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WIP: adding autotune

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topquark12 2022-06-06 23:18:44 +08:00 committed by Egor Savkin
parent 3e1168dfc4
commit ba39af4dfa
1 changed files with 25 additions and 9 deletions
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34
pytec/tecQT.py
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@ -4,6 +4,8 @@ from pyqtgraph.parametertree import Parameter, ParameterTree, ParameterItem, reg
import numpy as np import numpy as np
import pyqtgraph as pg import pyqtgraph as pg
from pytec.client import Client from pytec.client import Client
from enum import Enum
from autotune import PIDAutotune, PIDAutotuneState
rec_len = 1000 rec_len = 1000
refresh_period = 20 refresh_period = 20
@ -35,7 +37,6 @@ TECparams = [ [
]}, ]},
] for _ in range(2)] ] for _ in range(2)]
GUIparams = [[ GUIparams = [[
{'name': 'Disable Output', 'type': 'action', 'tip': 'Disable Output'}, {'name': 'Disable Output', 'type': 'action', 'tip': 'Disable Output'},
{'name': 'Constant Current', 'type': 'group', 'children': [ {'name': 'Constant Current', 'type': 'group', 'children': [
@ -57,10 +58,18 @@ GUIparams = [[
{'name': 'kP', 'type': 'float', 'value': 0, 'step': 0.1}, {'name': 'kP', 'type': 'float', 'value': 0, 'step': 0.1},
{'name': 'kI', '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': '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', 'type': 'action', 'tip': 'Save'}, {'name': 'Save to flash', 'type': 'action', 'tip': 'Save to flash'},
] for _ in range(2)] ] for _ in range(2)]
autoTuneState = [PIDAutotuneState.STATE_OFF, 'idle']
## If anything changes in the tree, print a message ## If anything changes in the tree, print a message
def change(param, changes, ch): def change(param, changes, ch):
print("tree changes:") print("tree changes:")
@ -120,7 +129,10 @@ def change(param, changes, ch):
if (childName == 'PID Config.kD'): if (childName == 'PID Config.kD'):
tec.set_param('pid', ch, 'kd', data) tec.set_param('pid', ch, 'kd', data)
if (childName == 'Save'): if (childName == 'PID Config.PID Auto Tune.Run'):
autoTuneState[ch] = 'triggered'
if (childName == 'Save to flash'):
tec.save_config() tec.save_config()
def change0(param, changes): def change0(param, changes):
@ -174,6 +186,7 @@ def TECsync():
for data in tec.report_mode(): for data in tec.report_mode():
for children in parents['children']: for children in parents['children']:
children['value'] = data[channel][children['tag']] children['value'] = data[channel][children['tag']]
print(data[channel][children['tag']])
if quit: if quit:
break break
if parents['tag'] == 'pwm': if parents['tag'] == 'pwm':
@ -190,7 +203,6 @@ def TECsync():
children['value'] = tec.get_pid()[channel]['target'] children['value'] = tec.get_pid()[channel]['target']
def refreshTreeParam(tempTree:dict, channel:int) -> dict: def refreshTreeParam(tempTree:dict, channel:int) -> dict:
# tempTree['children']['Constant Current']['value'] = not TECparams[channel][0]['children'][0]['value']
tempTree['children']['Constant Current']['children']['Set Current']['value'] = TECparams[channel][1]['children'][3]['value'] 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']['value'] = TECparams[channel][0]['children'][0]['value']
tempTree['children']['Temperature PID']['children']['Set Temperature']['value'] = TECparams[channel][4]['children'][0]['value'] tempTree['children']['Temperature PID']['children']['Set Temperature']['value'] = TECparams[channel][4]['children'][0]['value']
@ -213,6 +225,11 @@ def updateData():
ch1tempGraph.update(data, cnt) ch1tempGraph.update(data, cnt)
ch0currentGraph.update(data, cnt) ch0currentGraph.update(data, cnt)
ch1currentGraph.update(data, cnt) ch1currentGraph.update(data, cnt)
for state in autoTuneState:
if state == 'triggered':
state = 'tuning'
if quit: if quit:
break break
@ -238,12 +255,8 @@ if __name__ == '__main__':
paramList = [Parameter.create(name='GUIparams', type='group', children=GUIparams[0]), paramList = [Parameter.create(name='GUIparams', type='group', children=GUIparams[0]),
Parameter.create(name='GUIparams', type='group', children=GUIparams[1])] Parameter.create(name='GUIparams', type='group', children=GUIparams[1])]
paramList[0].sigTreeStateChanged.connect(change0)
print(paramList[0].children())
ch0Tree = ParameterTree() ch0Tree = ParameterTree()
ch0Tree.setParameters(paramList[0], showTop=False) ch0Tree.setParameters(paramList[0], showTop=False)
paramList[1].sigTreeStateChanged.connect(change1)
ch1Tree = ParameterTree() ch1Tree = ParameterTree()
ch1Tree.setParameters(paramList[1], showTop=False) ch1Tree.setParameters(paramList[1], showTop=False)
@ -251,6 +264,9 @@ if __name__ == '__main__':
paramList[0].restoreState(refreshTreeParam(paramList[0].saveState(), 0)) paramList[0].restoreState(refreshTreeParam(paramList[0].saveState(), 0))
paramList[1].restoreState(refreshTreeParam(paramList[1].saveState(), 1)) 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(ch0Tree, 1, 1, 1, 1)
layout.addWidget(ch1Tree, 2, 1, 1, 1) layout.addWidget(ch1Tree, 2, 1, 1, 1)