Autotune

pytec/setup.py

@@ -14,5 +14,5 @@ setup(
             "tec_qt = tec_qt:main",
         ]
     },
-    py_modules=['tec_qt', 'ui_tec_qt'],
+    py_modules=['tec_qt', 'ui_tec_qt', 'autotune'],
 )

pytec/tec_qt.py

@@ -15,6 +15,7 @@ import asyncio
 from pytec.aioclient import Client, StoppedConnecting
 import qasync
 from qasync import asyncSlot, asyncClose
+from autotune import PIDAutotune, PIDAutotuneState
 
 # pyuic6 -x tec_qt.ui  -o ui_tec_qt.py
 from ui_tec_qt import Ui_MainWindow
@@ -257,7 +258,9 @@ class MainWindow(QtWidgets.QMainWindow, Ui_MainWindow):
                 {'name': 'Target Temperature', 'type': 'float', 'value': 20, 'step': 0.1, 'siPrefix': True, 'suffix': '°C'},
                 {'name': 'Test Current', 'type': 'float', 'value': 1, 'step': 0.1, 'siPrefix': True, 'suffix': 'A'},
                 {'name': 'Temperature Swing', 'type': 'float', 'value': 1.5, 'step': 0.1, 'siPrefix': True, 'prefix': '±', 'suffix': '°C'},
-                {'name': 'Run', 'type': 'action', 'tip': 'Run'},
+                {'name': 'Run', 'type': 'action', 'tip': 'Run', 'children': [
+                    {'name': 'Autotuning...', 'type': 'progress', 'value': 0, 'readonly': True, 'visible': False},
+                ]},
             ]},
         ]},
         {'name': 'Save to flash', 'type': 'action', 'tip': 'Save config to thermostat, applies on reset'},
@@ -299,6 +302,11 @@ class MainWindow(QtWidgets.QMainWindow, Ui_MainWindow):
             for ch in range(2)
         ]
 
+        self.autotuners = [
+            PIDAutotune(25)
+            for _ in range(2)
+        ]
+
         self.hw_rev_data = None
 
         if args.connect:
@@ -656,6 +664,61 @@ class MainWindow(QtWidgets.QMainWindow, Ui_MainWindow):
 
             self.params[i].child('Load from flash').sigActivated.connect(load)
 
+            @asyncSlot()
+            async def autotune(param, ch=i):
+                match self.autotuners[ch].state():
+                    case PIDAutotuneState.STATE_OFF:
+                        self.autotuners[ch].setParam(
+                            param.parent().child('Target Temperature').value(),
+                            param.parent().child('Test Current').value(),
+                            param.parent().child('Temperature Swing').value(),
+                            self.report_refresh_spin.value(),
+                            3)
+                        self.autotuners[ch].setReady()
+                        param.child('Autotuning...').show(True)
+                        param.setOpts(title="Stop")
+                        self.client_watcher.report_update.connect(self.autotune_tick)
+                    case PIDAutotuneState.STATE_READY | PIDAutotuneState.STATE_RELAY_STEP_UP | PIDAutotuneState.STATE_RELAY_STEP_DOWN:
+                        self.autotuners[ch].setOff()
+                        param.child('Autotuning...').hide()
+                        param.setOpts(title="Run")
+                        await self.client.set_param('pwm', ch, 'i_set', 0)
+                        self.client_watcher.report_update.disconnect(self.autotune_tick)
+                        param.child('Autotuning...').setValue(0)
+
+            self.params[i].child('PID Config', 'PID Auto Tune', 'Run').sigActivated.connect(autotune)
+
+    @asyncSlot(list)
+    async def autotune_tick(self, report):
+        for channel_report in report:
+            channel = channel_report['channel']
+            match self.autotuners[channel].state():
+                case PIDAutotuneState.STATE_READY | PIDAutotuneState.STATE_RELAY_STEP_UP | PIDAutotuneState.STATE_RELAY_STEP_DOWN:
+                    self.autotuners[channel].run(channel_report['temperature'], channel_report['time'])
+                    progress_bar = self.params[channel].child('PID Config', 'PID Auto Tune', 'Run', 'Autotuning...')
+                    if progress_bar.value() < 99:
+                        progress_bar.setValue(progress_bar.value() + 1) # TODO: Measure the progress better
+                    await self.client.set_param('pwm', channel, 'i_set', self.autotuners[channel].output())
+                case PIDAutotuneState.STATE_SUCCEEDED:
+                    kp, ki, kd = self.autotuners[channel].get_tec_pid()
+                    self.autotuners[channel].setOff()
+                    self.params[channel].child('PID Config', 'PID Auto Tune', 'Run').setOpts(title="Run")
+                    self.params[channel].child('PID Config', 'PID Auto Tune', 'Run', 'Autotuning...').hide()
+                    await self.client.set_param('pid', channel, 'kp', kp)
+                    await self.client.set_param('pid', channel, 'ki', ki)
+                    await self.client.set_param('pid', channel, 'kd', kd)
+                    await self.client.set_param('pwm', channel, 'pid')
+                    await self.client.set_param('pid', channel, 'target', self.params[channel].child("PID Config", "PID Auto Tune", "Target Temperature").value())
+                    self.client_watcher.report_update.disconnect(self.autotune_tick)
+                    self.params[channel].child('PID Config', 'PID Auto Tune', 'Run', 'Autotuning...').setValue(0)
+                case PIDAutotuneState.STATE_FAILED:
+                    self.autotuners[channel].setOff()
+                    self.params[channel].child('PID Config', 'PID Auto Tune', 'Run', 'Autotuning...').hide()
+                    self.params[channel].child('PID Config', 'PID Auto Tune', 'Run').setOpts(title="Run")
+                    await self.client.set_param('pwm', channel, 'i_set', 0)
+                    self.client_watcher.report_update.disconnect(self.autotune_tick)
+                    self.params[channel].child('PID Config', 'PID Auto Tune', 'Run', 'Autotuning...').setValue(0)
+
     @pyqtSlot(list)
     def update_pid(self, pid_settings):
         for settings in pid_settings: