Remove old GUI and update docs

This commit is contained in:
atse 2023-09-13 10:58:40 +08:00
parent 333a759d85
commit ae70ce7e0b
2 changed files with 5 additions and 342 deletions

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@ -69,17 +69,15 @@ openocd -f interface/stlink.cfg -f target/stm32f4x.cfg -c "program target/thumbv
## GUI Usage ## GUI Usage
A GUI has been developed for easy configuration and plotting of key parameters. A GUI has been developed for easy configuration and plotting of key parameters.
The Python GUI program is located at pytec/tecQT.py The Python GUI program is located at pytec/tec_qt.py.
The GUI is developed based on the Python library pyqtgraph. The environment needed to run the GUI is configured automatically by running: The GUI is developed based on the Python library pyqtgraph. The GUI can be configured and launched automatically by running:
```shell
nix develop
``` ```
nix run .#thermostat_gui
The GUI program assumes the default IP and port of 192.168.1.26 23 is used. If a different IP or port is used, the IP and port setting should be changed in the GUI code. ```
## Command Line Usage ## Command Line Usage

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@ -1,335 +0,0 @@
from pyqtgraph.Qt import QtGui, QtCore
import pyqtgraph.parametertree.parameterTypes as pTypes
from pyqtgraph.parametertree import Parameter, ParameterTree, ParameterItem, registerParameterType
import numpy as np
import pyqtgraph as pg
from pytec.client import Client
from enum import Enum
from autotune import PIDAutotune, PIDAutotuneState
rec_len = 1000
refresh_period = 20
TECparams = [[
{'tag': 'report', 'type': 'parent', 'children': [
{'tag': 'pid_engaged', 'type': 'bool', 'value': False},
]},
{'tag': 'pwm', 'type': 'parent', 'children': [
{'tag': 'max_i_pos', 'type': 'float', 'value': 0},
{'tag': 'max_i_neg', 'type': 'float', 'value': 0},
{'tag': 'max_v', 'type': 'float', 'value': 0},
{'tag': 'i_set', 'type': 'float', 'value': 0},
]},
{'tag': 'pid', 'type': 'parent', 'children': [
{'tag': 'kp', 'type': 'float', 'value': 0},
{'tag': 'ki', 'type': 'float', 'value': 0},
{'tag': 'kd', 'type': 'float', 'value': 0},
{'tag': 'output_min', 'type': 'float', 'value': 0},
{'tag': 'output_max', 'type': 'float', 'value': 0},
]},
{'tag': 's-h', 'type': 'parent', 'children': [
{'tag': 't0', 'type': 'float', 'value': 0},
{'tag': 'r0', 'type': 'float', 'value': 0},
{'tag': 'b', 'type': 'float', 'value': 0},
]},
{'tag': 'PIDtarget', 'type': 'parent', 'children': [
{'tag': 'target', 'type': 'float', 'value': 0},
]},
] for _ in range(2)]
GUIparams = [[
{'name': 'Disable Output', 'type': 'action', 'tip': 'Disable Output'},
{'name': 'Constant Current', 'type': 'group', 'children': [
{'name': 'Set Current', 'type': 'float', 'value': 0, 'step': 0.1, 'limits': (-3, 3), 'siPrefix': True,
'suffix': 'A'},
]},
{'name': 'Temperature PID', 'type': 'bool', 'value': False, 'children': [
{'name': 'Set Temperature', 'type': 'float', 'value': 25, 'step': 0.1, 'limits': (-273, 300), 'siPrefix': True,
'suffix': 'C'},
]},
{'name': 'Output Config', 'expanded': False, 'type': 'group', 'children': [
{'name': 'Max Current', 'type': 'float', 'value': 0, 'step': 0.1, 'limits': (0, 3), 'siPrefix': True,
'suffix': 'A'},
{'name': 'Max Voltage', 'type': 'float', 'value': 0, 'step': 0.1, 'limits': (0, 5), 'siPrefix': True,
'suffix': 'V'},
]},
{'name': 'Thermistor Config', 'expanded': False, 'type': 'group', 'children': [
{'name': 'T0', 'type': 'float', 'value': 25, 'step': 0.1, 'limits': (-100, 100), 'siPrefix': True,
'suffix': 'C'},
{'name': 'R0', 'type': 'float', 'value': 10000, 'step': 1, 'siPrefix': True, 'suffix': 'Ohm'},
{'name': 'Beta', 'type': 'float', 'value': 3950, 'step': 1},
]},
{'name': 'PID Config', 'expanded': False, 'type': 'group', 'children': [
{'name': 'kP', 'type': 'float', 'value': 0, 'step': 0.1},
{'name': 'kI', 'type': 'float', 'value': 0, 'step': 0.1},
{'name': 'kD', 'type': 'float', 'value': 0, 'step': 0.1},
{'name': 'PID Auto Tune', 'expanded': False, 'type': 'group', 'children': [
{'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, 'suffix': 'C'},
{'name': 'Run', 'type': 'action', 'tip': 'Run'},
]},
]},
{'name': 'Save to flash', 'type': 'action', 'tip': 'Save to flash'},
] for _ in range(2)]
autoTuner = [PIDAutotune(20, 1, 1, 1.5, refresh_period / 1000),
PIDAutotune(20, 1, 1, 1.5, refresh_period / 1000)]
# If anything changes in the tree, print a message
def change(param, changes, ch):
print("tree changes:")
for param, change, data in changes:
path = paramList[ch].childPath(param)
if path is not None:
childName = '.'.join(path)
else:
childName = param.name()
print(' parameter: %s' % childName)
print(' change: %s' % change)
print(' data: %s' % str(data))
print(' ----------')
if childName == 'Disable Output':
tec.set_param('pwm', ch, 'i_set', 0)
paramList[ch].child('Constant Current').child('Set Current').setValue(0)
paramList[ch].child('Temperature PID').setValue(False)
autoTuner[ch].setOff()
if childName == 'Temperature PID':
if (data):
tec.set_param("pwm", ch, "pid")
else:
tec.set_param('pwm', ch, 'i_set', paramList[ch].child('Constant Current').child('Set Current').value())
if childName == 'Constant Current.Set Current':
tec.set_param('pwm', ch, 'i_set', data)
paramList[ch].child('Temperature PID').setValue(False)
if childName == 'Temperature PID.Set Temperature':
tec.set_param('pid', ch, 'target', data)
if childName == 'Output Config.Max Current':
tec.set_param('pwm', ch, 'max_i_pos', data)
tec.set_param('pwm', ch, 'max_i_neg', data)
tec.set_param('pid', ch, 'output_min', -data)
tec.set_param('pid', ch, 'output_max', data)
if childName == 'Output Config.Max Voltage':
tec.set_param('pwm', ch, 'max_v', data)
if childName == 'Thermistor Config.T0':
tec.set_param('s-h', ch, 't0', data)
if childName == 'Thermistor Config.R0':
tec.set_param('s-h', ch, 'r0', data)
if childName == 'Thermistor Config.Beta':
tec.set_param('s-h', ch, 'b', data)
if childName == 'PID Config.kP':
tec.set_param('pid', ch, 'kp', data)
if childName == 'PID Config.kI':
tec.set_param('pid', ch, 'ki', data)
if childName == 'PID Config.kD':
tec.set_param('pid', ch, 'kd', data)
if childName == 'PID Config.PID Auto Tune.Run':
autoTuner[ch].setParam(
paramList[ch].child('PID Config').child('PID Auto Tune').child('Target Temperature').value(),
paramList[ch].child('PID Config').child('PID Auto Tune').child('Test Current').value(),
paramList[ch].child('PID Config').child('PID Auto Tune').child('Temperature Swing').value(),
refresh_period / 1000,
1)
autoTuner[ch].setReady()
paramList[ch].child('Temperature PID').setValue(False)
if childName == 'Save to flash':
tec.save_config()
def change0(param, changes):
change(param, changes, 0)
def change1(param, changes):
change(param, changes, 1)
class Curves:
def __init__(self, legend: str, key: str, channel: int, color: str, buffer_len: int, period: int):
self.curveItem = pg.PlotCurveItem(pen=({'color': color, 'width': 1}))
self.legendStr = legend
self.keyStr = key
self.channel = channel
self.data_buf = np.zeros(buffer_len)
self.time_stamp = np.zeros(buffer_len)
self.buffLen = buffer_len
self.period = period
def update(self, tec_data, cnt):
if cnt == 0:
np.copyto(self.data_buf, np.full(self.buffLen, tec_data[self.channel][self.keyStr]))
else:
self.data_buf[:-1] = self.data_buf[1:]
self.data_buf[-1] = tec_data[self.channel][self.keyStr]
self.time_stamp[:-1] = self.time_stamp[1:]
self.time_stamp[-1] = cnt * self.period / 1000
self.curveItem.setData(x=self.time_stamp, y=self.data_buf)
class Graph:
def __init__(self, parent: pg.LayoutWidget, title: str, row: int, col: int, curves: list[Curves]):
self.plotItem = pg.PlotWidget(title=title)
self.legendItem = pg.LegendItem(offset=(75, 30), brush=(50, 50, 200, 150))
self.legendItem.setParentItem(self.plotItem.getPlotItem())
parent.addWidget(self.plotItem, row, col)
self.curves = curves
for curve in self.curves:
self.plotItem.addItem(curve.curveItem)
self.legendItem.addItem(curve.curveItem, curve.legendStr)
def update(self, tec_data, cnt):
for curve in self.curves:
curve.update(tec_data, cnt)
self.plotItem.setRange(
xRange=[(cnt - self.curves[0].buffLen) * self.curves[0].period / 1000, cnt * self.curves[0].period / 1000])
def TECsync():
global TECparams
for channel in range(2):
for parents in TECparams[channel]:
if parents['tag'] == 'report':
for data in tec.report_mode():
for children in parents['children']:
print(data)
children['value'] = data[channel][children['tag']]
if quit:
break
if parents['tag'] == 'pwm':
for children in parents['children']:
children['value'] = tec.get_pwm()[channel][children['tag']]['value']
if parents['tag'] == 'pid':
for children in parents['children']:
children['value'] = tec.get_pid()[channel]['parameters'][children['tag']]
if parents['tag'] == 's-h':
for children in parents['children']:
children['value'] = tec.get_steinhart_hart()[channel]['params'][children['tag']]
if parents['tag'] == 'PIDtarget':
for children in parents['children']:
children['value'] = tec.get_pid()[channel]['target']
def refreshTreeParam(tempTree: dict, channel: int) -> dict:
tempTree['children']['Constant Current']['children']['Set Current']['value'] = TECparams[channel][1]['children'][3][
'value']
tempTree['children']['Temperature PID']['value'] = TECparams[channel][0]['children'][0]['value']
tempTree['children']['Temperature PID']['children']['Set Temperature']['value'] = \
TECparams[channel][4]['children'][0]['value']
tempTree['children']['Output Config']['children']['Max Current']['value'] = TECparams[channel][1]['children'][0][
'value']
tempTree['children']['Output Config']['children']['Max Voltage']['value'] = TECparams[channel][1]['children'][2][
'value']
tempTree['children']['Thermistor Config']['children']['T0']['value'] = TECparams[channel][3]['children'][0][
'value'] - 273.15
tempTree['children']['Thermistor Config']['children']['R0']['value'] = TECparams[channel][3]['children'][1]['value']
tempTree['children']['Thermistor Config']['children']['Beta']['value'] = TECparams[channel][3]['children'][2][
'value']
tempTree['children']['PID Config']['children']['kP']['value'] = TECparams[channel][2]['children'][0]['value']
tempTree['children']['PID Config']['children']['kI']['value'] = TECparams[channel][2]['children'][1]['value']
tempTree['children']['PID Config']['children']['kD']['value'] = TECparams[channel][2]['children'][2]['value']
return tempTree
cnt = 0
def updateData():
global cnt
for data in tec.report_mode():
ch0tempGraph.update(data, cnt)
ch1tempGraph.update(data, cnt)
ch0currentGraph.update(data, cnt)
ch1currentGraph.update(data, cnt)
for channel in range(2):
if (autoTuner[channel].state() == PIDAutotuneState.STATE_READY or
autoTuner[channel].state() == PIDAutotuneState.STATE_RELAY_STEP_UP or
autoTuner[channel].state() == PIDAutotuneState.STATE_RELAY_STEP_DOWN):
autoTuner[channel].run(data[channel]['temperature'], data[channel]['time'])
tec.set_param('pwm', channel, 'i_set', autoTuner[channel].output())
elif autoTuner[channel].state() == PIDAutotuneState.STATE_SUCCEEDED:
kp, ki, kd = autoTuner[channel].get_tec_pid()
autoTuner[channel].setOff()
paramList[channel].child('PID Config').child('kP').setValue(kp)
paramList[channel].child('PID Config').child('kI').setValue(ki)
paramList[channel].child('PID Config').child('kD').setValue(kd)
tec.set_param('pid', channel, 'kp', kp)
tec.set_param('pid', channel, 'ki', ki)
tec.set_param('pid', channel, 'kd', kd)
elif autoTuner[channel].state() == PIDAutotuneState.STATE_FAILED:
tec.set_param('pwm', channel, 'i_set', 0)
autoTuner[channel].setOff()
if quit:
break
cnt += 1
if __name__ == '__main__':
tec = Client(host="192.168.1.26", port=23, timeout=None)
app = pg.mkQApp()
pg.setConfigOptions(antialias=True)
mw = QtGui.QMainWindow()
mw.setWindowTitle('Thermostat Control Panel')
mw.resize(1920, 1200)
cw = QtGui.QWidget()
mw.setCentralWidget(cw)
l = QtGui.QVBoxLayout()
layout = pg.LayoutWidget()
l.addWidget(layout)
cw.setLayout(l)
## Create tree of Parameter objects
paramList = [Parameter.create(name='GUIparams', type='group', children=GUIparams[0]),
Parameter.create(name='GUIparams', type='group', children=GUIparams[1])]
ch0Tree = ParameterTree()
ch0Tree.setParameters(paramList[0], showTop=False)
ch1Tree = ParameterTree()
ch1Tree.setParameters(paramList[1], showTop=False)
TECsync()
paramList[0].restoreState(refreshTreeParam(paramList[0].saveState(), 0))
paramList[1].restoreState(refreshTreeParam(paramList[1].saveState(), 1))
paramList[0].sigTreeStateChanged.connect(change0)
paramList[1].sigTreeStateChanged.connect(change1)
layout.addWidget(ch0Tree, 1, 1, 1, 1)
layout.addWidget(ch1Tree, 2, 1, 1, 1)
ch0tempGraph = Graph(layout, 'Channel 0 Temperature', 1, 2,
[Curves('Feedback', 'temperature', 0, 'r', rec_len, refresh_period)])
ch1tempGraph = Graph(layout, 'Channel 1 Temperature', 2, 2,
[Curves('Feedback', 'temperature', 1, 'r', rec_len, refresh_period)])
ch0currentGraph = Graph(layout, 'Channel 0 Current', 1, 3,
[Curves('Feedback', 'tec_i', 0, 'r', rec_len, refresh_period),
Curves('Setpoint', 'i_set', 0, 'g', rec_len, refresh_period)])
ch1currentGraph = Graph(layout, 'Channel 1 Current', 2, 3,
[Curves('Feedback', 'tec_i', 1, 'r', rec_len, refresh_period),
Curves('Setpoint', 'i_set', 1, 'g', rec_len, refresh_period)])
t = QtCore.QTimer()
t.timeout.connect(updateData)
t.start(refresh_period)
mw.show()
pg.exec()