pytec GUI: Implement Control Panel
Co-authored-by: linuswck <linuswck@m-labs.hk> Co-authored-by: Egor Savkin <es@m-labs.hk>
This commit is contained in:
parent
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306
pytec/pytec/gui/view/ctrl_panel.py
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306
pytec/pytec/gui/view/ctrl_panel.py
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@ -0,0 +1,306 @@
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from functools import partial
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from PyQt6.QtCore import pyqtSignal, QObject, QSignalBlocker, pyqtSlot
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import pyqtgraph.parametertree.parameterTypes as pTypes
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from pyqtgraph.parametertree import (
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Parameter,
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registerParameterType,
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)
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from qasync import asyncSlot
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from autotune import PIDAutotuneState
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class MutexParameter(pTypes.ListParameter):
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"""
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Mutually exclusive parameter where only one of its children is visible at a time, list selectable.
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The ordering of the list items determines which children will be visible.
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"""
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def __init__(self, **opts):
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super().__init__(**opts)
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self.sigValueChanged.connect(self.show_chosen_child)
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self.sigValueChanged.emit(self, self.opts["value"])
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def _get_param_from_value(self, value):
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if isinstance(self.opts["limits"], dict):
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values_list = list(self.opts["limits"].values())
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else:
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values_list = self.opts["limits"]
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return self.children()[values_list.index(value)]
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@pyqtSlot(object, object)
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def show_chosen_child(self, value):
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for param in self.children():
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param.hide()
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child_to_show = self._get_param_from_value(value.value())
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child_to_show.show()
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if child_to_show.opts.get("triggerOnShow", None):
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child_to_show.sigValueChanged.emit(child_to_show, child_to_show.value())
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registerParameterType("mutex", MutexParameter)
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class CtrlPanel(QObject):
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def __init__(
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self,
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thermostat,
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autotuners,
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info_box,
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trees_ui,
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param_tree,
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parent=None,
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):
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super().__init__(parent)
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self.thermostat = thermostat
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self.autotuners = autotuners
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self.info_box = info_box
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self.trees_ui = trees_ui
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self.NUM_CHANNELS = len(trees_ui)
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self.THERMOSTAT_PARAMETERS = [param_tree for i in range(self.NUM_CHANNELS)]
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self.params = [
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Parameter.create(
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name=f"Thermostat Channel {ch} Parameters",
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type="group",
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value=ch,
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children=self.THERMOSTAT_PARAMETERS[ch],
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)
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for ch in range(self.NUM_CHANNELS)
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]
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for i, param in enumerate(self.params):
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param.channel = i
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for i, tree in enumerate(self.trees_ui):
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tree.setHeaderHidden(True)
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tree.setParameters(self.params[i], showTop=False)
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self.params[i].setValue = self._setValue
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self.params[i].sigTreeStateChanged.connect(self.send_command)
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self.params[i].child("Save to flash").sigActivated.connect(
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partial(self.save_settings, i)
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)
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self.params[i].child("Load from flash").sigActivated.connect(
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partial(self.load_settings, i)
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)
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self.params[i].child(
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"PID Config", "PID Auto Tune", "Run"
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).sigActivated.connect(partial(self.pid_auto_tune_request, i))
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self.thermostat.pid_update.connect(self.update_pid)
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self.thermostat.report_update.connect(self.update_report)
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self.thermostat.thermistor_update.connect(self.update_thermistor)
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self.thermostat.output_update.connect(self.update_output)
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self.thermostat.postfilter_update.connect(self.update_postfilter)
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self.autotuners.autotune_state_changed.connect(self.update_pid_autotune)
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def _setValue(self, value, blockSignal=None):
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"""
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Implement 'lock' mechanism for Parameter Type
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Modified from the source
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"""
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try:
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if blockSignal is not None:
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self.sigValueChanged.disconnect(blockSignal)
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value = self._interpretValue(value)
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if fn.eq(self.opts["value"], value):
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return value
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if "lock" in self.opts.keys():
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if self.opts["lock"]:
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return value
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self.opts["value"] = value
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self.sigValueChanged.emit(
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self, value
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) # value might change after signal is received by tree item
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finally:
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if blockSignal is not None:
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self.sigValueChanged.connect(blockSignal)
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return self.opts["value"]
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def change_params_title(self, channel, path, title):
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self.params[channel].child(*path).setOpts(title=title)
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@asyncSlot(object, object)
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async def send_command(self, param, changes):
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"""Translates parameter tree changes into thermostat set_param calls"""
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ch = param.channel
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for inner_param, change, data in changes:
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if change == "value":
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new_value = data
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if "thermostat:set_param" in inner_param.opts:
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if inner_param.opts.get("suffix", None) == "mA":
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new_value /= 1000 # Given in mA
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thermostat_param = inner_param.opts["thermostat:set_param"]
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# Handle thermostat command irregularities
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match inner_param.name(), new_value:
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case "Postfilter Rate", None:
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thermostat_param = thermostat_param.copy()
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thermostat_param["field"] = "off"
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new_value = ""
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case "Control Method", "Constant Current":
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return
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case "Control Method", "Temperature PID":
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new_value = ""
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inner_param.setOpts(lock=True)
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await self.thermostat.set_param(
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channel=ch, value=new_value, **thermostat_param
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)
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inner_param.setOpts(lock=False)
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if "pid_autotune" in inner_param.opts:
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auto_tuner_param = inner_param.opts["pid_autotune"]
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self.autotuners.set_params(auto_tuner_param, ch, new_value)
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@pyqtSlot(list)
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def update_pid(self, pid_settings):
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for settings in pid_settings:
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channel = settings["channel"]
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with QSignalBlocker(self.params[channel]):
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self.params[channel].child("PID Config", "Kp").setValue(
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settings["parameters"]["kp"]
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)
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self.params[channel].child("PID Config", "Ki").setValue(
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settings["parameters"]["ki"]
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)
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self.params[channel].child("PID Config", "Kd").setValue(
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settings["parameters"]["kd"]
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)
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self.params[channel].child(
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"PID Config", "PID Output Clamping", "Minimum"
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).setValue(settings["parameters"]["output_min"] * 1000)
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self.params[channel].child(
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"PID Config", "PID Output Clamping", "Maximum"
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).setValue(settings["parameters"]["output_max"] * 1000)
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self.params[channel].child(
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"Output Config", "Control Method", "Set Temperature"
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).setValue(settings["target"])
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@pyqtSlot(list)
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def update_report(self, report_data):
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for settings in report_data:
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channel = settings["channel"]
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with QSignalBlocker(self.params[channel]):
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self.params[channel].child("Output Config", "Control Method").setValue(
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"Temperature PID" if settings["pid_engaged"] else "Constant Current"
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)
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self.params[channel].child(
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"Output Config", "Control Method", "Set Current"
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).setValue(settings["i_set"] * 1000)
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if settings["temperature"] is not None:
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self.params[channel].child("Temperature").setValue(
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settings["temperature"]
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)
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if settings["tec_i"] is not None:
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self.params[channel].child("Current through TEC").setValue(
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settings["tec_i"] * 1000
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)
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@pyqtSlot(list)
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def update_thermistor(self, sh_data):
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for sh_param in sh_data:
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channel = sh_param["channel"]
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with QSignalBlocker(self.params[channel]):
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self.params[channel].child("Thermistor Config", "T₀").setValue(
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sh_param["params"]["t0"] - 273.15
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)
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self.params[channel].child("Thermistor Config", "R₀").setValue(
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sh_param["params"]["r0"]
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)
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self.params[channel].child("Thermistor Config", "B").setValue(
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sh_param["params"]["b"]
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)
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@pyqtSlot(list)
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def update_output(self, output_data):
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for output_params in output_data:
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channel = output_params["channel"]
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with QSignalBlocker(self.params[channel]):
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self.params[channel].child(
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"Output Config", "Limits", "Max Voltage Difference"
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).setValue(output_params["max_v"])
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self.params[channel].child(
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"Output Config", "Limits", "Max Cooling Current"
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).setValue(output_params["max_i_pos"] * 1000)
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self.params[channel].child(
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"Output Config", "Limits", "Max Heating Current"
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).setValue(output_params["max_i_neg"] * 1000)
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@pyqtSlot(list)
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def update_postfilter(self, postfilter_data):
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for postfilter_params in postfilter_data:
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channel = postfilter_params["channel"]
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with QSignalBlocker(self.params[channel]):
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self.params[channel].child(
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"Thermistor Config", "Postfilter Rate"
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).setValue(postfilter_params["rate"])
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def update_pid_autotune(self, ch, state):
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match state:
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case PIDAutotuneState.STATE_OFF:
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self.change_params_title(
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ch, ("PID Config", "PID Auto Tune", "Run"), "Run"
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)
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case (
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PIDAutotuneState.STATE_READY
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| PIDAutotuneState.STATE_RELAY_STEP_UP
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| PIDAutotuneState.STATE_RELAY_STEP_DOWN
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):
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self.change_params_title(
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ch, ("PID Config", "PID Auto Tune", "Run"), "Stop"
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)
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case PIDAutotuneState.STATE_SUCCEEDED:
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self.info_box.display_info_box(
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"PID Autotune Success",
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f"Channel {ch} PID Config has been loaded to Thermostat. Regulating temperature.",
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)
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case PIDAutotuneState.STATE_FAILED:
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self.info_box.display_info_box(
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"PID Autotune Failed",
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f"Channel {ch} PID Autotune has failed.",
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)
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@asyncSlot(int)
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async def load_settings(self, ch):
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await self.thermostat.load_cfg(ch)
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self.info_box.display_info_box(
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f"Channel {ch} settings loaded",
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f"Channel {ch} settings has been loaded from flash.",
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)
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@asyncSlot(int)
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async def save_settings(self, ch):
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await self.thermostat.save_cfg(ch)
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self.info_box.display_info_box(
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f"Channel {ch} settings saved",
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f"Channel {ch} settings has been saved to flash.\n"
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"It will be loaded on Thermostat reset, or when settings are explicitly loaded.",
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)
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@asyncSlot()
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async def pid_auto_tune_request(self, ch=0):
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match self.autotuners.get_state(ch):
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case PIDAutotuneState.STATE_OFF | PIDAutotuneState.STATE_FAILED:
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self.autotuners.load_params_and_set_ready(ch)
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case (
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PIDAutotuneState.STATE_READY
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| PIDAutotuneState.STATE_RELAY_STEP_UP
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| PIDAutotuneState.STATE_RELAY_STEP_DOWN
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):
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await self.autotuners.stop_pid_from_running(ch)
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336
pytec/pytec/gui/view/param_tree.json
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336
pytec/pytec/gui/view/param_tree.json
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@ -0,0 +1,336 @@
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{
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"ctrl_panel": [
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{
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"name": "Temperature",
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"type": "float",
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"format": "{value:.4f} °C",
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"readonly": true
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},
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{
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"name": "Current through TEC",
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"type": "float",
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"suffix": "mA",
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"decimals": 6,
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"readonly": true
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},
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{
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"name": "Output Config",
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"expanded": true,
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"type": "group",
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"children": [
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{
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"name": "Control Method",
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"type": "mutex",
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"limits": [
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"Constant Current",
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"Temperature PID"
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],
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"value": "Constant Current",
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"thermostat:set_param": {
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"topic": "output",
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"field": "pid"
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},
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"children": [
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{
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"name": "Set Current",
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"type": "float",
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"value": 0,
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"step": 100,
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"limits": [
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-2000,
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2000
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],
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"triggerOnShow": true,
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"decimals": 6,
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"suffix": "mA",
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"thermostat:set_param": {
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"topic": "output",
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"field": "i_set"
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},
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"lock": false
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},
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{
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"name": "Set Temperature",
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"type": "float",
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"value": 25,
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"step": 0.1,
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"limits": [
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-273,
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300
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],
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"format": "{value:.4f} °C",
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"thermostat:set_param": {
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"topic": "pid",
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"field": "target"
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},
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"lock": false
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}
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]
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},
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{
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"name": "Limits",
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"expanded": true,
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"type": "group",
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"children": [
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{
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"name": "Max Cooling Current",
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"type": "float",
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"value": 0,
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"step": 100,
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"decimals": 6,
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"limits": [
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0,
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2000
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],
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"suffix": "mA",
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"thermostat:set_param": {
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"topic": "output",
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"field": "max_i_pos"
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},
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"lock": false
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},
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{
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"name": "Max Heating Current",
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"type": "float",
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"value": 0,
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"step": 100,
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"decimals": 6,
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"limits": [
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0,
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2000
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],
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"suffix": "mA",
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"thermostat:set_param": {
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"topic": "output",
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"field": "max_i_neg"
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},
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"lock": false
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},
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{
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"name": "Max Voltage Difference",
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"type": "float",
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"value": 0,
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"step": 0.1,
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"limits": [
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0,
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5
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],
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"siPrefix": true,
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"suffix": "V",
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"thermostat:set_param": {
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"topic": "output",
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"field": "max_v"
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},
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"lock": false
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}
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]
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}
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]
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},
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{
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"name": "Thermistor Config",
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"expanded": true,
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"type": "group",
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"children": [
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{
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"name": "T₀",
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"type": "float",
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"value": 25,
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"step": 0.1,
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"limits": [
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-100,
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100
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],
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"format": "{value:.4f} °C",
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"thermostat:set_param": {
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"topic": "s-h",
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"field": "t0"
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},
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"lock": false
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},
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{
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"name": "R₀",
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"type": "float",
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"value": 10000,
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"step": 1,
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"siPrefix": true,
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"suffix": "Ω",
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"thermostat:set_param": {
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"topic": "s-h",
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"field": "r0"
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},
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"lock": false
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},
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{
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"name": "B",
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"type": "float",
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"value": 3950,
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"step": 1,
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"suffix": "K",
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"decimals": 4,
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"thermostat:set_param": {
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"topic": "s-h",
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"field": "b"
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},
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"lock": false
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},
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{
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"name": "Postfilter Rate",
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"type": "list",
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"value": 16.67,
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"thermostat:set_param": {
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"topic": "postfilter",
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"field": "rate"
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},
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"limits": {
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"Off": null,
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"16.67 Hz": 16.67,
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"20 Hz": 20.0,
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"21.25 Hz": 21.25,
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"27 Hz": 27.0
|
||||
},
|
||||
"lock": false
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"name": "PID Config",
|
||||
"expanded": true,
|
||||
"type": "group",
|
||||
"children": [
|
||||
{
|
||||
"name": "Kp",
|
||||
"type": "float",
|
||||
"step": 0.1,
|
||||
"suffix": "",
|
||||
"thermostat:set_param": {
|
||||
"topic": "pid",
|
||||
"field": "kp"
|
||||
},
|
||||
"lock": false
|
||||
},
|
||||
{
|
||||
"name": "Ki",
|
||||
"type": "float",
|
||||
"step": 0.1,
|
||||
"suffix": "Hz",
|
||||
"thermostat:set_param": {
|
||||
"topic": "pid",
|
||||
"field": "ki"
|
||||
},
|
||||
"lock": false
|
||||
},
|
||||
{
|
||||
"name": "Kd",
|
||||
"type": "float",
|
||||
"step": 0.1,
|
||||
"suffix": "s",
|
||||
"thermostat:set_param": {
|
||||
"topic": "pid",
|
||||
"field": "kd"
|
||||
},
|
||||
"lock": false
|
||||
},
|
||||
{
|
||||
"name": "PID Output Clamping",
|
||||
"expanded": true,
|
||||
"type": "group",
|
||||
"children": [
|
||||
{
|
||||
"name": "Minimum",
|
||||
"type": "float",
|
||||
"step": 100,
|
||||
"limits": [
|
||||
-2000,
|
||||
2000
|
||||
],
|
||||
"decimals": 6,
|
||||
"suffix": "mA",
|
||||
"thermostat:set_param": {
|
||||
"topic": "pid",
|
||||
"field": "output_min"
|
||||
},
|
||||
"lock": false
|
||||
},
|
||||
{
|
||||
"name": "Maximum",
|
||||
"type": "float",
|
||||
"step": 100,
|
||||
"limits": [
|
||||
-2000,
|
||||
2000
|
||||
],
|
||||
"decimals": 6,
|
||||
"suffix": "mA",
|
||||
"thermostat:set_param": {
|
||||
"topic": "pid",
|
||||
"field": "output_max"
|
||||
},
|
||||
"lock": false
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"name": "PID Auto Tune",
|
||||
"expanded": false,
|
||||
"type": "group",
|
||||
"children": [
|
||||
{
|
||||
"name": "Target Temperature",
|
||||
"type": "float",
|
||||
"value": 20,
|
||||
"step": 0.1,
|
||||
"format": "{value:.4f} °C",
|
||||
"pid_autotune": "target_temp"
|
||||
},
|
||||
{
|
||||
"name": "Test Current",
|
||||
"type": "float",
|
||||
"value": 0,
|
||||
"decimals": 6,
|
||||
"step": 100,
|
||||
"limits": [
|
||||
-2000,
|
||||
2000
|
||||
],
|
||||
"suffix": "mA",
|
||||
"pid_autotune": "test_current"
|
||||
},
|
||||
{
|
||||
"name": "Temperature Swing",
|
||||
"type": "float",
|
||||
"value": 1.5,
|
||||
"step": 0.1,
|
||||
"prefix": "±",
|
||||
"format": "{value:.4f} °C",
|
||||
"pid_autotune": "temp_swing"
|
||||
},
|
||||
{
|
||||
"name": "Lookback",
|
||||
"type": "float",
|
||||
"value": 3.0,
|
||||
"step": 0.1,
|
||||
"format": "{value:.4f} s",
|
||||
"pid_autotune": "lookback"
|
||||
},
|
||||
{
|
||||
"name": "Run",
|
||||
"type": "action",
|
||||
"tip": "Run"
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"name": "Save to flash",
|
||||
"type": "action",
|
||||
"tip": "Save config to thermostat, applies on reset"
|
||||
},
|
||||
{
|
||||
"name": "Load from flash",
|
||||
"type": "action",
|
||||
"tip": "Load config from flash"
|
||||
}
|
||||
]
|
||||
}
|
||||
@ -4,6 +4,7 @@ import asyncio
|
||||
import logging
|
||||
import argparse
|
||||
import importlib.resources
|
||||
import json
|
||||
from PyQt6 import QtWidgets, QtGui, uic
|
||||
from PyQt6.QtCore import pyqtSlot
|
||||
import qasync
|
||||
@ -16,6 +17,7 @@ from pytec.gui.view.thermostat_settings_menu import ThermostatSettingsMenu
|
||||
from pytec.gui.view.connection_details_menu import ConnectionDetailsMenu
|
||||
from pytec.gui.view.plot_options_menu import PlotOptionsMenu
|
||||
from pytec.gui.view.live_plot_view import LiveDataPlotter
|
||||
from pytec.gui.view.ctrl_panel import CtrlPanel
|
||||
from pytec.gui.view.info_box import InfoBox
|
||||
|
||||
|
||||
@ -37,6 +39,12 @@ def get_argparser():
|
||||
choices=["DEBUG", "INFO", "WARNING", "ERROR", "CRITICAL"],
|
||||
help="Set the logging level",
|
||||
)
|
||||
parser.add_argument(
|
||||
"-p",
|
||||
"--param_tree",
|
||||
default=importlib.resources.files("pytec.gui.view").joinpath("param_tree.json"),
|
||||
help="Param Tree Description JSON File",
|
||||
)
|
||||
|
||||
return parser
|
||||
|
||||
@ -44,7 +52,7 @@ def get_argparser():
|
||||
class MainWindow(QtWidgets.QMainWindow):
|
||||
NUM_CHANNELS = 2
|
||||
|
||||
def __init__(self):
|
||||
def __init__(self, args):
|
||||
super().__init__()
|
||||
|
||||
ui_file_path = importlib.resources.files("pytec.gui.view").joinpath("tec_qt.ui")
|
||||
@ -80,6 +88,19 @@ class MainWindow(QtWidgets.QMainWindow):
|
||||
|
||||
self._thermostat.connection_error.connect(handle_connection_error)
|
||||
|
||||
# Control Panel
|
||||
def get_ctrl_panel_config(args):
|
||||
with open(args.param_tree, "r", encoding="utf-8") as f:
|
||||
return json.load(f)["ctrl_panel"]
|
||||
|
||||
self._ctrl_panel_view = CtrlPanel(
|
||||
self._thermostat,
|
||||
self._autotuners,
|
||||
self._info_box,
|
||||
[self.ch0_tree, self.ch1_tree],
|
||||
get_ctrl_panel_config(args),
|
||||
)
|
||||
|
||||
# Graphs
|
||||
self._channel_graphs = LiveDataPlotter(
|
||||
self._thermostat,
|
||||
@ -212,7 +233,7 @@ async def coro_main():
|
||||
)
|
||||
)
|
||||
|
||||
main_window = MainWindow()
|
||||
main_window = MainWindow(args)
|
||||
main_window.show()
|
||||
|
||||
if args.connect:
|
||||
|
||||
Loading…
Reference in New Issue
Block a user