diff --git a/pytec/.flake8 b/pytec/.flake8 new file mode 100644 index 0000000..0d4ade3 --- /dev/null +++ b/pytec/.flake8 @@ -0,0 +1,3 @@ +[flake8] +max-line-length = 88 +extend-ignore = E203,E701 diff --git a/pytec/autotune.py b/pytec/autotune.py index 360d06c..6c478a6 100644 --- a/pytec/autotune.py +++ b/pytec/autotune.py @@ -12,31 +12,32 @@ 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_OFF = "off" + STATE_RELAY_STEP_UP = "relay step up" + STATE_RELAY_STEP_DOWN = "relay step down" + STATE_SUCCEEDED = "succeeded" + STATE_FAILED = "failed" 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 @@ -68,7 +69,7 @@ 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: @@ -93,27 +94,33 @@ class PIDAutotune: """ now = time_input * 1000 - if (self._state == PIDAutotuneState.STATE_OFF - or self._state == PIDAutotuneState.STATE_SUCCEEDED - or self._state == PIDAutotuneState.STATE_FAILED): + if ( + self._state == PIDAutotuneState.STATE_OFF + or self._state == PIDAutotuneState.STATE_SUCCEEDED + or self._state == PIDAutotuneState.STATE_FAILED + ): 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 @@ -156,8 +163,8 @@ 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) @@ -167,20 +174,19 @@ 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 @@ -194,25 +200,24 @@ 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) - print('Ku: {0}'.format(self._Ku)) + self._Ku = 4.0 * self._outputstep / (self._induced_amplitude * math.pi) + print("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 - print('Pu: {0}'.format(self._Pu)) + print("Pu: {0}".format(self._Pu)) for rule in self._tuning_rules: params = self.get_pid_parameters(rule) - print('rule: {0}'.format(rule)) - print('Kp: {0}'.format(params.Kp)) - print('Ki: {0}'.format(params.Ki)) - print('Kd: {0}'.format(params.Kd)) + print("rule: {0}".format(rule)) + print("Kp: {0}".format(params.Kp)) + print("Ki: {0}".format(params.Ki)) + print("Kd: {0}".format(params.Kd)) return True return False @@ -239,16 +244,17 @@ 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() diff --git a/pytec/example.py b/pytec/example.py index 4e42f31..d374297 100644 --- a/pytec/example.py +++ b/pytec/example.py @@ -1,6 +1,6 @@ from pytec.client import Client -tec = Client() #(host="localhost", port=6667) +tec = Client() # (host="localhost", port=6667) tec.set_param("b-p", 1, "t0", 20) print(tec.get_output()) print(tec.get_pid()) diff --git a/pytec/plot.py b/pytec/plot.py index 4a1e6da..0f6fdea 100644 --- a/pytec/plot.py +++ b/pytec/plot.py @@ -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 @@ -26,25 +27,27 @@ class Series: drop += 1 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(): @@ -55,25 +58,27 @@ 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 - + series_lock.acquire() try: for k, s in series.items(): @@ -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 diff --git a/pytec/pytec/client.py b/pytec/pytec/client.py index da15fc5..12eeb0d 100644 --- a/pytec/pytec/client.py +++ b/pytec/pytec/client.py @@ -3,9 +3,11 @@ import json import logging import time + 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) @@ -17,7 +19,11 @@ class Client: for output_channel in output_report: for limit in ["max_i_neg", "max_i_pos", "max_v"]: if output_channel[limit] == 0.0: - logging.warning("`{}` limit is set to zero on channel {}".format(limit, output_channel["channel"])) + logging.warning( + "`{}` limit is set to zero on channel {}".format( + limit, output_channel["channel"] + ) + ) def _read_line(self): # read more lines @@ -25,7 +31,7 @@ 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] @@ -33,7 +39,7 @@ 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) @@ -130,7 +136,7 @@ class Client: 'pid_output': 2.067581958092247} """ while True: - self._socket.sendall("report\n".encode('utf-8')) + self._socket.sendall("report\n".encode("utf-8")) line = self._read_line() if not line: break