kirdy-firmware/pykirdy/kirdy_qt.py

from PyQt6 import QtWidgets, QtGui, QtCore, uic
from PyQt6.QtCore import pyqtSignal, QObject, QSignalBlocker, pyqtSlot
import pyqtgraph.parametertree.parameterTypes as pTypes
from pyqtgraph.parametertree import Parameter, ParameterTree, ParameterItem, registerParameterType
import pyqtgraph as pg
pg.setConfigOptions(antialias=True)
from pyqtgraph import mkPen
from pyqtgraph.functions import siEval, siParse, SI_PREFIX_EXPONENTS, SI_PREFIXES
from pglive.sources.live_axis_range import LiveAxisRange
from pglive.sources.data_connector import DataConnector
from pglive.kwargs import Axis, LeadingLine
from pglive.sources.live_plot import LiveLinePlot
from pglive.sources.live_plot_widget import LivePlotWidget
from pglive.sources.live_axis import LiveAxis
import re
import sys
import os
import argparse
import logging
import asyncio
from driver.kirdy import Kirdy as Kirdy_Driver
import qasync
from qasync import asyncClose, asyncSlot
from collections import deque
from datetime import datetime, timezone, timedelta
from time import time
from typing import Any, Optional, List
from ui.ui_conn_settings_form import Ui_Conn_Settings_Form
from ui.ui_update_network_settings_form import Ui_Update_Network_Settings_Form
from dateutil import tz
import math
import socket
from pid_autotune import PIDAutotune,  PIDAutotuneState
import importlib.resources

COMMON_ERROR_MSG = "Connection Timeout. Disconnecting."
FLOAT_REGEX = re.compile(r'(?P<number>[+-]?((((\d+(\.\d*)?)|(\d*\.\d+))([eE][+-]?\d+)?)|((?i:nan)|(inf))))\s*((?P<siPrefix>[u' + SI_PREFIXES + r']?)(?P<suffix>[\w°℃].*))?$')

def get_argparser():
    parser = argparse.ArgumentParser(description="ARTIQ master")

    parser.add_argument("--connect", default=None, action="store_true",
                        help="Automatically connect to the specified Thermostat in IP:port format")
    parser.add_argument('IP', metavar="ip", default=None, nargs='?')
    parser.add_argument('PORT', metavar="port", default=None, nargs='?')
    parser.add_argument("-l", "--log", dest="logLevel", choices=['DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'],
                        help="Set the logging level")

    return parser

def siConvert(val, suffix, typ=float):
    """
    Convert a value written in SI notation according to given Si Scale.

    Example::
    
        siConvert(0.1, "mA")  # returns 100
    """
    val, siprefix, suffix = siParse(str(val)+suffix, FLOAT_REGEX)
    v = typ(val)

    n = -SI_PREFIX_EXPONENTS[siprefix] if siprefix != '' else 0
    if n > 0:
        return v * 10**n
    elif n < 0:
        # this case makes it possible to use Decimal objects here
        return v / 10**-n
    else:
        return v

class Kirdy(QObject):
    connected_sig = pyqtSignal(bool)
    setting_update_sig = pyqtSignal(dict)
    report_update_sig = pyqtSignal(dict)

    def __init__(self, parent, kirdy, _poll_interval):
        super().__init__(parent)
        self._poll_interval = _poll_interval
        self._kirdy = kirdy
        self._kirdy.set_connected_sig(self.connected_sig)
        self.connected_sig.connect(self.start_polling)
        self.connected_sig.connect(self.connected_setup)

        self._kirdy.set_report_sig(self.report_update_sig)
        self._timer = QtCore.QBasicTimer()

    def connected(self):
        return self._kirdy.connected()

    def connecting(self):
        return self._kirdy.connecting()

    def start_session(self, host, port):
        self._kirdy.start_session(host=host, port=port)

    def end_session(self):
        if self._timer.isActive():
            self._timer.stop()
        asyncio.get_running_loop().create_task(self._kirdy.end_session())

    @pyqtSlot(bool)
    def connected_setup(self, connected):
        if connected:
            self._kirdy.task_dispatcher(self._kirdy.device.set_active_report_mode(True))
            self._kirdy._report_mode_on = True

    def timerEvent(self, event):
        self._kirdy.task_dispatcher(self._kirdy.device.get_settings_summary(sig=self.setting_update_sig))

    @pyqtSlot(bool)
    def start_polling(self, start):
        if start:
            if not(self._timer.isActive()):
                self._timer.start(int(self._poll_interval*1000), self)
            else:
                logging.debug("Kirdy Polling Timer has been started already.")
        else:
            self._timer.stop()

    @pyqtSlot(float)
    def set_update_s(self, interval):
        self._poll_interval = interval
        self.update_polling_rate()

    def update_polling_rate(self):
        if self._timer.isActive():
            self._timer.stop()
            self.start_polling()
        else:
            logging.debug("Attempt to update polling timer when it is stopped")
    
    def get_hw_rev(self):
        return self._kirdy.get_hw_rev()

class Graphs:
    def __init__(self, ld_i_set_graph, pd_mon_pwr_graph, tec_i_graph, tec_temp_graph, max_samples=1000):
        self.graphs = [ld_i_set_graph, pd_mon_pwr_graph, tec_i_graph, tec_temp_graph]
        self.connectors = []

        self._pd_mon_pwr_plot = LiveLinePlot(pen=pg.mkPen('r'))
        self._ld_i_set_plot = LiveLinePlot(name="Set", pen=pg.mkPen('r'))
        self._tec_temp_plot = LiveLinePlot(pen=pg.mkPen('r'))
        self._tec_setpoint_plot = LiveLinePlot(pen=pg.mkPen('r'))
        self._tec_i_target_plot = LiveLinePlot(name="Target", pen=pg.mkPen('r'))
        self._tec_i_measure_plot = LiveLinePlot(name="Measure", pen=pg.mkPen('g'))

        self._temp_setpoint_line = tec_temp_graph.getPlotItem().addLine(label='{value} ℃', pen=pg.mkPen('g'))
        # Render the temperature setpoint line on top of the temperature being plotted 
        self._temp_setpoint_line.setZValue(10)
        self._temp_setpoint_line.setVisible(False)
        
        def tickStrings(values: List, scale: float, spacing: float) -> List:
            return [datetime.fromtimestamp(value/1000, tz=timezone.utc).strftime("%H:%M:%S") for value in values]

        for graph in ld_i_set_graph, pd_mon_pwr_graph, tec_i_graph, tec_temp_graph:
            time_axis = LiveAxis('bottom', text="Time since Kirdy Reset (Hr:Min:Sec)", tick_angle=-45, units="")
            # Display the relative ts in custom %H:%M:%S format without local timezone
            time_axis.tickStrings = tickStrings
            # Prevent scaling prefix being added to the back fo axis label
            time_axis.autoSIPrefix = False
            time_axis.showLabel()

            graph.setAxisItems({'bottom': time_axis})
            graph.add_crosshair(pg.mkPen(color='red', width=1), {'color': 'green'})

            #TODO: x_range should not be updated on every tick
            graph.x_range_controller = LiveAxisRange(roll_on_tick=17, offset_left=4900)
            graph.x_range_controller.crop_left_offset_to_data = True
            # Enable linking of axes in the graph widget's context menu
            graph.register(graph.getPlotItem().titleLabel.text) # Slight hack getting the title

        self.max_samples = max_samples
        ld_i_set_axis = LiveAxis('left', text="Current", units="A")
        ld_i_set_axis.showLabel()
        ld_i_set_graph.setAxisItems({'left': ld_i_set_axis})
        ld_i_set_graph.addItem(self._ld_i_set_plot)
        self.ld_i_set_connector = DataConnector(self._ld_i_set_plot, max_points=self.max_samples)
        self.connectors += [self.ld_i_set_connector]

        pd_mon_pwr_axis = LiveAxis('left', text="Power", units="W")
        pd_mon_pwr_axis.showLabel()
        pd_mon_pwr_graph.setAxisItems({'left': pd_mon_pwr_axis})
        pd_mon_pwr_graph.addItem(self._pd_mon_pwr_plot)
        self.pd_mon_pwr_connector = DataConnector(self._pd_mon_pwr_plot, max_points=self.max_samples)
        self.connectors += [self.pd_mon_pwr_connector]

        tec_temp_axis = LiveAxis('left', text="Temperature", units="℃")
        tec_temp_axis.showLabel()
        tec_temp_graph.setAxisItems({'left': tec_temp_axis})
        tec_temp_graph.addItem(self._tec_setpoint_plot)
        tec_temp_graph.addItem(self._tec_temp_plot)
        self.tec_setpoint_connector = DataConnector(self._tec_setpoint_plot, max_points=1)
        self.tec_temp_connector = DataConnector(self._tec_temp_plot, max_points=self.max_samples)
        self.connectors += [self.tec_temp_connector, self.tec_setpoint_connector]

        tec_i_axis = LiveAxis('left', text="Current", units="A")
        tec_i_axis.showLabel()
        tec_i_graph.setAxisItems({'left': tec_i_axis})
        tec_i_graph.addLegend(brush=(50, 50, 200, 150))
        tec_i_graph.y_range_controller = LiveAxisRange(fixed_range=[-1.0, 1.0])
        tec_i_graph.addItem(self._tec_i_target_plot)
        tec_i_graph.addItem(self._tec_i_measure_plot)
        self.tec_i_target_connector = DataConnector(self._tec_i_target_plot, max_points=self.max_samples)
        self.tec_i_measure_connector = DataConnector(self._tec_i_measure_plot, max_points=self.max_samples)
        self.connectors += [self.tec_i_target_connector, self.tec_i_measure_connector]
    
    def set_max_samples(self, max_samples):
        self.max_samples = max_samples
        for connector in self.connectors:
            with connector.data_lock:
                connector.max_points = self.max_samples
                connector.x = deque(maxlen=int(connector.max_points))
                connector.y = deque(maxlen=int(connector.max_points))
        
    def plot_append(self, report):
        try:
            ld_i_set = report['laser']['ld_i_set']
            pd_pwr = report['laser']['pd_pwr']

            tec_i_set = report['thermostat']['i_set']
            tec_i_measure = report['thermostat']['tec_i']
            tec_temp = report['thermostat']['temperature']

            ts = report['ts']

            self.ld_i_set_connector.cb_append_data_point(ld_i_set, ts)
            if pd_pwr is not None:
                self._pd_mon_pwr_plot.show()
                self.pd_mon_pwr_connector.cb_append_data_point(pd_pwr, ts)
            else:
                self._pd_mon_pwr_plot.hide()
                self.pd_mon_pwr_connector.cb_append_data_point(0.0, ts)

            if tec_temp is None:
                self._tec_temp_plot.hide()
                tec_temp = -273.15
            else:
                self._tec_temp_plot.show()

            self.tec_temp_connector.cb_append_data_point(tec_temp, ts)
            if self._temp_setpoint_line.isVisible():
                self.tec_setpoint_connector.cb_append_data_point(self._temp_setpoint_line.value(), ts)
            else:
                self.tec_setpoint_connector.cb_append_data_point(tec_temp, ts)
            if tec_i_measure is not None:
                self.tec_i_measure_connector.cb_append_data_point(tec_i_measure, ts)
            self.tec_i_target_connector.cb_append_data_point(tec_i_set, ts)

        except Exception as e:
            logging.error(f"Graph Value cannot be updated. Data:{report}", exc_info=True)

    def clear_data_pts(self):
        for connector in self.connectors:
            connector.clear()
            connector.resume()

    def set_temp_setpoint_line(self, temp=None, visible=None):
        if visible is not None:
            self._temp_setpoint_line.setVisible(visible)
        if temp is not None:
            self._temp_setpoint_line.setValue(temp)

            # PyQtGraph normally does not update this text when the line
            # is not visible, so make sure that the temperature label 
            # gets updated always, and doesn't stay at an old value.
            self._temp_setpoint_line.label.setText(f"{temp} ℃", color='g')

class MutexParameter(pTypes.ListParameter):
    """
    Mutually exclusive parameter where only one of its children is visible at a time, list selectable.

    The ordering of the list items determines which children will be visible.
    """
    def __init__(self, **opts):
        super().__init__(**opts)

        self.sigValueChanged.connect(self.show_chosen_child)
        self.sigValueChanged.emit(self, self.opts['value'])

    def _get_param_from_value(self, value):
        if isinstance(self.opts['limits'], dict):
            values_list = list(self.opts['limits'].values())
        else:
            values_list = self.opts['limits']

        return self.children()[values_list.index(value)]

    @pyqtSlot(object, object)
    def show_chosen_child(self, value):
        for param in self.children():
            param.hide()

        child_to_show = self._get_param_from_value(value.value())
        child_to_show.show()

        if child_to_show.opts.get('triggerOnShow', None):
            child_to_show.sigValueChanged.emit(child_to_show, child_to_show.value())

registerParameterType('mutex', MutexParameter)

class UpdateNetSettingsForm(QtWidgets.QDialog, Ui_Update_Network_Settings_Form):
    def __init__(self):
        super().__init__()
        self.setupUi(self)
    
    def get_net_settings(self):
        try:
            ip_addr = f"{self.addr_in_0.text()}.{self.addr_in_1.text()}.{self.addr_in_2.text()}.{self.addr_in_3.text()}"
            gateway_addr = f"{self.gateway_in_0.text()}.{self.gateway_in_1.text()}.{self.gateway_in_2.text()}.{self.gateway_in_3.text()}"
            socket.inet_aton(ip_addr)
            socket.inet_aton(gateway_addr)

            return {
                "ip_addr": ip_addr,
                "gateway_addr": gateway_addr,
                "prefix_len": int(self.prefix_len_in.text()),
                "port": int(self.port_in.text()),
            }
        except (OSError, ValueError):
            return None


class ConnSettingsForm(QtWidgets.QDialog, Ui_Conn_Settings_Form):
    def __init__(self):
        super().__init__()
        self.setupUi(self)

    def get_net_settings(self):
        try:
            ip_addr = f"{self.addr_in_0.text()}.{self.addr_in_1.text()}.{self.addr_in_2.text()}.{self.addr_in_3.text()}"
            socket.inet_aton(ip_addr)

            return {
                "ip_addr": ip_addr,
                "port": int(self.port_in.text())
            }
        except (OSError, ValueError):
            return None

class MainWindow(QtWidgets.QMainWindow):
    """The maximum number of sample points to store."""
    DEFAULT_MAX_SAMPLES = 1000
    DEFAULT_IP_ADDR = '192.168.1.128'
    DEFAULT_PORT = 1337

    LASER_DIODE_STATUS = [
        {'name': 'Status', 'title': 'Status:    Power Off', 'expanded': True, 'type': 'group', 'children': [
            {'name': 'Color', 'title': '', 'type': 'color', 'value': 'w', 'readonly': True, "compactHeight": False},
        ]}
    ]

    LASER_DIODE_PARAMETERS = [
        {'name': 'Readings', 'expanded': True, 'type': 'group', 'children': [
            {'name': 'LD Current Set', 'type': 'float', 'suffix': 'A', 'siPrefix': True, 'readonly': True, "compactHeight": False},
            {'name': 'PD Current', 'type': 'float', 'suffix': 'A', 'siPrefix': True, 'readonly': True, "compactHeight": False},
            {'name': 'PD Power', 'type': 'float', 'suffix': 'W', 'siPrefix': True, 'readonly': True, "compactHeight": False},
            {'name': 'LF Mod Termination (50 Ohm)', 'type': 'list', 'limits': ['On', 'Off'], 'readonly': True, "compactHeight": False}
        ]},
        {'name': 'Output Config', 'expanded': True, 'type': 'group', 'children': [
            {'name': 'LD Current Set', 'type': 'float', 'value': 0, 'step': 0.001, 'decimals': 6, 'limits': (0, 300),
                'unit': 'mA', 'lock': False, 'target': 'laser', 'action': 'set_i', "compactHeight": False},
            {'name': 'LD Terminals Short', 'type': 'bool', 'value': False, 'lock': False, 'target': 'laser', 'action': 'set_ld_terms_short', "compactHeight": False},
            {'name': 'Default Power On', 'type': 'bool', 'value': False, 'lock': False, 'target': 'laser', 'action': 'set_default_pwr_on', "compactHeight": False},
        ]},
        {'name': 'Photodiode Monitor Config', 'expanded': False, 'type': 'group', 'children': [
            {'name': 'LD Power Limit', 'type': 'float', 'value': 0, 'step': 0.001, 'decimals': 6, 'limits': (0, float("inf")),
                'unit': 'mW', 'lock': False, 'target': 'laser', 'action': 'set_ld_pwr_limit', "compactHeight": False},
            {'name': 'Responsitivity', 'type': 'float', 'value': 0, 'step': 0.001, 'decimals': 6, 'limits': (0, float("inf")),
                'unit': 'mA/W', 'lock': False, 'target': 'laser', 'action': 'set_pd_mon_responsitivity', "compactHeight": False},
            {'name': 'Dark Current', 'type': 'float', 'value': 0, 'step': 1, 'decimals': 6, 'limits': (0, float("inf")),
                'unit': 'uA', 'lock': False, 'target': 'laser', 'action': 'set_pd_mon_dark_current', "compactHeight": False},
        ]},
    ]

    THERMOSTAT_STATUS = [
         {'name': 'Status', 'title': 'Status:    Power Off', 'expanded': True, 'type': 'group', 'children': [
            {'name': 'Color', 'title': '', 'type': 'color', 'value': 'w', 'readonly': True, "compactHeight": False},
        ]}
    ]

    THERMOSTAT_PARAMETERS = [
        {'name': 'Readings', 'expanded': True, 'type': 'group', 'children': [
            {'name': 'Temperature', 'type': 'float', 'format': '{value:.4f} ℃', 'readonly': True, "compactHeight": False},
            {'name': 'Current through TEC', 'type': 'float', 'suffix': 'A', 'siPrefix': True, 'decimals': 6, 'readonly': True, "compactHeight": False},
        ]},
        {'name': 'Output Config', 'expanded': True, 'type': 'group', 'children': [
            {'name': 'Control Method', 'type': 'mutex', 'limits': ['Constant Current', 'Temperature PID'],
                'target_action_pair': [['thermostat', 'set_constant_current_control_mode'], ['thermostat', 'set_pid_control_mode']], 'children': [
                {'name': 'Set Current', 'type': 'float', 'value': 0, 'step': 1, 'limits': (-1000, 1000), 'triggerOnShow': True, 'decimals': 6,
                    'unit': 'mA', 'lock': False, 'target': 'thermostat', 'action': 'set_tec_i_out', "compactHeight": False},
                {'name': 'Set Temperature', 'type': 'float', 'value': 25, 'step': 0.0001, 'limits': (-273, 300), 'format': '{value:.4f}',
                    'unit': '℃', 'lock': False, 'target': 'thermostat', 'action': 'set_temperature_setpoint', "compactHeight": False},
            ]},
            {'name': 'Limits', 'expanded': False, 'type': 'group', 'children': [
                {'name': 'Max Cooling Current', 'type': 'float', 'value': 0, 'step': 1, 'decimals': 6, 'limits': (0, 1000),
                    'unit': 'mA', 'lock': False, 'target': 'thermostat', 'action': 'set_tec_max_cooling_i', "compactHeight": False},
                {'name': 'Max Heating Current', 'type': 'float', 'value': 0, 'step': 1, 'decimals': 6, 'limits': (0, 1000),
                    'unit': 'mA', 'lock': False, 'target': 'thermostat', 'action': 'set_tec_max_heating_i', "compactHeight": False},
                {'name': 'Max Voltage Difference', 'type': 'float', 'value': 0, 'step': 0.1, 'limits': (0, 4),
                    'unit': 'V', 'lock': False, 'target': 'thermostat', 'action': 'set_tec_max_v', "compactHeight": False},
            ]},
            {'name': 'Default Power On', 'type': 'bool', 'value': False, 'lock': False, 'target': 'thermostat', 'action': 'set_default_pwr_on'},
        ]},
        # TODO Temperature ADC Filter Settings
        {'name': 'Temperature Monitor Config', 'expanded': False, 'type': 'group', 'children': [
            {'name': 'Upper Limit', 'type': 'float', 'value': 0, 'step': 1, 'decimals': 6, 'limits': (-273, 300),
                'unit': '℃', 'lock': False, 'target': 'thermostat', 'action': 'set_temp_mon_upper_limit', "compactHeight": False},
            {'name': 'Lower Limit', 'type': 'float', 'value': 0, 'step': 1, 'decimals': 6, 'limits': (-273, 300),
                'unit': '℃', 'lock': False, 'target': 'thermostat', 'action': 'set_temp_mon_lower_limit', "compactHeight": False},
        ]},
        {'name': 'Thermistor Settings','expanded': False, 'type': 'group', 'children': [
            {'name': 'T₀', 'type': 'float', 'value': 0, 'step': 1, 'decimals': 6, 'limits': (-273, 300),
                'unit': '℃', 'lock': False, 'target': 'thermostat', 'action': 'set_sh_t0', "compactHeight": False},
            {'name': 'R₀', 'type': 'float', 'value': 0, 'step': 1, 'decimals': 6,
                'unit': 'kΩ', 'lock': False, 'target': 'thermostat', 'action': 'set_sh_r0', "compactHeight": False},
            {'name': 'B', 'type': 'float', 'value': 3950, 'step': 1, 'decimals': 4, 
                'unit': 'K', 'lock': False, 'target': 'thermostat', 'action': 'set_sh_beta', "compactHeight": False},
        ]},
        {'name': 'PID Config', 'expanded': False, 'type': 'group', 'children': [
            {'name': 'Kp', 'type': 'float', 'step': 0.1, 'decimals': 16, 'lock': False, 'target': 'thermostat', 'action': 'set_pid_kp', "compactHeight": False},
            {'name': 'Ki', 'type': 'float', 'step': 0.1, 'decimals': 16, 'unit': 'Hz', 'lock': False, 'target': 'thermostat', 'action': 'set_pid_ki', "compactHeight": False},
            {'name': 'Kd', 'type': 'float', 'step': 0.1, 'decimals': 16, 'unit': 's', 'lock': False, 'target': 'thermostat', 'action': 'set_pid_kd', "compactHeight": False},
            {'name': "PID Output Clamping", 'expanded': True, 'type': 'group', 'children': [
                {'name': 'Minimum', 'type': 'float', 'step': 1, 'limits': (-1000, 1000), 'decimals': 6, 
                    'unit': 'mA', 'lock': False, 'target': 'thermostat', 'action': 'set_pid_output_min', "compactHeight": False},
                {'name': 'Maximum', 'type': 'float', 'step': 1, 'limits': (-1000, 1000), 'decimals': 6,
                    'unit': 'mA', 'lock': False, 'target': 'thermostat', 'action': 'set_pid_output_max', "compactHeight": False},
            ]},
            {'name': 'PID Auto Tune', 'expanded': False, 'type': 'group', 'children': [
                {'name': 'Target Temperature', 'type': 'float', 'value': 20.0, 'step': 0.1, 'unit': '℃', 'format': '{value:.4f}', "compactHeight": False},
                {'name': 'Test Current', 'type': 'float', 'value': 1000, 'decimals': 6, 'step': 100, 'limits': (-1000, 1000), 'unit': 'mA', "compactHeight": False},
                {'name': 'Temperature Swing', 'type': 'float', 'value': 0.0, 'step': 0.0001, 'prefix': '±', 'unit': '℃', 'format': '{value:.4f}', "compactHeight": False},
                {'name': 'Lookback', 'type': 'float', 'value': 5.0, 'step': 0.1, 'unit': 's', 'format': '{value:.4f}', "compactHeight": False},
                {'name': 'Run', 'type': 'action', 'tip': 'Run'},
            ]},
        ]},
    ]
    def __init__(self, args):
        super(MainWindow, self).__init__()
        self.kirdy = Kirdy_Driver()

        ui_file_path = importlib.resources.files("ui").joinpath("kirdy_qt.ui")
        uic.loadUi(ui_file_path, self)

        self.info_box = QtWidgets.QMessageBox()
        self.info_box.setIcon(QtWidgets.QMessageBox.Icon.Information)

        # Load Global QT Style Sheet Settings
        qss=os.path.join(os.path.dirname(__file__), "ui/mainwindow.qss")
        with open(qss,"r") as fh:
            self.setStyleSheet(fh.read())

        self.ip_addr = self.DEFAULT_IP_ADDR
        self.port = self.DEFAULT_PORT

        self.conn_settings_form = ConnSettingsForm()
        self.conn_settings_form.accepted.connect(self.start_connecting)

        self.update_net_settings_form = UpdateNetSettingsForm()
        self.update_net_settings_form.accepted.connect(self.update_net_settings)

        self.max_samples = self.DEFAULT_MAX_SAMPLES

        self.autotuner = PIDAutotune(25)

        self.setup_menu_bar()
        self._set_up_ctrl_btns()
        self._set_up_plot_menu()

        def _setValuewithLock(self, value):
            if not self.opts.get("lock", None):
                if self.opts.get("unit", None) is not None:
                    self.setValue(siConvert(value, self.opts.get("unit", None)))
                else:
                    self.setValue(value)
        Parameter.setValuewithLock = _setValuewithLock

        def _add_unit_to_title(param_tree):
            def _traverse(param):
                if param["type"] == "group" or param["type"] == "mutex":
                    for param in param["children"]:
                        _add_unit_to_title(param)
                else:
                    if "unit" in param.keys():
                        if not("title" in param.keys()):
                            param["title"] = param["name"]
                        param["title"] = param["title"] + " ({:})".format(param["unit"])
                    
            if isinstance(param_tree, list):
                for param in param_tree:
                    _traverse(param)
            else:
                _traverse(param_tree)

        _add_unit_to_title(self.LASER_DIODE_STATUS)
        _add_unit_to_title(self.LASER_DIODE_PARAMETERS)
        _add_unit_to_title(self.THERMOSTAT_STATUS)
        _add_unit_to_title(self.THERMOSTAT_PARAMETERS)

        self.params = [
            Parameter.create(name=f"Laser Diode Status", type='group', value=0, children=self.LASER_DIODE_STATUS),
            Parameter.create(name=f"Laser Diode Parameters", type='group', value=1, children=self.LASER_DIODE_PARAMETERS),
            Parameter.create(name=f"Thermostat Status", type='group', value=2, children=self.THERMOSTAT_STATUS),
            Parameter.create(name=f"Thermostat Parameters", type='group', value=3, children=self.THERMOSTAT_PARAMETERS),
        ]
        self._set_param_tree()

        self.tec_i_graph.setTitle("TEC Current")
        self.tec_temp_graph.setTitle("TEC Temperature")
        self.ld_i_set_graph.setTitle("LD Current Set")
        self.pd_mon_pwr_graph.setTitle("PD Mon Power")

        self.connect_btn.clicked.connect(self.show_conn_settings_form)

        self.kirdy_handler = Kirdy(self, self.kirdy, 1.0)
        
        self.kirdy_handler.setting_update_sig.connect(self.update_ld_ctrl_panel_settings)
        self.kirdy_handler.setting_update_sig.connect(self.update_thermostat_ctrl_panel_settings)
        self.kirdy_handler.report_update_sig.connect(self.update_ld_ctrl_panel_readings)
        self.kirdy_handler.report_update_sig.connect(self.update_thermostat_ctrl_panel_readings)

        self.graphs = Graphs(self.ld_i_set_graph, self.pd_mon_pwr_graph, self.tec_i_graph, self.tec_temp_graph, max_samples=self.max_samples)
        self.kirdy_handler.report_update_sig.connect(self.graphs.plot_append)

        self.loading_spinner.hide()
        self.kirdy_handler.connected_sig.connect(self._on_connection_changed)
    
    def setup_menu_bar(self):
        @pyqtSlot(bool)
        def about_kirdy(_):
            hw_rev = self.kirdy_handler.get_hw_rev()
            QtWidgets.QMessageBox.about(
                self,
                "About Kirdy",
                f"""
                <h1>Sinara 1550 Kirdy v{hw_rev["major"]}.{hw_rev["minor"]}</h1>
                """
            )
        self.menu_action_about_kirdy.triggered.connect(about_kirdy)

        @pyqtSlot(bool)
        def about_gui(_):
            # TODO: Replace the hardware revision placeholder
            QtWidgets.QMessageBox.about(
                self,
                "About Kirdy Control Panel",
                f"""
                <h1>Version: "Version"</h1>
                """
            )
        self.menu_action_about_gui.triggered.connect(about_gui)

        @pyqtSlot(bool)
        def dfu_mode(_):
            self.kirdy.task_dispatcher(self.kirdy.device.dfu())
            self.kirdy_handler.end_session()
        self.menu_action_dfu_mode.triggered.connect(dfu_mode)

        @pyqtSlot(bool)
        def reset_kirdy(_):
            self.kirdy.task_dispatcher(self.kirdy.device.hard_reset())
            self.kirdy_handler.end_session()
        self.menu_action_hard_reset.triggered.connect(reset_kirdy)

        @pyqtSlot(bool)
        def save_settings(_):
            self.kirdy.task_dispatcher(self.kirdy.device.save_current_settings_to_flash())
            saved = QtWidgets.QMessageBox(self)
            saved.setWindowTitle("Config saved")
            saved.setText(f"Laser diode and thermostat configs have been saved into flash.")
            saved.setIcon(QtWidgets.QMessageBox.Icon.Information)
            saved.show()
        self.menu_action_save.triggered.connect(save_settings)

        @pyqtSlot(bool)
        def load_settings(_):
            self.kirdy.task_dispatcher(self.kirdy.device.restore_settings_from_flash())
            loaded = QtWidgets.QMessageBox(self)
            loaded.setWindowTitle("Config loaded")
            loaded.setText(f"Laser Diode and Thermostat configs have been loaded from flash.")
            loaded.setIcon(QtWidgets.QMessageBox.Icon.Information)
            loaded.show()
        self.menu_action_load.triggered.connect(load_settings)

        @pyqtSlot(bool)
        def show_update_net_settings_form(_):
            self.update_net_settings_form.retranslateUi(self.update_net_settings_form)
            self.update_net_settings_form.show()
        self.menu_action_update_net_settings.triggered.connect(show_update_net_settings_form)

    def show_conn_settings_form(self):
        ip_addr = self.ip_addr.split(".")
        self.conn_settings_form.addr_in_0.setText(ip_addr[0])
        self.conn_settings_form.addr_in_1.setText(ip_addr[1])
        self.conn_settings_form.addr_in_2.setText(ip_addr[2])
        self.conn_settings_form.addr_in_3.setText(ip_addr[3])
        self.conn_settings_form.port_in.setText(str(self.port))
        self.conn_settings_form.show()

    def _set_up_ctrl_btns(self):
        @pyqtSlot(bool)
        def ld_pwr_on(_):
            self.kirdy.task_dispatcher(self.kirdy.laser.set_power_on(True))
        self.ld_pwr_on_btn.clicked.connect(ld_pwr_on)

        @pyqtSlot(bool)
        def ld_pwr_off(_):
            self.kirdy.task_dispatcher(self.kirdy.laser.set_power_on(False))
        self.ld_pwr_off_btn.clicked.connect(ld_pwr_off)
        
        @pyqtSlot(bool)
        def ld_clear_alarm(_):
            self.kirdy.task_dispatcher(self.kirdy.laser.clear_alarm())
        self.ld_clear_alarm_btn.clicked.connect(ld_clear_alarm)

        @pyqtSlot(bool)
        def tec_pwr_on(_):
            self.kirdy.task_dispatcher(self.kirdy.thermostat.set_power_on(True))
        self.tec_pwr_on_btn.clicked.connect(tec_pwr_on)

        @pyqtSlot(bool)
        def tec_pwr_off(_):
            self.kirdy.task_dispatcher(self.kirdy.thermostat.set_power_on(False))
        self.tec_pwr_off_btn.clicked.connect(tec_pwr_off)

        @pyqtSlot(bool)
        def tec_clear_alarm(_):
            self.kirdy.task_dispatcher(self.kirdy.thermostat.clear_alarm())
        self.tec_clear_alarm_btn.clicked.connect(tec_clear_alarm)

    def _set_up_plot_menu(self):
        self.plot_menu = QtWidgets.QMenu()
        self.plot_menu.setTitle("Plot Settings")

        clear = QtGui.QAction("Clear graphs", self.plot_menu)
        clear.triggered.connect(self.clear_graphs)
        self.plot_menu.addAction(clear)
        self.plot_menu.clear = clear

        self.samples_spinbox = QtWidgets.QSpinBox()
        self.samples_spinbox.setRange(2, 100000)
        self.samples_spinbox.setSuffix(' samples')
        self.samples_spinbox.setValue(self.max_samples)
        self.samples_spinbox.valueChanged.connect(self.set_max_samples)

        limit_samples = QtWidgets.QWidgetAction(self.plot_menu)
        limit_samples.setDefaultWidget(self.samples_spinbox)
        self.plot_menu.addAction(limit_samples)
        self.plot_menu.limit_samples = limit_samples

        self.plot_settings.setMenu(self.plot_menu)

    def _set_param_tree(self):
        status = self.ld_status
        status.setHeaderHidden(True)
        status.setParameters(self.params[0], showTop=False)

        tree = self.ld_tree
        tree.setHeaderHidden(True)
        tree.setParameters(self.params[1], showTop=False)
        self.params[1].sigTreeStateChanged.connect(self.send_command)

        status = self.tec_status
        status.setHeaderHidden(True)
        status.setParameters(self.params[2], showTop=False)

        tree = self.tec_tree
        tree.setHeaderHidden(True)
        tree.setParameters(self.params[3], showTop=False)
        self.params[3].sigTreeStateChanged.connect(self.send_command)

        @asyncSlot()
        async def autotune(param):
            match self.autotuner.state():
                case PIDAutotuneState.STATE_OFF:
                    settings = await self.kirdy.device.get_settings_summary()
                    self.autotuner.setParam(
                        param.parent().child('Target Temperature').value(),
                        param.parent().child('Test Current').value() / 1000,
                        param.parent().child('Temperature Swing').value(),
                        1.0 / settings['thermostat']['temp_adc_settings']['rate'],
                        param.parent().child('Lookback').value())
                    self.autotuner.setReady()
                    param.setOpts(title="Stop")
                    self.kirdy.task_dispatcher(self.kirdy.thermostat.set_constant_current_control_mode())
                    self.kirdy_handler.report_update_sig.connect(self.autotune_tick)
                    self.loading_spinner.show()
                    self.loading_spinner.start()
                    self.background_task_lbl.setText("Autotuning")
                case PIDAutotuneState.STATE_READY | PIDAutotuneState.STATE_RELAY_STEP_UP | PIDAutotuneState.STATE_RELAY_STEP_DOWN:
                    self.autotuner.setOff()
                    param.setOpts(title="Run")
                    self.kirdy.task_dispatcher(self.kirdy.thermostat.set_tec_i_out(0.0))
                    self.kirdy_handler.report_update_sig.disconnect(self.autotune_tick)
                    self.background_task_lbl.setText("Ready.")
                    self.loading_spinner.stop()
                    self.loading_spinner.hide()
        self.params[3].child('PID Config', 'PID Auto Tune', 'Run').sigActivated.connect(autotune)

    @pyqtSlot(dict)
    def autotune_tick(self, report):
        match self.autotuner.state():
            case PIDAutotuneState.STATE_READY | PIDAutotuneState.STATE_RELAY_STEP_UP | PIDAutotuneState.STATE_RELAY_STEP_DOWN:
                self.autotuner.run(report['thermostat']['temperature'], report['ts']/1000)
                self.kirdy.task_dispatcher(self.kirdy.thermostat.set_tec_i_out(self.autotuner.output()))
            case PIDAutotuneState.STATE_SUCCEEDED:
                kp, ki, kd = self.autotuner.get_tec_pid()
                self.autotuner.setOff()
                self.params[3].child('PID Config', 'PID Auto Tune', 'Run').setOpts(title="Run")
                self.kirdy.task_dispatcher(self.kirdy.thermostat.set_pid_kp(kp))
                self.kirdy.task_dispatcher(self.kirdy.thermostat.set_pid_ki(ki))
                self.kirdy.task_dispatcher(self.kirdy.thermostat.set_pid_kd(kd))
                self.kirdy.task_dispatcher(self.kirdy.thermostat.set_pid_control_mode())
                self.kirdy.task_dispatcher(self.kirdy.thermostat.set_temperature_setpoint(self.params[3].child('PID Config', 'PID Auto Tune', 'Target Temperature').value()))
                self.kirdy_handler.report_update_sig.disconnect(self.autotune_tick)
                self.background_task_lbl.setText("Ready.")
                self.loading_spinner.stop()
                self.loading_spinner.hide()
                self.info_box.setWindowTitle("PID AutoTune Success")
                self.info_box.setText("PID Config has been loaded to Thermostat.\nRegulating temperature.")
                self.info_box.show()

            case PIDAutotuneState.STATE_FAILED:
                self.autotuner.setOff()
                self.params[3].child('PID Config', 'PID Auto Tune', 'Run').setOpts(title="Run")
                self.kirdy.task_dispatcher(self.kirdy.thermostat.set_tec_i_out(0.0))
                self.kirdy_handler.report_update_sig.disconnect(self.autotune_tick)
                self.background_task_lbl.setText("Ready.")
                self.loading_spinner.stop()
                self.loading_spinner.hide()
                self.info_box.setWindowTitle("PID Autotune Failed")
                self.info_box.setText("PID Autotune is failed.")
                self.info_box.show()

    @pyqtSlot(bool)
    def _on_connection_changed(self, result):
        def ctrl_panel_setEnable(result):
            self.ld_status.setEnabled(result)
            self.ld_tree.setEnabled(result)
            self.ld_pwr_on_btn.setEnabled(result)
            self.ld_pwr_off_btn.setEnabled(result)
            self.ld_clear_alarm_btn.setEnabled(result)
            self.tec_status.setEnabled(result)
            self.tec_tree.setEnabled(result)
            self.tec_pwr_on_btn.setEnabled(result)
            self.tec_pwr_off_btn.setEnabled(result)
            self.tec_clear_alarm_btn.setEnabled(result)
        ctrl_panel_setEnable(result)

        def menu_bar_setEnable(result):
            self.menu_action_about_kirdy.setEnabled(result)
            self.menu_action_connect.setEnabled(result)
            self.menu_action_dfu_mode.setEnabled(result)
            self.menu_action_disconnect.setEnabled(result)
            self.menu_action_hard_reset.setEnabled(result)
            self.menu_action_save.setEnabled(result)
            self.menu_action_load.setEnabled(result)
            self.menu_action_update_net_settings.setEnabled(result)
        menu_bar_setEnable(result)

        def graph_group_setEnable(result):
            self.ld_i_set_graph.setEnabled(result)
            self.pd_mon_pwr_graph.setEnabled(result)
            self.tec_i_graph.setEnabled(result)
            self.tec_temp_graph.setEnabled(result)
        graph_group_setEnable(result)


        self.report_group.setEnabled(result)
        # TODO: Use QStateMachine to manage connections
        self.connect_btn.clicked.disconnect()
        if result:
            self.connect_btn.setText("Disconnect")
            self.connect_btn.clicked.connect(self.kirdy_handler.end_session)
            self._status()
        else:
            if self.kirdy_handler.connecting():
                self.status_lbl.setText(f"Connection is dropped. Reconnecting to {self.ip_addr}:{self.port}.")
                self.connect_btn.setText("Stop")
            else:
                self.connect_btn.setText("Connect")
                self.connect_btn.clicked.connect(self.show_conn_settings_form)
                self.clear_graphs()
                self.status_lbl.setText(f"Disconnected from {self.ip_addr}:{self.port}.")
            self.connect_btn.clicked.connect(self.kirdy_handler.end_session)

    def _status(self):
        host = self.ip_addr
        port = self.port
        hw_rev = self.kirdy_handler.get_hw_rev()
        self.status_lbl.setText(f"Connected to Kirdy v{hw_rev['major']}.{hw_rev['minor']} @ {host}:{port}")

    def clear_graphs(self):
        self.graphs.clear_data_pts()

    @pyqtSlot(dict)
    def graphs_update(self, report):
        self.graphs.plot_append(report)

    @pyqtSlot(dict)
    def update_ld_ctrl_panel_settings(self, settings):
        try:
            settings = settings['laser']
            with QSignalBlocker(self.params[1]):
                self.params[1].child('Output Config', 'LD Current Set').setValuewithLock(settings["ld_drive_current"]['value'])
                self.params[1].child('Output Config', 'LD Terminals Short').setValuewithLock(settings["ld_terms_short"])
                self.params[1].child('Output Config', 'Default Power On').setValuewithLock(settings["default_pwr_on"])
                self.params[1].child('Photodiode Monitor Config', 'LD Power Limit').setValuewithLock(settings["ld_pwr_limit"])
                if settings["pd_mon_params"]["responsitivity"] is not None:
                    self.params[1].child('Photodiode Monitor Config', 'Responsitivity').setValuewithLock(settings["pd_mon_params"]["responsitivity"])
                else:
                    self.params[1].child('Photodiode Monitor Config', 'Responsitivity').setValuewithLock(0)
                self.params[1].child('Photodiode Monitor Config', 'Dark Current').setValuewithLock(settings["pd_mon_params"]["i_dark"])
        except Exception as e:
            logging.error(f"Params tree cannot be updated. Data:{settings}", exc_info=True)

    @pyqtSlot(dict)
    def update_ld_ctrl_panel_readings(self, report):
        try:
            report = report['laser']
            with QSignalBlocker(self.params[0]):
                if report['pwr_excursion']:
                    self.params[0].child('Status', 'Color').setValuewithLock('r')
                    self.params[0].child('Status').setOpts(title='Status:    OverPower Alarm')
                else:
                    self.params[0].child('Status', 'Color').setValuewithLock('g' if report['pwr_on'] else 'w')
                    self.params[0].child('Status').setOpts(title='Status:    Power On' if report['pwr_on'] else 'Status:    Power Off')
                
            with QSignalBlocker(self.params[1]):
                self.params[1].child('Readings', 'LD Current Set').setValuewithLock(report["ld_i_set"])
                self.params[1].child('Readings', 'PD Current').setValuewithLock(report["pd_i"])
                if report["pd_pwr"] is not None:
                    self.params[1].child('Readings', 'PD Power').setValuewithLock(report["pd_pwr"])
                else:
                    self.params[1].child('Readings', 'PD Power').setValuewithLock(0)
                self.params[1].child('Readings', 'LF Mod Termination (50 Ohm)').setValuewithLock(report["term_50ohm"])
        except Exception as e:
            logging.error(f"Params tree cannot be updated. Data:{report}", exc_info=True)

    @pyqtSlot(dict)
    def update_thermostat_ctrl_panel_settings(self, settings):
        try:
            settings = settings['thermostat']
            with QSignalBlocker(self.params[3]):
                self.params[3].child('Output Config', 'Control Method').setValuewithLock("Temperature PID" if settings["pid_engaged"] else "Constant Current")
                self.params[3].child('Output Config', 'Control Method', 'Set Current').setValuewithLock(settings["tec_settings"]['i_set']['value'])
                self.params[3].child('Output Config', 'Control Method', 'Set Temperature').setValuewithLock(float(settings["temperature_setpoint"]))
                self.params[3].child('Output Config', 'Limits', 'Max Cooling Current').setValuewithLock(settings["tec_settings"]['max_i_pos']['value'])
                self.params[3].child('Output Config', 'Limits', 'Max Heating Current').setValuewithLock(settings["tec_settings"]['max_i_neg']['value'])
                self.params[3].child('Output Config', 'Limits', 'Max Voltage Difference').setValuewithLock(settings["tec_settings"]['max_v']['value'])
                self.params[3].child('Output Config', 'Default Power On').setValuewithLock(settings["default_pwr_on"])
                # TODO: Update the Temperature ADC Settings here as well
                self.params[3].child('Temperature Monitor Config', 'Upper Limit').setValuewithLock(settings["temp_mon_settings"]['upper_limit'])
                self.params[3].child('Temperature Monitor Config', 'Lower Limit').setValuewithLock(settings["temp_mon_settings"]['lower_limit'])
                self.params[3].child('PID Config', 'Kp').setValuewithLock(settings["pid_params"]['kp'])
                self.params[3].child('PID Config', 'Ki').setValuewithLock(settings["pid_params"]['ki'])
                self.params[3].child('PID Config', 'Kd').setValuewithLock(settings["pid_params"]['kd'])
                self.params[3].child('PID Config', 'PID Output Clamping', 'Minimum').setValuewithLock(settings["pid_params"]['output_min'])
                self.params[3].child('PID Config', 'PID Output Clamping', 'Maximum').setValuewithLock(settings["pid_params"]['output_max'])
                self.params[3].child('Thermistor Settings', 'T₀').setValuewithLock(settings["thermistor_params"]['t0'])
                self.params[3].child('Thermistor Settings', 'R₀').setValuewithLock(settings["thermistor_params"]['r0'])
                self.params[3].child('Thermistor Settings', 'B').setValuewithLock(settings["thermistor_params"]['b'])
                self.graphs.set_temp_setpoint_line(temp=round(settings["temperature_setpoint"], 4))
                self.graphs.set_temp_setpoint_line(visible=settings['pid_engaged'])
        except Exception as e:
            logging.error(f"Params tree cannot be updated. Data:{settings}", exc_info=True)
    
    @pyqtSlot(dict)
    def update_thermostat_ctrl_panel_readings(self, report):
        try:
            report = report['thermostat']
            with QSignalBlocker(self.params[2]): 
                if report['temp_mon_status']['over_temp_alarm']:
                    self.params[2].child('Status', 'Color').setValuewithLock('r')
                    self.params[2].child('Status').setOpts(title='Status:    OverTemperature Alarm')

                else:
                    self.params[2].child('Status', 'Color').setValuewithLock('g' if report['pwr_on'] else 'w')
                    self.params[2].child('Status').setOpts(title='Status:    Power On' if report['pwr_on'] else 'Status:    Power Off')

            with QSignalBlocker(self.params[3]):
                if report["temperature"] == None:
                    self.params[3].child('Readings', 'Temperature').setValuewithLock(-273.15)
                else:
                    self.params[3].child('Readings', 'Temperature').setValuewithLock(report["temperature"])
                self.params[3].child('Readings', 'Current through TEC').setValuewithLock(report["tec_i"])
        except Exception as e:
            logging.error(f"Params tree cannot be updated. Data:{report}", exc_info=True)
    
    @pyqtSlot(int)
    def set_max_samples(self, samples: int):
        self.graphs.set_max_samples(samples)


    @pyqtSlot()
    def update_net_settings(self):
        net_settings = self.update_net_settings_form.get_net_settings()
        if net_settings is None:
            self.status_lbl.setText("Invalid IP Settings Input")
            return
        addr = net_settings["ip_addr"]
        port = net_settings["port"]
        prefix_len = net_settings["prefix_len"]
        gateway = net_settings["gateway_addr"]
        self.kirdy.task_dispatcher(self.kirdy.device.set_ip_settings(addr, port, prefix_len, gateway))
        self.status_lbl.setText("IP Settings is Updated")

    @pyqtSlot()
    def start_connecting(self):
        net_settings = self.conn_settings_form.get_net_settings()
        if net_settings is None:
            self.status_lbl.setText("Invalid IP Settings Input")
            return
        self.ip_addr = net_settings["ip_addr"]
        self.port = net_settings["port"]

        host = self.ip_addr
        port = self.port

        if not (self.kirdy_handler.connecting() or self.kirdy_handler.connected()):
            self.status_lbl.setText("Connecting...")
            self.kirdy_handler.start_session(host=host, port=port)

            self.connect_btn.setText("Stop")
            self.connect_btn.clicked.disconnect()
            self.connect_btn.clicked.connect(self.kirdy_handler.end_session)

    @pyqtSlot(object, object)
    def send_command(self, param, changes):
        for inner_param, change, data in changes:
            if change == 'value':
                """ cmd translation from mutex type parameter """
                if inner_param.opts.get('target_action_pair', None) is not None:
                    target, action = inner_param.opts['target_action_pair'][inner_param.opts['limits'].index(data)]
                    cmd = getattr(getattr(self.kirdy, target), action)
                    param.child(*param.childPath(inner_param)).setOpts(lock=True)
                    self.kirdy.task_dispatcher(cmd())
                    param.child(*param.childPath(inner_param)).setOpts(lock=False)
                    continue
                """ cmd translation from non-mutex type parameter"""
                if inner_param.opts.get("target", None) is not None:
                    if inner_param.opts.get("action", None) is not None:
                        if inner_param.opts.get("unit", None) is not None:
                            _, _, suffix = siParse(str(data)+inner_param.opts["unit"], regex=FLOAT_REGEX)
                            data = siEval(str(data)+inner_param.opts["unit"], regex=FLOAT_REGEX, suffix=suffix)
                        cmd = getattr(getattr(self.kirdy, inner_param.opts["target"]), inner_param.opts["action"])
                        param.child(*param.childPath(inner_param)).setOpts(lock=True)
                        self.kirdy.task_dispatcher(cmd(data))
                        param.child(*param.childPath(inner_param)).setOpts(lock=False)
                        continue

async def coro_main():
    args = get_argparser().parse_args()
    if args.logLevel:
        logging.basicConfig(level=getattr(logging, args.logLevel))

    app_quit_event = asyncio.Event()

    app = QtWidgets.QApplication.instance()
    app.aboutToQuit.connect(app_quit_event.set)

    main_window = MainWindow(args)
    main_window.show()

    await app_quit_event.wait()

def main():
    qasync.run(coro_main())

if __name__ == '__main__':
    main()