forked from M-Labs/thermostat
73 lines
2.9 KiB
Python
73 lines
2.9 KiB
Python
from PyQt6.QtCore import QObject, pyqtSlot
|
|
from qasync import asyncSlot
|
|
from autotune import PIDAutotuneState, PIDAutotune
|
|
|
|
|
|
class PIDAutoTuner(QObject):
|
|
def __init__(self, parent, client, num_of_channel):
|
|
super().__init__()
|
|
|
|
self._client = client
|
|
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)]
|
|
self.temp_swing = [1.5 for _ in range(num_of_channel)]
|
|
self.lookback = [3.0 for _ in range(num_of_channel)]
|
|
self.sampling_interval = [1 / 16.67 for _ in range(num_of_channel)]
|
|
|
|
@pyqtSlot(list)
|
|
def update_sampling_interval(self, interval):
|
|
self.sampling_interval = interval
|
|
|
|
def set_params(self, params_name, ch, val):
|
|
getattr(self, params_name)[ch] = val
|
|
|
|
def get_state(self, ch):
|
|
return self.autotuners[ch].state()
|
|
|
|
def load_params_and_set_ready(self, ch):
|
|
self.autotuners[ch].setParam(
|
|
self.target_temp[ch],
|
|
self.test_current[ch] / 1000,
|
|
self.temp_swing[ch],
|
|
1 / self.sampling_interval[ch],
|
|
self.lookback[ch],
|
|
)
|
|
self.autotuners[ch].setReady()
|
|
|
|
async def stop_pid_from_running(self, ch):
|
|
self.autotuners[ch].setOff()
|
|
await self._client.set_param("pwm", ch, "i_set", 0)
|
|
|
|
@asyncSlot(list)
|
|
async def tick(self, report):
|
|
for channel_report in report:
|
|
# TODO: Skip when PID Autotune or emit error message if NTC is not connected
|
|
if channel_report["temperature"] is None:
|
|
continue
|
|
|
|
ch = channel_report["channel"]
|
|
match self.autotuners[ch].state():
|
|
case PIDAutotuneState.STATE_READY | PIDAutotuneState.STATE_RELAY_STEP_UP | PIDAutotuneState.STATE_RELAY_STEP_DOWN:
|
|
self.autotuners[ch].run(
|
|
channel_report["temperature"], channel_report["time"]
|
|
)
|
|
await self._client.set_param(
|
|
"pwm", ch, "i_set", self.autotuners[ch].output()
|
|
)
|
|
case PIDAutotuneState.STATE_SUCCEEDED:
|
|
kp, ki, kd = self.autotuners[ch].get_tec_pid()
|
|
self.autotuners[ch].setOff()
|
|
|
|
await self._client.set_param("pid", ch, "kp", kp)
|
|
await self._client.set_param("pid", ch, "ki", ki)
|
|
await self._client.set_param("pid", ch, "kd", kd)
|
|
await self._client.set_param("pwm", ch, "pid")
|
|
|
|
await self._client.set_param(
|
|
"pid", ch, "target", self.target_temp[ch]
|
|
)
|
|
case PIDAutotuneState.STATE_FAILED:
|
|
self.autotuners[ch].setOff()
|
|
await self._client.set_param("pwm", ch, "i_set", 0)
|