Sync

pytec/tec_qt.py

@@ -72,8 +72,9 @@ registerParameterType('mutex', MutexParameter)
 class WrappedClient(QObject, Client):
     connection_error = pyqtSignal()
 
-    def __init__(self, parent):
-        super().__init__(parent)
+    async def start_session(self, *args, **kwargs):
+        await super().start_session(*args, **kwargs)
+        await self._sync_pwm_pid_limits()
 
     async def _read_line(self):
         try:
@@ -82,10 +83,24 @@ class WrappedClient(QObject, Client):
             logging.error("Client connection error, disconnecting", exc_info=True)
             self.connection_error.emit()
 
-    async def _check_zero_limits(self):
+    async def _sync_pwm_pid_limits(self):
         pwm_report = await self.get_pwm()
         pid_report = await self.get_pid()
-        # TODO: Get pid output_max and max_i_pos synced. Same for min and neg.
+        for pwm_channel, pid_channel in zip(pwm_report, pid_report):
+            ch = pwm_channel['channel']
+            if (pwm_limit := pwm_channel['max_i_pos']['value']) != (pid_limit := pid_channel['parameters']['output_max']):
+                # Set the minimum of the 2
+                if pwm_limit < pid_limit:
+                    await self.set_param('pid', ch, 'output_max', pwm_limit)
+                else:
+                    await self.set_param('pwm', ch, 'max_i_pos', pid_limit)
+
+            if (pwm_limit := -pwm_channel['max_i_neg']['value']) != (pid_limit := pid_channel['parameters']['output_min']):
+                # Set the minimum of the 2
+                if pwm_limit < pid_limit:
+                    await self.set_param('pid', ch, 'output_min', pwm_limit)
+                else:
+                    await self.set_param('pwm', ch, 'max_i_neg', -pid_limit)
 
 
 class ClientWatcher(QObject):