arduino_ph_controller/gui/main.py

import sys
import serial
import serial.tools.list_ports
from PyQt6.QtWidgets import (QApplication, QMainWindow, QVBoxLayout, QHBoxLayout, 
                            QWidget, QLabel, QPushButton, QComboBox, QDoubleSpinBox,
                            QGroupBox, QStatusBar, QMessageBox, QCheckBox)
from PyQt6.QtCore import QTimer, Qt
from PyQt6.QtGui import QFont
import matplotlib.pyplot as plt
from matplotlib.backends.backend_qt5agg import FigureCanvasQTAgg as FigureCanvas
from matplotlib.figure import Figure
import datetime
from collections import deque
import numpy as np

class PHControllerGUI(QMainWindow):
    def __init__(self):
        super().__init__()
        self.serial_connection = None
        self.updating_tube_combo = False  # Flag to prevent recursive tube commands
        self.setWindowTitle("Arduino pH Controller")
        self.setGeometry(100, 100, 900, 800)  # Larger window for plot
        
        # Central Widget
        central_widget = QWidget()
        self.setCentralWidget(central_widget)
        main_layout = QVBoxLayout(central_widget)
        
        # Connection Group
        connection_group = QGroupBox("Verbindung")
        connection_layout = QHBoxLayout()
        
        self.port_combo = QComboBox()
        self.refresh_ports()
        
        self.connect_btn = QPushButton("Verbinden")
        self.connect_btn.clicked.connect(self.toggle_connection)
        
        connection_layout.addWidget(QLabel("Port:"))
        connection_layout.addWidget(self.port_combo, 1)
        connection_layout.addWidget(self.connect_btn)
        connection_group.setLayout(connection_layout)
        
        # Status Group
        status_group = QGroupBox("Status")
        status_layout = QHBoxLayout()
        
        self.ph_label = QLabel("pH: --")
        self.ph_label.setFont(QFont('Arial', 24))
        self.ph_label.setAlignment(Qt.AlignmentFlag.AlignCenter)
        
        self.pump_status = QLabel("Pumpe: Aus")
        self.pump_status.setFont(QFont('Arial', 16))
        self.pump_status.setAlignment(Qt.AlignmentFlag.AlignCenter)
        
        self.flow_rate_label = QLabel("ml/sec: --")
        self.flow_rate_label.setFont(QFont('Arial', 14))
        self.flow_rate_label.setAlignment(Qt.AlignmentFlag.AlignCenter)
        self.flow_rate_label.setVisible(False)  # Initially hidden
        
        self.total_volume_label = QLabel("Gesamt: 0.0 ml")
        self.total_volume_label.setFont(QFont('Arial', 12))
        self.total_volume_label.setAlignment(Qt.AlignmentFlag.AlignCenter)
        self.total_volume_label.setVisible(False)  # Initially hidden
        
        status_layout.addWidget(self.ph_label)
        status_layout.addWidget(self.pump_status)
        status_layout.addWidget(self.flow_rate_label)
        status_layout.addWidget(self.total_volume_label)
        status_group.setLayout(status_layout)
        
        # Control Group
        control_group = QGroupBox("Steuerung")
        control_layout = QVBoxLayout()
        
        # Pump Control
        pump_control_layout = QHBoxLayout()
        self.pump_on_btn = QPushButton("Pumpe Ein")
        self.pump_on_btn.clicked.connect(lambda: self.send_pump_command(1))
        self.pump_off_btn = QPushButton("Pumpe Aus")
        self.pump_off_btn.clicked.connect(lambda: self.send_pump_command(0))
        
        # Volume reset option
        self.reset_volume_checkbox = QCheckBox("Volumen bei Start zurücksetzen")
        self.reset_volume_checkbox.setChecked(True)  # Default: reset volume
        
        pump_control_layout.addWidget(self.pump_on_btn)
        pump_control_layout.addWidget(self.pump_off_btn)
        pump_control_layout.addWidget(self.reset_volume_checkbox)
        
        # Tube Selection
        tube_layout = QHBoxLayout()
        self.tube_combo = QComboBox()
        self.tube_combo.addItems([
            "0.13 mm", "0.19 mm", "0.25 mm", "0.38 mm", "0.44 mm", 
            "0.51 mm", "0.57 mm", "0.64 mm", "0.76 mm", "0.89 mm", 
            "0.95 mm", "1.02 mm", "1.09 mm", "1.14 mm", "1.22 mm", 
            "1.30 mm", "1.42 mm", "1.52 mm", "1.65 mm", "1.75 mm", 
            "1.85 mm", "2.06 mm", "2.29 mm", "2.54 mm", "2.79 mm", "3.17 mm"
        ])
        self.tube_combo.currentIndexChanged.connect(self.send_tube_command)
        
        tube_layout.addWidget(QLabel("Schlauch:"))
        tube_layout.addWidget(self.tube_combo, 1)
        
        # Calibration
        calibration_layout = QHBoxLayout()
        self.cal_ph4_btn = QPushButton("Kalibrieren pH4")
        self.cal_ph7_btn = QPushButton("Kalibrieren pH7")
        self.debug_btn = QPushButton("Debug Info")
        self.cal_ph4_btn.clicked.connect(lambda: self.send_calibration_command(4))
        self.cal_ph7_btn.clicked.connect(lambda: self.send_calibration_command(7))
        self.debug_btn.clicked.connect(self.send_debug_command)
        
        calibration_layout.addWidget(self.cal_ph4_btn)
        calibration_layout.addWidget(self.cal_ph7_btn)
        calibration_layout.addWidget(self.debug_btn)
        
        # Auto Mode
        auto_mode_layout = QHBoxLayout()
        self.volume_spin = QDoubleSpinBox()
        self.volume_spin.setRange(0.1, 1000)
        self.volume_spin.setValue(10)
        self.volume_spin.setSuffix(" ml")
        
        self.auto_dose_btn = QPushButton("Automatisch dosieren")
        self.auto_dose_btn.clicked.connect(self.start_auto_dose)
        
        auto_mode_layout.addWidget(QLabel("Menge:"))
        auto_mode_layout.addWidget(self.volume_spin)
        auto_mode_layout.addWidget(self.auto_dose_btn)
        
        # Add to control layout
        control_layout.addLayout(pump_control_layout)
        control_layout.addLayout(tube_layout)
        control_layout.addLayout(calibration_layout)
        control_layout.addLayout(auto_mode_layout)
        control_group.setLayout(control_layout)
        
        # Add groups to main layout
        main_layout.addWidget(connection_group)
        main_layout.addWidget(status_group)
        main_layout.addWidget(control_group)
        
        # pH Plot Group
        plot_group = QGroupBox("pH-Verlauf")
        plot_layout = QVBoxLayout()
        
        # Plot controls
        plot_controls_layout = QHBoxLayout()
        self.clear_plot_btn = QPushButton("Diagramm löschen")
        self.clear_plot_btn.clicked.connect(self.clear_ph_plot)
        self.plot_enabled_checkbox = QCheckBox("pH-Aufzeichnung")
        self.plot_enabled_checkbox.setChecked(True)
        
        plot_controls_layout.addWidget(self.plot_enabled_checkbox)
        plot_controls_layout.addWidget(self.clear_plot_btn)
        plot_controls_layout.addStretch()
        
        # pH Plot Widget
        self.ph_plot = PHPlotWidget()
        
        plot_layout.addLayout(plot_controls_layout)
        plot_layout.addWidget(self.ph_plot)
        plot_group.setLayout(plot_layout)
        
        main_layout.addWidget(plot_group)
        
        # Titration Plot Group
        titration_group = QGroupBox("Titration")
        titration_layout = QVBoxLayout()
        
        # Titration controls
        titration_controls_layout = QHBoxLayout()
        
        # Titration parameters
        self.titration_step_spin = QDoubleSpinBox()
        self.titration_step_spin.setRange(0.1, 10.0)
        self.titration_step_spin.setValue(0.5)
        self.titration_step_spin.setSuffix(" ml")
        self.titration_step_spin.setDecimals(1)
        
        self.titration_wait_spin = QDoubleSpinBox()
        self.titration_wait_spin.setRange(5.0, 60.0)
        self.titration_wait_spin.setValue(10.0)
        self.titration_wait_spin.setSuffix(" s")
        self.titration_wait_spin.setDecimals(1)
        
        self.start_titration_btn = QPushButton("Automatische Titration starten")
        self.start_titration_btn.clicked.connect(self.toggle_auto_titration)
        self.clear_titration_btn = QPushButton("Titrationsdaten löschen")
        self.clear_titration_btn.clicked.connect(self.clear_titration_plot)
        
        titration_controls_layout.addWidget(QLabel("Schritt:"))
        titration_controls_layout.addWidget(self.titration_step_spin)
        titration_controls_layout.addWidget(QLabel("Warten:"))
        titration_controls_layout.addWidget(self.titration_wait_spin)
        titration_controls_layout.addWidget(self.start_titration_btn)
        titration_controls_layout.addWidget(self.clear_titration_btn)
        
        # Titration Plot Widget
        self.titration_plot = TitrationPlotWidget()
        
        titration_layout.addLayout(titration_controls_layout)
        titration_layout.addWidget(self.titration_plot)
        titration_group.setLayout(titration_layout)
        
        main_layout.addWidget(titration_group)
        
        # Status Bar
        self.status_bar = QStatusBar()
        self.setStatusBar(self.status_bar)
        self.status_bar.showMessage("Bereit")
        
        # Timer for reading data
        self.read_timer = QTimer()
        self.read_timer.timeout.connect(self.read_serial_data)
        self.read_timer.start(100)  # Read incoming data every 100ms
        
        # Timer for pH value requests
        self.ph_request_timer = QTimer()
        self.ph_request_timer.timeout.connect(self.request_ph_value)
        
        # Timer for tube ID requests (every 5 seconds)
        self.tube_request_timer = QTimer()
        self.tube_request_timer.timeout.connect(self.request_tube_id)
        
        # Timer for flow rate requests (when pump is running)
        self.flow_rate_timer = QTimer()
        self.flow_rate_timer.timeout.connect(self.request_flow_rate)
        
        # Track pump state
        self.pump_is_running = False
        
        # Volume tracking
        self.total_volume = 0.0  # Total volume pumped in ml
        self.last_flow_rate = 0.0  # Last known flow rate
        
        # Auto dosing
        self.auto_dosing = False
        self.target_volume = 0.0
        self.auto_dose_timer = QTimer()
        self.auto_dose_timer.timeout.connect(self.check_auto_dose_progress)
        
        # Titration tracking
        self.titration_active = False
        self.titration_start_volume = 0.0
        self.auto_titration_active = False
        self.titration_step_size = 0.5  # ml per step
        self.titration_wait_time = 10.0  # seconds to wait between steps
        self.titration_timer = QTimer()
        self.titration_timer.timeout.connect(self.titration_step)
        self.titration_current_step = 0
        self.titration_target_volume = 0.0
        
        # Enable/disable controls based on connection
        self.set_controls_enabled(False)
    
    def refresh_ports(self):
        self.port_combo.clear()
        ports = serial.tools.list_ports.comports()
        for port in ports:
            self.port_combo.addItem(port.device)
    
    def toggle_connection(self):
        if self.serial_connection and self.serial_connection.is_open:
            self.close_connection()
        else:
            self.open_connection()
    
    def open_connection(self):
        port = self.port_combo.currentText()
        if not port:
            QMessageBox.critical(self, "Fehler", "Kein Port ausgewählt!")
            return
            
        try:
            self.serial_connection = serial.Serial(port, 9600, timeout=1)
            self.connect_btn.setText("Trennen")
            self.status_bar.showMessage(f"Verbunden mit {port}")
            self.set_controls_enabled(True)
            
            # Start pH value polling every 2 seconds
            self.ph_request_timer.start(2000)
            
            # Start tube ID polling every 5 seconds
            self.tube_request_timer.start(5000)
            
            # Request initial data after a short delay to ensure Arduino is ready
            QTimer.singleShot(500, self.request_initial_data)
        except Exception as e:
            QMessageBox.critical(self, "Fehler", f"Verbindungsfehler: {str(e)}")
    
    def close_connection(self):
        # Turn off pump before closing connection for safety
        if self.serial_connection and self.serial_connection.is_open:
            try:
                self.send_command("<12>")  # Pump off for safety
                # Give Arduino time to process the command
                import time
                time.sleep(0.1)
            except:
                pass  # Ignore errors during shutdown
            
        if self.serial_connection and self.serial_connection.is_open:
            self.serial_connection.close()
        self.serial_connection = None
        
        # Stop pH polling
        self.ph_request_timer.stop()
        
        # Stop tube ID polling
        self.tube_request_timer.stop()
        
        # Stop flow rate polling
        self.flow_rate_timer.stop()
        
        # Stop auto dose timer
        self.auto_dose_timer.stop()
        self.auto_dosing = False
        
        # Stop titration timer
        self.titration_timer.stop()
        self.auto_titration_active = False
        
        self.connect_btn.setText("Verbinden")
        self.status_bar.showMessage("Getrennt")
        self.set_controls_enabled(False)
        self.ph_label.setText("pH: --")
        self.pump_status.setText("Pumpe: --")
        self.flow_rate_label.setVisible(False)
        self.total_volume_label.setVisible(False)
        self.pump_is_running = False
        self.total_volume = 0.0
        self.last_flow_rate = 0.0
        self.auto_dosing = False
        self.auto_dose_timer.stop()
        self.auto_titration_active = False
        self.titration_timer.stop()
    
    def set_controls_enabled(self, enabled):
        self.pump_on_btn.setEnabled(enabled)
        self.pump_off_btn.setEnabled(enabled)
        self.tube_combo.setEnabled(enabled)
        self.cal_ph4_btn.setEnabled(enabled)
        self.cal_ph7_btn.setEnabled(enabled)
        self.debug_btn.setEnabled(enabled)
        self.auto_dose_btn.setEnabled(enabled)
        self.volume_spin.setEnabled(enabled)
        self.reset_volume_checkbox.setEnabled(enabled)
        self.clear_plot_btn.setEnabled(enabled)
        self.plot_enabled_checkbox.setEnabled(enabled)
        self.start_titration_btn.setEnabled(enabled)
        self.clear_titration_btn.setEnabled(enabled)
        self.titration_step_spin.setEnabled(enabled)
        self.titration_wait_spin.setEnabled(enabled)
    
    def send_command(self, command):
        print(command)
        if self.serial_connection and self.serial_connection.is_open:
            try:
                self.serial_connection.write(command.encode('utf-8'))
            except Exception as e:
                self.status_bar.showMessage(f"Fehler beim Senden: {str(e)}")
    
    def request_initial_data(self):
        """Request initial data from Arduino after connection"""
        if self.serial_connection and self.serial_connection.is_open:
            # self.send_command("<14>")  # Request current pH value
            self.send_command("<13>")  # Request current tube size
            self.status_bar.showMessage("Initiale Daten angefragt...")

    def request_ph_value(self):
        """Request pH value from Arduino every 2 seconds"""
        if self.serial_connection and self.serial_connection.is_open:
            self.send_command("<14>")  # Request current pH value

    def request_tube_id(self):
        """Request tube ID from Arduino every 5 seconds"""
        if self.serial_connection and self.serial_connection.is_open:
            self.send_command("<13>")  # Request current tube size

    def request_flow_rate(self):
        """Request flow rate from Arduino when pump is running"""
        if self.serial_connection and self.serial_connection.is_open and self.pump_is_running:
            self.send_command("<18>")  # Request current flow rate

    def update_total_volume(self, flow_rate):
        """Update the total volume based on current flow rate"""
        if self.pump_is_running:
            # Add volume from the last second (flow_rate is ml/sec)
            self.total_volume += flow_rate * 1.0  # 1 second interval
            self.total_volume_label.setText(f"Gesamt: {self.total_volume:.2f} ml")
        self.last_flow_rate = flow_rate

    def send_pump_command(self, state):
        if state == 1:
            self.send_command("<11>")  # Pump on
            self.pump_status.setText("Pumpe: Ein")
            self.pump_is_running = True
            self.flow_rate_label.setVisible(True)
            self.total_volume_label.setVisible(True)
            
            # Check if volume should be reset or continue accumulating
            if (self.reset_volume_checkbox.isChecked() or self.auto_dosing) and not self.auto_titration_active:
                # Reset volume counter (always reset for auto dosing, but NOT for titration)
                self.total_volume = 0.0
                self.total_volume_label.setText("Gesamt: 0.0 ml")
            else:
                # Continue with existing volume - just update display
                self.total_volume_label.setText(f"Gesamt: {self.total_volume:.2f} ml")
            
            self.flow_rate_timer.start(1000)  # Request flow rate every second
        else:
            self.send_command("<12>")  # Pump off
            self.pump_status.setText("Pumpe: Aus")
            self.pump_is_running = False
            self.flow_rate_label.setVisible(False)
            # Keep total_volume_label visible to show final amount
            self.flow_rate_timer.stop()
            
            # Stop auto dosing if it was running
            if self.auto_dosing:
                self.auto_dosing = False
                self.auto_dose_timer.stop()
                self.auto_dose_btn.setText("Automatisch dosieren")
                self.auto_dose_btn.setEnabled(True)
                QMessageBox.information(self, "Automatische Dosierung", 
                                      f"Dosierung abgeschlossen!\nGepumpte Menge: {self.total_volume:.2f} ml")
    
    def send_tube_command(self, index):
        # Only send command if not updating from Arduino response
        if not self.updating_tube_combo:
            # Send command in format <17{tubid}> for tube selection
            self.send_command(f"<17{index}>")
            self.status_bar.showMessage(f"Schlauchgröße {self.tube_combo.itemText(index)} ausgewählt")
    
    def send_calibration_command(self, ph):
        if ph == 4:
            self.send_command("<15>")  # Start pH4 calibration
            QMessageBox.information(self, "Kalibrierung", 
                                   "pH4 Kalibrierung gestartet. Sensor in pH4.01-Lösung tauchen und warten bis der Wert stabil ist.")
        else:
            self.send_command("<16>")  # Start pH7 calibration
            QMessageBox.information(self, "Kalibrierung", 
                                   "pH7 Kalibrierung gestartet. Sensor in pH6.86-Lösung tauchen und warten bis der Wert stabil ist.")
    
    def send_debug_command(self):
        """Send debug command to get calibration values"""
        self.send_command("<19>")  # Request debug info
        self.status_bar.showMessage("Debug-Informationen angefragt...")
    
    def start_auto_dose(self):
        if self.auto_dosing:
            # Stop auto dosing
            self.auto_dosing = False
            self.auto_dose_timer.stop()
            self.send_pump_command(0)  # Turn off pump
            self.auto_dose_btn.setText("Automatisch dosieren")
            # Re-enable manual pump controls
            self.pump_on_btn.setEnabled(True)
            self.pump_off_btn.setEnabled(True)
            return
            
        # Don't start if auto titration is running
        if self.auto_titration_active:
            QMessageBox.warning(self, "Warnung", "Automatische Titration läuft bereits!")
            return
            
        volume = self.volume_spin.value()
        self.target_volume = volume
        self.auto_dosing = True
        
        # Update button text and disable manual pump controls during auto dosing
        self.auto_dose_btn.setText("Stop Dosierung")
        self.pump_on_btn.setEnabled(False)
        self.pump_off_btn.setEnabled(False)
        
        # Reset volume counter for accurate measurement
        self.total_volume = 0.0
        
        # Start pumping
        self.send_pump_command(1)
        
        # Start monitoring timer (check every 0.5 seconds for better precision)
        self.auto_dose_timer.start(500)
        
        self.status_bar.showMessage(f"Automatische Dosierung läuft... Ziel: {volume} ml")
    
    def read_serial_data(self):
        if not self.serial_connection or not self.serial_connection.is_open:
            return
            
        try:
            while self.serial_connection.in_waiting:
                line = self.serial_connection.readline().decode('utf-8').strip()
                print(line)
                if line.startswith('<') and line.endswith('>'):
                    data = line[1:-1]
                    if data.startswith('#'):  # pH value
                        try:
                            ph_value = float(data[1:])
                            self.ph_label.setText(f"pH: {ph_value:.2f}")
                            # Add to plot if recording is enabled
                            if self.plot_enabled_checkbox.isChecked():
                                self.ph_plot.add_ph_value(ph_value)
                            # Add to titration plot if titration is active
                            if self.titration_active or self.auto_titration_active:
                                titrated_volume = self.total_volume - self.titration_start_volume
                                self.titration_plot.add_titration_point(titrated_volume, ph_value)
                        except ValueError:
                            pass
                    elif data.startswith('P'):  # Pump status
                        pump_state = data[1:]
                        self.pump_status.setText(f"Pumpe: {'Ein' if pump_state == '1' else 'Aus'}")
                    elif data.startswith('T'):  # Tube index
                        try:
                            tube_index = int(data[1:])
                            # Ensure tube index is within valid range (0-25)
                            if 0 <= tube_index <= 25:
                                self.updating_tube_combo = True  # Prevent recursive commands
                                self.tube_combo.setCurrentIndex(tube_index)
                                self.updating_tube_combo = False
                                self.status_bar.showMessage(f"Schlauchgröße {self.tube_combo.currentText()} geladen")
                        except ValueError:
                            pass
                    elif data.startswith('F'):  # Flow rate (ml/sec)
                        try:
                            flow_rate = float(data[1:])
                            self.flow_rate_label.setText(f"ml/sec: {flow_rate:.4f}")
                            # Update total volume
                            self.update_total_volume(flow_rate)
                        except ValueError:
                            pass
                    elif data.startswith('DEBUG'):  # Debug information
                        # Show debug info in a message box
                        QMessageBox.information(self, "Debug Information", 
                                              f"Kalibrierungsdaten:\n{data}")
                    elif data.startswith('CAL'):  # Calibration confirmation with details
                        # Show calibration info in status bar and message box
                        self.status_bar.showMessage(f"Kalibrierung abgeschlossen: {data}")
                        QMessageBox.information(self, "Kalibrierung", 
                                              f"Kalibrierung erfolgreich:\n{data}")
        except Exception as e:
            self.status_bar.showMessage(f"Lesefehler: {str(e)}")
    
    def closeEvent(self, event):
        # Safety: Turn off pump before closing
        if self.serial_connection and self.serial_connection.is_open:
            try:
                self.send_command("<12>")  # Ensure pump is off
                # Give Arduino time to process the command
                import time
                time.sleep(0.1)
            except:
                pass  # Ignore errors during shutdown
        
        # Stop all timers
        self.read_timer.stop()
        self.ph_request_timer.stop()
        self.tube_request_timer.stop()
        self.flow_rate_timer.stop()
        self.auto_dose_timer.stop()
        self.titration_timer.stop()
        self.close_connection()
        event.accept()

    def clear_ph_plot(self):
        """Clear the pH plot data"""
        self.ph_plot.clear_data()
        self.status_bar.showMessage("pH-Diagramm gelöscht")
    
    def toggle_titration(self):
        """Start or stop titration recording"""
        if self.titration_active:
            # Stop titration
            self.titration_active = False
            self.start_titration_btn.setText("Titration starten")
            self.status_bar.showMessage("Titration gestoppt")
        else:
            # Start titration
            self.titration_active = True
            self.titration_start_volume = self.total_volume
            self.start_titration_btn.setText("Titration stoppen")
            self.status_bar.showMessage("Titration gestartet")
    
    def toggle_auto_titration(self):
        """Start or stop automatic titration"""
        if self.auto_titration_active:
            # Stop auto titration
            self.auto_titration_active = False
            self.titration_timer.stop()
            self.send_pump_command(0)  # Turn off pump
            self.start_titration_btn.setText("Automatische Titration starten")
            # Re-enable controls
            self.pump_on_btn.setEnabled(True)
            self.pump_off_btn.setEnabled(True)
            self.auto_dose_btn.setEnabled(True)
            self.status_bar.showMessage("Automatische Titration gestoppt")
            return
        
        # Don't start if auto dosing is running
        if self.auto_dosing:
            QMessageBox.warning(self, "Warnung", "Automatische Dosierung läuft bereits!")
            return
        
        # Get parameters
        self.titration_step_size = self.titration_step_spin.value()
        self.titration_wait_time = self.titration_wait_spin.value()
        
        # Start auto titration
        self.auto_titration_active = True
        self.titration_start_volume = self.total_volume  # Remember starting volume
        self.titration_current_step = 0
        
        # Update button and disable controls
        self.start_titration_btn.setText("Automatische Titration stoppen")
        self.pump_on_btn.setEnabled(False)
        self.pump_off_btn.setEnabled(False)
        self.auto_dose_btn.setEnabled(False)
        
        # Start first titration step
        self.titration_step()
        
        self.status_bar.showMessage(f"Automatische Titration gestartet - Schritt: {self.titration_step_size} ml, Warten: {self.titration_wait_time} s")
    
    def titration_step(self):
        """Perform one titration step"""
        if not self.auto_titration_active:
            return
        
        self.titration_current_step += 1
        
        # Calculate step target volume (only the additional volume for this step)
        step_target_volume = self.titration_step_size
        
        # Calculate absolute target volume (total from start of titration)
        absolute_target_volume = self.titration_start_volume + (self.titration_current_step * self.titration_step_size)
        
        # Start pumping for this step
        self.auto_dosing = True  # Use auto dosing mechanism
        self.target_volume = absolute_target_volume  # Set absolute target
        self.send_pump_command(1)
        self.auto_dose_timer.start(500)
        
        current_titrated_volume = self.total_volume - self.titration_start_volume
        total_target_titrated = self.titration_current_step * self.titration_step_size
        
        self.status_bar.showMessage(f"Titration Schritt {self.titration_current_step}: Dosiere {step_target_volume} ml (Titration gesamt: {total_target_titrated} ml)")
    
    def check_auto_dose_progress(self):
        """Check if target volume has been reached during auto dosing"""
        if not self.auto_dosing:
            return
            
        # Check if we've reached or exceeded the target volume
        if self.total_volume >= self.target_volume:
            # Stop dosing
            self.auto_dosing = False
            self.auto_dose_timer.stop()
            self.send_pump_command(0)  # Turn off pump
            
            # If this was part of auto titration, schedule next step
            if self.auto_titration_active:
                # Wait for pH to stabilize, then continue with next step
                wait_time_ms = int(self.titration_wait_time * 1000)
                QTimer.singleShot(wait_time_ms, self.titration_step)
                self.status_bar.showMessage(f"Warte {self.titration_wait_time} s auf pH-Stabilisierung...")
            else:
                # Re-enable manual controls for regular auto dosing
                self.pump_on_btn.setEnabled(True)
                self.pump_off_btn.setEnabled(True)
                self.auto_dose_btn.setText("Automatisch dosieren")
                
                # Show completion message
                actual_volume = self.total_volume
                difference = actual_volume - self.target_volume
                
                message = f"Dosierung abgeschlossen!\n"
                message += f"Zielvolumen: {self.target_volume:.2f} ml\n"
                message += f"Tatsächliches Volumen: {actual_volume:.2f} ml\n"
                message += f"Abweichung: {difference:+.2f} ml"
                
                QMessageBox.information(self, "Automatische Dosierung", message)
                self.status_bar.showMessage(f"Dosierung abgeschlossen: {actual_volume:.2f} ml von {self.target_volume:.2f} ml")
        else:
            # Update progress in status bar
            progress = (self.total_volume / self.target_volume) * 100
            if self.auto_titration_active:
                current_titrated_volume = self.total_volume - self.titration_start_volume
                target_titrated_volume = self.titration_current_step * self.titration_step_size
                self.status_bar.showMessage(f"Titration Schritt {self.titration_current_step}: Gesamt {current_titrated_volume:.2f}/{target_titrated_volume:.2f} ml titriert ({progress:.1f}%)")
            else:
                self.status_bar.showMessage(f"Dosierung: {self.total_volume:.2f}/{self.target_volume:.2f} ml ({progress:.1f}%)")
    
    def clear_titration_plot(self):
        """Clear the titration plot data"""
        try:
            # Clear the plot data
            self.titration_plot.clear_data()
            
            # Reset titration state variables
            self.titration_active = False
            self.titration_start_volume = 0.0
            
            # Update button text if not in auto titration mode
            if not self.auto_titration_active:
                self.start_titration_btn.setText("Automatische Titration starten")
            
            self.status_bar.showMessage("Titrationsdaten gelöscht")
        except Exception as e:
            self.status_bar.showMessage(f"Fehler beim Löschen der Titrationsdaten: {str(e)}")
            QMessageBox.critical(self, "Fehler", f"Fehler beim Löschen der Titrationsdaten:\n{str(e)}")
    
class PHPlotWidget(QWidget):
    def __init__(self):
        super().__init__()
        self.figure = Figure(figsize=(8, 4))
        self.canvas = FigureCanvas(self.figure)
        self.ax = self.figure.add_subplot(111)
        
        # Data storage (keep last 300 points = 10 minutes at 2-second intervals)
        self.times = deque(maxlen=300)
        self.ph_values = deque(maxlen=300)
        self.start_time = None  # Track when recording started
        
        # Setup plot
        self.ax.set_xlabel('Zeit')
        self.ax.set_ylabel('pH-Wert')
        self.ax.set_title('pH-Verlauf')
        self.ax.grid(True, alpha=0.3)
        self.ax.set_ylim(0, 14)  # pH range 0-14
        
        # Layout
        layout = QVBoxLayout()
        layout.addWidget(self.canvas)
        self.setLayout(layout)
        
        # Plot line
        self.line, = self.ax.plot([], [], 'b-', linewidth=2, label='pH-Wert')
        self.ax.legend()
        
        # Initial draw
        self.canvas.draw()
    
    def add_ph_value(self, ph_value):
        """Add new pH value with current timestamp"""
        current_time = datetime.datetime.now()
        
        # Set start time on first value
        if self.start_time is None:
            self.start_time = current_time
        
        # Calculate relative time in seconds
        relative_time = (current_time - self.start_time).total_seconds()
        
        self.times.append(relative_time)
        self.ph_values.append(ph_value)
        self.update_plot()
    
    def update_plot(self):
        """Update the plot with current data"""
        if len(self.times) > 0 and len(self.ph_values) > 0:
            # Update line data
            self.line.set_data(self.times, self.ph_values)
            
            # Auto-scale x-axis to show recent data
            if len(self.times) > 1:
                self.ax.set_xlim(min(self.times), max(self.times))
            
            # Auto-scale y-axis around data with some margin
            if len(self.ph_values) > 0:
                min_ph = min(self.ph_values)
                max_ph = max(self.ph_values)
                margin = 0.5
                self.ax.set_ylim(max(0, min_ph - margin), min(14, max_ph + margin))
            
            # Format x-axis for time display (seconds/minutes/hours)
            self.format_time_axis()
            
            # Redraw
            self.canvas.draw()
    
    def format_time_axis(self):
        """Format the x-axis to show time in appropriate units"""
        if len(self.times) == 0:
            return
            
        max_time = max(self.times)
        
        if max_time < 120:  # Less than 2 minutes - show seconds
            self.ax.set_xlabel('Zeit (Sekunden)')
            # No need to change tick formatting for seconds
        elif max_time < 7200:  # Less than 2 hours - show minutes
            self.ax.set_xlabel('Zeit (Minuten)')
            # Convert tick labels to minutes
            import matplotlib.ticker as ticker
            def format_minutes(x, pos):
                return f'{x/60:.1f}'
            self.ax.xaxis.set_major_formatter(ticker.FuncFormatter(format_minutes))
        else:  # Show hours
            self.ax.set_xlabel('Zeit (Stunden)')
            # Convert tick labels to hours
            import matplotlib.ticker as ticker
            def format_hours(x, pos):
                return f'{x/3600:.1f}'
            self.ax.xaxis.set_major_formatter(ticker.FuncFormatter(format_hours))
    
    def clear_data(self):
        """Clear all data points"""
        self.times.clear()
        self.ph_values.clear()
        self.start_time = None  # Reset start time
        self.line.set_data([], [])
        self.ax.set_xlim(0, 1)
        self.ax.set_ylim(0, 14)
        self.ax.set_xlabel('Zeit')  # Reset to default label
        # Reset tick formatter to default
        import matplotlib.ticker as ticker
        self.ax.xaxis.set_major_formatter(ticker.ScalarFormatter())
        self.canvas.draw()

class TitrationPlotWidget(QWidget):
    def __init__(self):
        super().__init__()
        self.figure = Figure(figsize=(8, 4))
        self.canvas = FigureCanvas(self.figure)
        self.ax = self.figure.add_subplot(111)
        
        # Data storage
        self.volumes = []
        self.ph_values = []
        
        # Setup plot
        self.ax.set_xlabel('Dosierte Menge (ml)')
        self.ax.set_ylabel('pH-Wert')
        self.ax.set_title('Titrationskurve')
        self.ax.grid(True, alpha=0.3)
        self.ax.set_ylim(0, 14)  # pH range 0-14
        self.ax.set_xlim(0, 1)   # Initial volume range
        
        # Layout
        layout = QVBoxLayout()
        layout.addWidget(self.canvas)
        self.setLayout(layout)
        
        # Plot line and points
        self.line, = self.ax.plot([], [], 'r-', linewidth=2, label='pH-Verlauf')
        self.points = self.ax.scatter([], [], c='red', s=30, zorder=5, label='Messpunkte')
        self.ax.legend()
        
        # Initial draw
        self.canvas.draw()
    
    def add_titration_point(self, volume, ph_value):
        """Add new titration point (volume vs pH)"""
        self.volumes.append(volume)
        self.ph_values.append(ph_value)
        self.update_plot()
    
    def update_plot(self):
        """Update the plot with current data"""
        if len(self.volumes) > 0 and len(self.ph_values) > 0:
            # Update line data
            self.line.set_data(self.volumes, self.ph_values)
            
            # Update scatter points
            self.points.set_offsets(list(zip(self.volumes, self.ph_values)))
            
            # Auto-scale x-axis
            if len(self.volumes) > 1:
                max_vol = max(self.volumes)
                self.ax.set_xlim(0, max_vol * 1.1)  # Add 10% margin
            
            # Auto-scale y-axis around data with some margin
            if len(self.ph_values) > 0:
                min_ph = min(self.ph_values)
                max_ph = max(self.ph_values)
                margin = 0.5
                self.ax.set_ylim(max(0, min_ph - margin), min(14, max_ph + margin))
            
            # Redraw
            self.canvas.draw()
    
    def clear_data(self):
        """Clear all titration data points"""
        try:
            # Clear data lists
            self.volumes.clear()
            self.ph_values.clear()
            
            # Reset plot elements safely
            self.line.set_data([], [])
            
            # Clear scatter points properly - use empty 2D array
            self.points.set_offsets(np.empty((0, 2)))
            
            # Reset axis limits
            self.ax.set_xlim(0, 1)
            self.ax.set_ylim(0, 14)
            
            # Redraw canvas
            self.canvas.draw()
        except Exception as e:
            print(f"Fehler beim Löschen der Titrationsdaten: {str(e)}")

def main():
    app = QApplication(sys.argv)
    window = PHControllerGUI()
    window.show()
    sys.exit(app.exec())

if __name__ == "__main__":
    main()