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