aioclient: Add missing readline for saving

Saving all channels returns multiple JSON objects, read the extra {}.

flake.lock

@@ -1,12 +1,28 @@
 {
   "nodes": {
+    "mozilla-overlay": {
+      "flake": false,
+      "locked": {
+        "lastModified": 1704373101,
+        "narHash": "sha256-+gi59LRWRQmwROrmE1E2b3mtocwueCQqZ60CwLG+gbg=",
+        "owner": "mozilla",
+        "repo": "nixpkgs-mozilla",
+        "rev": "9b11a87c0cc54e308fa83aac5b4ee1816d5418a2",
+        "type": "github"
+      },
+      "original": {
+        "owner": "mozilla",
+        "repo": "nixpkgs-mozilla",
+        "type": "github"
+      }
+    },
     "nixpkgs": {
       "locked": {
-        "lastModified": 1691421349,
+        "lastModified": 1704290814,
-        "narHash": "sha256-RRJyX0CUrs4uW4gMhd/X4rcDG8PTgaaCQM5rXEJOx6g=",
+        "narHash": "sha256-LWvKHp7kGxk/GEtlrGYV68qIvPHkU9iToomNFGagixU=",
         "owner": "NixOS",
         "repo": "nixpkgs",
-        "rev": "011567f35433879aae5024fc6ec53f2a0568a6c4",
+        "rev": "70bdadeb94ffc8806c0570eb5c2695ad29f0e421",
         "type": "github"
       },
       "original": {
@@ -18,28 +34,8 @@
     },
     "root": {
       "inputs": {
-        "nixpkgs": "nixpkgs",
+        "mozilla-overlay": "mozilla-overlay",
-        "rust-overlay": "rust-overlay"
+        "nixpkgs": "nixpkgs"
-      }
-    },
-    "rust-overlay": {
-      "inputs": {
-        "nixpkgs": [
-          "nixpkgs"
-        ]
-      },
-      "locked": {
-        "lastModified": 1719281921,
-        "narHash": "sha256-LIBMfhM9pMOlEvBI757GOK5l0R58SRi6YpwfYMbf4yc=",
-        "owner": "oxalica",
-        "repo": "rust-overlay",
-        "rev": "b6032d3a404d8a52ecfc8571ff0c26dfbe221d07",
-        "type": "github"
-      },
-      "original": {
-        "owner": "oxalica",
-        "repo": "rust-overlay",
-        "type": "github"
       }
     }
   },

flake.nix

@@ -2,32 +2,36 @@
   description = "Firmware for the Sinara 8451 Thermostat";
 
   inputs.nixpkgs.url = "github:NixOS/nixpkgs/nixos-23.05";
-  inputs.rust-overlay = {
+  inputs.mozilla-overlay = {
-    url = "github:oxalica/rust-overlay";
+    url = "github:mozilla/nixpkgs-mozilla";
-    inputs.nixpkgs.follows = "nixpkgs";
+    flake = false;
   };
 
-  outputs =
+  outputs = { self, nixpkgs, mozilla-overlay, }:
-    {
-      self,
-      nixpkgs,
-      rust-overlay,
-    }:
     let
       pkgs = import nixpkgs {
         system = "x86_64-linux";
-        overlays = [ (import rust-overlay) ];
+        overlays = [ (import mozilla-overlay) ];
+      };
+      rustManifest = pkgs.fetchurl {
+        url =
+          "https://static.rust-lang.org/dist/2022-12-15/channel-rust-stable.toml";
+        hash = "sha256-S7epLlflwt0d1GZP44u5Xosgf6dRrmr8xxC+Ml2Pq7c=";
       };
 
-      rust = pkgs.rust-bin.stable."1.66.0".default.override {
-        extensions = [ "rust-src" ];
       targets = [ "thumbv7em-none-eabihf" ];
+      rustChannelOfTargets = _channel: _date: targets:
+        (pkgs.lib.rustLib.fromManifestFile rustManifest {
+          inherit (pkgs) stdenv lib fetchurl patchelf;
+        }).rust.override {
+          inherit targets;
+          extensions = [ "rust-src" ];
         };
-      rustPlatform = pkgs.makeRustPlatform {
+      rust = rustChannelOfTargets "stable" null targets;
+      rustPlatform = pkgs.recurseIntoAttrs (pkgs.makeRustPlatform {
         rustc = rust;
         cargo = rust;
-      };
+      });
-
       thermostat = rustPlatform.buildRustPackage {
         name = "thermostat";
         version = "0.0.0";
@@ -36,7 +40,8 @@
         cargoLock = {
           lockFile = ./Cargo.lock;
           outputHashes = {
-            "stm32-eth-0.2.0" = "sha256-48RpZgagUqgVeKm7GXdk3Oo0v19ScF9Uby0nTFlve2o=";
+            "stm32-eth-0.2.0" =
+              "sha256-48RpZgagUqgVeKm7GXdk3Oo0v19ScF9Uby0nTFlve2o=";
           };
         };
 
@@ -77,10 +82,7 @@
           inherit pname version;
           hash = "sha256-WBCNhBHHBU4IQdi3ke6F4QH8KWubNZwOAd3jipj/Ks4=";
         };
-        propagatedBuildInputs = with pkgs.python3Packages; [
+        propagatedBuildInputs = with pkgs.python3Packages; [ numpy pyqt6 ];
-          numpy
-          pyqt6
-        ];
       };
 
       qtextras = pkgs.python3Packages.buildPythonPackage rec {
@@ -108,12 +110,22 @@
           hash = "sha256-jqj8X6H1N5mJQ4OrY5ANqRB0YJByqg/bNneEALWmH1A=";
         };
         buildInputs = [ pkgs.python3Packages.poetry-core ];
-        propagatedBuildInputs = [
+        propagatedBuildInputs = [ pyqtgraph pkgs.python3Packages.numpy ];
-          pyqtgraph
-          pkgs.python3Packages.numpy
-        ];
       };
 
+      pytec-dev-wrappers = pkgs.runCommandNoCC "pytec-dev-wrappers" { } ''
+        mkdir -p $out/bin
+        for program in ${self}/pytec/*.py; do
+          if [ -x $program ]; then
+            progname=`basename -s .py $program`
+            outname=$out/bin/$progname
+            echo "#!${pkgs.bash}/bin/bash" >> $outname
+            echo "exec python3 -m pytec.$progname \"\$@\"" >> $outname
+            chmod 755 $outname
+          fi
+        done
+      '';
+
       thermostat_gui = pkgs.python3Packages.buildPythonPackage {
         pname = "thermostat_gui";
         version = "0.0.0";
@@ -121,8 +133,7 @@
         src = "${self}/pytec";
 
         nativeBuildInputs = [ pkgs.qt6.wrapQtAppsHook ];
-        propagatedBuildInputs =
+        propagatedBuildInputs = [ pkgs.qt6.qtbase ]
-          [ pkgs.qt6.qtbase ]
           ++ (with pkgs.python3Packages; [
             pyqtgraph
             pyqt6
@@ -136,31 +147,22 @@
           wrapQtApp "$out/bin/tec_qt"
         '';
       };
-    in
+    in {
-    {
+      packages.x86_64-linux = { inherit thermostat thermostat_gui; };
-      packages.x86_64-linux = {
+
-        inherit thermostat thermostat_gui;
+      formatter.x86_64-linux = nixpkgs.legacyPackages.x86_64-linux.nixfmt;
-        default = thermostat;
-      };
 
       apps.x86_64-linux.thermostat_gui = {
         type = "app";
         program = "${self.packages.x86_64-linux.thermostat_gui}/bin/tec_qt";
       };
 
-      hydraJobs = {
+      hydraJobs = { inherit thermostat; };
-        inherit thermostat;
-      };
 
-      devShells.x86_64-linux.default = pkgs.mkShellNoCC {
+      devShell.x86_64-linux = pkgs.mkShell {
         name = "thermostat-dev-shell";
-        packages =
+        buildInputs = with pkgs;
-          with pkgs;
+          [ rust openocd dfu-util pytec-dev-wrappers ]
-          [
-            rust
-            openocd
-            dfu-util
-          ]
           ++ (with python3Packages; [
             numpy
             matplotlib
@@ -171,6 +173,10 @@
             pglive
             qtextras
           ]);
+        shellHook = ''
+          export PYTHONPATH=`pwd`/pytec:$PYTHONPATH
+        '';
       };
+      defaultPackage.x86_64-linux = thermostat;
     };
 }

pytec/examples/aioexample.py

@@ -4,7 +4,7 @@ from pytec.aioclient import AsyncioClient
 
 async def main():
     tec = AsyncioClient()
-    await tec.start_session()  # (host="192.168.1.26", port=23)
+    await tec.connect()  # (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())

pytec/pyproject.toml

@@ -14,7 +14,7 @@ license = {text = "GPLv3"}
 tec_qt = "tec_qt:main"
 
 [tool.setuptools]
-packages.find = {} # Use setuptools custom discovery, package directory structure isn't standard
+packages.find = {}
 py-modules = ["autotune", "plot", "tec_qt"]
 
 [tool.pylint.format]

pytec/pytec/aioclient.py

@@ -7,56 +7,29 @@ class CommandError(Exception):
     pass
 
 
-class StoppedConnecting(Exception):
-    pass
-
-
 class AsyncioClient:
     def __init__(self):
         self._reader = None
         self._writer = None
-        self._connecting_task = None
         self._command_lock = asyncio.Lock()
         self._report_mode_on = False
-        self.timeout = None
 
-    async def start_session(self, host="192.168.1.26", port=23, timeout=None):
+    async def connect(self, host="192.168.1.26", port=23):
-        """Start session to Thermostat at specified host and port.
+        """Connect to Thermostat at specified host and port.
-        Throws StoppedConnecting if disconnect was called while connecting.
-        Throws asyncio.TimeoutError if timeout was exceeded.
 
         Example::
             client = AsyncioClient()
-            try:
+            await client.connect()
-                await client.start_session()
-            except StoppedConnecting:
-                print("Stopped connecting")
         """
-        self._connecting_task = asyncio.create_task(
+        self._reader, self._writer = await asyncio.open_connection(host, port)
-            asyncio.wait_for(asyncio.open_connection(host, port), timeout)
-        )
-        self.timeout = timeout
-        try:
-            self._reader, self._writer = await self._connecting_task
-        except asyncio.CancelledError as exc:
-            raise StoppedConnecting from exc
-        finally:
-            self._connecting_task = None
-
         await self._check_zero_limits()
 
-    def connecting(self):
-        """Returns True if client is connecting"""
-        return self._connecting_task is not None
-
     def connected(self):
         """Returns True if client is connected"""
         return self._writer is not None
 
-    async def end_session(self):
+    async def disconnect(self):
-        """End session to Thermostat if connected, cancel connection if connecting"""
+        """Disconnect from the Thermostat"""
-        if self._connecting_task is not None:
-            self._connecting_task.cancel()
 
         if self._writer is None:
             return
@@ -80,9 +53,7 @@ class AsyncioClient:
 
     async def _read_line(self):
         # read 1 line
-        chunk = await asyncio.wait_for(
+        chunk = await self._reader.readline()
-            self._reader.readline(), self.timeout
-        )  # Only wait for response until timeout
         return chunk.decode("utf-8", errors="ignore")
 
     async def _read_write(self, command):
@@ -96,7 +67,7 @@ class AsyncioClient:
             line = await self._read_write(command)
 
         response = json.loads(line)
-        logging.debug(f"{command}: {response}")
+        logging.debug("%s: %s", command, response)
         if "error" in response:
             raise CommandError(response["error"])
         return response
@@ -247,6 +218,8 @@ class AsyncioClient:
     async def save_config(self, channel=""):
         """Save current configuration to EEPROM"""
         await self._command("save", str(channel))
+        if channel == "":
+            await self._read_line()  # Read the extra {}
 
     async def load_config(self, channel=""):
         """Load current configuration from EEPROM"""
@@ -267,7 +240,7 @@ class AsyncioClient:
             self._writer.write("reset\n".encode("utf-8"))
             await self._writer.drain()
 
-        await self.end_session()
+        await self.disconnect()
 
     async def dfu(self):
         """Put the Thermostat in DFU update mode
@@ -280,7 +253,7 @@ class AsyncioClient:
             self._writer.write("dfu\n".encode("utf-8"))
             await self._writer.drain()
 
-        await self.end_session()
+        await self.disconnect()
 
     async def ipv4(self):
         """Get the IPv4 settings of the Thermostat"""

pytec/pytec/gui/model/pid_autotuner.py

@@ -1,13 +1,18 @@
-from PyQt6.QtCore import QObject, pyqtSlot
+from PyQt6.QtCore import QObject, pyqtSlot, pyqtSignal
 from qasync import asyncSlot
 from autotune import PIDAutotuneState, PIDAutotune
 
 
 class PIDAutoTuner(QObject):
+    autotune_state_changed = pyqtSignal(int, PIDAutotuneState)
+
     def __init__(self, parent, thermostat, num_of_channel):
         super().__init__(parent)
 
         self._thermostat = thermostat
+        self._thermostat.report_update.connect(self.tick)
+        self._thermostat.interval_update.connect(self.update_sampling_interval)
+
         self.autotuners = [PIDAutotune(25) for _ in range(num_of_channel)]
         self.target_temp = [20.0 for _ in range(num_of_channel)]
         self.test_current = [1.0 for _ in range(num_of_channel)]
@@ -34,9 +39,11 @@ class PIDAutoTuner(QObject):
             self.lookback[ch],
         )
         self.autotuners[ch].setReady()
+        self.autotune_state_changed.emit(ch, self.autotuners[ch].state())
 
     async def stop_pid_from_running(self, ch):
         self.autotuners[ch].setOff()
+        self.autotune_state_changed.emit(ch, self.autotuners[ch].state())
         await self._thermostat.set_param("pwm", ch, "i_set", 0)
 
     @asyncSlot(list)
@@ -62,6 +69,7 @@ class PIDAutoTuner(QObject):
                 case PIDAutotuneState.STATE_SUCCEEDED:
                     kp, ki, kd = self.autotuners[ch].get_tec_pid()
                     self.autotuners[ch].setOff()
+                    self.autotune_state_changed.emit(ch, self.autotuners[ch].state())
 
                     await self._thermostat.set_param("pid", ch, "kp", kp)
                     await self._thermostat.set_param("pid", ch, "ki", ki)
@@ -73,4 +81,5 @@ class PIDAutoTuner(QObject):
                     )
                 case PIDAutotuneState.STATE_FAILED:
                     self.autotuners[ch].setOff()
+                    self.autotune_state_changed.emit(ch, self.autotuners[ch].state())
                     await self._thermostat.set_param("pwm", ch, "i_set", 0)

pytec/pytec/gui/model/thermostat.py

@@ -3,9 +3,16 @@ from qasync import asyncSlot
 from pytec.gui.model.property import Property, PropertyMeta
 import asyncio
 import logging
+from enum import Enum
 from pytec.aioclient import AsyncioClient
 
 
+class ThermostatConnectionState(Enum):
+    DISCONNECTED = "disconnected"
+    CONNECTING = "connecting"
+    CONNECTED = "connected"
+
+
 class Thermostat(QObject, metaclass=PropertyMeta):
     hw_rev = Property(dict)
     fan = Property(dict)
@@ -17,6 +24,7 @@ class Thermostat(QObject, metaclass=PropertyMeta):
     report = Property(list)
     info_box_trigger = pyqtSignal(str, str)
     connection_error = pyqtSignal()
+    connection_state_changed = pyqtSignal(ThermostatConnectionState)
 
     def __init__(self, parent, update_s):
         self._update_s = update_s
@@ -24,51 +32,63 @@ class Thermostat(QObject, metaclass=PropertyMeta):
         self._watch_task = None
         self._report_mode_task = None
         self._poll_for_report = True
+        self._update_params_task = None
+        self.connection_errored = False
         super().__init__(parent)
 
     async def start_session(self, host, port):
-        await self._client.start_session(host, port, timeout=5)
+        self.connection_state_changed.emit(ThermostatConnectionState.CONNECTING)
+        await self._client.connect(host, port)
+        await self.get_hw_rev()
+        self.connection_state_changed.emit(ThermostatConnectionState.CONNECTED)
+        self.start_watching()
 
     async def run(self):
-        self.task = asyncio.create_task(self.update_params())
+        self._update_params_task = asyncio.create_task(self.update_params())
         while True:
-            if self.task.done():
+            if self._update_params_task.done():
-                if self.task.exception() is not None:
                 try:
-                        raise self.task.exception()
+                    self._update_params_task.result()
-                    except asyncio.TimeoutError:
+                except OSError:
                     logging.error(
-                            "Encountered an error while updating parameter tree.",
+                        "Encountered an error while polling for information from Thermostat.",
                         exc_info=True,
                     )
                     self.connection_error.emit()
                     return
-                _ = self.task.result()
+                self._update_params_task = asyncio.create_task(self.update_params())
-                self.task = asyncio.create_task(self.update_params())
             await asyncio.sleep(self._update_s)
 
+    @pyqtSlot()
+    def timed_out(self):
+        self.connection_errored = True
+
     async def get_hw_rev(self):
         self.hw_rev = await self._client.hw_rev()
         return self.hw_rev
 
     async def update_params(self):
-        self.fan = await self._client.get_fan()
+        fan_task = asyncio.create_task(self._client.get_fan())
-        self.pwm = await self._client.get_pwm()
+        pwm_task = asyncio.create_task(self._client.get_pwm())
+        pid_task = asyncio.create_task(self._client.get_pid())
+        report_task = asyncio.create_task(self._client.report())
+        thermistor_task = asyncio.create_task(self._client.get_steinhart_hart())
+        postfilter_task = asyncio.create_task(self._client.get_postfilter())
+
+        self.fan = await fan_task
+        self.pwm = await pwm_task
         if self._poll_for_report:
-            self.report = await self._client.report()
+            self.report = await report_task
             self.interval = [
                 self.report[i]["interval"] for i in range(len(self.report))
             ]
-        self.pid = await self._client.get_pid()
+        self.pid = await pid_task
-        self.thermistor = await self._client.get_steinhart_hart()
+        self.thermistor = await thermistor_task
-        self.postfilter = await self._client.get_postfilter()
+        self.postfilter = await postfilter_task
 
     def connected(self):
         return self._client.connected()
 
-    def connecting(self):
-        return self._client.connecting()
-
     def start_watching(self):
         self._watch_task = asyncio.create_task(self.run())
 
@@ -78,8 +98,8 @@ class Thermostat(QObject, metaclass=PropertyMeta):
             await self.set_report_mode(False)
             self._watch_task.cancel()
             self._watch_task = None
-            self.task.cancel()
+            self._update_params_task.cancel()
-            self.task = None
+            self._update_params_task = None
 
     async def set_report_mode(self, enabled: bool):
         self._poll_for_report = not enabled
@@ -95,8 +115,13 @@ class Thermostat(QObject, metaclass=PropertyMeta):
                 self.report[i]["interval"] for i in range(len(self.report))
             ]
 
+    @asyncSlot()
     async def end_session(self):
-        await self._client.end_session()
+        await self.set_report_mode(False)
+        self.stop_watching()
+        await self._client.disconnect()
+        self.connection_state_changed.emit(ThermostatConnectionState.DISCONNECTED)
+        self.connection_errored = False
 
     async def set_ipv4(self, ipv4):
         await self._client.set_param("ipv4", ipv4)
@@ -105,18 +130,12 @@ class Thermostat(QObject, metaclass=PropertyMeta):
         return await self._client.ipv4()
 
     @asyncSlot()
-    async def save_cfg(self, ch):
+    async def save_cfg(self, ch=""):
         await self._client.save_config(ch)
-        self.info_box_trigger.emit(
-            "Settings loaded", f"Channel {ch} Settings has been saved to flash."
-        )
 
     @asyncSlot()
-    async def load_cfg(self, ch):
+    async def load_cfg(self, ch=""):
         await self._client.load_config(ch)
-        self.info_box_trigger.emit(
-            "Settings loaded", f"Channel {ch} Settings has been loaded from flash."
-        )
 
     async def dfu(self):
         await self._client.dfu()

pytec/pytec/gui/view/ctrl_panel.py

@@ -1,9 +1,12 @@
+from functools import partial
 from PyQt6.QtCore import pyqtSignal, QObject, QSignalBlocker, pyqtSlot
 import pyqtgraph.parametertree.parameterTypes as pTypes
 from pyqtgraph.parametertree import (
     Parameter,
     registerParameterType,
 )
+from qasync import asyncSlot
+from autotune import PIDAutotuneState
 
 
 class MutexParameter(pTypes.ListParameter):
@@ -42,26 +45,23 @@ class MutexParameter(pTypes.ListParameter):
 registerParameterType("mutex", MutexParameter)
 
 
-def set_tree_label_tips(tree):
-    for item in tree.listAllItems():
-        p = item.param
-        if "tip" in p.opts:
-            item.setToolTip(0, p.opts["tip"])
-
-
 class CtrlPanel(QObject):
     set_zero_limits_warning_sig = pyqtSignal(list)
 
     def __init__(
         self,
+        thermostat,
+        autotuners,
+        info_box,
         trees_ui,
         param_tree,
-        sigTreeStateChanged_handle,
-        sigActivated_handles,
         parent=None,
     ):
         super().__init__(parent)
 
+        self.thermostat = thermostat
+        self.autotuners = autotuners
+        self.info_box = info_box
         self.trees_ui = trees_ui
         self.NUM_CHANNELS = len(trees_ui)
 
@@ -84,12 +84,23 @@ class CtrlPanel(QObject):
             tree.setHeaderHidden(True)
             tree.setParameters(self.params[i], showTop=False)
             self.params[i].setValue = self._setValue
-            self.params[i].sigTreeStateChanged.connect(sigTreeStateChanged_handle)
+            self.params[i].sigTreeStateChanged.connect(self.send_command)
 
-            set_tree_label_tips(tree)
+            self.params[i].child("Save to flash").sigActivated.connect(
+                partial(self.save_settings, i)
+            )
+            self.params[i].child("Load from flash").sigActivated.connect(
+                partial(self.load_settings, i)
+            )
+            self.params[i].child(
+                "PID Config", "PID Auto Tune", "Run"
+            ).sigActivated.connect(partial(self.pid_auto_tune_request, i))
 
-            for handle in sigActivated_handles[i]:
+        self.thermostat.pid_update.connect(self.update_pid)
-                self.params[i].child(*handle[0]).sigActivated.connect(handle[1])
+        self.thermostat.report_update.connect(self.update_report)
+        self.thermostat.thermistor_update.connect(self.update_thermistor)
+        self.thermostat.pwm_update.connect(self.update_pwm)
+        self.thermostat.postfilter_update.connect(self.update_postfilter)
 
     def _setValue(self, value, blockSignal=None):
         """
@@ -120,28 +131,66 @@ class CtrlPanel(QObject):
     def change_params_title(self, channel, path, title):
         self.params[channel].child(*path).setOpts(title=title)
 
+    @asyncSlot(object, object)
+    async def send_command(self, param, changes):
+        """Translates parameter tree changes into thermostat set_param calls"""
+        ch = param.channel
+
+        for inner_param, change, data in changes:
+            if change == "value":
+                if inner_param.opts.get("param", None) is not None:
+                    if inner_param.opts.get("suffix", None) == "mA":
+                        data /= 1000  # Given in mA
+
+                    thermostat_param = inner_param.opts["param"]
+                    if thermostat_param[1] == "ch":
+                        thermostat_param[1] = ch
+
+                    if inner_param.name() == "Postfilter Rate" and data is None:
+                        set_param_args = (*thermostat_param[:2], "off")
+                    else:
+                        set_param_args = (*thermostat_param, data)
+                    param.child(*param.childPath(inner_param)).setOpts(lock=True)
+                    await self.thermostat.set_param(*set_param_args)
+                    param.child(*param.childPath(inner_param)).setOpts(lock=False)
+
+                if inner_param.opts.get("pid_autotune", None) is not None:
+                    auto_tuner_param = inner_param.opts["pid_autotune"][0]
+                    if inner_param.opts["pid_autotune"][1] != "ch":
+                        ch = inner_param.opts["pid_autotune"][1]
+                    self.autotuners.set_params(auto_tuner_param, ch, data)
+
+                if inner_param.opts.get("activaters", None) is not None:
+                    activater = inner_param.opts["activaters"][
+                        inner_param.opts["limits"].index(data)
+                    ]
+                    if activater is not None:
+                        if activater[1] == "ch":
+                            activater[1] = ch
+                        await self.thermostat.set_param(*activater)
+
     @pyqtSlot("QVariantList")
     def update_pid(self, pid_settings):
         for settings in pid_settings:
             channel = settings["channel"]
             with QSignalBlocker(self.params[channel]):
-                self.params[channel].child("pid", "kp").setValue(
+                self.params[channel].child("PID Config", "Kp").setValue(
                     settings["parameters"]["kp"]
                 )
-                self.params[channel].child("pid", "ki").setValue(
+                self.params[channel].child("PID Config", "Ki").setValue(
                     settings["parameters"]["ki"]
                 )
-                self.params[channel].child("pid", "kd").setValue(
+                self.params[channel].child("PID Config", "Kd").setValue(
                     settings["parameters"]["kd"]
                 )
                 self.params[channel].child(
-                    "pid", "pid_output_clamping", "output_min"
+                    "PID Config", "PID Output Clamping", "Minimum"
                 ).setValue(settings["parameters"]["output_min"] * 1000)
                 self.params[channel].child(
-                    "pid", "pid_output_clamping", "output_max"
+                    "PID Config", "PID Output Clamping", "Maximum"
                 ).setValue(settings["parameters"]["output_max"] * 1000)
                 self.params[channel].child(
-                    "output", "control_method", "set_temperature"
+                    "Output Config", "Control Method", "Set Temperature"
                 ).setValue(settings["target"])
 
     @pyqtSlot("QVariantList")
@@ -149,19 +198,19 @@ class CtrlPanel(QObject):
         for settings in report_data:
             channel = settings["channel"]
             with QSignalBlocker(self.params[channel]):
-                self.params[channel].child("output", "control_method").setValue(
+                self.params[channel].child("Output Config", "Control Method").setValue(
-                    "temperature_pid" if settings["pid_engaged"] else "constant_current"
+                    "Temperature PID" if settings["pid_engaged"] else "Constant Current"
                 )
                 self.params[channel].child(
-                    "output", "control_method", "set_current"
+                    "Output Config", "Control Method", "Set Current"
                 ).setValue(settings["i_set"] * 1000)
                 if settings["temperature"] is not None:
-                    self.params[channel].child("temperature").setValue(
+                    self.params[channel].child("Temperature").setValue(
                         settings["temperature"]
                     )
                     if settings["tec_i"] is not None:
-                        self.params[channel].child("current").setValue(
+                        self.params[channel].child("Current through TEC").setValue(
-                            settings["tec_i"]
+                            settings["tec_i"] * 1000
                         )
 
     @pyqtSlot("QVariantList")
@@ -169,13 +218,13 @@ class CtrlPanel(QObject):
         for sh_param in sh_data:
             channel = sh_param["channel"]
             with QSignalBlocker(self.params[channel]):
-                self.params[channel].child("thermistor", "t0").setValue(
+                self.params[channel].child("Thermistor Config", "T₀").setValue(
                     sh_param["params"]["t0"] - 273.15
                 )
-                self.params[channel].child("thermistor", "r0").setValue(
+                self.params[channel].child("Thermistor Config", "R₀").setValue(
                     sh_param["params"]["r0"]
                 )
-                self.params[channel].child("thermistor", "b").setValue(
+                self.params[channel].child("Thermistor Config", "B").setValue(
                     sh_param["params"]["b"]
                 )
 
@@ -186,15 +235,15 @@ class CtrlPanel(QObject):
         for pwm_params in pwm_data:
             channel = pwm_params["channel"]
             with QSignalBlocker(self.params[channel]):
-                self.params[channel].child("output", "limits", "max_v").setValue(
+                self.params[channel].child(
-                    pwm_params["max_v"]["value"]
+                    "Output Config", "Limits", "Max Voltage Difference"
-                )
+                ).setValue(pwm_params["max_v"]["value"])
-                self.params[channel].child("output", "limits", "max_i_pos").setValue(
+                self.params[channel].child(
-                    pwm_params["max_i_pos"]["value"] * 1000
+                    "Output Config", "Limits", "Max Cooling Current"
-                )
+                ).setValue(pwm_params["max_i_pos"]["value"] * 1000)
-                self.params[channel].child("output", "limits", "max_i_neg").setValue(
+                self.params[channel].child(
-                    pwm_params["max_i_neg"]["value"] * 1000
+                    "Output Config", "Limits", "Max Heating Current"
-                )
+                ).setValue(pwm_params["max_i_neg"]["value"] * 1000)
 
             for limit in "max_i_pos", "max_i_neg", "max_v":
                 if pwm_params[limit]["value"] == 0.0:
@@ -206,6 +255,39 @@ class CtrlPanel(QObject):
         for postfilter_params in postfilter_data:
             channel = postfilter_params["channel"]
             with QSignalBlocker(self.params[channel]):
-                self.params[channel].child("thermistor", "postfilter_rate").setValue(
+                self.params[channel].child(
-                    postfilter_params["rate"]
+                    "Thermistor Config", "Postfilter Rate"
+                ).setValue(postfilter_params["rate"])
+
+    @asyncSlot(int)
+    async def load_settings(self, ch):
+        await self.thermostat.load_cfg(ch)
+
+        self.info_box.display_info_box(
+            f"Channel {ch} settings loaded",
+            f"Channel {ch} settings has been loaded from flash.",
         )
+
+    @asyncSlot(int)
+    async def save_settings(self, ch):
+        await self.thermostat.save_cfg(ch)
+
+        self.info_box.display_info_box(
+            f"Channel {ch} settings saved",
+            f"Channel {ch} settings has been saved to flash.\n"
+            "It will be loaded on Thermostat reset, or when settings are explicitly loaded.",
+        )
+
+    @asyncSlot()
+    async def pid_auto_tune_request(self, ch=0):
+        match self.autotuners.get_state(ch):
+            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
+            ):
+                await self.autotuners.stop_pid_from_running(ch)
+

pytec/pytec/gui/view/live_plot_view.py

@@ -10,8 +10,12 @@ pg.setConfigOptions(antialias=True)
 
 
 class LiveDataPlotter(QObject):
-    def __init__(self, live_plots):
+    def __init__(self, thermostat, live_plots):
         super().__init__()
+        self._thermostat = thermostat
+
+        self._thermostat.report_update.connect(self.update_report)
+        self._thermostat.pid_update.connect(self.update_pid)
 
         self.NUM_CHANNELS = len(live_plots)
         self.graphs = []

pytec/pytec/gui/view/param_tree.json

@@ -1,36 +1,31 @@
 {
-   "ctrl_panel": [
+    "ctrl_panel":[
        {
-         "name": "temperature",
+          "name":"Temperature",
-         "title": "Temperature",
+          "type":"float",
-         "type": "float",
+          "format":"{value:.4f} °C",
-         "format": "{value:.4f} °C",
+          "readonly":true
-         "readonly": true
        },
        {
-         "name": "current",
+          "name":"Current through TEC",
-         "title": "Current through TEC",
+          "type":"float",
-         "type": "float",
+          "suffix":"mA",
-         "siPrefix": true,
+          "decimals":6,
-         "suffix": "A",
+          "readonly":true
-         "decimals": 6,
-         "readonly": true
        },
        {
-         "name": "output",
+          "name":"Output Config",
-         "title": "Output Settings",
+          "expanded":true,
-         "expanded": true,
+          "type":"group",
-         "type": "group",
+          "children":[
-         "children": [
              {
-               "name": "control_method",
+                "name":"Control Method",
-               "title": "Control Method",
+                "type":"mutex",
-               "type": "mutex",
+                "limits":[
-               "limits": {
+                   "Constant Current",
-                  "Constant Current": "constant_current",
+                   "Temperature PID"
-                  "Temperature PID": "temperature_pid"
+                ],
-               },
+                "activaters":[
-               "activaters": [
                    null,
                    [
                       "pwm",
@@ -38,370 +33,333 @@
                       "pid"
                    ]
                 ],
-               "children": [
+                "children":[
                    {
-                     "name": "set_current",
+                      "name":"Set Current",
-                     "title": "Set Current (mA)",
+                      "type":"float",
-                     "type": "float",
+                      "value":0,
-                     "value": 0,
+                      "step":100,
-                     "step": 100,
+                      "limits":[
-                     "limits": [
                          -2000,
                          2000
                       ],
-                     "triggerOnShow": true,
+                      "triggerOnShow":true,
-                     "decimals": 6,
+                      "decimals":6,
-                     "compactHeight": false,
+                      "suffix":"mA",
-                     "param": [
+                      "param":[
                          "pwm",
                          "ch",
                          "i_set"
                       ],
-                     "lock": false
+                      "lock":false
                    },
                    {
-                     "name": "set_temperature",
+                      "name":"Set Temperature",
-                     "title": "Set Temperature (°C)",
+                      "type":"float",
-                     "type": "float",
+                      "value":25,
-                     "value": 25,
+                      "step":0.1,
-                     "step": 0.1,
+                      "limits":[
-                     "limits": [
                          -273,
                          300
                       ],
-                     "format": "{value:.4f}",
+                      "format":"{value:.4f} °C",
-                     "compactHeight": false,
+                      "param":[
-                     "param": [
                          "pid",
                          "ch",
                          "target"
                       ],
-                     "lock": false
+                      "lock":false
                    }
                 ]
              },
              {
-               "name": "limits",
+                "name":"Limits",
-               "title": "Limits",
+                "expanded":true,
-               "expanded": true,
+                "type":"group",
-               "type": "group",
+                "children":[
-               "children": [
                    {
-                     "name": "max_i_pos",
+                      "name":"Max Cooling Current",
-                     "title": "Max Cooling Current (mA)",
+                      "type":"float",
-                     "type": "float",
+                      "value":0,
-                     "value": 0,
+                      "step":100,
-                     "step": 100,
+                      "decimals":6,
-                     "decimals": 6,
+                      "limits":[
-                     "compactHeight": false,
-                     "limits": [
                          0,
                          2000
                       ],
-                     "param": [
+                      "suffix":"mA",
+                      "param":[
                          "pwm",
                          "ch",
                          "max_i_pos"
                       ],
-                     "lock": false
+                      "lock":false
                    },
                    {
-                     "name": "max_i_neg",
+                      "name":"Max Heating Current",
-                     "title": "Max Heating Current (mA)",
+                      "type":"float",
-                     "type": "float",
+                      "value":0,
-                     "value": 0,
+                      "step":100,
-                     "step": 100,
+                      "decimals":6,
-                     "decimals": 6,
+                      "limits":[
-                     "compactHeight": false,
-                     "limits": [
                          0,
                          2000
                       ],
-                     "param": [
+                      "suffix":"mA",
+                      "param":[
                          "pwm",
                          "ch",
                          "max_i_neg"
                       ],
-                     "lock": false
+                      "lock":false
                    },
                    {
-                     "name": "max_v",
+                      "name":"Max Voltage Difference",
-                     "title": "Max Voltage Difference (V)",
+                      "type":"float",
-                     "type": "float",
+                      "value":0,
-                     "value": 0,
+                      "step":0.1,
-                     "step": 0.1,
+                      "limits":[
-                     "limits": [
                          0,
                          5
                       ],
-                     "siPrefix": true,
+                      "siPrefix":true,
-                     "compactHeight": false,
+                      "suffix":"V",
-                     "param": [
+                      "param":[
                          "pwm",
                          "ch",
                          "max_v"
                       ],
-                     "lock": false
+                      "lock":false
                    }
                 ]
              }
           ]
        },
        {
-         "name": "thermistor",
+          "name":"Thermistor Config",
-         "title": "Thermistor Settings",
+          "expanded":true,
-         "expanded": true,
+          "type":"group",
-         "type": "group",
+          "children":[
-         "tip": "Settings of the connected Thermistor",
-         "children": [
              {
-               "name": "t0",
+                "name":"T₀",
-               "title": "T₀ (°C)",
+                "type":"float",
-               "type": "float",
+                "value":25,
-               "value": 25,
+                "step":0.1,
-               "step": 0.1,
+                "limits":[
-               "limits": [
                    -100,
                    100
                 ],
-               "format": "{value:.4f}",
+                "format":"{value:.4f} °C",
-               "compactHeight": false,
+                "param":[
-               "param": [
                    "s-h",
                    "ch",
                    "t0"
                 ],
-               "tip": "The origin temperature for the B-Parameter Formula",
+                "lock":false
-               "lock": false
              },
              {
-               "name": "r0",
+                "name":"R₀",
-               "title": "R₀ (Ω)",
+                "type":"float",
-               "type": "float",
+                "value":10000,
-               "value": 10000,
+                "step":1,
-               "step": 1,
+                "siPrefix":true,
-               "siPrefix": true,
+                "suffix":"Ω",
-               "compactHeight": false,
+                "param":[
-               "param": [
                    "s-h",
                    "ch",
                    "r0"
                 ],
-               "tip": "The origin resistance for the B-Parameter Formula",
+                "lock":false
-               "lock": false
              },
              {
-               "name": "b",
+                "name":"B",
-               "title": "B (K)",
+                "type":"float",
-               "type": "float",
+                "value":3950,
-               "value": 3950,
+                "step":1,
-               "step": 1,
+                "suffix":"K",
-               "decimals": 4,
+                "decimals":4,
-               "compactHeight": false,
+                "param":[
-               "param": [
                    "s-h",
                    "ch",
                    "b"
                 ],
-               "lock": false
+                "lock":false
              },
              {
-               "name": "postfilter_rate",
+                "name":"Postfilter Rate",
-               "title": "Postfilter Rate",
+                "type":"list",
-               "type": "list",
+                "value":16.67,
-               "value": 16.67,
+                "param":[
-               "param": [
                    "postfilter",
                    "ch",
                    "rate"
                 ],
-               "limits": {
+                "limits":{
-                  "Off": null,
+                   "Off":null,
-                  "16.67 Hz": 16.67,
+                   "16.67 Hz":16.67,
-                  "20 Hz": 20.0,
+                   "20 Hz":20.0,
-                  "21.25 Hz": 21.25,
+                   "21.25 Hz":21.25,
-                  "27 Hz": 27.0
+                   "27 Hz":27.0
                 },
-               "lock": false
+                "lock":false
              }
           ]
        },
        {
-         "name": "pid",
+          "name":"PID Config",
-         "title": "PID Settings",
+          "expanded":true,
-         "expanded": true,
+          "type":"group",
-         "type": "group",
+          "children":[
-         "children": [
              {
-               "name": "kp",
+                "name":"Kp",
-               "title": "Kp",
+                "type":"float",
-               "type": "float",
+                "step":0.1,
-               "step": 0.1,
+                "suffix":"",
-               "suffix": "",
+                "param":[
-               "compactHeight": false,
-               "param": [
                    "pid",
                    "ch",
                    "kp"
                 ],
-               "lock": false
+                "lock":false
              },
              {
-               "name": "ki",
+                "name":"Ki",
-               "title": "Ki",
+                "type":"float",
-               "type": "float",
+                "step":0.1,
-               "step": 0.1,
+                "suffix":"Hz",
-               "suffix": "Hz",
+                "param":[
-               "compactHeight": false,
-               "param": [
                    "pid",
                    "ch",
                    "ki"
                 ],
-               "lock": false
+                "lock":false
              },
              {
-               "name": "kd",
+                "name":"Kd",
-               "title": "Kd",
+                "type":"float",
-               "type": "float",
+                "step":0.1,
-               "step": 0.1,
+                "suffix":"s",
-               "suffix": "s",
+                "param":[
-               "compactHeight": false,
-               "param": [
                    "pid",
                    "ch",
                    "kd"
                 ],
-               "lock": false
+                "lock":false
              },
              {
-               "name": "pid_output_clamping",
+                "name":"PID Output Clamping",
-               "title": "PID Output Clamping",
+                "expanded":true,
-               "expanded": true,
+                "type":"group",
-               "type": "group",
+                "children":[
-               "children": [
                    {
-                     "name": "output_min",
+                      "name":"Minimum",
-                     "title": "Minimum (mA)",
+                      "type":"float",
-                     "type": "float",
+                      "step":100,
-                     "step": 100,
+                      "limits":[
-                     "limits": [
                          -2000,
                          2000
                       ],
-                     "decimals": 6,
+                      "decimals":6,
-                     "compactHeight": false,
+                      "suffix":"mA",
-                     "param": [
+                      "param":[
                          "pid",
                          "ch",
                          "output_min"
                       ],
-                     "lock": false
+                      "lock":false
                    },
                    {
-                     "name": "output_max",
+                      "name":"Maximum",
-                     "title": "Maximum (mA)",
+                      "type":"float",
-                     "type": "float",
+                      "step":100,
-                     "step": 100,
+                      "limits":[
-                     "limits": [
                          -2000,
                          2000
                       ],
-                     "decimals": 6,
+                      "decimals":6,
-                     "compactHeight": false,
+                      "suffix":"mA",
-                     "param": [
+                      "param":[
                          "pid",
                          "ch",
                          "output_max"
                       ],
-                     "lock": false
+                      "lock":false
                    }
                 ]
              },
              {
-               "name": "pid_autotune",
+                "name":"PID Auto Tune",
-               "title": "PID Autotune",
+                "expanded":false,
-               "expanded": false,
+                "type":"group",
-               "type": "group",
+                "children":[
-               "children": [
                    {
-                     "name": "target_temp",
+                      "name":"Target Temperature",
-                     "title": "Target Temperature (°C)",
+                      "type":"float",
-                     "type": "float",
+                      "value":20,
-                     "value": 20,
+                      "step":0.1,
-                     "step": 0.1,
+                      "format":"{value:.4f} °C",
-                     "format": "{value:.4f}",
+                      "pid_autotune":[
-                     "compactHeight": false,
-                     "pid_autotune": [
                          "target_temp",
                          "ch"
                       ]
                    },
                    {
-                     "name": "test_current",
+                      "name":"Test Current",
-                     "title": "Test Current (mA)",
+                      "type":"float",
-                     "type": "float",
+                      "value":0,
-                     "value": 0,
+                      "decimals":6,
-                     "decimals": 6,
+                      "step":100,
-                     "compactHeight": false,
+                      "limits":[
-                     "step": 100,
-                     "limits": [
                          -2000,
                          2000
                       ],
-                     "pid_autotune": [
+                      "suffix":"mA",
+                      "pid_autotune":[
                          "test_current",
                          "ch"
                       ]
                    },
                    {
-                     "name": "temp_swing",
+                      "name":"Temperature Swing",
-                     "title": "Temperature Swing (°C)",
+                      "type":"float",
-                     "type": "float",
+                      "value":1.5,
-                     "value": 1.5,
+                      "step":0.1,
-                     "step": 0.1,
+                      "prefix":"±",
-                     "prefix": "±",
+                      "format":"{value:.4f} °C",
-                     "format": "{value:.4f}",
+                      "pid_autotune":[
-                     "compactHeight": false,
-                     "pid_autotune": [
                          "temp_swing",
                          "ch"
                       ]
                    },
                    {
-                     "name": "lookback",
+                     "name":"Lookback",
-                     "title": "Lookback (s)",
+                     "type":"float",
-                     "type": "float",
+                     "value":3.0,
-                     "value": 3.0,
+                     "step":0.1,
-                     "step": 0.1,
+                     "format":"{value:.4f} s",
-                     "format": "{value:.4f}",
+                     "pid_autotune":[
-                     "compactHeight": false,
-                     "pid_autotune": [
                         "lookback",
                         "ch"
                      ]
                   },
                    {
-                     "name": "run_pid",
+                      "name":"Run",
-                     "title": "Run",
+                      "type":"action",
-                     "type": "action",
+                      "tip":"Run"
-                     "tip": "Run PID Autotune with above settings"
                    }
                 ]
              }
           ]
        },
        {
-         "name": "save",
+          "name":"Save to flash",
-         "title": "Save to flash",
+          "type":"action",
-         "type": "action",
+          "tip":"Save config to thermostat, applies on reset"
-         "tip": "Save settings to thermostat, applies on reset"
        },
        {
-         "name": "load",
+          "name":"Load from flash",
-         "title": "Load from flash",
+          "type":"action",
-         "type": "action",
+          "tip":"Load config from flash"
-         "tip": "Load settings from flash"
        }
     ]
-}
+ }

pytec/pytec/gui/view/plot_options_menu.py

@@ -2,18 +2,22 @@ from PyQt6 import QtWidgets, QtGui
 
 
 class PlotOptionsMenu(QtWidgets.QMenu):
-    def __init__(self, max_samples=1000):
+    def __init__(self, channel_graphs, max_samples=1000):
         super().__init__()
+        self.channel_graphs = channel_graphs
+
         self.setTitle("Plot Settings")
 
         clear = QtGui.QAction("Clear graphs", self)
         self.addAction(clear)
         self.clear = clear
+        self.clear.triggered.connect(self.channel_graphs.clear_graphs)
 
         self.samples_spinbox = QtWidgets.QSpinBox()
         self.samples_spinbox.setRange(2, 100000)
         self.samples_spinbox.setSuffix(" samples")
         self.samples_spinbox.setValue(max_samples)
+        self.samples_spinbox.valueChanged.connect(self.channel_graphs.set_max_samples)
 
         limit_samples = QtWidgets.QWidgetAction(self)
         limit_samples.setDefaultWidget(self.samples_spinbox)

pytec/pytec/gui/view/thermostat_ctrl_menu.py

@@ -1,24 +1,20 @@
+import logging
 from PyQt6 import QtWidgets, QtGui, QtCore
-from PyQt6.QtCore import pyqtSignal, pyqtSlot
+from PyQt6.QtCore import pyqtSignal, pyqtSlot, QSignalBlocker
+from qasync import asyncSlot
+from pytec.gui.view.net_settings_input_diag import NetSettingsInputDiag
 
 
 class ThermostatCtrlMenu(QtWidgets.QMenu):
-    fan_set_act = pyqtSignal(int)
+    def __init__(self, thermostat, info_box, style):
-    fan_auto_set_act = pyqtSignal(int)
-
-    connect_act = pyqtSignal()
-    reset_act = pyqtSignal(bool)
-    dfu_act = pyqtSignal(bool)
-    load_cfg_act = pyqtSignal(int)
-    save_cfg_act = pyqtSignal(int)
-    net_cfg_act = pyqtSignal(bool)
-
-    def __init__(self, style):
         super().__init__()
+        self._thermostat = thermostat
+        self._info_box = info_box
         self._style = style
         self.setTitle("Thermostat settings")
 
         self.hw_rev_data = dict()
+        self._thermostat.hw_rev_update.connect(self.hw_rev)
 
         self.fan_group = QtWidgets.QWidget()
         self.fan_group.setEnabled(False)
@@ -45,8 +41,9 @@ class ThermostatCtrlMenu(QtWidgets.QMenu):
         self.fan_pwm_warning.setMinimumSize(QtCore.QSize(16, 0))
         self.fan_layout.addWidget(self.fan_pwm_warning)
 
-        self.fan_power_slider.valueChanged.connect(self.fan_set_act)
+        self.fan_power_slider.valueChanged.connect(self.fan_set_request)
-        self.fan_auto_box.stateChanged.connect(self.fan_auto_set_act)
+        self.fan_auto_box.stateChanged.connect(self.fan_auto_set_request)
+        self._thermostat.fan_update.connect(self.fan_update)
 
         self.fan_lbl.setToolTip("Adjust the fan")
         self.fan_lbl.setText("Fan:")
@@ -58,40 +55,36 @@ class ThermostatCtrlMenu(QtWidgets.QMenu):
         self.fan = fan
 
         self.actionReset = QtGui.QAction("Reset Thermostat", self)
-        self.actionReset.triggered.connect(self.reset_act)
+        self.actionReset.triggered.connect(self.reset_request)
         self.addAction(self.actionReset)
 
         self.actionEnter_DFU_Mode = QtGui.QAction("Enter DFU Mode", self)
-        self.actionEnter_DFU_Mode.triggered.connect(self.dfu_act)
+        self.actionEnter_DFU_Mode.triggered.connect(self.dfu_request)
         self.addAction(self.actionEnter_DFU_Mode)
 
         self.actionnet_settings_input_diag = QtGui.QAction("Set IPV4 Settings", self)
-        self.actionnet_settings_input_diag.triggered.connect(self.net_cfg_act)
+        self.actionnet_settings_input_diag.triggered.connect(self.net_settings_request)
         self.addAction(self.actionnet_settings_input_diag)
 
-        @pyqtSlot(bool)
+        @asyncSlot(bool)
-        def load(_):
+        async def load(_):
-            self.load_cfg_act.emit(0)
+            await self._thermostat.load_cfg()
-            self.load_cfg_act.emit(1)
+
-            loaded = QtWidgets.QMessageBox(self)
+            self._info_box.display_info_box(
-            loaded.setWindowTitle("Config loaded")
+                "Config loaded", "All channel configs have been loaded from flash."
-            loaded.setText("All channel configs have been loaded from flash.")
+            )
-            loaded.setIcon(QtWidgets.QMessageBox.Icon.Information)
-            loaded.show()
 
         self.actionLoad_all_configs = QtGui.QAction("Load Config", self)
         self.actionLoad_all_configs.triggered.connect(load)
         self.addAction(self.actionLoad_all_configs)
 
-        @pyqtSlot(bool)
+        @asyncSlot(bool)
-        def save(_):
+        async def save(_):
-            self.save_cfg_act.emit(0)
+            await self._thermostat.save_cfg()
-            self.save_cfg_act.emit(1)
+
-            saved = QtWidgets.QMessageBox(self)
+            self._info_box.display_info_box(
-            saved.setWindowTitle("Config saved")
+                "Config saved", "All channel configs have been saved to flash."
-            saved.setText("All channel configs have been saved to flash.")
+            )
-            saved.setIcon(QtWidgets.QMessageBox.Icon.Information)
-            saved.show()
 
         self.actionSave_all_configs = QtGui.QAction("Save Config", self)
         self.actionSave_all_configs.triggered.connect(save)
@@ -127,6 +120,18 @@ class ThermostatCtrlMenu(QtWidgets.QMenu):
         self.actionAbout_Thermostat.triggered.connect(about_thermostat)
         self.addAction(self.actionAbout_Thermostat)
 
+    @pyqtSlot("QVariantMap")
+    def fan_update(self, fan_settings):
+        logging.debug(fan_settings)
+        if fan_settings is None:
+            return
+        with QSignalBlocker(self.fan_power_slider):
+            self.fan_power_slider.setValue(
+                fan_settings["fan_pwm"] or 100  # 0 = PWM off = full strength
+            )
+        with QSignalBlocker(self.fan_auto_box):
+            self.fan_auto_box.setChecked(fan_settings["auto_mode"])
+
     def set_fan_pwm_warning(self):
         if self.fan_power_slider.value() != 100:
             pixmapi = getattr(QtWidgets.QStyle.StandardPixmap, "SP_MessageBoxWarning")
@@ -143,3 +148,55 @@ class ThermostatCtrlMenu(QtWidgets.QMenu):
     def hw_rev(self, hw_rev):
         self.hw_rev_data = hw_rev
         self.fan_group.setEnabled(self.hw_rev_data["settings"]["fan_available"])
+
+    @asyncSlot(int)
+    async def fan_set_request(self, value):
+        assert self._thermostat.connected()
+
+        if self.fan_auto_box.isChecked():
+            with QSignalBlocker(self.fan_auto_box):
+                self.fan_auto_box.setChecked(False)
+        await self._thermostat.set_fan(value)
+        if not self.hw_rev_data["settings"]["fan_pwm_recommended"]:
+            self.set_fan_pwm_warning()
+
+    @asyncSlot(int)
+    async def fan_auto_set_request(self, enabled):
+        assert self._thermostat.connected()
+
+        if enabled:
+            await self._thermostat.set_fan("auto")
+            self.fan_update(await self._thermostat.get_fan())
+        else:
+            await self.thermostat.set_fan(
+                self.fan_power_slider.value()
+            )
+
+    @asyncSlot(bool)
+    async def reset_request(self, _):
+        assert self._thermostat.connected()
+
+        await self._thermostat.reset()
+        await self._thermostat.end_session()
+
+    @asyncSlot(bool)
+    async def dfu_request(self, _):
+        assert self._thermostat.connected()
+
+        await self._thermostat.dfu()
+        await self._thermostat.end_session()
+
+    @asyncSlot(bool)
+    async def net_settings_request(self, _):
+        assert self._thermostat.connected()
+
+        ipv4 = await self._thermostat.get_ipv4()
+        self.net_settings_input_diag = NetSettingsInputDiag(ipv4["addr"])
+        self.net_settings_input_diag.set_ipv4_act.connect(self.set_net_settings_request)
+
+    @asyncSlot(str)
+    async def set_net_settings_request(self, ipv4_settings):
+        assert self._thermostat.connected()
+
+        await self._thermostat.set_ipv4(ipv4_settings)
+        await self._thermostat.end_session()

pytec/setup.py

@@ -0,0 +1,18 @@
+from setuptools import setup, find_packages
+
+setup(
+    name="pytec",
+    version="0.0",
+    author="M-Labs",
+    url="https://git.m-labs.hk/M-Labs/thermostat",
+    description="Control TEC",
+    license="GPLv3",
+    install_requires=["setuptools"],
+    packages=find_packages(),
+    entry_points={
+        "gui_scripts": [
+            "tec_qt = tec_qt:main",
+        ]
+    },
+    py_modules=['autotune', 'plot', 'tec_qt'],
+)

pytec/tec_qt.py

@@ -1,5 +1,4 @@
 from pytec.gui.view.zero_limits_warning import ZeroLimitsWarningView
-from pytec.gui.view.net_settings_input_diag import NetSettingsInputDiag
 from pytec.gui.view.thermostat_ctrl_menu import ThermostatCtrlMenu
 from pytec.gui.view.conn_menu import ConnMenu
 from pytec.gui.view.plot_options_menu import PlotOptionsMenu
@@ -7,12 +6,11 @@ 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
+from pytec.gui.model.thermostat import Thermostat, ThermostatConnectionState
 import json
 from autotune import PIDAutotuneState
 from qasync import asyncSlot, asyncClose
 import qasync
-from pytec.aioclient import StoppedConnecting
 import asyncio
 import logging
 import argparse
@@ -30,9 +28,9 @@ def get_argparser():
         "--connect",
         default=None,
         action="store_true",
-        help="Automatically connect to the specified Thermostat in IP:port format",
+        help="Automatically connect to the specified Thermostat in host:port format",
     )
-    parser.add_argument("IP", metavar="ip", default=None, nargs="?")
+    parser.add_argument("HOST", metavar="host", default=None, nargs="?")
     parser.add_argument("PORT", metavar="port", default=None, nargs="?")
     parser.add_argument(
         "-l",
@@ -60,47 +58,38 @@ class MainWindow(QtWidgets.QMainWindow):
         ui_file_path = importlib.resources.files("pytec.gui.view").joinpath("tec_qt.ui")
         uic.loadUi(ui_file_path, self)
 
-        self.hw_rev_data = None
         self.info_box = InfoBox()
 
         self.thermostat = Thermostat(
             self, self.report_refresh_spin.value()
         )
+        self._connecting_task = None
 
         def handle_connection_error():
-            logging.error("Client connection error, disconnecting")
             self.info_box.display_info_box(
                 "Connection Error", "Thermostat connection lost. Is it unplugged?"
             )
 
-            self.bail()
-
         self.thermostat.connection_error.connect(handle_connection_error)
 
+        self.thermostat.connection_error.connect(self.thermostat.timed_out)
+        self.thermostat.connection_error.connect(self.thermostat.end_session)
+
+        self.thermostat.connection_state_changed.connect(self._on_connection_changed)
+
         self.autotuners = PIDAutoTuner(self, self.thermostat, 2)
+        self.autotuners.autotune_state_changed.connect(self.pid_autotune_handler)
 
         def get_ctrl_panel_config(args):
-            with open(args.param_tree, "r") as f:
+            with open(args.param_tree, "r", encoding="utf-8") as f:
                 return json.load(f)["ctrl_panel"]
 
-        param_tree_sigActivated_handles = [
-            [
-                [["save"], partial(self.thermostat.save_cfg, ch)],
-                [["load"], partial(self.thermostat.load_cfg, ch)],
-                [
-                    ["pid", "pid_autotune", "run_pid"],
-                    partial(self.pid_auto_tune_request, ch),
-                ],
-            ]
-            for ch in range(self.NUM_CHANNELS)
-        ]
-        self.thermostat.info_box_trigger.connect(self.info_box.display_info_box)
-
         self.ctrl_panel_view = CtrlPanel(
+            self.thermostat,
+            self.autotuners,
+            self.info_box,
             [self.ch0_tree, self.ch1_tree],
             get_ctrl_panel_config(args),
-            self.send_command,
-            param_tree_sigActivated_handles,
         )
 
         self.zero_limits_warning = ZeroLimitsWarningView(
@@ -110,55 +99,28 @@ class MainWindow(QtWidgets.QMainWindow):
             self.zero_limits_warning.set_limits_warning
         )
 
-        self.thermostat.fan_update.connect(self.fan_update)
+        self.thermostat.hw_rev_update.connect(self._status)
-        self.thermostat.report_update.connect(self.ctrl_panel_view.update_report)
-        self.thermostat.report_update.connect(self.autotuners.tick)
-        self.thermostat.report_update.connect(self.pid_autotune_handler)
-        self.thermostat.pid_update.connect(self.ctrl_panel_view.update_pid)
-        self.thermostat.pwm_update.connect(self.ctrl_panel_view.update_pwm)
-        self.thermostat.thermistor_update.connect(
-            self.ctrl_panel_view.update_thermistor
-        )
-        self.thermostat.postfilter_update.connect(
-            self.ctrl_panel_view.update_postfilter
-        )
-        self.thermostat.interval_update.connect(
-            self.autotuners.update_sampling_interval
-        )
         self.report_apply_btn.clicked.connect(
             lambda: self.thermostat.set_update_s(self.report_refresh_spin.value())
         )
 
         self.channel_graphs = LiveDataPlotter(
+            self.thermostat,
             [
                 [getattr(self, f"ch{ch}_t_graph"), getattr(self, f"ch{ch}_i_graph")]
                 for ch in range(self.NUM_CHANNELS)
             ]
         )
 
-        self.thermostat.report_update.connect(self.channel_graphs.update_report)
+        self.plot_options_menu = PlotOptionsMenu(self.channel_graphs)
-        self.thermostat.pid_update.connect(self.channel_graphs.update_pid)
-
-        self.plot_options_menu = PlotOptionsMenu()
-        self.plot_options_menu.clear.triggered.connect(self.clear_graphs)
-        self.plot_options_menu.samples_spinbox.valueChanged.connect(
-            self.channel_graphs.set_max_samples
-        )
         self.plot_settings.setMenu(self.plot_options_menu)
 
         self.conn_menu = ConnMenu()
         self.connect_btn.setMenu(self.conn_menu)
 
-        self.thermostat_ctrl_menu = ThermostatCtrlMenu(self.style())
+        self.thermostat_ctrl_menu = ThermostatCtrlMenu(
-        self.thermostat_ctrl_menu.fan_set_act.connect(self.fan_set_request)
+            self.thermostat, self.info_box, self.style()
-        self.thermostat_ctrl_menu.fan_auto_set_act.connect(self.fan_auto_set_request)
+        )
-        self.thermostat_ctrl_menu.reset_act.connect(self.reset_request)
-        self.thermostat_ctrl_menu.dfu_act.connect(self.dfu_request)
-        self.thermostat_ctrl_menu.save_cfg_act.connect(self.save_cfg_request)
-        self.thermostat_ctrl_menu.load_cfg_act.connect(self.load_cfg_request)
-        self.thermostat_ctrl_menu.net_cfg_act.connect(self.net_settings_request)
-
-        self.thermostat.hw_rev_update.connect(self.thermostat_ctrl_menu.hw_rev)
         self.thermostat_settings.setMenu(self.thermostat_ctrl_menu)
 
         self.loading_spinner.hide()
@@ -170,166 +132,97 @@ class MainWindow(QtWidgets.QMainWindow):
                 self.port_set_spin.setValue(int(args.PORT))
             self.connect_btn.click()
 
-    def clear_graphs(self):
+    @asyncSlot(ThermostatConnectionState)
-        self.channel_graphs.clear_graphs()
-
     async def _on_connection_changed(self, result):
-        self.graph_group.setEnabled(result)
+        match result:
-        self.report_group.setEnabled(result)
+            case ThermostatConnectionState.CONNECTED:
-        self.thermostat_settings.setEnabled(result)
+                self.graph_group.setEnabled(True)
+                self.report_group.setEnabled(True)
+                self.thermostat_settings.setEnabled(True)
 
-        self.conn_menu.host_set_line.setEnabled(not result)
+                self.conn_menu.host_set_line.setEnabled(False)
-        self.conn_menu.port_set_spin.setEnabled(not result)
+                self.conn_menu.port_set_spin.setEnabled(False)
-        self.connect_btn.setText("Disconnect" if result else "Connect")
+                self.connect_btn.setText("Disconnect")
-        if result:
+
-            self.hw_rev_data = await self.thermostat.get_hw_rev()
+            case ThermostatConnectionState.CONNECTING:
-            logging.debug(self.hw_rev_data)
+                self.status_lbl.setText("Connecting...")
+                self.connect_btn.setText("Stop")
+                self.conn_menu.host_set_line.setEnabled(False)
+                self.conn_menu.port_set_spin.setEnabled(False)
+
+            case ThermostatConnectionState.DISCONNECTED:
+                self.graph_group.setEnabled(False)
+                self.report_group.setEnabled(False)
+                self.thermostat_settings.setEnabled(False)
+
+                self.conn_menu.host_set_line.setEnabled(True)
+                self.conn_menu.port_set_spin.setEnabled(True)
+                self.connect_btn.setText("Connect")
 
-            self._status(self.hw_rev_data)
-            self.thermostat.start_watching()
-        else:
                 self.status_lbl.setText("Disconnected")
                 self.background_task_lbl.setText("Ready.")
                 self.loading_spinner.hide()
                 self.loading_spinner.stop()
                 self.thermostat_ctrl_menu.fan_pwm_warning.setPixmap(QtGui.QPixmap())
                 self.thermostat_ctrl_menu.fan_pwm_warning.setToolTip("")
-            self.clear_graphs()
+                self.channel_graphs.clear_graphs()
                 self.report_box.setChecked(False)
-            if not Thermostat.connecting or Thermostat.connected:
                 for ch in range(self.NUM_CHANNELS):
                     if self.autotuners.get_state(ch) != PIDAutotuneState.STATE_OFF:
+                        if self.thermostat.connection_errored:
+                            # Don't send any commands, just reset local state
+                            self.autotuners.autotuners[ch].setOff()
+                        else:
                             await self.autotuners.stop_pid_from_running(ch)
-            await self.thermostat.set_report_mode(False)
-            self.thermostat.stop_watching()
 
     def _status(self, hw_rev_d: dict):
-        logging.debug(hw_rev_d)
         self.status_lbl.setText(
             f"Connected to Thermostat v{hw_rev_d['rev']['major']}.{hw_rev_d['rev']['minor']}"
         )
 
-    @pyqtSlot("QVariantMap")
-    def fan_update(self, fan_settings):
-        logging.debug(fan_settings)
-        if fan_settings is None:
-            return
-        with QSignalBlocker(self.thermostat_ctrl_menu.fan_power_slider):
-            self.thermostat_ctrl_menu.fan_power_slider.setValue(
-                fan_settings["fan_pwm"] or 100  # 0 = PWM off = full strength
-            )
-        with QSignalBlocker(self.thermostat_ctrl_menu.fan_auto_box):
-            self.thermostat_ctrl_menu.fan_auto_box.setChecked(fan_settings["auto_mode"])
-        if not self.hw_rev_data["settings"]["fan_pwm_recommended"]:
-            self.thermostat_ctrl_menu.set_fan_pwm_warning()
-
     @asyncSlot(int)
     async def on_report_box_stateChanged(self, enabled):
         await self.thermostat.set_report_mode(enabled)
 
     @asyncClose
-    async def closeEvent(self, event):
+    async def closeEvent(self, _event):
         try:
-            await self.bail()
+            await self.thermostat.end_session()
         except:
             pass
 
     @asyncSlot()
     async def on_connect_btn_clicked(self):
-        host, port = (
+        if (self._connecting_task is None) and (not self.thermostat.connected()):
-            self.conn_menu.host_set_line.text(),
+            self._connecting_task = asyncio.create_task(
-            self.conn_menu.port_set_spin.value(),
+                self.thermostat.start_session(
+                    host=self.conn_menu.host_set_line.text(),
+                    port=self.conn_menu.port_set_spin.value(),
+                )
             )
             try:
-            if not (self.thermostat.connecting() or self.thermostat.connected()):
+                await self._connecting_task
-                self.status_lbl.setText("Connecting...")
+            except (OSError, asyncio.CancelledError) as exc:
-                self.connect_btn.setText("Stop")
+                await self.thermostat.end_session()
-                self.conn_menu.host_set_line.setEnabled(False)
+                if isinstance(exc, asyncio.CancelledError):
-                self.conn_menu.port_set_spin.setEnabled(False)
-
-                try:
-                    await self.thermostat.start_session(host=host, port=port)
-                except StoppedConnecting:
                     return
-                await self._on_connection_changed(True)
+                raise
+            finally:
+                self._connecting_task = None
+
+        elif self._connecting_task is not None:
+            self._connecting_task.cancel()
         else:
-                await self.bail()
-
-        # TODO: Remove asyncio.TimeoutError in Python 3.11
-        except (OSError, asyncio.TimeoutError):
-            try:
-                await self.bail()
-            except ConnectionResetError:
-                pass
-
-    @asyncSlot()
-    async def bail(self):
-        await self._on_connection_changed(False)
             await self.thermostat.end_session()
 
-    @asyncSlot(object, object)
+    @asyncSlot(int, PIDAutotuneState)
-    async def send_command(self, param, changes):
+    async def pid_autotune_handler(self, _ch, _state):
-        """Translates parameter tree changes into thermostat set_param calls"""
-        ch = param.channel
-
-        for inner_param, change, data in changes:
-            if change == "value":
-                if inner_param.opts.get("param", None) is not None:
-                    if inner_param.opts.get("suffix", None) == "mA":
-                        data /= 1000  # Given in mA
-
-                    thermostat_param = inner_param.opts["param"]
-                    if thermostat_param[1] == "ch":
-                        thermostat_param[1] = ch
-
-                    if inner_param.name() == "Postfilter Rate" and data is None:
-                        set_param_args = (*thermostat_param[:2], "off")
-                    else:
-                        set_param_args = (*thermostat_param, data)
-                    param.child(*param.childPath(inner_param)).setOpts(lock=True)
-                    await self.thermostat.set_param(*set_param_args)
-                    param.child(*param.childPath(inner_param)).setOpts(lock=False)
-
-                if inner_param.opts.get("pid_autotune", None) is not None:
-                    auto_tuner_param = inner_param.opts["pid_autotune"][0]
-                    if inner_param.opts["pid_autotune"][1] != "ch":
-                        ch = inner_param.opts["pid_autotune"][1]
-                    self.autotuners.set_params(auto_tuner_param, ch, data)
-
-                if inner_param.opts.get("activaters", None) is not None:
-                    activater = inner_param.opts["activaters"][
-                        inner_param.reverse[0].index(
-                            data
-                        )  # ListParameter.reverse = list of codename values
-                    ]
-                    if activater is not None:
-                        if activater[1] == "ch":
-                            activater[1] = ch
-                        await self.thermostat.set_param(*activater)
-
-    @asyncSlot()
-    async def pid_auto_tune_request(self, ch=0):
-        match self.autotuners.get_state(ch):
-            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
-            ):
-                await self.autotuners.stop_pid_from_running(ch)
-                # To Update the UI elements
-                self.pid_autotune_handler([])
-
-    @asyncSlot(list)
-    async def pid_autotune_handler(self, _):
         ch_tuning = []
         for ch in range(self.NUM_CHANNELS):
             match self.autotuners.get_state(ch):
                 case PIDAutotuneState.STATE_OFF:
                     self.ctrl_panel_view.change_params_title(
-                        ch, ("pid", "pid_autotune", "run_pid"), "Run"
+                        ch, ("PID Config", "PID Auto Tune", "Run"), "Run"
                     )
                 case (
                     PIDAutotuneState.STATE_READY
@@ -337,21 +230,21 @@ class MainWindow(QtWidgets.QMainWindow):
                     | PIDAutotuneState.STATE_RELAY_STEP_DOWN
                 ):
                     self.ctrl_panel_view.change_params_title(
-                        ch, ("pid", "pid_autotune", "run_pid"), "Stop"
+                        ch, ("PID Config", "PID Auto Tune", "Run"), "Stop"
                     )
                     ch_tuning.append(ch)
 
                 case PIDAutotuneState.STATE_SUCCEEDED:
                     self.info_box.display_info_box(
                         "PID Autotune Success",
-                        f"Channel {ch} PID Settings has been loaded to Thermostat. Regulating temperature.",
+                        f"Channel {ch} PID Config has been loaded to Thermostat. Regulating temperature.",
                     )
                     self.info_box.show()
 
                 case PIDAutotuneState.STATE_FAILED:
                     self.info_box.display_info_box(
                         "PID Autotune Failed",
-                        f"Channel {ch} PID Autotune on channel has failed.",
+                        f"Channel {ch} PID Autotune has failed.",
                     )
                     self.info_box.show()
 
@@ -366,74 +259,6 @@ class MainWindow(QtWidgets.QMainWindow):
             self.loading_spinner.start()
             self.loading_spinner.show()
 
-    @asyncSlot(int)
-    async def fan_set_request(self, value):
-        assert self.thermostat.connected()
-
-        if self.thermostat_ctrl_menu.fan_auto_box.isChecked():
-            with QSignalBlocker(self.thermostat_ctrl_menu.fan_auto_box):
-                self.thermostat_ctrl_menu.fan_auto_box.setChecked(False)
-        await self.thermostat.set_fan(value)
-        if not self.hw_rev_data["settings"]["fan_pwm_recommended"]:
-            self.thermostat_ctrl_menu.set_fan_pwm_warning()
-
-    @asyncSlot(int)
-    async def fan_auto_set_request(self, enabled):
-        assert self.thermostat.connected()
-
-        if enabled:
-            await self.thermostat.set_fan("auto")
-            self.fan_update(await self.thermostat.get_fan())
-        else:
-            await self.thermostat.set_fan(
-                self.thermostat_ctrl_menu.fan_power_slider.value()
-            )
-
-    @asyncSlot(int)
-    async def save_cfg_request(self, ch):
-        assert self.thermostat.connected()
-
-        await self.thermostat.save_cfg(str(ch))
-
-    @asyncSlot(int)
-    async def load_cfg_request(self, ch):
-        assert self.thermostat.connected()
-
-        await self.thermostat.load_cfg(str(ch))
-
-    @asyncSlot(bool)
-    async def dfu_request(self, _):
-        assert self.thermostat.connected()
-
-        await self._on_connection_changed(False)
-        await self.thermostat.dfu()
-
-    @asyncSlot(bool)
-    async def reset_request(self, _):
-        assert self.thermostat.connected()
-
-        await self._on_connection_changed(False)
-        await self.thermostat.reset()
-        await asyncio.sleep(0.1)  # Wait for the reset to start
-
-        self.connect_btn.click()  # Reconnect
-
-    @asyncSlot(bool)
-    async def net_settings_request(self, _):
-        assert self.thermostat.connected()
-
-        ipv4 = await self.thermostat.get_ipv4()
-        self.net_settings_input_diag = NetSettingsInputDiag(ipv4["addr"])
-        self.net_settings_input_diag.set_ipv4_act.connect(self.set_net_settings_request)
-
-    @asyncSlot(str)
-    async def set_net_settings_request(self, ipv4_settings):
-        assert self.thermostat.connected()
-
-        await self.thermostat.set_ipv4(ipv4_settings)
-        await self.thermostat.end_session()
-        await self._on_connection_changed(False)
-
 
 async def coro_main():
     args = get_argparser().parse_args()

src/channels.rs

@@ -1,6 +1,5 @@
-use core::{cmp::max_by, marker::PhantomData};
+use core::cmp::max_by;
 use heapless::{consts::U2, Vec};
-use num_traits::Zero;
 use serde::{Serialize, Serializer};
 use smoltcp::time::Instant;
 use stm32f4xx_hal::hal;
@@ -33,24 +32,12 @@ pub enum PinsAdcReadTarget {
 pub const CHANNELS: usize = 2;
 pub const R_SENSE: f64 = 0.05;
 
-// From design specs
+// as stated in the MAX1968 datasheet
-pub const MAX_TEC_I: ElectricCurrent = ElectricCurrent {
+pub const MAX_TEC_I: f64 = 3.0;
-    dimension: PhantomData,
-    units: PhantomData,
-    value: 2.0,
-};
-pub const MAX_TEC_V: ElectricPotential = ElectricPotential {
-    dimension: PhantomData,
-    units: PhantomData,
-    value: 4.0,
-};
 
 // DAC chip outputs 0-5v, which is then passed through a resistor dividor to provide 0-3v range
-const DAC_OUT_V_MAX: ElectricPotential = ElectricPotential {
+const DAC_OUT_V_MAX: f64 = 3.0;
-    dimension: PhantomData,
+
-    units: PhantomData,
-    value: 3.0,
-};
 // TODO: -pub
 pub struct Channels {
     channel0: Channel<Channel0>,
@@ -141,7 +128,7 @@ impl Channels {
 
     /// i_set DAC
     fn set_dac(&mut self, channel: usize, voltage: ElectricPotential) -> ElectricPotential {
-        let value = ((voltage / DAC_OUT_V_MAX).get::<ratio>() * (ad5680::MAX_VALUE as f64)) as u32 ;
+        let value = ((voltage / ElectricPotential::new::<volt>(DAC_OUT_V_MAX)).get::<ratio>() * (ad5680::MAX_VALUE as f64)) as u32 ;
         match channel {
             0 => self.channel0.dac.set(value).unwrap(),
             1 => self.channel1.dac.set(value).unwrap(),
@@ -152,7 +139,11 @@ impl Channels {
     }
 
     pub fn set_i(&mut self, channel: usize, i_set: ElectricCurrent) -> ElectricCurrent {
-        let i_set = i_set.min(MAX_TEC_I).max(-MAX_TEC_I);
+        // Silently clamp i_set
+        let i_ceiling = ElectricCurrent::new::<ampere>(MAX_TEC_I);
+        let i_floor = ElectricCurrent::new::<ampere>(-MAX_TEC_I);
+        let i_set = i_set.min(i_ceiling).max(i_floor);
+
         let vref_meas = match channel.into() {
             0 => self.channel0.vref_meas,
             1 => self.channel1.vref_meas,
@@ -327,7 +318,7 @@ impl Channels {
                     best_error = error;
                     start_value = prev_value;
 
-                    let vref = (value as f64 / ad5680::MAX_VALUE as f64) * DAC_OUT_V_MAX;
+                    let vref = (value as f64 / ad5680::MAX_VALUE as f64) * ElectricPotential::new::<volt>(DAC_OUT_V_MAX);
                     match channel {
                         0 => self.channel0.vref_meas = vref,
                         1 => self.channel1.vref_meas = vref,
@@ -387,22 +378,22 @@ impl Channels {
         }
     }
 
-    pub fn get_max_v(&mut self, channel: usize) -> (ElectricPotential, ElectricPotential) {
+    pub fn get_max_v(&mut self, channel: usize) -> ElectricPotential {
         let max = 4.0 * ElectricPotential::new::<volt>(3.3);
         let duty = self.get_pwm(channel, PwmPin::MaxV);
-        (duty * max, MAX_TEC_V)
+        duty * max
     }
 
     pub fn get_max_i_pos(&mut self, channel: usize) -> (ElectricCurrent, ElectricCurrent) {
         let max = ElectricCurrent::new::<ampere>(3.0);
         let duty = self.get_pwm(channel, PwmPin::MaxIPos);
-        (duty * max, MAX_TEC_I)
+        (duty * max, max)
     }
 
     pub fn get_max_i_neg(&mut self, channel: usize) -> (ElectricCurrent, ElectricCurrent) {
         let max = ElectricCurrent::new::<ampere>(3.0);
         let duty = self.get_pwm(channel, PwmPin::MaxINeg);
-        (duty * max, MAX_TEC_I)
+        (duty * max, max)
     }
 
     // Get current passing through TEC
@@ -444,21 +435,21 @@ impl Channels {
 
     pub fn set_max_v(&mut self, channel: usize, max_v: ElectricPotential) -> (ElectricPotential, ElectricPotential) {
         let max = 4.0 * ElectricPotential::new::<volt>(3.3);
-        let duty = (max_v.min(MAX_TEC_V).max(ElectricPotential::zero()) / max).get::<ratio>();
+        let duty = (max_v / max).get::<ratio>();
         let duty = self.set_pwm(channel, PwmPin::MaxV, duty);
         (duty * max, max)
     }
 
     pub fn set_max_i_pos(&mut self, channel: usize, max_i_pos: ElectricCurrent) -> (ElectricCurrent, ElectricCurrent) {
         let max = ElectricCurrent::new::<ampere>(3.0);
-        let duty = (max_i_pos.min(MAX_TEC_I).max(ElectricCurrent::zero()) / max).get::<ratio>();
+        let duty = (max_i_pos / max).get::<ratio>();
         let duty = self.set_pwm(channel, PwmPin::MaxIPos, duty);
         (duty * max, max)
     }
 
     pub fn set_max_i_neg(&mut self, channel: usize, max_i_neg: ElectricCurrent) -> (ElectricCurrent, ElectricCurrent) {
         let max = ElectricCurrent::new::<ampere>(3.0);
-        let duty = (max_i_neg.min(MAX_TEC_I).max(ElectricCurrent::zero()) / max).get::<ratio>();
+        let duty = (max_i_neg / max).get::<ratio>();
         let duty = self.set_pwm(channel, PwmPin::MaxINeg, duty);
         (duty * max, max)
     }
@@ -518,8 +509,8 @@ impl Channels {
         PwmSummary {
             channel,
             center: CenterPointJson(self.channel_state(channel).center.clone()),
-            i_set: (self.get_i(channel), MAX_TEC_I).into(),
+            i_set: (self.get_i(channel), ElectricCurrent::new::<ampere>(3.0)).into(),
-            max_v: self.get_max_v(channel).into(),
+            max_v: (self.get_max_v(channel), ElectricPotential::new::<volt>(5.0)).into(),
             max_i_pos: self.get_max_i_pos(channel).into(),
             max_i_neg: self.get_max_i_neg(channel).into(),
         }

src/config.rs

@@ -1,4 +1,3 @@
-use num_traits::Zero;
 use serde::{Serialize, Deserialize};
 use uom::si::{
     electric_potential::volt,
@@ -19,7 +18,6 @@ pub struct ChannelConfig {
     pid: pid::Parameters,
     pid_target: f32,
     pid_engaged: bool,
-    i_set: ElectricCurrent,
     sh: steinhart_hart::Parameters,
     pwm: PwmLimits,
     /// uses variant `PostFilter::Invalid` instead of `None` to save space
@@ -35,17 +33,11 @@ impl ChannelConfig {
             .unwrap_or(PostFilter::Invalid);
 
         let state = channels.channel_state(channel);
-        let i_set = if state.pid_engaged { 
-            ElectricCurrent::zero() 
-        } else { 
-            state.i_set 
-        };
         ChannelConfig {
             center: state.center.clone(),
             pid: state.pid.parameters.clone(),
             pid_target: state.pid.target as f32,
             pid_engaged: state.pid_engaged,
-            i_set: i_set,
             sh: state.sh.clone(),
             pwm,
             adc_postfilter,
@@ -67,7 +59,6 @@ impl ChannelConfig {
             adc_postfilter => Some(adc_postfilter),
         };
         let _ = channels.adc.set_postfilter(channel as u8, adc_postfilter);
-        let _ = channels.set_i(channel, self.i_set);
     }
 }
 
@@ -80,7 +71,7 @@ struct PwmLimits {
 
 impl PwmLimits {
     pub fn new(channels: &mut Channels, channel: usize) -> Self {
-        let (max_v, _) = channels.get_max_v(channel);
+        let max_v = channels.get_max_v(channel);
         let (max_i_pos, _) = channels.get_max_i_pos(channel);
         let (max_i_neg, _) = channels.get_max_i_neg(channel);
         PwmLimits {

src/fan_ctrl.rs

@@ -54,7 +54,7 @@ impl FanCtrl {
     pub fn cycle(&mut self, abs_max_tec_i: ElectricCurrent) {
         self.abs_max_tec_i = abs_max_tec_i.get::<ampere>() as f32;
         if self.fan_auto && self.hw_settings.fan_available {
-            let scaled_current = self.abs_max_tec_i / MAX_TEC_I.get::<ampere>() as f32;
+            let scaled_current = self.abs_max_tec_i / MAX_TEC_I as f32;
             // do not limit upper bound, as it will be limited in the set_pwm()
             let pwm = (MAX_USER_FAN_PWM * (scaled_current * (scaled_current * self.k_a + self.k_b) + self.k_c)) as u32;
             self.set_pwm(pwm);

src/pid.rs

@@ -54,13 +54,15 @@ impl Controller {
     //       + x0 * (kp + ki + kd)
     //       - x1 * (kp + 2kd)
     //       + x2 * kd
+    //       + kp * (u0 - u1)
     // y0  = clip(y0', ymin, ymax)
     pub fn update(&mut self, input: f64) -> f64 {
         
         let mut output: f64 = self.y1 - self.target * f64::from(self.parameters.ki)
                             + input * f64::from(self.parameters.kp + self.parameters.ki + self.parameters.kd)
                             - self.x1 * f64::from(self.parameters.kp + 2.0 * self.parameters.kd)
-                            + self.x2 * f64::from(self.parameters.kd);
+                            + self.x2 * f64::from(self.parameters.kd)
+                            + f64::from(self.parameters.kp) * (self.target - self.u1);
         if output < self.parameters.output_min.into() {
             output = self.parameters.output_min.into();
         }