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()