73 lines
2.9 KiB
Python
73 lines
2.9 KiB
Python
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from PyQt6.QtCore import QObject, pyqtSlot
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from qasync import asyncSlot
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from autotune import PIDAutotuneState, PIDAutotune
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class PIDAutoTuner(QObject):
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def __init__(self, parent, client, num_of_channel):
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super().__init__()
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self._client = client
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self.autotuners = [PIDAutotune(25) for _ in range(num_of_channel)]
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self.target_temp = [20.0 for _ in range(num_of_channel)]
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self.test_current = [1.0 for _ in range(num_of_channel)]
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self.temp_swing = [1.5 for _ in range(num_of_channel)]
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self.lookback = [3.0 for _ in range(num_of_channel)]
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self.sampling_interval = [1 / 16.67 for _ in range(num_of_channel)]
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@pyqtSlot(list)
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def update_sampling_interval(self, interval):
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self.sampling_interval = interval
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def set_params(self, params_name, ch, val):
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getattr(self, params_name)[ch] = val
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def get_state(self, ch):
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return self.autotuners[ch].state()
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def load_params_and_set_ready(self, ch):
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self.autotuners[ch].setParam(
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self.target_temp[ch],
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self.test_current[ch] / 1000,
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self.temp_swing[ch],
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1 / self.sampling_interval[ch],
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self.lookback[ch],
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)
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self.autotuners[ch].setReady()
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async def stop_pid_from_running(self, ch):
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self.autotuners[ch].setOff()
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await self._client.set_param("pwm", ch, "i_set", 0)
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@asyncSlot(list)
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async def tick(self, report):
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for channel_report in report:
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# TODO: Skip when PID Autotune or emit error message if NTC is not connected
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if channel_report["temperature"] is None:
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continue
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ch = channel_report["channel"]
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match self.autotuners[ch].state():
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case PIDAutotuneState.STATE_READY | PIDAutotuneState.STATE_RELAY_STEP_UP | PIDAutotuneState.STATE_RELAY_STEP_DOWN:
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self.autotuners[ch].run(
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channel_report["temperature"], channel_report["time"]
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)
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await self._client.set_param(
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"pwm", ch, "i_set", self.autotuners[ch].output()
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)
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case PIDAutotuneState.STATE_SUCCEEDED:
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kp, ki, kd = self.autotuners[ch].get_tec_pid()
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self.autotuners[ch].setOff()
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await self._client.set_param("pid", ch, "kp", kp)
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await self._client.set_param("pid", ch, "ki", ki)
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await self._client.set_param("pid", ch, "kd", kd)
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await self._client.set_param("pwm", ch, "pid")
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await self._client.set_param(
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"pid", ch, "target", self.target_temp[ch]
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)
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case PIDAutotuneState.STATE_FAILED:
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self.autotuners[ch].setOff()
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await self._client.set_param("pwm", ch, "i_set", 0)
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