Update PID Autotune Code

pykirdy/pid_autotune.py

@@ -6,6 +6,8 @@ import socket
 import json
 import time
 import signal
+from driver.kirdy_async import Kirdy
+import asyncio
 
 # Based on hirshmann pid-autotune libiary
 # See https://github.com/hirschmann/pid-autotune
@@ -219,92 +221,96 @@ class PIDAutotune:
             return True
         return False
 
-tec_power_up = {
-    "thermostat_cmd": "PowerUp",
-}
 
-tec_power_down = {
-    "thermostat_cmd": "PowerDown",
-}
+async def main():
+    """
+        PID AutoTune Tools for Kirdy
+            The obtained temperature works best at the target temperature specified.
+            Before running PID AutoTune, please 
+                1. Secure the laser diode onto the LD adapter and copper heat sink
+                2. Make sure Kirdy has warmed up and reached thermal equilibrium state
         
-kirdy_get_status_report = {
-    "device_cmd": "GetStatusReport",
-}
+        In case of PID Autotune Failure, you can
+            1. Run the PID Autotune again
+            2. Or increase the lookback period
+            3. Or increase the sampling rate
+    """
 
-tec_get_tec_status = {
-    "thermostat_cmd": "GetTecStatus",
-}
-
-tec_pid_dis_engage = {
-    "thermostat_cmd": "SetPidDisEngage",
-}
-
-tec_set_i_out = {
-    "tec_set_i": 0.0,
-}
-
-# Kirdy IP and Port Number
-HOST = "192.168.1.132"
-PORT = 1337
-SAMPLING_RATE = 16.67
-
-def send_cmd(input, socket):
-    socket.send(bytes(json.dumps(input), "UTF-8"))
-    time.sleep(0.5)
-
-def read_cmd(input, socket):
-    socket.send(bytes(json.dumps(input), "UTF-8"))
-    data = socket.recv(1024).decode('utf8')
-    return json.loads(data)
-
-def main():
     # Target temperature of the autotune routine, celsius
     target_temperature = 20
     # Value by which output will be increased/decreased from zero, amps
     output_step = 1
     # Reference period for local minima/maxima, seconds
-    lookback = 1
+    lookback = 2.0
     # Determines by how much the input value must
     # overshoot/undershoot the setpoint, celsius
     noiseband = 1.5
 
+    kirdy = Kirdy()
+    await kirdy.start_session(host='192.168.1.128', port=1337, timeout=0.25)
+
+    await kirdy.laser.set_power_on(False)
+    await kirdy.laser.set_i(0)
+
+    await kirdy.thermostat.set_power_on(False)
+    await kirdy.thermostat.set_constant_current_control_mode()
+    await kirdy.thermostat.set_tec_i_out(0)
+    await kirdy.thermostat.clear_alarm()
+    
+    class SignalHandler:
+        KEEP_PROCESSING = True
+        def __init__(self):
+            signal.signal(signal.SIGINT, self.exit_gracefully)
+            signal.signal(signal.SIGTERM, self.exit_gracefully)
+
+        def exit_gracefully(self, signum, frame):
+            self.KEEP_PROCESSING = False
+    signal_handler = SignalHandler()
+
+    await kirdy.device.set_active_report_mode(False)
+
+    # Configure the Thermistor Parameters
+    await kirdy.thermostat.set_sh_beta(3900)
+    await kirdy.thermostat.set_sh_r0(10.0 * 1000)
+    await kirdy.thermostat.set_sh_t0(25)
+
+    # Set a large enough temperature range so that it won't trigger overtemperature protection
+    await kirdy.thermostat.set_temp_mon_upper_limit(target_temperature + 20)
+    await kirdy.thermostat.set_temp_mon_lower_limit(target_temperature - 20)
+
+    await kirdy.thermostat.set_tec_max_i_pos(output_step)
+    await kirdy.thermostat.set_tec_max_i_neg(output_step)
+
+    # The Polling Rate of Temperature Adc is equal to the PID Update Interval
+    await kirdy.thermostat.config_temp_adc_filter("Sinc5Sinc1With50hz60HzRejection", "F16SPS")
+    settings = await kirdy.device.get_settings_summary()
+    sampling_rate = settings["thermostat"]["temp_adc_settings"]["rate"]
+
+    print("Settings: {0}".format(settings))
+
     tuner = PIDAutotune(target_temperature, output_step,
-                        lookback, noiseband, 1/SAMPLING_RATE)
+                        lookback, noiseband, 1/sampling_rate)
 
-    s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+    await kirdy.thermostat.set_power_on(True)
 
-    def signal_handler(sig, frame):
-        send_cmd(tec_power_down, s)
-        s.close()
-        exit()
+    while True and signal_handler.KEEP_PROCESSING:
+        status_report = await kirdy.device.get_status_report()
         
-    signal.signal(signal.SIGINT, signal_handler)
-
-    s.connect((HOST, PORT))
-
-    send_cmd(tec_pid_dis_engage, s)
-    send_cmd(tec_power_down, s)
-    send_cmd(tec_power_up, s)
-
-    while True:
-        status_report = read_cmd(kirdy_get_status_report, s)
-        
-        temperature = status_report["tec"]["temperature"] - 273.15
-        print(temperature)
+        temperature = status_report["thermostat"]["temperature"]
         ts = status_report['ts']
+        print("Ts: {0} Current Temperature: {1} degree".format(ts, temperature))
         
         if (tuner.run(temperature, ts / 1000.0)):
+            print(tuner._state)
             break
 
         tuner_out = tuner.output()
+        await kirdy.thermostat.set_tec_i_out(float(tuner_out))
     
-        tec_set_i_out["tec_set_i"] = float(tuner_out * 1000.0)
+    await kirdy.thermostat.set_tec_i_out(0)
+    await kirdy.thermostat.set_power_on(False)
    
-        send_cmd(tec_set_i_out, s)
-    
-    tec_set_i_out["tec_set_i"] = 0.0
-    send_cmd(tec_power_down, s)
-    s.close()
+    await kirdy.end_session()
 
 if __name__ == "__main__":
-    main()
+    asyncio.run(main())