forked from M-Labs/thermostat
336 lines
14 KiB
Python
336 lines
14 KiB
Python
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()
|