ctrl_panel: Use ADC sample interval as PID unit

The Thermostat PID gains are actually in units relative to the sampling
interval of the Thermostat, and not SI seconds. Reflect that accordingly
in the units of PIDs.

See https://hackmd.io/IACbwcOTSt6Adj3_F9bKuw#Units for more details.

pytec/pytec/aioclient.py

@@ -44,7 +44,7 @@ class AsyncioClient:
         pwm_report = await self.get_pwm()
         for pwm_channel in pwm_report:
             for limit in ["max_i_neg", "max_i_pos", "max_v"]:
-                if pwm_channel[limit]["value"] == 0.0:
+                if pwm_channel[limit] == 0.0:
                     logging.warning(
                         "`{}` limit is set to zero on channel {}".format(
                             limit, pwm_channel["channel"]

pytec/pytec/gui/model/thermostat.py

@@ -28,13 +28,13 @@ class Thermostat(QObject, metaclass=PropertyMeta):
     NUM_CHANNELS = 2
 
     def __init__(self, parent, update_s, disconnect_cb=None):
+        super().__init__(parent)
+
         self._update_s = update_s
         self._client = AsyncioClient()
         self._watch_task = None
         self._update_params_task = None
         self.disconnect_cb = disconnect_cb
-        super().__init__(parent)
-
         self.connection_state = ThermostatConnectionState.DISCONNECTED
 
     async def start_session(self, host, port):

pytec/pytec/gui/view/ctrl_panel.py

@@ -137,7 +137,7 @@ class CtrlPanel(QObject):
                     auto_tuner_param = inner_param.opts["pid_autotune"]
                     self.autotuners.set_params(auto_tuner_param, ch, new_value)
 
-    @pyqtSlot("QVariantList")
+    @pyqtSlot(list)
     def update_pid(self, pid_settings):
         for settings in pid_settings:
             channel = settings["channel"]
@@ -161,7 +161,7 @@ class CtrlPanel(QObject):
                     "output", "control_method", "target"
                 ).set_value_with_lock(settings["target"])
 
-    @pyqtSlot("QVariantList")
+    @pyqtSlot(list)
     def update_report(self, report_data):
         for settings in report_data:
             channel = settings["channel"]
@@ -183,7 +183,7 @@ class CtrlPanel(QObject):
                             "readings", "tec_i"
                         ).set_value_with_lock(settings["tec_i"])
 
-    @pyqtSlot("QVariantList")
+    @pyqtSlot(list)
     def update_thermistor(self, sh_data):
         for sh_param in sh_data:
             channel = sh_param["channel"]
@@ -198,22 +198,25 @@ class CtrlPanel(QObject):
                     sh_param["params"]["b"]
                 )
 
-    @pyqtSlot("QVariantList")
+    @pyqtSlot(list)
     def update_pwm(self, pwm_data):
         for pwm_params in pwm_data:
             channel = pwm_params["channel"]
             with QSignalBlocker(self.params[channel]):
+                self.params[channel].child(
+                    "output", "polarity"
+                ).set_value_with_lock(pwm_params["polarity"])
                 self.params[channel].child(
                     "output", "limits", "max_v"
-                ).set_value_with_lock(pwm_params["max_v"]["value"])
+                ).set_value_with_lock(pwm_params["max_v"])
                 self.params[channel].child(
                     "output", "limits", "max_i_pos"
-                ).set_value_with_lock(pwm_params["max_i_pos"]["value"])
+                ).set_value_with_lock(pwm_params["max_i_pos"])
                 self.params[channel].child(
                     "output", "limits", "max_i_neg"
-                ).set_value_with_lock(pwm_params["max_i_neg"]["value"])
+                ).set_value_with_lock(pwm_params["max_i_neg"])
 
-    @pyqtSlot("QVariantList")
+    @pyqtSlot(list)
     def update_postfilter(self, postfilter_data):
         for postfilter_params in postfilter_data:
             channel = postfilter_params["channel"]

pytec/pytec/gui/view/param_tree.json

@@ -34,6 +34,19 @@
          "type": "group",
          "tip": "Settings of the output to the TEC",
          "children": [
+            {
+               "name": "polarity",
+               "title": "Polarity",
+               "type": "list",
+               "limits": {
+                  "Normal": "normal",
+                  "Reversed": "reversed"
+               },
+               "thermostat:set_param": {
+                  "topic": "pwm",
+                  "field": "polarity"
+               }
+            },
             {
                "name": "control_method",
                "title": "Control Method",
@@ -290,7 +303,7 @@
                "title": "Ki",
                "type": "float",
                "step": 0.1,
-               "suffix": "Hz",
+               "suffix": "τ⁻¹",
                "noUnitEditing": true,
                "compactHeight": false,
                "thermostat:set_param": {
@@ -305,7 +318,7 @@
                "title": "Kd",
                "type": "float",
                "step": 0.1,
-               "suffix": "s",
+               "suffix": "τ",
                "noUnitEditing": true,
                "compactHeight": false,
                "thermostat:set_param": {
@@ -456,4 +469,4 @@
          "tip": "Load settings from thermostat"
       }
    ]
-}
+}

pytec/pytec/gui/view/zero_limits_warning_view.py

@@ -10,14 +10,14 @@ class ZeroLimitsWarningView(QObject):
         self._lbl = limit_warning
         self._style = style
 
-    @pyqtSlot("QVariantList")
+    @pyqtSlot(list)
     def set_limits_warning(self, pwm_data: list):
         channels_zeroed_limits = [set() for i in range(self._thermostat.NUM_CHANNELS)]
 
         for pwm_params in pwm_data:
             channel = pwm_params["channel"]
             for limit in "max_i_pos", "max_i_neg", "max_v":
-                if pwm_params[limit]["value"] == 0.0:
+                if pwm_params[limit] == 0.0:
                     channels_zeroed_limits[channel].add(limit)
 
         channel_disabled = [False, False]

pytec/tec_qt.py

@@ -1,3 +1,17 @@
+"""GUI for the Sinara 8451 Thermostat"""
+
+import json
+import asyncio
+import logging
+import argparse
+import importlib.resources
+import qasync
+from qasync import asyncSlot, asyncClose
+from autotune import PIDAutotuneState
+from PyQt6 import QtWidgets, QtGui, uic
+from PyQt6.QtCore import pyqtSlot
+from pytec.gui.model.thermostat import Thermostat, ThermostatConnectionState
+from pytec.gui.model.pid_autotuner import PIDAutoTuner
 from pytec.gui.view.zero_limits_warning_view import ZeroLimitsWarningView
 from pytec.gui.view.thermostat_settings_menu import ThermostatSettingsMenu
 from pytec.gui.view.connection_details_menu import ConnectionDetailsMenu
@@ -5,18 +19,6 @@ 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
-from pytec.gui.model.pid_autotuner import PIDAutoTuner
-from pytec.gui.model.thermostat import Thermostat, ThermostatConnectionState
-import json
-from autotune import PIDAutotuneState
-from qasync import asyncSlot, asyncClose
-import qasync
-import asyncio
-import logging
-import argparse
-from PyQt6 import QtWidgets, QtGui, uic
-from PyQt6.QtCore import pyqtSlot
-import importlib.resources
 
 
 def get_argparser():
@@ -75,6 +77,7 @@ class MainWindow(QtWidgets.QMainWindow):
             for ch in range(self.NUM_CHANNELS):
                 if self._autotuners.get_state(ch) != PIDAutotuneState.STATE_OFF:
                     await self._autotuners.stop_pid_from_running(ch)
+
         self._thermostat.disconnect_cb = autotune_disconnect
 
         @pyqtSlot()
@@ -82,6 +85,7 @@ class MainWindow(QtWidgets.QMainWindow):
             self._info_box.display_info_box(
                 "Connection Error", "Thermostat connection lost. Is it unplugged?"
             )
+
         self._thermostat.connection_error.connect(handle_connection_error)
 
         # Control Panel
@@ -103,7 +107,7 @@ class MainWindow(QtWidgets.QMainWindow):
             [
                 [getattr(self, f"ch{ch}_t_graph"), getattr(self, f"ch{ch}_i_graph")]
                 for ch in range(self.NUM_CHANNELS)
-            ]
+            ],
         )
 
         # Bottom bar menus
@@ -165,22 +169,22 @@ class MainWindow(QtWidgets.QMainWindow):
 
     @pyqtSlot(int, PIDAutotuneState)
     def _on_pid_autotune_state_changed(self, _ch, _state):
-        ch_tuning = []
+        autotuning_channels = []
         for ch in range(self.NUM_CHANNELS):
             if self._autotuners.get_state(ch) in {
                 PIDAutotuneState.STATE_READY,
                 PIDAutotuneState.STATE_RELAY_STEP_UP,
                 PIDAutotuneState.STATE_RELAY_STEP_DOWN,
             }:
-                ch_tuning.append(ch)
+                autotuning_channels.append(ch)
 
-        if len(ch_tuning) == 0:
+        if len(autotuning_channels) == 0:
             self.background_task_lbl.setText("Ready.")
             self.loading_spinner.hide()
             self.loading_spinner.stop()
         else:
             self.background_task_lbl.setText(
-                "Autotuning channel {ch}...".format(ch=ch_tuning)
+                f"Autotuning channel {autotuning_channels}..."
             )
             self.loading_spinner.start()
             self.loading_spinner.show()
@@ -189,14 +193,12 @@ class MainWindow(QtWidgets.QMainWindow):
     async def on_connect_btn_clicked(self):
         match self._thermostat.connection_state:
             case ThermostatConnectionState.DISCONNECTED:
-                self._connecting_task = asyncio.create_task(
-                    self._thermostat.start_session(
-                        host=self.connection_details_menu.host_set_line.text(),
-                        port=self.connection_details_menu.port_set_spin.value(),
-                    )
-                )
+                self._connecting_task = asyncio.current_task()
                 self._thermostat.connection_state = ThermostatConnectionState.CONNECTING
-                await self._connecting_task
+                await self._thermostat.start_session(
+                    host=self.connection_details_menu.host_set_line.text(),
+                    port=self.connection_details_menu.port_set_spin.value(),
+                )
                 self._connecting_task = None
                 self._thermostat.connection_state = ThermostatConnectionState.CONNECTED
                 self._thermostat.start_watching()