEdit_stepSize.setAlignment(Qt.AlignmentFlag.AlignHCenter) self.QPushButton_jog_xpos.setFixedSize(size_2, size_2) self.QPushButton_jog_xneg.setFixedSize(size_2, size_2) self.QPushButton_jog_ypos.setFixedSize(size_2, size_2) self.QPushButton_jog_yneg.setFixedSize(size_2, size_2) self.QPushButton_jog_zpos.setFixedSize(size_2, size_2) self.QPushButton_jog_zneg.setFixedSize(size_2, size_2) self.QPushButton_connect.setFixedHeight(size_1) self.QPushButton_execute.setFixedHeight(size_1) self.QPushButton_refreshPorts.setFixedHeight(size_1) self.QPushButton_units.setFixedSize(size_2, size_2) self.QPushButton_jog_xpos.setCursor(Qt.CursorShape.PointingHandCursor) self.QPushButton_jog_xneg.setCursor(Qt.CursorShape.PointingHandCursor) self.QPushButton_jog_ypos.setCursor(Qt.CursorShape.PointingHandCursor) self.QPushButton_jog_yneg.setCursor(Qt.CursorShape.PointingHandCursor) self.QPushButton_jog_zpos.setCursor(Qt.CursorShape.PointingHandCursor) self.QPushButton_jog_zneg.setCursor(Qt.CursorShape.PointingHandCursor) self.QPushButton_connect.setCursor(Qt.CursorShape.PointingHandCursor) self.QPushButton_execute.setCursor(Qt.CursorShape.PointingHandCursor) self.QPushButton_refreshPorts.setCursor(Qt.CursorShape.PointingHandCursor) self.QPushButton_units.setCursor(Qt.CursorShape.PointingHandCursor) self.QTextEdit_console.setMinimumHeight(size_2 * 4) self.QTextEdit_status.setFixedHeight(size_2) ################################################################ # FUNCTIONS ################################################################ # Connect buttons to functions self.QLineEdit_command.returnPressed.connect(lambda: self.execute()) self.QPushButton_jog_xpos.clicked.connect(lambda: self.jog_xyz(self.QPushButton_jog_xpos.text())) self.QPushButton_jog_xneg.clicked.connect(lambda: self.jog_xyz(self.QPushButton_jog_xneg.text())) self.QPushButton_jog_ypos.clicked.connect(lambda: self.jog_xyz(self.QPushButton_jog_ypos.text())) self.QPushButton_jog_yneg.clicked.connect(lambda: self.jog_xyz(self.QPushButton_jog_yneg.text())) self.QPushButton_jog_zpos.clicked.connect(lambda: self.jog_xyz(self.QPushButton_jog_zpos.text())) self.QPushButton_jog_zneg.clicked.connect(lambda: self.jog_xyz(self.QPushButton_jog_zneg.text())) self.QPushButton_connect.clicked.connect(lambda: self.connect()) self.QPushButton_execute.clicked.connect(lambda: self.execute()) self.QPushButton_refreshPorts.clicked.connect(lambda: self.refresh_ports()) self.QPushButton_units.clicked.connect(lambda: self.units()) # Refreshes list of ports def refresh_ports(self): # Get ports ports = serial.tools.list_ports.comports() self.QTextEdit_status.clear() self.QTextEdit_status.insertPlainText('Refreshing ports...') # Update port drop down list in GUI self.QComboBox_port.clear() if not ports: self.QComboBox_port.addItem("No Ports") else: for port_name in ports: self.QComboBox_port.addItem(str(port_name)) # Pause to let Arduino settle self.sleep2sec() if not ports: self.QTextEdit_status.clear() self.QTextEdit_status.insertPlainText('Found no ports') else: self.QTextEdit_status.clear() self.QTextEdit_status.insertPlainText(f'Found {len(ports)} ports') # Connect to port selected by user def connect(self): # Get port selected by user selected_port_name = self.QComboBox_port.currentText() if selected_port_name == 'No Ports': self.QTextEdit_status.clear() self.QTextEdit_status.insertPlainText('No ports connected') return # Refresh ports self.refresh_ports() selected_port_index = self.QComboBox_port.findText(selected_port_name) # Check if selected port is still available if selected_port_index == -1: self.QTextEdit_status.clear() self.QTextEdit_status.insertPlainText(f'{selected_port_name} not connected') return else: self.QComboBox_port.setCurrentIndex(selected_port_index) self.QTextEdit_status.clear() self.QTextEdit_status.insertPlainText(f'Connecting to port {selected_port_name}') # Connect to Arduino ports = serial.tools.list_ports.comports() for p in ports: if 'CH340' in p.description: self.ser.close() self.ser.port = str(p.device) self.ser.open() self.QTextEdit_status.clear() self.QTextEdit_status.insertPlainText(f'Connecting to port {selected_port_name}...') # Pause to let Arduino settle self.sleep2sec() self.QTextEdit_status.clear() self.QTextEdit_status.insertPlainText(f'Connected to port {selected_port_name}') # Controls the SCARA based on console command line def execute(self): command = self.QLineEdit_command.text() self.QLineEdit_command.clear() self.send_command(command) # Moves the arm along XYZ axis def jog_xyz(self, direction): step_size = self.QLineEdit_stepSize.text() self.send_command('G91') self.send_command(f'G0 {direction}{step_size}') # if direction == 'X': # current_value = self.QLineEdit_x.toPlainText() # new_value = int(current_value) + {step_size} # self.QLineEdit_x.setText(f'{str(new_value)}') # Toggles the units of measurement between millimeters (mm) or inches (in) def units(self): # Change to mm if self.QPushButton_units.text() != 'mm': self.QPushButton_units.setText('mm') self.send_command('G21') # Change to in else: self.QPushButton_units.setText('in') self.send_command('G20') # Sends G-Code commands to an Arduino def send_command(self, command): # Check if Arduino is connected try: self.ser.inWaiting() except: self.QTextEdit_status.clear() self.QTextEdit_status.insertPlainText('No ports connected\n') return # Disable GUI self.QWidget_main.setEnabled(False) self.repaint() # Check if command is empty if command == '': self.QTextEdit_status.clear() self.QTextEdit_status.insertPlainText('Command is empty\n') else: # Check if command matches valid command patterns pattern_1 = r"^(G20|G21|G90|G91|M2|M6|M72)$" pattern_2 = r"^(G0|G1) (X|Y|Z)(-?)(\d+)((.\d+)?)$" match = re.match(pattern_1, command) or re.match(pattern_2, command) if not match: self.QTextEdit_status.clear() self.QTextEdit_status.insertPlainText('Invalid command\n') else: # If here, must be able to send command self.QTextEdit_console.insertPlainText(f'{command}\n') self.repaint() self.ser.write(command.encode('utf-8')) # Wait for Arduino response while True: response = self.ser.readline() self.QTextEdit_status.clear() self.QTextEdit_status.insertPlainText('Waiting...') self.repaint() if len(response) > 0: self.QTextEdit_status.clear() self.QTextEdit_status.insertPlainText(f'{response}') break # Re-enable GUI self.QWidget_main.setDisabled(False) def sleep2sec(self): self.QWidget_main.setEnabled(False) QTimer.singleShot(2000, lambda: self.QWidget_main.setDisabled(False)) # Create an application instance and run the event loop app = QApplication([]) with open('styles.css', 'r') as file: app.setStyleSheet(file.read()) window = Window() window.show() app.exec()