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 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 sys
import os
import argparse
import logging
import asyncio
from driver.kirdy_async import Kirdy, StoppedConnecting
import qasync
from qasync import asyncSlot, asyncClose
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."

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

class KirdyDataWatcher(QObject):
    """
    This class provides various signals for Mainwindow to update various kinds of GUI objects
    """
    connection_error_sig = pyqtSignal()
    setting_update_sig = pyqtSignal(dict)
    report_update_sig = pyqtSignal(dict)
    
    def __init__(self, parent, kirdy, update_s):
        self._update_s = update_s
        self._kirdy = kirdy
        self._watch_task = None
        self._report_mode_task = None
        self._poll_for_report = True
        super().__init__(parent)

    async def signal_emitter(self):
        settings_summary = await self._kirdy.device.get_settings_summary()
        self.setting_update_sig.emit(settings_summary)
        if self._poll_for_report:
            status_report = await self._kirdy.device.get_status_report()
            self.report_update_sig.emit(status_report)
        
    async def run(self):
        try:
            task = asyncio.create_task(self.signal_emitter())
            while True:
                if task.done():
                    _ = task.result()
                    task = asyncio.create_task(self.signal_emitter())
                await asyncio.sleep(self._update_s)
        except asyncio.CancelledError:
            task.cancel()
        except Exception as e:
            logging.error(COMMON_ERROR_MSG)
            self._kirdy.stop_report_mode()
            self.connection_error_sig.emit()

    def start_watching(self):
        self._watch_task = asyncio.create_task(self.run())

    async def stop_watching(self):
        if self._watch_task is not None:
            self._watch_task.cancel()
            await self._watch_task
            self._watch_task = None
        await self.set_report_mode(False)

    async def set_report_mode(self, enabled: bool):
        self._poll_for_report = not enabled
        if enabled:
            self._report_mode_task = asyncio.create_task(self.report_mode())
        else:
            if self._report_mode_task is not None:
                self._kirdy.stop_report_mode()
                await self._report_mode_task
                self._report_mode_task = None

    async def report_mode(self):
        try:
            async for status_report in self._kirdy.report_mode():
                if status_report["msg_type"] == "Exception":
                    raise TimeoutError("Connection Timeout")
                self.report_update_sig.emit(status_report)
        except Exception as e:
            logging.error(f"{COMMON_ERROR_MSG}")
            self.connection_error_sig.emit()

    @pyqtSlot(float)
    def set_update_s(self, update_s):
        self._update_s = update_s

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} °C', 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="°C")
        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 not None:
                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} °C", 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': 'Power', 'type': 'color', 'value': 'w', 'readonly': True},
        {'name': 'Alarm', 'type': 'color', 'value': 'w', 'readonly': True},
    ]

    LASER_DIODE_PARAMETERS = [
        {'name': 'Readings', 'expanded': True, 'type': 'group', 'children': [
            {'name': 'LD Current Set', 'type': 'float', 'suffix': 'A', 'siPrefix': True, 'readonly': True},
            {'name': 'PD Current', 'type': 'float', 'suffix': 'A', 'siPrefix': True, 'readonly': True},
            {'name': 'PD Power', 'type': 'float', 'suffix': 'W', 'siPrefix': True, 'readonly': True},
            {'name': 'LF Mod Impedance', 'type': 'list', 'limits': ['Is50Ohm', 'Not50Ohm'], 'readonly': True}
        ]},
        {'name': 'Output Config', 'expanded': True, 'type': 'group', 'children': [
            {'name': 'LD Current Set', 'type': 'float', 'value': 0, 'step': 1, 'decimals': 6, 'limits': (0, 1),
            'suffix': 'A', 'siPrefix': True, 'lock': False, 'target': 'laser', 'action': 'set_i'},
            {'name': 'LD Current Set Soft Limit', 'type': 'float', 'value': 0, 'step': 1, 'decimals': 6, 'limits': (0, 1),
            'suffix': 'A', 'siPrefix': True, 'lock': False, 'target': 'laser', 'action': 'set_i_soft_limit'},
            {'name': 'LD Terminals Short', 'type': 'bool', 'value': False, 'lock': False, 'target': 'laser', 'action': 'set_ld_terms_short'},
            {'name': 'Default Power On', 'type': 'bool', 'value': False, 'lock': False, 'target': 'laser', 'action': 'set_default_pwr_on'},
        ]},
        {'name': 'Photodiode Monitor Config', 'expanded': False, 'type': 'group', 'children': [
            {'name': 'LD Power Limit', 'type': 'float', 'value': 0, 'step': 1, 'decimals': 6, 'limits': (0, 0.3),
            'suffix': 'W', 'siPrefix': True, 'lock': False, 'target': 'laser', 'action': 'set_ld_pwr_limit'},
            {'name': 'Responsitivity', 'type': 'float', 'value': 0, 'step': 1, 'decimals': 6, 'limits': (0, 3000),
                'suffix': 'A/W', 'siPrefix': True, 'lock': False, 'target': 'laser', 'action': 'set_pd_mon_responsitivity'},
            {'name': 'Dark Current', 'type': 'float', 'value': 0, 'step': 1, 'decimals': 6, 'limits': (0, 3000),
                'suffix': 'A', 'siPrefix': True, 'lock': False, 'target': 'laser', 'action': 'set_pd_mon_dark_current'},
        ]},
    ]

    THERMOSTAT_STATUS = [
        {'name': 'Power', 'type': 'color', 'value': 'w', 'readonly': True},
        {'name': 'Alarm', 'type': 'color', 'value': 'w', 'readonly': True},
    ]

    THERMOSTAT_PARAMETERS = [
        {'name': 'Readings', 'expanded': True, 'type': 'group', 'children': [
            {'name': 'Temperature', 'type': 'float', 'format': '{value:.4f} °C', 'readonly': True},
            {'name': 'Current through TEC', 'type': 'float', 'suffix': 'A', 'siPrefix': True, 'decimals': 6, 'readonly': True},
        ]},
        {'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': 0.001, 'limits': (-1, 1), 'triggerOnShow': True,
                'decimals': 6, 'suffix': 'A', 'siPrefix': True, 'lock': False, 'target': 'thermostat', 'action': 'set_tec_i_out'},
                {'name': 'Set Temperature', 'type': 'float', 'value': 25, 'step': 0.1, 'limits': (-273, 300),
                'format': '{value:.4f} °C', 'lock': False, 'target': 'thermostat', 'action': 'set_temperature_setpoint'},
            ]},
            {'name': 'Limits', 'expanded': False, 'type': 'group', 'children': [
                {'name': 'Max Cooling Current', 'type': 'float', 'value': 0, 'step': 0.001, 'decimals': 6, 'limits': (0, 1),
                'suffix': 'A', 'siPrefix': True, 'lock': False, 'target': 'thermostat', 'action': 'set_tec_max_cooling_i'},
                {'name': 'Max Heating Current', 'type': 'float', 'value': 0, 'step': 0.001, 'decimals': 6, 'limits': (0, 1),
                'suffix': 'A', 'siPrefix': True, 'lock': False, 'target': 'thermostat', 'action': 'set_tec_max_heating_i'},
                {'name': 'Max Voltage Difference', 'type': 'float', 'value': 0, 'step': 0.1, 'limits': (0, 5), 
                'suffix': 'V', 'siPrefix': True, 'lock': False, 'target': 'thermostat', 'action': 'set_tec_max_v'},
            ]},
            {'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),
            'suffix': '°C', 'lock': False, 'target': 'thermostat', 'action': 'set_temp_mon_upper_limit'},
            {'name': 'Lower Limit', 'type': 'float', 'value': 0, 'step': 1, 'decimals': 6, 'limits': (-273, 300),
            'suffix': '°C', 'lock': False, 'target': 'thermostat', 'action': 'set_temp_mon_lower_limit'},
        ]},
        {'name': 'Thermistor Settings','expanded': False, 'type': 'group', 'children': [
            {'name': 'T₀', 'type': 'float', 'value': 0, 'step': 1, 'decimals': 6, 'limits': (-273, 300),
            'suffix': '°C', 'lock': False, 'target': 'thermostat', 'action': 'set_sh_t0'},
            {'name': 'R₀', 'type': 'float', 'value': 0, 'step': 1, 'decimals': 6,
            'suffix': 'Ω', 'siPrefix': True, 'lock': False, 'target': 'thermostat', 'action': 'set_sh_r0'},
            {'name': 'B', 'type': 'float', 'value': 3950, 'step': 1, 'suffix': 'K', 'decimals': 4, 'lock': False, 'target': 'thermostat', 'action': 'set_sh_beta'},
        ]},
        {'name': 'PID Config', 'expanded': False, 'type': 'group', 'children': [
            {'name': 'Kp', 'type': 'float', 'step': 0.1, 'suffix': '', 'lock': False, 'target': 'thermostat', 'action': 'set_pid_kp'},
            {'name': 'Ki', 'type': 'float', 'step': 0.1, 'suffix': 'Hz', 'lock': False, 'target': 'thermostat', 'action': 'set_pid_ki'},
            {'name': 'Kd', 'type': 'float', 'step': 0.1, 'suffix': 's', 'lock': False, 'target': 'thermostat', 'action': 'set_pid_kd'},
            {'name': "PID Output Clamping", 'expanded': True, 'type': 'group', 'children': [
                {'name': 'Minimum', 'type': 'float', 'step': 100, 'limits': (-1, 1), 'decimals': 6, 'suffix': 'A', 'lock': False, 'target': 'thermostat', 'action': 'set_pid_output_min'},
                {'name': 'Maximum', 'type': 'float', 'step': 100, 'limits': (-1, 1), 'decimals': 6, 'suffix': 'A', 'lock': False, 'target': 'thermostat', 'action': 'set_pid_output_max'},
            ]},
            {'name': 'PID Auto Tune', 'expanded': False, 'type': 'group', 'children': [
                {'name': 'Target Temperature', 'type': 'float', 'value': 20, 'step': 0.1, 'format': '{value:.4f} °C'},
                {'name': 'Test Current', 'type': 'float', 'value': 1000, 'decimals': 6, 'step': 100, 'limits': (-3000, 3000), 'suffix': 'mA'},
                {'name': 'Temperature Swing', 'type': 'float', 'value': 0.0, 'step': 0.1, 'prefix': '±', 'format': '{value:.4f} °C'},
                {'name': 'Lookback', 'type': 'float', 'value': 5.0, 'step': 0.1, 'format': '{value:.4f} s'},
                {'name': 'Run', 'type': 'action', 'tip': 'Run'},
            ]},
        ]},
    ]
    def __init__(self, args):
        super(MainWindow, self).__init__()
        self.kirdy = Kirdy()

        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()

        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.report_box.stateChanged.connect(self.on_report_box_stateChanged)

        self.kirdy_data_watcher = KirdyDataWatcher(self, self.kirdy, self.report_refresh_spin.value())
        self.kirdy_data_watcher.connection_error_sig.connect(self.bail)
        # TODO: Identify the usable range of set_update_s
        self.report_apply_btn.clicked.connect(
            lambda: self.kirdy_data_watcher.set_update_s(self.report_refresh_spin.value())
        )
        self.kirdy_data_watcher.setting_update_sig.connect(self.update_ld_ctrl_panel_settings)
        self.kirdy_data_watcher.setting_update_sig.connect(self.update_thermostat_ctrl_panel_settings)
        self.kirdy_data_watcher.report_update_sig.connect(self.update_ld_ctrl_panel_readings)
        self.kirdy_data_watcher.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_data_watcher.report_update_sig.connect(self.graphs.plot_append)

        self.loading_spinner.hide()
    
    def setup_menu_bar(self):
        @pyqtSlot(bool)
        def about_kirdy(_):
            # TODO: Replace the hardware revision placeholder
            QtWidgets.QMessageBox.about(
                self,
                "About Kirdy",
                f"""
                <h1>Sinara 1550 Kirdy v"major rev"."minor rev"</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)

        @asyncSlot(bool)
        async def dfu_mode(_):
            await self.kirdy.device.dfu()
            await self._on_connection_changed(False)
        self.menu_action_dfu_mode.triggered.connect(dfu_mode)

        @asyncSlot(bool)
        async def reset_kirdy(_):
            await self._on_connection_changed(False, hard_reset=True)
        self.menu_action_hard_reset.triggered.connect(reset_kirdy)

        @asyncSlot(bool)
        async def save_settings(_):
            await 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)

        @asyncSlot(bool)
        async def load_settings(_):
            await self.kirdy.device.load_current_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)

        @asyncSlot(bool)
        async 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):
        @asyncSlot(bool)
        async def ld_pwr_on(_):
            await self.kirdy.laser.set_power_on(True)
        self.ld_pwr_on_btn.clicked.connect(ld_pwr_on)

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

        @asyncSlot(bool)
        async def tec_pwr_on(_):
            await self.kirdy.thermostat.set_power_on(True)
        self.tec_pwr_on_btn.clicked.connect(tec_pwr_on)

        @asyncSlot(bool)
        async def tec_pwr_off(_):
            await self.kirdy.thermostat.set_power_on(False)
        self.tec_pwr_off_btn.clicked.connect(tec_pwr_off)

        @asyncSlot(bool)
        async def tec_clear_alarm(_):
            await 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):
        def _setValue(self, value, blockSignal=None):
            """
            Implement 'lock' mechanism for Parameter Type

            Modified from the source
            """
            try:
                if blockSignal is not None:
                    self.sigValueChanged.disconnect(blockSignal)
                value = self._interpretValue(value)
                if fn.eq(self.opts["value"], value):
                    return value

                if "lock" in self.opts.keys():
                    if self.opts["lock"]:
                        return value
                self.opts["value"] = value
                self.sigValueChanged.emit(
                    self, value
                )  # value might change after signal is received by tree item
            finally:
                if blockSignal is not None:
                    self.sigValueChanged.connect(blockSignal)

            return self.opts["value"]
        
        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)
        self.params[1].setValue = _setValue

        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)
        self.params[3].setValue = _setValue

        @asyncSlot()
        async def autotune(param):
            print("button clicked")
            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_data_watcher.set_report_mode(True)
                    await self.kirdy.thermostat.set_constant_current_control_mode()
                    self.kirdy_data_watcher.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")
                    await self.kirdy.thermostat.set_tec_i_out(0.0)
                    self.kirdy_data_watcher.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)

    @asyncSlot(dict)
    async 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)
                await 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")
                await self.kirdy.thermostat.set_pid_kp(kp)
                await self.kirdy.thermostat.set_pid_ki(ki)
                await self.kirdy.thermostat.set_pid_kd(kd)
                await self.kirdy.thermostat.set_pid_control_mode()
                await self.kirdy.thermostat.set_temperature_setpoint(self.params[3].child('PID Config', 'PID Auto Tune', 'Target Temperature').value())
                self.kirdy_data_watcher.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")
                await self.kirdy.thermostat.set_tec_i_out(0.0)
                self.kirdy_data_watcher.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()

    async def _on_connection_changed(self, result, hard_reset=False):
        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_refresh_spin.setEnabled(result) 

        self.report_group.setEnabled(result)
        self.report_refresh_spin.setEnabled(result)
        self.report_box.setEnabled(result)
        self.report_apply_btn.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.bail)
        else:
            self.connect_btn.setText("Connect")
            self.connect_btn.clicked.connect(self.show_conn_settings_form)
        
        if result:
            # TODO: self.hw_rev_data = await self.kirdy.hw_rev()
            self._status()
            self.kirdy_data_watcher.start_watching()
        else:
            self.clear_graphs()
            self.report_box.setChecked(False)
            await self.kirdy_data_watcher.stop_watching()
            if hard_reset:
                await self.kirdy.device.hard_reset()
            await self.kirdy.end_session()
            self.status_lbl.setText("Disconnected")

    def _status(self):
        # TODO: Get rev no from Kirdy and then add revision into the text
        host = self.ip_addr
        port = self.port
        self.status_lbl.setText(f"Connected to Kirdy @ {host}:{port}")

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

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

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

    @asyncSlot(dict)
    async def update_ld_ctrl_panel_readings(self, report):
        try:
            report = report['laser']
            with QSignalBlocker(self.params[0]):
                self.params[0].child('Power').setValue('g' if report['pwr_on'] else 'w')
                self.params[0].child('Alarm').setValue('r' if report['pwr_excursion'] else 'w')
                
            with QSignalBlocker(self.params[1]):
                self.params[1].child('Readings', 'LD Current Set').setValue(report["ld_i_set"])
                self.params[1].child('Readings', 'PD Current').setValue(report["pd_i"])
                if report["pd_pwr"] is not None:
                    self.params[1].child('Readings', 'PD Power').setValue(report["pd_pwr"])
                else:
                    self.params[1].child('Readings', 'PD Power').setValue(0)
                self.params[1].child('Readings', 'LF Mod Impedance').setValue(report["term_status"])
        except Exception as e:
            logging.error(f"Params tree cannot be updated. Data:{report}", exc_info=True)

    @asyncSlot(dict)
    async 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').setValue("Temperature PID" if settings["pid_engaged"] else "Constant Current")
                    self.params[3].child('Output Config', 'Control Method', 'Set Current').setValue(settings["tec_settings"]['i_set']['value'])
                    self.params[3].child('Output Config', 'Control Method', 'Set Temperature').setValue(float(settings["temperature_setpoint"]))
                    self.params[3].child('Output Config', 'Limits', 'Max Cooling Current').setValue(settings["tec_settings"]['max_i_pos']['value'])
                    self.params[3].child('Output Config', 'Limits', 'Max Heating Current').setValue(settings["tec_settings"]['max_i_neg']['value'])
                    self.params[3].child('Output Config', 'Limits', 'Max Voltage Difference').setValue(settings["tec_settings"]['max_v']['value'])
                    self.params[3].child('Output Config', 'Default Power On').setValue(settings["default_pwr_on"])
                    # TODO: Update the Temperature ADC Settings here as well
                    self.params[3].child('Temperature Monitor Config', 'Upper Limit').setValue(settings["temp_mon_settings"]['upper_limit'])
                    self.params[3].child('Temperature Monitor Config', 'Lower Limit').setValue(settings["temp_mon_settings"]['lower_limit'])
                    self.params[3].child('PID Config', 'Kp').setValue(settings["pid_params"]['kp'])
                    self.params[3].child('PID Config', 'Ki').setValue(settings["pid_params"]['ki'])
                    self.params[3].child('PID Config', 'Kd').setValue(settings["pid_params"]['kd'])
                    self.params[3].child('PID Config', 'PID Output Clamping', 'Minimum').setValue(settings["pid_params"]['output_min'])
                    self.params[3].child('PID Config', 'PID Output Clamping', 'Maximum').setValue(settings["pid_params"]['output_max'])
                    self.params[3].child('Thermistor Settings', 'T₀').setValue(settings["thermistor_params"]['t0'])
                    self.params[3].child('Thermistor Settings', 'R₀').setValue(settings["thermistor_params"]['r0'])
                    self.params[3].child('Thermistor Settings', 'B').setValue(settings["thermistor_params"]['b'])
                    self.graphs.set_temp_setpoint_line(temp=round(settings["temperature_setpoint"], 6))
                    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)
    
    @asyncSlot(dict)
    async def update_thermostat_ctrl_panel_readings(self, report):
        try:
            report = report['thermostat']
            with QSignalBlocker(self.params[2]): 
                self.params[2].child('Power').setValue('g' if report['pwr_on'] else 'w')
                self.params[2].child('Alarm').setValue('r' if report['temp_mon_status']['over_temp_alarm'] else 'w')
            with QSignalBlocker(self.params[3]):
                self.params[3].child('Readings', 'Temperature').setValue(report["temperature"])
                self.params[3].child('Readings', 'Current through TEC').setValue(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)

    @asyncSlot(int)
    async def on_report_box_stateChanged(self, enabled):
        await self.kirdy_data_watcher.set_report_mode(enabled)

    @asyncSlot()
    async 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"]
        await self.kirdy.device.set_ip_settings(addr, port, prefix_len, gateway)
        self.status_lbl.setText("IP Settings is Updated")

    @asyncSlot()
    async 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
        try:
            if not (self.kirdy.connecting() or self.kirdy.connected()):
                self.status_lbl.setText("Connecting...")
                await self.kirdy.start_session(host=host, port=port, timeout=0.1)
                await self._on_connection_changed(True)
            else:
                await self.bail()
        except (OSError, TimeoutError, ConnectionResetError) as e:
            logging.error(f"Failed communicating to {host}:{port}: {e}")
            await self.bail()
            self.status_lbl.setText(f"Cannot connect to Kirdy@ {host}:{port}")

    @asyncSlot()
    async def bail(self):
        await self._on_connection_changed(False)
        await self.kirdy.end_session()

    @asyncSlot(object, object)
    async 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)
                    await 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:
                        cmd = getattr(getattr(self.kirdy, inner_param.opts["target"]), inner_param.opts["action"])
                        await cmd(data)
                        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()