Added user interface elements for magnetometer calibration

src/helmholtz_cage_device.py

@@ -81,6 +81,9 @@ class HelmholtzCageDevice:
             # The axes talks to the HW objects (Arduino, PSU) referenced in this object
             self.axes.append(Axis(i, self))
 
+        # Zero and activate channels. This is a sort of "armed" state so that we can send commands later
+        self.idle()
+
         # --- HW COMMUNICATION THREAD ---
         self._cmd_exec_thread = Thread(target=self._cmd_exec_thread_method)
         self._cmd_exec_thread.start()
@@ -92,6 +95,7 @@ class HelmholtzCageDevice:
     def reconnect_hardware(self):
         self.shutdown()
         self.connect_hardware()
+        self.idle()
 
     # TODO: Move to proxy
     def connect_hardware(self):
@@ -133,9 +137,6 @@ class HelmholtzCageDevice:
                 self.psu2 = None
                 ui_print("Error creating PSU device:\n{}".format(e))
 
-            # Zero and activate channels. This is a sort of "armed" state so that we can send commands later
-            self.idle()
-
     def idle(self):
         """ Zero and activate channels """
         if self.psu1 is not None:
@@ -144,6 +145,9 @@ class HelmholtzCageDevice:
             self.psu2.idle()
         if self.arduino is not None:
             self.arduino.idle()
+        # Since these actions are not handled by the axes objects, also make sure to update their target field status
+        for axis in self.axes:
+            axis.target_current = 0
 
     def request_proxy(self):
         """Returns a new HelmholtzCageProxy or None, depending on if access is available"""
@@ -222,7 +226,6 @@ class HelmholtzCageDevice:
                 else:
                     raise Exception("Command unknown!")
 
-
     def _hw_poll_thread_method(self):
         """This method forms the main thread for hardware command execution."""
         while True:

src/socket_control.py

@@ -74,29 +74,32 @@ class ClientConnectionThread(Thread):
     def run(self):
         msg = ''
         while True:
-            raw_msg = self.client_socket.recv(2048).decode()
-            # Check for end of stream
-            if raw_msg == "":
-                self.client_socket.close()
-                if self._cage_dev:
-                    self._cage_dev.close()
-                g.MAGNETOMETER.connected = False
-                return
-            # Process message
-            for char in raw_msg:
-                if char == '\n':
-                    msg = msg.rstrip()  # Some systems will try to send \r characters... looking at you windows O_O
-                    try:
-                        response = self.handle_msg(msg)
-                    except Exception as e:
-                        ui_print("An error occurred while processing a client message")
-                        ui_print("Msg: {}".format(msg))
-                        ui_print(e)
-                        response = "err"
-                    self.client_socket.sendall((response + '\n').encode('utf-8'))
-                    msg = ''
-                else:
-                    msg += char
+            try:
+                raw_msg = self.client_socket.recv(2048).decode()
+                # Check for end of stream
+                if raw_msg == "":
+                    self.client_socket.close()
+                    if self._cage_dev:
+                        self._cage_dev.close()
+                    g.MAGNETOMETER.connected = False
+                    return
+                # Process message
+                for char in raw_msg:
+                    if char == '\n':
+                        msg = msg.rstrip()  # Some systems will try to send \r characters... looking at you windows O_O
+                        try:
+                            response = self.handle_msg(msg)
+                        except Exception as e:
+                            ui_print("An error occurred while processing a client message")
+                            ui_print("Msg: {}".format(msg))
+                            ui_print(e)
+                            response = "err"
+                        self.client_socket.sendall((response + '\n').encode('utf-8'))
+                        msg = ''
+                    else:
+                        msg += char
+            except ConnectionResetError:
+                ui_print("A connection was closed by the client.")
 
     def handle_msg(self, message):
         """ Executes command logic and returns string response (for client). """

src/user_interface.py

@@ -17,6 +17,7 @@ import os
 from os.path import exists
 import threading
 from datetime import datetime
+from math import pi
 
 # import other project files:
 import src.globals as g
@@ -822,6 +823,11 @@ class CalibrateMagnetometer(Frame):
         # Calibration parameters
         self.calibration_points_var = IntVar(value=8)
         self.calibration_interval_var = DoubleVar(value=5)
+        # Calibration results
+        self.sensitivity_result_vars = [StringVar(), StringVar(), StringVar()]
+        self.angle_to_plane_result_vars = [StringVar(), StringVar(), StringVar()]
+        self.angle_in_plane_result_vars = [StringVar(), StringVar(), StringVar()]
+        self.residual_result_vars = [StringVar(), StringVar(), StringVar()]
 
         # UI Elements
         row_counter = 0
@@ -888,6 +894,60 @@ class CalibrateMagnetometer(Frame):
         calibration_procedure_progress.grid(row=0, column=1, padx=10, pady=10, sticky="we")
         row_counter += 1
 
+        # RIGHT COLUMN
+        # Magnetometer calibration results
+        row_counter = 0
+        calibration_results_frame = LabelFrame(self.right_column, text="Ambient Field Results")
+        calibration_results_frame.grid(row=row_counter, column=1, padx=(100, 0), pady=20, sticky="nw")
+        for i, label in enumerate(['X', 'Y', 'Z']):
+            axis_label = Label(calibration_results_frame, text=label)
+            axis_label.grid(row=0, column=i + 1, padx=5, pady=5, sticky="nw")
+        # Axis sensitivities
+        sensitivity_results_label = Label(calibration_results_frame, text="Sensitivity:")
+        sensitivity_results_label.grid(row=1, column=0, padx=5, pady=5, sticky="nw")
+        for i in range(3):
+            axis_data = Entry(calibration_results_frame,
+                              textvariable=self.sensitivity_result_vars[i],
+                              width=15,
+                              state='readonly')
+            axis_data.grid(row=1, column=i + 1, padx=5, pady=5, sticky="nw")
+        sensitivity_results_unit = Label(calibration_results_frame, text="-")
+        sensitivity_results_unit.grid(row=1, column=4, padx=5, pady=5, sticky="nw")
+        # Angle to XY coil plane
+        angle_to_plane_label = Label(calibration_results_frame, text="Angle to XY plane:")
+        angle_to_plane_label.grid(row=2, column=0, padx=5, pady=5, sticky="nw")
+        for i in range(3):
+            axis_data = Entry(calibration_results_frame,
+                              textvariable=self.angle_to_plane_result_vars[i],
+                              width=15,
+                              state='readonly')
+            axis_data.grid(row=2, column=i + 1, padx=5, pady=5, sticky="nw")
+        angle_to_plane_unit = Label(calibration_results_frame, text="°")
+        angle_to_plane_unit.grid(row=2, column=4, padx=5, pady=5, sticky="nw")
+        # Angle in XY coil plane
+        angle_in_plane_label = Label(calibration_results_frame, text="Angle in XY plane:")
+        angle_in_plane_label.grid(row=3, column=0, padx=5, pady=5, sticky="nw")
+        for i in range(3):
+            axis_data = Entry(calibration_results_frame,
+                              textvariable=self.angle_in_plane_result_vars[i],
+                              width=15,
+                              state='readonly')
+            axis_data.grid(row=3, column=i + 1, padx=5, pady=5, sticky="nw")
+        angle_in_plane_unit = Label(calibration_results_frame, text="°")
+        angle_in_plane_unit.grid(row=3, column=4, padx=5, pady=5, sticky="nw")
+        # Residual in system of equations
+        residual_label = Label(calibration_results_frame, text="Residual:")
+        residual_label.grid(row=4, column=0, padx=5, pady=5, sticky="nw")
+        for i in range(3):
+            axis_data = Entry(calibration_results_frame,
+                              textvariable=self.residual_result_vars[i],
+                              width=15,
+                              state='readonly')
+            axis_data.grid(row=4, column=i + 1, padx=5, pady=5, sticky="nw")
+        residual_unit = Label(calibration_results_frame, text="\u03BCT")
+        residual_unit.grid(row=4, column=4, padx=5, pady=5, sticky="nw")
+        row_counter += 1
+
         # This starts an endless polling loop
         self.update_view()
 
@@ -940,7 +1000,11 @@ class CalibrateMagnetometer(Frame):
         self.start_calibration_button.configure(text="Running...", state=DISABLED)
 
     def display_calibration_results(self, results):
-        pass
+        for i in range(3):
+            self.sensitivity_result_vars[i].set("{:.3f}".format(results[i]['sensitivity']))
+            self.angle_to_plane_result_vars[i].set("{:.3f}".format(results[i]['alpha'] * 180/pi))
+            self.angle_in_plane_result_vars[i].set("{:.3f}".format(results[i]['beta'] * 180/pi))
+            self.residual_result_vars[i].set("{:.3f}".format(results[i]['residual'] * 1e6))
 
     def start_calibration_procedure(self):
         try: