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atse 2024-07-03 14:40:13 +08:00
parent 6f7b46bc2f
commit 0ec18dfbff
13 changed files with 160 additions and 95 deletions
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3
pytec/.flake8 Normal file
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@ -0,0 +1,3 @@
[flake8]
max-line-length = 88
extend-ignore = E203,E701

106
pytec/autotune.py
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@ -12,32 +12,33 @@ from pytec.client import Client
class PIDAutotuneState(Enum):
STATE_OFF = 'off'
STATE_RELAY_STEP_UP = 'relay step up'
STATE_RELAY_STEP_DOWN = 'relay step down'
STATE_SUCCEEDED = 'succeeded'
STATE_FAILED = 'failed'
STATE_READY = 'ready'
STATE_OFF = "off"
STATE_RELAY_STEP_UP = "relay step up"
STATE_RELAY_STEP_DOWN = "relay step down"
STATE_SUCCEEDED = "succeeded"
STATE_FAILED = "failed"
STATE_READY = "ready"
class PIDAutotune:
PIDParams = namedtuple('PIDParams', ['Kp', 'Ki', 'Kd'])
PIDParams = namedtuple("PIDParams", ["Kp", "Ki", "Kd"])
PEAK_AMPLITUDE_TOLERANCE = 0.05
_tuning_rules = {
"ziegler-nichols": [0.6, 1.2, 0.075],
"tyreus-luyben": [0.4545, 0.2066, 0.07214],
"tyreus-luyben": [0.4545, 0.2066, 0.07214],
"ciancone-marlin": [0.303, 0.1364, 0.0481],
"pessen-integral": [0.7, 1.75, 0.105],
"some-overshoot": [0.333, 0.667, 0.111],
"no-overshoot": [0.2, 0.4, 0.0667]
"some-overshoot": [0.333, 0.667, 0.111],
"no-overshoot": [0.2, 0.4, 0.0667],
}
def __init__(self, setpoint, out_step=10, lookback=60,
noiseband=0.5, sampletime=1.2):
def __init__(
self, setpoint, out_step=10, lookback=60, noiseband=0.5, sampletime=1.2
):
if setpoint is None:
raise ValueError('setpoint must be specified')
raise ValueError("setpoint must be specified")
self._inputs = deque(maxlen=round(lookback / sampletime))
self._setpoint = setpoint
@ -84,7 +85,7 @@ class PIDAutotune:
"""Get a list of all available tuning rules."""
return self._tuning_rules.keys()
def get_pid_parameters(self, tuning_rule='ziegler-nichols'):
def get_pid_parameters(self, tuning_rule="ziegler-nichols"):
"""Get PID parameters.
Args:
@ -97,7 +98,7 @@ class PIDAutotune:
kd = divisors[2] * self._Ku * self._Pu
return PIDAutotune.PIDParams(kp, ki, kd)
def get_tec_pid (self):
def get_tec_pid(self):
divisors = self._tuning_rules["tyreus-luyben"]
kp = self._Ku * divisors[0]
ki = divisors[1] * self._Ku / self._Pu
@ -116,28 +117,34 @@ class PIDAutotune:
"""
now = time_input * 1000
if (self._state == PIDAutotuneState.STATE_OFF
or self._state == PIDAutotuneState.STATE_SUCCEEDED
or self._state == PIDAutotuneState.STATE_FAILED
or self._state == PIDAutotuneState.STATE_READY):
if (
self._state == PIDAutotuneState.STATE_OFF
or self._state == PIDAutotuneState.STATE_SUCCEEDED
or self._state == PIDAutotuneState.STATE_FAILED
or self._state == PIDAutotuneState.STATE_READY
):
self._state = PIDAutotuneState.STATE_RELAY_STEP_UP
self._last_run_timestamp = now
# check input and change relay state if necessary
if (self._state == PIDAutotuneState.STATE_RELAY_STEP_UP
and input_val > self._setpoint + self._noiseband):
if (
self._state == PIDAutotuneState.STATE_RELAY_STEP_UP
and input_val > self._setpoint + self._noiseband
):
self._state = PIDAutotuneState.STATE_RELAY_STEP_DOWN
logging.debug('switched state: {0}'.format(self._state))
logging.debug('input: {0}'.format(input_val))
elif (self._state == PIDAutotuneState.STATE_RELAY_STEP_DOWN
and input_val < self._setpoint - self._noiseband):
logging.debug("switched state: {0}".format(self._state))
logging.debug("input: {0}".format(input_val))
elif (
self._state == PIDAutotuneState.STATE_RELAY_STEP_DOWN
and input_val < self._setpoint - self._noiseband
):
self._state = PIDAutotuneState.STATE_RELAY_STEP_UP
logging.debug('switched state: {0}'.format(self._state))
logging.debug('input: {0}'.format(input_val))
logging.debug("switched state: {0}".format(self._state))
logging.debug("input: {0}".format(input_val))
# set output
if (self._state == PIDAutotuneState.STATE_RELAY_STEP_UP):
if self._state == PIDAutotuneState.STATE_RELAY_STEP_UP:
self._output = self._initial_output - self._outputstep
elif self._state == PIDAutotuneState.STATE_RELAY_STEP_DOWN:
self._output = self._initial_output + self._outputstep
@ -180,8 +187,8 @@ class PIDAutotune:
self._peak_count += 1
self._peaks.append(input_val)
self._peak_timestamps.append(now)
logging.debug('found peak: {0}'.format(input_val))
logging.debug('peak count: {0}'.format(self._peak_count))
logging.debug("found peak: {0}".format(input_val))
logging.debug("peak count: {0}".format(self._peak_count))
# check for convergence of induced oscillation
# convergence of amplitude assessed on last 4 peaks (1.5 cycles)
@ -191,20 +198,19 @@ class PIDAutotune:
abs_max = self._peaks[-2]
abs_min = self._peaks[-2]
for i in range(0, len(self._peaks) - 2):
self._induced_amplitude += abs(self._peaks[i]
- self._peaks[i+1])
self._induced_amplitude += abs(self._peaks[i] - self._peaks[i + 1])
abs_max = max(self._peaks[i], abs_max)
abs_min = min(self._peaks[i], abs_min)
self._induced_amplitude /= 6.0
# check convergence criterion for amplitude of induced oscillation
amplitude_dev = ((0.5 * (abs_max - abs_min)
- self._induced_amplitude)
/ self._induced_amplitude)
amplitude_dev = (
0.5 * (abs_max - abs_min) - self._induced_amplitude
) / self._induced_amplitude
logging.debug('amplitude: {0}'.format(self._induced_amplitude))
logging.debug('amplitude deviation: {0}'.format(amplitude_dev))
logging.debug("amplitude: {0}".format(self._induced_amplitude))
logging.debug("amplitude deviation: {0}".format(amplitude_dev))
if amplitude_dev < PIDAutotune.PEAK_AMPLITUDE_TOLERANCE:
self._state = PIDAutotuneState.STATE_SUCCEEDED
@ -218,25 +224,24 @@ class PIDAutotune:
if self._state == PIDAutotuneState.STATE_SUCCEEDED:
self._output = 0
logging.debug('peak finding successful')
logging.debug("peak finding successful")
# calculate ultimate gain
self._Ku = 4.0 * self._outputstep / \
(self._induced_amplitude * math.pi)
logging.debug('Ku: {0}'.format(self._Ku))
self._Ku = 4.0 * self._outputstep / (self._induced_amplitude * math.pi)
logging.debug("Ku: {0}".format(self._Ku))
# calculate ultimate period in seconds
period1 = self._peak_timestamps[3] - self._peak_timestamps[1]
period2 = self._peak_timestamps[4] - self._peak_timestamps[2]
self._Pu = 0.5 * (period1 + period2) / 1000.0
logging.debug('Pu: {0}'.format(self._Pu))
logging.debug("Pu: {0}".format(self._Pu))
for rule in self._tuning_rules:
params = self.get_pid_parameters(rule)
logging.debug('rule: {0}'.format(rule))
logging.debug('Kp: {0}'.format(params.Kp))
logging.debug('Ki: {0}'.format(params.Ki))
logging.debug('Kd: {0}'.format(params.Kd))
logging.debug("rule: {0}".format(rule))
logging.debug("Kp: {0}".format(params.Kp))
logging.debug("Ki: {0}".format(params.Ki))
logging.debug("Kd: {0}".format(params.Kd))
return True
return False
@ -263,16 +268,17 @@ def main():
data = next(tec.report_mode())
ch = data[channel]
tuner = PIDAutotune(target_temperature, output_step,
lookback, noiseband, ch['interval'])
tuner = PIDAutotune(
target_temperature, output_step, lookback, noiseband, ch["interval"]
)
for data in tec.report_mode():
ch = data[channel]
temperature = ch['temperature']
temperature = ch["temperature"]
if (tuner.run(temperature, ch['time'])):
if tuner.run(temperature, ch["time"]):
break
tuner_out = tuner.output()

4
pytec/examples/aioexample.py
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@ -1,9 +1,10 @@
import asyncio
from pytec.aioclient import Client
async def main():
tec = Client()
await tec.start_session() #(host="192.168.1.26", port=23)
await tec.start_session() # (host="192.168.1.26", port=23)
await tec.set_param("s-h", 1, "t0", 20)
print(await tec.get_pwm())
print(await tec.get_pid())
@ -13,4 +14,5 @@ async def main():
async for data in tec.report_mode():
print(data)
asyncio.run(main())

2
pytec/examples/example.py
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@ -1,6 +1,6 @@
from pytec.client import Client
tec = Client() #(host="localhost", port=6667)
tec = Client() # (host="localhost", port=6667)
tec.set_param("s-h", 1, "t0", 20)
print(tec.get_pwm())
print(tec.get_pid())

23
pytec/plot.py
View File

@ -7,9 +7,10 @@ from pytec.client import Client
TIME_WINDOW = 300.0
tec = Client()
target_temperature = tec.get_pid()[0]['target']
target_temperature = tec.get_pid()[0]["target"]
print("Channel 0 target temperature: {:.3f}".format(target_temperature))
class Series:
def __init__(self, conv=lambda x: x):
self.conv = conv
@ -27,24 +28,26 @@ class Series:
self.x_data = self.x_data[drop:]
self.y_data = self.y_data[drop:]
series = {
# 'adc': Series(),
# 'sens': Series(lambda x: x * 0.0001),
'temperature': Series(),
"temperature": Series(),
# 'i_set': Series(),
'pid_output': Series(),
"pid_output": Series(),
# 'vref': Series(),
# 'dac_value': Series(),
# 'dac_feedback': Series(),
# 'i_tec': Series(),
'tec_i': Series(),
'tec_u_meas': Series(),
"tec_i": Series(),
"tec_u_meas": Series(),
# 'interval': Series(),
}
series_lock = Lock()
quit = False
def recv_data(tec):
global last_packet_time
for data in tec.report_mode():
@ -55,22 +58,24 @@ def recv_data(tec):
if k in ch0:
v = ch0[k]
if type(v) is float:
s.append(ch0['time'], v)
s.append(ch0["time"], v)
finally:
series_lock.release()
if quit:
break
thread = Thread(target=recv_data, args=(tec,))
thread.start()
fig, ax = plt.subplots()
for k, s in series.items():
s.plot, = ax.plot([], [], label=k)
(s.plot,) = ax.plot([], [], label=k)
legend = ax.legend()
def animate(i):
min_x, max_x, min_y, max_y = None, None, None, None
@ -120,8 +125,8 @@ def animate(i):
legend.remove()
legend = ax.legend()
ani = animation.FuncAnimation(
fig, animate, interval=1, blit=False, save_count=50)
ani = animation.FuncAnimation(fig, animate, interval=1, blit=False, save_count=50)
plt.show()
quit = True

3
pytec/pyproject.toml
View File

@ -16,3 +16,6 @@ tec_qt = "tec_qt:main"
[tool.setuptools]
packages.find = {}
py-modules = ["autotune", "plot", "tec_qt"]
[tool.pylint.format]
max-line-length = "88"

27
pytec/pytec/aioclient.py
View File

@ -2,12 +2,15 @@ import asyncio
import json
import logging
class CommandError(Exception):
pass
class StoppedConnecting(Exception):
pass
class Client:
def __init__(self):
self._reader = None
@ -17,7 +20,7 @@ class Client:
self._report_mode_on = False
self.timeout = None
async def start_session(self, host='192.168.1.26', port=23, timeout=None):
async def start_session(self, host="192.168.1.26", port=23, timeout=None):
"""Start session to Thermostat at specified host and port.
Throws StoppedConnecting if disconnect was called while connecting.
Throws asyncio.TimeoutError if timeout was exceeded.
@ -69,15 +72,21 @@ class Client:
for pwm_channel in pwm_report:
for limit in ["max_i_neg", "max_i_pos", "max_v"]:
if pwm_channel[limit]["value"] == 0.0:
logging.warning("`{}` limit is set to zero on channel {}".format(limit, pwm_channel["channel"]))
logging.warning(
"`{}` limit is set to zero on channel {}".format(
limit, pwm_channel["channel"]
)
)
async def _read_line(self):
# read 1 line
chunk = await asyncio.wait_for(self._reader.readline(), self.timeout) # Only wait for response until timeout
return chunk.decode('utf-8', errors='ignore')
chunk = await asyncio.wait_for(
self._reader.readline(), self.timeout
) # Only wait for response until timeout
return chunk.decode("utf-8", errors="ignore")
async def _read_write(self, command):
self._writer.write(((" ".join(command)).strip() + "\n").encode('utf-8'))
self._writer.write(((" ".join(command)).strip() + "\n").encode("utf-8"))
await self._writer.drain()
return await self._read_line()
@ -244,7 +253,7 @@ class Client:
"""Load current configuration from EEPROM"""
await self._command("load", str(channel))
if channel == "":
await self._read_line() # Read the extra {}
await self._read_line() # Read the extra {}
async def hw_rev(self):
"""Get Thermostat hardware revision"""
@ -256,7 +265,7 @@ class Client:
The client is disconnected as the TCP session is terminated.
"""
async with self._command_lock:
self._writer.write("reset\n".encode('utf-8'))
self._writer.write("reset\n".encode("utf-8"))
await self._writer.drain()
await self.end_session()
@ -269,11 +278,11 @@ class Client:
power-cycling.
"""
async with self._command_lock:
self._writer.write("dfu\n".encode('utf-8'))
self._writer.write("dfu\n".encode("utf-8"))
await self._writer.drain()
await self.end_session()
async def ipv4(self):
"""Get the IPv4 settings of the Thermostat"""
return await self._command('ipv4')
return await self._command("ipv4")

12
pytec/pytec/client.py
View File

@ -2,9 +2,11 @@ import socket
import json
import logging
class CommandError(Exception):
pass
class Client:
def __init__(self, host="192.168.1.26", port=23, timeout=None):
self._socket = socket.create_connection((host, port), timeout)
@ -20,7 +22,11 @@ class Client:
for pwm_channel in pwm_report:
for limit in ["max_i_neg", "max_i_pos", "max_v"]:
if pwm_channel[limit]["value"] == 0.0:
logging.warning("`{}` limit is set to zero on channel {}".format(limit, pwm_channel["channel"]))
logging.warning(
"`{}` limit is set to zero on channel {}".format(
limit, pwm_channel["channel"]
)
)
def _read_line(self):
# read more lines
@ -28,7 +34,7 @@ class Client:
chunk = self._socket.recv(4096)
if not chunk:
return None
buf = self._lines[-1] + chunk.decode('utf-8', errors='ignore')
buf = self._lines[-1] + chunk.decode("utf-8", errors="ignore")
self._lines = buf.split("\n")
line = self._lines[0]
@ -36,7 +42,7 @@ class Client:
return line
def _command(self, *command):
self._socket.sendall((" ".join(command) + "\n").encode('utf-8'))
self._socket.sendall((" ".join(command) + "\n").encode("utf-8"))
line = self._read_line()
response = json.loads(line)

6
pytec/pytec/gui/model/pid_autotuner.py
View File

@ -48,7 +48,11 @@ class PIDAutoTuner(QObject):
ch = channel_report["channel"]
match self.autotuners[ch].state():
case PIDAutotuneState.STATE_READY | PIDAutotuneState.STATE_RELAY_STEP_UP | PIDAutotuneState.STATE_RELAY_STEP_DOWN:
case (
PIDAutotuneState.STATE_READY
| PIDAutotuneState.STATE_RELAY_STEP_UP
| PIDAutotuneState.STATE_RELAY_STEP_DOWN
):
self.autotuners[ch].run(
channel_report["temperature"], channel_report["time"]
)

4
pytec/pytec/gui/view/live_plot_view.py
View File

@ -67,9 +67,7 @@ class _TecGraphs:
self._t_line = self._t_widget.getPlotItem().addLine(label="{value} °C")
self._t_line.setVisible(False)
# Hack for keeping setpoint line in plot range
self._t_setpoint_plot = (
LiveLinePlot()
)
self._t_setpoint_plot = LiveLinePlot()
for graph in t_widget, i_widget:
time_axis = LiveAxis(

36
pytec/pytec/gui/view/waitingspinnerwidget.py
View File

@ -67,16 +67,30 @@ class QtWaitingSpinner(QWidget):
painter.setPen(Qt.PenStyle.NoPen)
for i in range(0, self._numberOfLines):
painter.save()
painter.translate(self._innerRadius + self._lineLength, self._innerRadius + self._lineLength)
painter.translate(
self._innerRadius + self._lineLength,
self._innerRadius + self._lineLength,
)
rotateAngle = float(360 * i) / float(self._numberOfLines)
painter.rotate(rotateAngle)
painter.translate(self._innerRadius, 0)
distance = self.lineCountDistanceFromPrimary(i, self._currentCounter, self._numberOfLines)
color = self.currentLineColor(distance, self._numberOfLines, self._trailFadePercentage,
self._minimumTrailOpacity, self._color)
distance = self.lineCountDistanceFromPrimary(
i, self._currentCounter, self._numberOfLines
)
color = self.currentLineColor(
distance,
self._numberOfLines,
self._trailFadePercentage,
self._minimumTrailOpacity,
self._color,
)
painter.setBrush(color)
painter.drawRoundedRect(QRect(0, int(-self._lineWidth / 2), self._lineLength, self._lineWidth), self._roundness,
self._roundness, Qt.SizeMode.RelativeSize)
painter.drawRoundedRect(
QRect(0, int(-self._lineWidth / 2), self._lineLength, self._lineWidth),
self._roundness,
self._roundness,
Qt.SizeMode.RelativeSize,
)
painter.restore()
def start(self):
@ -160,7 +174,9 @@ class QtWaitingSpinner(QWidget):
self.setFixedSize(self.size, self.size)
def updateTimer(self):
self._timer.setInterval(int(1000 / (self._numberOfLines * self._revolutionsPerSecond)))
self._timer.setInterval(
int(1000 / (self._numberOfLines * self._revolutionsPerSecond))
)
def lineCountDistanceFromPrimary(self, current, primary, totalNrOfLines):
distance = primary - current
@ -168,7 +184,9 @@ class QtWaitingSpinner(QWidget):
distance += totalNrOfLines
return distance
def currentLineColor(self, countDistance, totalNrOfLines, trailFadePerc, minOpacity, colorinput):
def currentLineColor(
self, countDistance, totalNrOfLines, trailFadePerc, minOpacity, colorinput
):
color = QColor(colorinput)
if countDistance == 0:
return color
@ -186,7 +204,7 @@ class QtWaitingSpinner(QWidget):
return color
if __name__ == '__main__':
if __name__ == "__main__":
app = QApplication([])
waiting_spinner = QtWaitingSpinner()
waiting_spinner.show()

19
pytec/tec_qt.py
View File

@ -303,7 +303,11 @@ class MainWindow(QtWidgets.QMainWindow):
case PIDAutotuneState.STATE_OFF | PIDAutotuneState.STATE_FAILED:
self.autotuners.load_params_and_set_ready(ch)
case PIDAutotuneState.STATE_READY | PIDAutotuneState.STATE_RELAY_STEP_UP | PIDAutotuneState.STATE_RELAY_STEP_DOWN:
case (
PIDAutotuneState.STATE_READY
| PIDAutotuneState.STATE_RELAY_STEP_UP
| PIDAutotuneState.STATE_RELAY_STEP_DOWN
):
await self.autotuners.stop_pid_from_running(ch)
# To Update the UI elements
self.pid_autotune_handler([])
@ -317,7 +321,11 @@ class MainWindow(QtWidgets.QMainWindow):
self.ctrl_panel_view.change_params_title(
ch, ("PID Config", "PID Auto Tune", "Run"), "Run"
)
case PIDAutotuneState.STATE_READY | PIDAutotuneState.STATE_RELAY_STEP_UP | PIDAutotuneState.STATE_RELAY_STEP_DOWN:
case (
PIDAutotuneState.STATE_READY
| PIDAutotuneState.STATE_RELAY_STEP_UP
| PIDAutotuneState.STATE_RELAY_STEP_DOWN
):
self.ctrl_panel_view.change_params_title(
ch, ("PID Config", "PID Auto Tune", "Run"), "Stop"
)
@ -332,7 +340,8 @@ class MainWindow(QtWidgets.QMainWindow):
case PIDAutotuneState.STATE_FAILED:
self.info_box.display_info_box(
"PID Autotune Failed", f"Channel {ch} PID Autotune has failed."
"PID Autotune Failed",
f"Channel {ch} PID Autotune has failed.",
)
self.info_box.show()
@ -414,7 +423,9 @@ async def coro_main():
app = QtWidgets.QApplication.instance()
app.aboutToQuit.connect(app_quit_event.set)
app.setWindowIcon(
QtGui.QIcon(str(importlib.resources.files("pytec.gui.resources").joinpath("artiq.ico")))
QtGui.QIcon(
str(importlib.resources.files("pytec.gui.resources").joinpath("artiq.ico"))
)
)
main_window = MainWindow(args)