gui: Add pid autotune to ctrl panel

pykirdy/kirdy_qt.py

@@ -29,6 +29,7 @@ from ui.ui_kirdy_qt import Ui_MainWindow
 from dateutil import tz
 import math
 import socket
+from pid_autotune import PIDAutotune,  PIDAutotuneState
 
 COMMON_ERROR_MSG = "Connection Timeout. Disconnecting."
 
@@ -396,7 +397,13 @@ class MainWindow(QtWidgets.QMainWindow, Ui_MainWindow):
                 {'name': 'Minimum', 'type': 'float', 'step': 100, 'limits': (-1, 1), 'decimals': 6, 'suffix': 'A', 'lock': False, 'target': 'thermostat', 'action': 'set_pid_output_min'},
                 {'name': 'Maximum', 'type': 'float', 'step': 100, 'limits': (-1, 1), 'decimals': 6, 'suffix': 'A', 'lock': False, 'target': 'thermostat', 'action': 'set_pid_output_max'},
             ]},
-            # TODO PID AutoTune
+            {'name': 'PID Auto Tune', 'expanded': False, 'type': 'group', 'children': [
+                {'name': 'Target Temperature', 'type': 'float', 'value': 20, 'step': 0.1, 'format': '{value:.4f} °C'},
+                {'name': 'Test Current', 'type': 'float', 'value': 1000, 'decimals': 6, 'step': 100, 'limits': (-3000, 3000), 'suffix': 'mA'},
+                {'name': 'Temperature Swing', 'type': 'float', 'value': 0.0, 'step': 0.1, 'prefix': '±', 'format': '{value:.4f} °C'},
+                {'name': 'Lookback', 'type': 'float', 'value': 5.0, 'step': 0.1, 'format': '{value:.4f} s'},
+                {'name': 'Run', 'type': 'action', 'tip': 'Run'},
+            ]},
         ]},
     ]
     def __init__(self, args):
@@ -404,6 +411,9 @@ class MainWindow(QtWidgets.QMainWindow, Ui_MainWindow):
         self.kirdy = Kirdy()
         self.setupUi(self)
 
+        self.info_box = QtWidgets.QMessageBox()
+        self.info_box.setIcon(QtWidgets.QMessageBox.Icon.Information)
+
         # Load Global QT Style Sheet Settings
         qss=os.path.join(os.path.dirname(__file__), "ui/mainwindow.qss")
         with open(qss,"r") as fh:
@@ -420,6 +430,8 @@ class MainWindow(QtWidgets.QMainWindow, Ui_MainWindow):
 
         self.max_samples = self.DEFAULT_MAX_SAMPLES
 
+        self.autotuner = PIDAutotune(25)
+
         self.setup_menu_bar()
         self._set_up_ctrl_btns()
         self._set_up_plot_menu()
@@ -627,6 +639,71 @@ class MainWindow(QtWidgets.QMainWindow, Ui_MainWindow):
         self.params[3].sigTreeStateChanged.connect(self.send_command)
         self.params[3].setValue = _setValue
 
+        @asyncSlot()
+        async def autotune(param):
+            print("button clicked")
+            match self.autotuner.state():
+                case PIDAutotuneState.STATE_OFF:
+                    settings = await self.kirdy.device.get_settings_summary()
+                    self.autotuner.setParam(
+                        param.parent().child('Target Temperature').value(),
+                        param.parent().child('Test Current').value() / 1000,
+                        param.parent().child('Temperature Swing').value(),
+                        1.0 / settings['thermostat']['temp_adc_settings']['rate'],
+                        param.parent().child('Lookback').value())
+                    self.autotuner.setReady()
+                    param.setOpts(title="Stop")
+                    self.kirdy_data_watcher.set_report_mode(True)
+                    await self.kirdy.thermostat.set_constant_current_control_mode()
+                    self.kirdy_data_watcher.report_update_sig.connect(self.autotune_tick)
+                    self.loading_spinner.show()
+                    self.loading_spinner.start()
+                    self.background_task_lbl.setText("Autotuning")
+                case PIDAutotuneState.STATE_READY | PIDAutotuneState.STATE_RELAY_STEP_UP | PIDAutotuneState.STATE_RELAY_STEP_DOWN:
+                    self.autotuner.setOff()
+                    param.setOpts(title="Run")
+                    await self.kirdy.thermostat.set_tec_i_out(0.0)
+                    self.kirdy_data_watcher.report_update_sig.disconnect(self.autotune_tick)
+                    self.background_task_lbl.setText("Ready.")
+                    self.loading_spinner.stop()
+                    self.loading_spinner.hide()
+        self.params[3].child('PID Config', 'PID Auto Tune', 'Run').sigActivated.connect(autotune)
+
+    @asyncSlot(dict)
+    async def autotune_tick(self, report):
+        match self.autotuner.state():
+            case PIDAutotuneState.STATE_READY | PIDAutotuneState.STATE_RELAY_STEP_UP | PIDAutotuneState.STATE_RELAY_STEP_DOWN:
+                self.autotuner.run(report['thermostat']['temperature'], report['ts']/1000)
+                await self.kirdy.thermostat.set_tec_i_out(self.autotuner.output())
+            case PIDAutotuneState.STATE_SUCCEEDED:
+                kp, ki, kd = self.autotuner.get_tec_pid()
+                self.autotuner.setOff()
+                self.params[3].child('PID Config', 'PID Auto Tune', 'Run').setOpts(title="Run")
+                await self.kirdy.thermostat.set_pid_kp(kp)
+                await self.kirdy.thermostat.set_pid_ki(ki)
+                await self.kirdy.thermostat.set_pid_kd(kd)
+                await self.kirdy.thermostat.set_pid_control_mode()
+                await self.kirdy.thermostat.set_temperature_setpoint(self.params[3].child('PID Config', 'PID Auto Tune', 'Target Temperature').value())
+                self.kirdy_data_watcher.report_update_sig.disconnect(self.autotune_tick)
+                self.background_task_lbl.setText("Ready.")
+                self.loading_spinner.stop()
+                self.loading_spinner.hide()
+                self.info_box.setWindowTitle("PID AutoTune Success")
+                self.info_box.setText("PID Config has been loaded to Thermostat.\nRegulating temperature.")
+                self.info_box.show()
+
+            case PIDAutotuneState.STATE_FAILED:
+                self.autotuner.setOff()
+                self.params[3].child('PID Config', 'PID Auto Tune', 'Run').setOpts(title="Run")
+                await self.kirdy.thermostat.set_tec_i_out(0.0)
+                self.kirdy_data_watcher.report_update_sig.disconnect(self.autotune_tick)
+                self.background_task_lbl.setText("Ready.")
+                self.loading_spinner.stop()
+                self.loading_spinner.hide()
+                self.info_box.setWindowTitle("PID Autotune Failed")
+                self.info_box.setText("PID Autotune is failed.")
+                self.info_box.show()
+
     async def _on_connection_changed(self, result, hard_reset=False):
         def ctrl_panel_setEnable(result):
             self.ld_status.setEnabled(result)

pykirdy/pid_autotune.py

@@ -21,6 +21,7 @@ class PIDAutotuneState(Enum):
     STATE_RELAY_STEP_DOWN = 'relay step down'
     STATE_SUCCEEDED = 'succeeded'
     STATE_FAILED = 'failed'
+    STATE_READY = 'ready'
 
 
 class PIDAutotune:
@@ -60,6 +61,21 @@ class PIDAutotune:
         self._Ku = 0
         self._Pu = 0
 
+    def setParam(self, target, step, noiseband, sampletime, lookback):
+        self._setpoint = target
+        self._outputstep = step
+        self._out_max = step
+        self._out_min = -step
+        self._noiseband = noiseband
+        self._inputs = deque(maxlen=round(lookback / sampletime))
+
+    def setReady(self):
+        self._state = PIDAutotuneState.STATE_READY
+        self._peak_count = 0
+
+    def setOff(self):
+        self._state = PIDAutotuneState.STATE_OFF
+
     def state(self):
         """Get the current state."""
         return self._state
@@ -106,7 +122,8 @@ class PIDAutotune:
 
         if (self._state == PIDAutotuneState.STATE_OFF
                 or self._state == PIDAutotuneState.STATE_SUCCEEDED
-                or self._state == PIDAutotuneState.STATE_FAILED):
+                or self._state == PIDAutotuneState.STATE_FAILED
+                or self._state == PIDAutotuneState.STATE_READY):
             self._state = PIDAutotuneState.STATE_RELAY_STEP_UP
 
         self._last_run_timestamp = now