thermostat/pytec/tecQT.py

286 lines
13 KiB
Python

from pyqtgraph.Qt import QtGui, QtCore
import pyqtgraph.parametertree.parameterTypes as pTypes
from pyqtgraph.parametertree import Parameter, ParameterTree, ParameterItem, registerParameterType
import numpy as np
import pyqtgraph as pg
from pytec.client import Client
from enum import Enum
from autotune import PIDAutotune, PIDAutotuneState
rec_len = 1000
refresh_period = 20
TECparams = [ [
{'tag': 'report', 'type': 'parent', 'children': [
{'tag': 'pid_engaged', 'type': 'bool', 'value': False},
]},
{'tag': 'pwm', 'type': 'parent', 'children': [
{'tag': 'max_i_pos', 'type': 'float', 'value': 0},
{'tag': 'max_i_neg', 'type': 'float', 'value': 0},
{'tag': 'max_v', 'type': 'float', 'value': 0},
{'tag': 'i_set', 'type': 'float', 'value': 0},
]},
{'tag': 'pid', 'type': 'parent', 'children': [
{'tag': 'kp', 'type': 'float', 'value': 0},
{'tag': 'ki', 'type': 'float', 'value': 0},
{'tag': 'kd', 'type': 'float', 'value': 0},
{'tag': 'output_min', 'type': 'float', 'value': 0},
{'tag': 'output_max', 'type': 'float', 'value': 0},
]},
{'tag': 's-h', 'type': 'parent', 'children': [
{'tag': 't0', 'type': 'float', 'value': 0},
{'tag': 'r0', 'type': 'float', 'value': 0},
{'tag': 'b', 'type': 'float', 'value': 0},
]},
{'tag': 'PIDtarget', 'type': 'parent', 'children': [
{'tag': 'target', 'type': 'float', 'value': 0},
]},
] for _ in range(2)]
GUIparams = [[
{'name': 'Disable Output', 'type': 'action', 'tip': 'Disable Output'},
{'name': 'Constant Current', 'type': 'group', 'children': [
{'name': 'Set Current', 'type': 'float', 'value': 0, 'step': 0.1, 'limits': (-3, 3), 'siPrefix': True, 'suffix': 'A'},
]},
{'name': 'Temperature PID', 'type': 'bool', 'value': False, 'children': [
{'name': 'Set Temperature', 'type': 'float', 'value': 25, 'step': 0.1, 'limits': (-273, 300), 'siPrefix': True, 'suffix': 'C'},
]},
{'name': 'Output Config', 'expanded': False, 'type': 'group', 'children': [
{'name': 'Max Current', 'type': 'float', 'value': 0, 'step': 0.1, 'limits': (0, 3), 'siPrefix': True, 'suffix': 'A'},
{'name': 'Max Voltage', 'type': 'float', 'value': 0, 'step': 0.1, 'limits': (0, 5), 'siPrefix': True, 'suffix': 'V'},
]},
{'name': 'Thermistor Config', 'expanded': False, 'type': 'group', 'children': [
{'name': 'T0', 'type': 'float', 'value': 25, 'step': 0.1, 'limits': (-100, 100), 'siPrefix': True, 'suffix': 'C'},
{'name': 'R0', 'type': 'float', 'value': 10000, 'step': 1, 'siPrefix': True, 'suffix': 'Ohm'},
{'name': 'Beta', 'type': 'float', 'value': 3950, 'step': 1},
]},
{'name': 'PID Config', 'expanded': False, 'type': 'group', 'children': [
{'name': 'kP', 'type': 'float', 'value': 0, 'step': 0.1},
{'name': 'kI', 'type': 'float', 'value': 0, 'step': 0.1},
{'name': 'kD', 'type': 'float', 'value': 0, 'step': 0.1},
{'name': 'PID Auto Tune', 'expanded': False, 'type': 'group', 'children': [
{'name': 'Target Temperature', 'type': 'float', 'value': 20, 'step': 0.1, 'siPrefix': True, 'suffix': 'C'},
{'name': 'Test Current', 'type': 'float', 'value': 1, 'step': 0.1, 'siPrefix': True, 'suffix': 'A'},
{'name': 'Temperature Swing', 'type': 'float', 'value': 1.5, 'step': 0.1, 'siPrefix': True, 'suffix': 'C'},
{'name': 'Run', 'type': 'action', 'tip': 'Run'},
]},
]},
{'name': 'Save to flash', 'type': 'action', 'tip': 'Save to flash'},
] for _ in range(2)]
autoTuneState = [PIDAutotuneState.STATE_OFF, 'idle']
## If anything changes in the tree, print a message
def change(param, changes, ch):
print("tree changes:")
for param, change, data in changes:
path = paramList[ch].childPath(param)
if path is not None:
childName = '.'.join(path)
else:
childName = param.name()
print(' parameter: %s'% childName)
print(' change: %s'% change)
print(' data: %s'% str(data))
print(' ----------')
if (childName == 'Disable Output'):
tec.set_param('pwm', ch, 'i_set', 0)
paramList[ch].child('Constant Current').child('Set Current').setValue(0)
paramList[ch].child('Temperature PID').setValue(False)
if (childName == 'Temperature PID'):
if (data):
tec.set_param("pwm", ch, "pid")
else:
tec.set_param('pwm', ch, 'i_set', paramList[ch].child('Constant Current').child('Set Current').value())
if (childName == 'Constant Current.Set Current'):
tec.set_param('pwm', ch, 'i_set', data)
paramList[ch].child('Temperature PID').setValue(False)
if (childName == 'Temperature PID.Set Temperature'):
tec.set_param('pid', ch, 'target', data)
if (childName == 'Output Config.Max Current'):
tec.set_param('pwm', ch, 'max_i_pos', data)
tec.set_param('pwm', ch, 'max_i_neg', data)
tec.set_param('pid', ch, 'output_min', -data)
tec.set_param('pid', ch, 'output_max', data)
if (childName == 'Output Config.Max Voltage'):
tec.set_param('pwm', ch, 'max_v', data)
if (childName == 'Thermistor Config.T0'):
tec.set_param('s-h', ch, 't0', data)
if (childName == 'Thermistor Config.R0'):
tec.set_param('s-h', ch, 'r0', data)
if (childName == 'Thermistor Config.Beta'):
tec.set_param('s-h', ch, 'b', data)
if (childName == 'PID Config.kP'):
tec.set_param('pid', ch, 'kp', data)
if (childName == 'PID Config.kI'):
tec.set_param('pid', ch, 'ki', data)
if (childName == 'PID Config.kD'):
tec.set_param('pid', ch, 'kd', data)
if (childName == 'PID Config.PID Auto Tune.Run'):
autoTuneState[ch] = 'triggered'
if (childName == 'Save to flash'):
tec.save_config()
def change0(param, changes):
change(param, changes, 0)
def change1(param, changes):
change(param, changes, 1)
class Curves:
def __init__(self, legend: str, key: str, channel: int, color: str, buffer_len: int, period: int):
self.curveItem = pg.PlotCurveItem(pen=({'color': color, 'width': 1}))
self.legendStr = legend
self.keyStr = key
self.channel = channel
self.data_buf = np.zeros(buffer_len)
self.time_stamp = np.zeros(buffer_len)
self.buffLen = buffer_len
self.period = period
def update(self, tec_data, cnt):
if cnt == 0:
np.copyto(self.data_buf, np.full(self.buffLen, tec_data[self.channel][self.keyStr]))
else:
self.data_buf[:-1] = self.data_buf[1:]
self.data_buf[-1] = tec_data[self.channel][self.keyStr]
self.time_stamp[:-1] = self.time_stamp[1:]
self.time_stamp[-1] = cnt * self.period / 1000
self.curveItem.setData(x = self.time_stamp, y = self.data_buf)
class Graph:
def __init__(self, parent: pg.LayoutWidget, title: str, row: int, col: int, curves: list[Curves]):
self.plotItem = pg.PlotWidget(title=title)
self.legendItem = pg.LegendItem(offset=(75, 30), brush=(50,50,200,150))
self.legendItem.setParentItem(self.plotItem.getPlotItem())
parent.addWidget(self.plotItem, row, col)
self.curves = curves
for curve in self.curves:
self.plotItem.addItem(curve.curveItem)
self.legendItem.addItem(curve.curveItem, curve.legendStr)
def update(self, tec_data, cnt):
for curve in self.curves:
curve.update(tec_data, cnt)
self.plotItem.setRange(xRange=[(cnt - self.curves[0].buffLen) * self.curves[0].period / 1000, cnt * self.curves[0].period / 1000])
def TECsync():
global TECparams
for channel in range(2):
for parents in TECparams[channel]:
if parents['tag'] == 'report':
for data in tec.report_mode():
for children in parents['children']:
children['value'] = data[channel][children['tag']]
print(data[channel][children['tag']])
if quit:
break
if parents['tag'] == 'pwm':
for children in parents['children']:
children['value'] = tec.get_pwm()[channel][children['tag']]['value']
if parents['tag'] == 'pid':
for children in parents['children']:
children['value'] = tec.get_pid()[channel]['parameters'][children['tag']]
if parents['tag'] == 's-h':
for children in parents['children']:
children['value'] = tec.get_steinhart_hart()[channel]['params'][children['tag']]
if parents['tag'] == 'PIDtarget':
for children in parents['children']:
children['value'] = tec.get_pid()[channel]['target']
def refreshTreeParam(tempTree:dict, channel:int) -> dict:
tempTree['children']['Constant Current']['children']['Set Current']['value'] = TECparams[channel][1]['children'][3]['value']
tempTree['children']['Temperature PID']['value'] = TECparams[channel][0]['children'][0]['value']
tempTree['children']['Temperature PID']['children']['Set Temperature']['value'] = TECparams[channel][4]['children'][0]['value']
tempTree['children']['Output Config']['children']['Max Current']['value'] = TECparams[channel][1]['children'][0]['value']
tempTree['children']['Output Config']['children']['Max Voltage']['value'] = TECparams[channel][1]['children'][2]['value']
tempTree['children']['Thermistor Config']['children']['T0']['value'] = TECparams[channel][3]['children'][0]['value'] - 273.15
tempTree['children']['Thermistor Config']['children']['R0']['value'] = TECparams[channel][3]['children'][1]['value']
tempTree['children']['Thermistor Config']['children']['Beta']['value'] = TECparams[channel][3]['children'][2]['value']
tempTree['children']['PID Config']['children']['kP']['value'] = TECparams[channel][2]['children'][0]['value']
tempTree['children']['PID Config']['children']['kI']['value'] = TECparams[channel][2]['children'][1]['value']
tempTree['children']['PID Config']['children']['kD']['value'] = TECparams[channel][2]['children'][2]['value']
return tempTree
cnt = 0
def updateData():
global cnt
for data in tec.report_mode():
ch0tempGraph.update(data, cnt)
ch1tempGraph.update(data, cnt)
ch0currentGraph.update(data, cnt)
ch1currentGraph.update(data, cnt)
for state in autoTuneState:
if state == 'triggered':
state = 'tuning'
if quit:
break
cnt += 1
if __name__ == '__main__':
tec = Client(host="192.168.1.26", port=23, timeout=None)
app = pg.mkQApp()
pg.setConfigOptions(antialias=True)
mw = QtGui.QMainWindow()
mw.setWindowTitle('Thermostat Control Panel')
mw.resize(1920,1200)
cw = QtGui.QWidget()
mw.setCentralWidget(cw)
l = QtGui.QVBoxLayout()
layout = pg.LayoutWidget()
l.addWidget(layout)
cw.setLayout(l)
## Create tree of Parameter objects
paramList = [Parameter.create(name='GUIparams', type='group', children=GUIparams[0]),
Parameter.create(name='GUIparams', type='group', children=GUIparams[1])]
ch0Tree = ParameterTree()
ch0Tree.setParameters(paramList[0], showTop=False)
ch1Tree = ParameterTree()
ch1Tree.setParameters(paramList[1], showTop=False)
TECsync()
paramList[0].restoreState(refreshTreeParam(paramList[0].saveState(), 0))
paramList[1].restoreState(refreshTreeParam(paramList[1].saveState(), 1))
paramList[0].sigTreeStateChanged.connect(change0)
paramList[1].sigTreeStateChanged.connect(change1)
layout.addWidget(ch0Tree, 1, 1, 1, 1)
layout.addWidget(ch1Tree, 2, 1, 1, 1)
ch0tempGraph = Graph(layout, 'Channel 0 Temperature', 1, 2, [Curves('Feedback', 'temperature', 0, 'r', rec_len, refresh_period)])
ch1tempGraph = Graph(layout, 'Channel 1 Temperature', 2, 2, [Curves('Feedback', 'temperature', 1, 'r', rec_len, refresh_period)])
ch0currentGraph = Graph(layout, 'Channel 0 Current', 1, 3, [Curves('Feedback', 'tec_i', 0, 'r', rec_len, refresh_period),
Curves('Setpoint', 'i_set', 0, 'g', rec_len, refresh_period)])
ch1currentGraph = Graph(layout, 'Channel 1 Current', 2, 3, [Curves('Feedback', 'tec_i', 1, 'r', rec_len, refresh_period),
Curves('Setpoint', 'i_set', 1, 'g', rec_len, refresh_period)])
t = QtCore.QTimer()
t.timeout.connect(updateData)
t.start(refresh_period)
mw.show()
pg.exec()