gui: Correct Pid Autotune output current limit

- Previously, autotuner issues set_i cmd for each report obj received
- These change increase the maximum autotune-able PID update rate with GUI

flake.nix

@@ -62,6 +62,7 @@
           inherit pname version;
           hash = "sha256-jqj8X6H1N5mJQ4OrY5ANqRB0YJByqg/bNneEALWmH1A=";
         };
+        patches = ./patches/0001-Add-option-for-setting-min-range-span-for-y-axis.patch;
         buildInputs = [ pkgs.python3Packages.poetry-core ];
         propagatedBuildInputs = with pkgs.python3Packages; [ pyqtgraph numpy ];
       };

patches/0001-Add-option-for-setting-min-range-span-for-y-axis.patch

@@ -0,0 +1,61 @@
+From 59a14e06320fd42d56cd7d953da337c0fe4357fa Mon Sep 17 00:00:00 2001
+From: linuswck <linuswck@m-labs.hk>
+Date: Tue, 22 Oct 2024 17:30:36 +0800
+Subject: [PATCH] Add option for setting min range span for y-axis
+
+---
+ pglive/sources/live_axis_range.py | 17 ++++++++++++++++-
+ 1 file changed, 16 insertions(+), 1 deletion(-)
+
+diff --git a/pglive/sources/live_axis_range.py b/pglive/sources/live_axis_range.py
+index afbd806..9b62ba5 100644
+--- a/pglive/sources/live_axis_range.py
++++ b/pglive/sources/live_axis_range.py
+@@ -5,7 +5,7 @@ from typing import Optional, List, Tuple, Dict
+ class LiveAxisRange:
+ 
+     def __init__(self, roll_on_tick: int = 1, offset_left: float = 0., offset_right: float = 0., offset_top: float = 0.,
+-                 offset_bottom: float = 0., fixed_range: Optional[List[float]] = None) -> None:
++                 offset_bottom: float = 0., fixed_range: Optional[List[float]] = None, min_y_range_span: Optional[List[float]] = [None, None]) -> None:
+         self.roll_on_tick = roll_on_tick
+         self.offset_left = offset_left
+         self.offset_right = offset_right
+@@ -21,6 +21,7 @@ class LiveAxisRange:
+         self.final_x_range = [0., 0.]
+         self.final_y_range = [0., 0.]
+         self.ignored_data_connectors: List[str] = []
++        self.min_y_range_span = min_y_range_span
+ 
+     def get_x_range(self, data_connector, tick: int) -> List[float]:
+         x, _ = data_connector.plot.getData()
+@@ -116,6 +117,13 @@ class LiveAxisRange:
+             # therefore in that case we must set some range
+             final_range[0] -= 0.4
+             final_range[1] += 0.4
++
++        if self.min_y_range_span[0] is not None:
++            final_range[0] = min(self.min_y_range_span[0], final_range[0])
++
++        if self.min_y_range_span[1] is not None:
++            final_range[1] = max(self.min_y_range_span[1], final_range[1])
++
+         if self.final_y_range != final_range:
+             self.final_y_range = final_range
+         return self.final_y_range
+@@ -139,6 +147,13 @@ class LiveAxisRange:
+             # therefore in that case we must set some range
+             final_range[0] -= 0.4
+             final_range[1] += 0.4
++        
++        if self.min_y_range_span[0] is not None:
++            final_range[0] = min(self.min_y_range_span[0], final_range[0])
++
++        if self.min_y_range_span[1] is not None:
++            final_range[1] = max(self.min_y_range_span[1], final_range[1])
++
+         if self.final_y_range != final_range:
+             self.final_y_range = final_range
+         return self.final_y_range
+-- 
+2.44.1
+

pykirdy/driver/kirdy.py

@@ -879,7 +879,7 @@ class Kirdy:
                     else:
                         self._report_sig.emit(response)
                 else:
-                    if self._msg_queue_get_report:
+                    if self._msg_queue_get_report and response["msg_type"] == 'Report':
                         self._msg_queue_get_report = False
                     self._int_msg_queue.put_nowait_overwrite(response)
         except asyncio.exceptions.CancelledError:

pykirdy/kirdy_qt.py

@@ -195,14 +195,17 @@ class Graphs:
         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)
+        ld_i_set_graph.y_range_controller = LiveAxisRange(fixed_range=[0.0, 0.4])
+        self.ld_i_set_connector = DataConnector(self._ld_i_set_plot, plot_rate=10.0, update_rate=10.0, 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.y_range_controller = LiveAxisRange(min_y_range_span=[0.0, 100 / 1000 / 1000])
         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.pd_mon_pwr_connector = DataConnector(self._pd_mon_pwr_plot, plot_rate=10.0, update_rate=10.0, max_points=self.max_samples)
         self.connectors += [self.pd_mon_pwr_connector]
 
         tec_temp_axis = LiveAxis('left', text="Temperature", units="℃")
@@ -210,19 +213,18 @@ class Graphs:
         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.tec_setpoint_connector = DataConnector(self._tec_setpoint_plot, plot_rate=10.0, update_rate=10.0, max_points=1)
+        self.tec_temp_connector = DataConnector(self._tec_temp_plot, plot_rate=10.0, update_rate=10.0, 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.tec_i_target_connector = DataConnector(self._tec_i_target_plot, plot_rate=10.0, update_rate=10.0, max_points=self.max_samples)
+        self.tec_i_measure_connector = DataConnector(self._tec_i_measure_plot, plot_rate=10.0, update_rate=10.0, max_points=self.max_samples)
         self.connectors += [self.tec_i_target_connector, self.tec_i_measure_connector]
     
     def set_max_samples(self, max_samples):
@@ -400,17 +402,11 @@ class MainWindow(QtWidgets.QMainWindow):
     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': 'LD Current Set', 'type': 'float', 'unit': 'mA', 'readonly': True, "compactHeight": False},
+            {'name': 'PD Current', 'type': 'float', 'unit': 'uA', 'readonly': True, "compactHeight": False},
+            {'name': 'PD Power', 'type': 'float', 'unit': 'mW', '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': [
@@ -430,16 +426,10 @@ class MainWindow(QtWidgets.QMainWindow):
         ]},
     ]
 
-    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': 'Temperature', 'type': 'float', 'unit': '℃', 'format': '{value:.4f}', 'readonly': True, "compactHeight": False},
+            {'name': 'Current through TEC', 'type': 'float', 'unit': 'mA', 'decimals': 6, 'readonly': True, "compactHeight": False},
         ]},
         {'name': 'Output Config', 'expanded': True, 'type': 'group', 'children': [
             {'name': 'Control Method', 'type': 'mutex', 'limits': ['Constant Current', 'Temperature PID'],
@@ -484,14 +474,14 @@ class MainWindow(QtWidgets.QMainWindow):
             {'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, 
+                {'name': 'Minimum', 'type': 'float', 'step': 1, 'limits': (-3000, 3000), '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,
+                {'name': 'Maximum', 'type': 'float', 'step': 1, 'limits': (-3000, 3000), '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': 'Test Current', 'type': 'float', 'value': 1000, 'decimals': 6, 'step': 100, 'limits': (-3000, 3000), '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'},
@@ -559,15 +549,11 @@ class MainWindow(QtWidgets.QMainWindow):
             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()
@@ -659,8 +645,8 @@ class MainWindow(QtWidgets.QMainWindow):
         self.menu_action_update_net_settings.triggered.connect(show_update_net_settings_form)
 
     def update_pd_mon_form_readings(self, ld_settings):
-        pwr_unit = self.params[1].child('Photodiode Monitor Config', 'LD Power Limit').opts.get("unit", None)
-        self.params[1].child('Photodiode Monitor Config', 'LD Power Limit').setOpts(limits= (0, siConvert(ld_settings["ld_pwr_limit"]["max"], pwr_unit)))
+        pwr_unit = self.params[0].child('Photodiode Monitor Config', 'LD Power Limit').opts.get("unit", None)
+        self.params[0].child('Photodiode Monitor Config', 'LD Power Limit').setOpts(limits= (0, siConvert(ld_settings["ld_pwr_limit"]["max"], pwr_unit)))
         self.cfg_pd_mon_form.settable_pwr_range_display_lbl.setText(f" 0 - {siConvert(ld_settings['ld_pwr_limit']['max'], pwr_unit):.4f}")
         self.cfg_pd_mon_form.cfg_pwr_limit_spinbox.setMaximum(siConvert(ld_settings['ld_pwr_limit']['max'], pwr_unit))
 
@@ -792,19 +778,19 @@ class MainWindow(QtWidgets.QMainWindow):
             self.kirdy.task_dispatcher(self.kirdy.laser.set_ld_pwr_limit(settings['laser']['ld_pwr_limit']['max']))
         self.cfg_pd_mon_form.apply_pwr_limit_max_btn.clicked.connect(apply_ld_pwr_limit_max)
     
-        ld_pwr_limit_unit = self.params[1].child('Photodiode Monitor Config', 'LD Power Limit').opts["unit"]
+        ld_pwr_limit_unit = self.params[0].child('Photodiode Monitor Config', 'LD Power Limit').opts["unit"]
         ld_pwr_limit_text = self.cfg_pd_mon_form.cfg_pwr_limit_lbl.text()
         self.cfg_pd_mon_form.cfg_pwr_limit_lbl.setText(ld_pwr_limit_text.replace(":", f" ({ld_pwr_limit_unit}):"))
         self.cfg_pd_mon_form.cfg_pwr_limit_spinbox.unit = ld_pwr_limit_unit
         settable_pwr_limit_text = self.cfg_pd_mon_form.settable_pwr_range_lbl.text()
         self.cfg_pd_mon_form.settable_pwr_range_lbl.setText(settable_pwr_limit_text.replace(":", f" ({ld_pwr_limit_unit}):"))
 
-        pd_responsitivity_unit = self.params[1].child('Photodiode Monitor Config', 'Responsitivity').opts["unit"]
+        pd_responsitivity_unit = self.params[0].child('Photodiode Monitor Config', 'Responsitivity').opts["unit"]
         pd_responsitivity_text = self.cfg_pd_mon_form.cfg_responsitivity_lbl.text()
         self.cfg_pd_mon_form.cfg_responsitivity_lbl.setText(pd_responsitivity_text.replace(":", f" ({pd_responsitivity_unit}):"))
         self.cfg_pd_mon_form.cfg_responsitivity_spinbox.unit = pd_responsitivity_unit
 
-        pd_dark_current_unit = self.params[1].child('Photodiode Monitor Config', 'Dark Current').opts["unit"]
+        pd_dark_current_unit = self.params[0].child('Photodiode Monitor Config', 'Dark Current').opts["unit"]
         pd_dark_current_text = self.cfg_pd_mon_form.cfg_dark_current_lbl.text()
         self.cfg_pd_mon_form.cfg_dark_current_lbl.setText(pd_dark_current_text.replace(":", f" ({pd_dark_current_unit}):"))
         self.cfg_pd_mon_form.cfg_dark_current_spinbox.unit = pd_dark_current_unit
@@ -817,26 +803,23 @@ class MainWindow(QtWidgets.QMainWindow):
         self.cfg_adc_filter_form.apply_btn.clicked.connect(apply_adc_filter_settings)
 
     def _set_param_tree(self):
-        status = self.ld_status
-        status.setHeaderHidden(True)
-        status.setParameters(self.params[0], showTop=False)
+        self.ld_status.setStyleSheet("border: 3px solid #A1A1A1;") # Light Gray
+        self.tec_status.setStyleSheet("border: 3px solid #A1A1A1;") # Light Gray
 
         tree = self.ld_tree
         tree.setHeaderHidden(True)
+        tree.setParameters(self.params[0], showTop=False)
+        self.params[0].sigTreeStateChanged.connect(self.send_command)
+
+        tree = self.tec_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)
-
+        self.prev_autotuner_state = None
         @asyncSlot()
         async def autotune(param):
+            self.prev_autotuner_state = None
             match self.autotuner.state():
                 case PIDAutotuneState.STATE_OFF:
                     settings = await self.kirdy.device.get_settings_summary()
@@ -846,6 +829,7 @@ class MainWindow(QtWidgets.QMainWindow):
                         param.parent().child('Temperature Swing').value(),
                         1.0 / settings['thermostat']['temp_adc_settings']['rate'],
                         param.parent().child('Lookback').value())
+                    print(param.parent().child('Lookback').value())
                     self.autotuner.setReady()
                     param.setOpts(title="Stop")
                     self.kirdy.task_dispatcher(self.kirdy.thermostat.set_constant_current_control_mode())
@@ -861,20 +845,20 @@ class MainWindow(QtWidgets.QMainWindow):
                     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)
+        self.params[1].child('PID Config', 'PID Auto Tune', 'Run').sigActivated.connect(autotune)
 
         @pyqtSlot()
         def show_pd_mon_cfg_form(param):
-            ld_pwr_limit = self.params[1].child('Photodiode Monitor Config', 'LD Power Limit').value()
-            pd_responsitivity = self.params[1].child('Photodiode Monitor Config', 'Responsitivity').value()
-            pd_dark_current = self.params[1].child('Photodiode Monitor Config', 'Dark Current').value()
+            ld_pwr_limit = self.params[0].child('Photodiode Monitor Config', 'LD Power Limit').value()
+            pd_responsitivity = self.params[0].child('Photodiode Monitor Config', 'Responsitivity').value()
+            pd_dark_current = self.params[0].child('Photodiode Monitor Config', 'Dark Current').value()
 
             self.cfg_pd_mon_form.cfg_responsitivity_spinbox.setValue(pd_responsitivity)
             self.cfg_pd_mon_form.cfg_pwr_limit_spinbox.setValue(ld_pwr_limit)
             self.cfg_pd_mon_form.cfg_dark_current_spinbox.setValue(pd_dark_current)
 
             self.cfg_pd_mon_form.show()
-        self.params[1].child('Photodiode Monitor Config', 'Configure Photodiode Monitor').sigActivated.connect(show_pd_mon_cfg_form)
+        self.params[0].child('Photodiode Monitor Config', 'Configure Photodiode Monitor').sigActivated.connect(show_pd_mon_cfg_form)
 
         @asyncSlot()
         async def show_adc_filter_cfg_form(param):
@@ -891,7 +875,7 @@ class MainWindow(QtWidgets.QMainWindow):
                 self.cfg_adc_filter_form.filter_sampling_rate_cbox.setCurrentIndex(self.cfg_adc_filter_form.filter_sampling_rate_cbox.findText(filter_rate))
             self.cfg_adc_filter_form.show()
             
-        self.params[3].child('Temperature ADC Filter Settings', 'Configure ADC Filter').sigActivated.connect(show_adc_filter_cfg_form)
+        self.params[1].child('Temperature ADC Filter Settings', 'Configure ADC Filter').sigActivated.connect(show_adc_filter_cfg_form)
 
     @pyqtSlot(str)
     def cmd_cannot_execute(self, kirdy_msg):
@@ -899,40 +883,43 @@ class MainWindow(QtWidgets.QMainWindow):
         self.info_box.setWindowTitle("Command fails to execute")
         self.info_box.show()
 
-    @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()
+    @asyncSlot(dict)
+    async def autotune_tick(self, report):
+        self.autotuner.run(report['thermostat']['temperature'], report['ts']/1000)
+        if self.prev_autotuner_state != self.autotuner.state():
+            match self.autotuner.state():
+                case PIDAutotuneState.STATE_READY | PIDAutotuneState.STATE_RELAY_STEP_UP | PIDAutotuneState.STATE_RELAY_STEP_DOWN:
+                    await self.kirdy.thermostat.set_tec_i_out(self.autotuner.output())
+                    self.prev_autotuner_state = self.autotuner.state()
+                case PIDAutotuneState.STATE_SUCCEEDED:
+                    kp, ki, kd = self.autotuner.get_tec_pid()
+                    self.autotuner.setOff()
+                    self.params[1].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[1].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()
+                    self.prev_autotuner_state = None
+                case PIDAutotuneState.STATE_FAILED:
+                    self.autotuner.setOff()
+                    self.params[1].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()
+                    self.prev_autotuner_state = None
 
     @pyqtSlot(bool)
     def _on_connection_changed(self, result):
@@ -1003,17 +990,17 @@ class MainWindow(QtWidgets.QMainWindow):
     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"]["value"])
+            with QSignalBlocker(self.params[0]):
+                self.params[0].child('Output Config', 'LD Current Set').setValuewithLock(settings["ld_drive_current"]['value'])
+                self.params[0].child('Output Config', 'LD Terminals Short').setValuewithLock(settings["ld_terms_short"])
+                self.params[0].child('Output Config', 'Default Power On').setValuewithLock(settings["default_pwr_on"])
+                self.params[0].child('Photodiode Monitor Config', 'LD Power Limit').setValuewithLock(settings["ld_pwr_limit"]["value"])
                 self.update_pd_mon_form_readings(settings)
                 if settings["pd_mon_params"]["responsitivity"] is not None:
-                    self.params[1].child('Photodiode Monitor Config', 'Responsitivity').setValuewithLock(settings["pd_mon_params"]["responsitivity"])
+                    self.params[0].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"])
+                    self.params[0].child('Photodiode Monitor Config', 'Responsitivity').setValuewithLock(0)
+                self.params[0].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)
 
@@ -1023,20 +1010,24 @@ class MainWindow(QtWidgets.QMainWindow):
             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')
+                    self.ld_status.setStyleSheet("border: 3px solid red;")
+                    self.ld_status.setText('     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')
+                    if report['pwr_on']:
+                        self.ld_status.setStyleSheet("border: 3px solid #44E62C;") # Light Green
+                        self.ld_status.setText('     Status:    Power On')
+                    else:
+                        self.ld_status.setStyleSheet("border: 3px solid #A1A1A1;") # Light Gray
+                        self.ld_status.setText('     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"])
+            with QSignalBlocker(self.params[0]):
+                self.params[0].child('Readings', 'LD Current Set').setValuewithLock(report["ld_i_set"])
+                self.params[0].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"])
+                    self.params[0].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"])
+                    self.params[0].child('Readings', 'PD Power').setValuewithLock(0)
+                self.params[0].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)
 
@@ -1044,29 +1035,29 @@ class MainWindow(QtWidgets.QMainWindow):
     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"])
+            with QSignalBlocker(self.params[1]):
+                self.params[1].child('Output Config', 'Control Method').setValuewithLock("Temperature PID" if settings["pid_engaged"] else "Constant Current")
+                self.params[1].child('Output Config', 'Control Method', 'Set Current').setValuewithLock(settings["tec_settings"]['i_set']['value'])
+                self.params[1].child('Output Config', 'Control Method', 'Set Temperature').setValuewithLock(float(settings["temperature_setpoint"]))
+                self.params[1].child('Output Config', 'Limits', 'Max Cooling Current').setValuewithLock(settings["tec_settings"]['max_i_pos']['value'])
+                self.params[1].child('Output Config', 'Limits', 'Max Heating Current').setValuewithLock(settings["tec_settings"]['max_i_neg']['value'])
+                self.params[1].child('Output Config', 'Limits', 'Max Voltage Difference').setValuewithLock(settings["tec_settings"]['max_v']['value'])
+                self.params[1].child('Output Config', 'Default Power On').setValuewithLock(settings["default_pwr_on"])
                 filter_type = settings['temp_adc_settings']['filter_type']
                 filter_rate = settings['temp_adc_settings'][getattr(getattr(FilterConfig, filter_type), "_odr_type")]
                 self.update_adc_filter_form_readings(filter_type, filter_rate)
-                self.params[3].child('Temperature ADC Filter Settings', 'Filter Type').setValue(filter_type)
-                self.params[3].child('Temperature ADC Filter Settings', 'Sampling Rate').setValue(settings['temp_adc_settings']['rate'])
-                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.params[1].child('Temperature ADC Filter Settings', 'Filter Type').setValue(filter_type)
+                self.params[1].child('Temperature ADC Filter Settings', 'Sampling Rate').setValue(settings['temp_adc_settings']['rate'])
+                self.params[1].child('Temperature Monitor Config', 'Upper Limit').setValuewithLock(settings["temp_mon_settings"]['upper_limit'])
+                self.params[1].child('Temperature Monitor Config', 'Lower Limit').setValuewithLock(settings["temp_mon_settings"]['lower_limit'])
+                self.params[1].child('PID Config', 'Kp').setValuewithLock(settings["pid_params"]['kp'])
+                self.params[1].child('PID Config', 'Ki').setValuewithLock(settings["pid_params"]['ki'])
+                self.params[1].child('PID Config', 'Kd').setValuewithLock(settings["pid_params"]['kd'])
+                self.params[1].child('PID Config', 'PID Output Clamping', 'Minimum').setValuewithLock(settings["pid_params"]['output_min'])
+                self.params[1].child('PID Config', 'PID Output Clamping', 'Maximum').setValuewithLock(settings["pid_params"]['output_max'])
+                self.params[1].child('Thermistor Settings', 'T₀').setValuewithLock(settings["thermistor_params"]['t0'])
+                self.params[1].child('Thermistor Settings', 'R₀').setValuewithLock(settings["thermistor_params"]['r0'])
+                self.params[1].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:
@@ -1075,24 +1066,26 @@ class MainWindow(QtWidgets.QMainWindow):
     @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')
-
+            report = report['thermostat'] 
+            if report['temp_mon_status']['over_temp_alarm']:
+                self.tec_status.setStyleSheet("border: 3px solid red;")
+                self.tec_status.setText('     Status:    OverTemperature Alarm')
+            else:
+                if report['pwr_on']:
+                    self.tec_status.setStyleSheet("border: 3px solid #44E62C;") # Light Green
+                    self.tec_status.setText('     Status:    Power On')
                 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')
+                    self.tec_status.setStyleSheet("border: 3px solid #A1A1A1;") # Light Gray
+                    self.tec_status.setText('     Status:    Power Off')
 
-            with QSignalBlocker(self.params[3]):
+            with QSignalBlocker(self.params[1]):
                 if report["temperature"] == None:
-                    self.params[3].child('Readings', 'Temperature').setValuewithLock(-273.15)
+                    self.params[1].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"])
+                    self.params[1].child('Readings', 'Temperature').setValuewithLock(report["temperature"])
+                self.params[1].child('Readings', 'Current through TEC').setValuewithLock(report["tec_i"])
                 rate = 1 / (report['interval']['ms'] / 1e3 + report['interval']['us'] / 1e6)
-                self.params[3].child('Temperature ADC Filter Settings', 'Recorded Sampling Rate').setValue(rate)
+                self.params[1].child('Temperature ADC Filter Settings', 'Recorded Sampling Rate').setValue(rate)
             self.cfg_adc_filter_form.recorded_sampling_rate_reading_lbl.setText(f"{rate:.2f}")
         except Exception as e:
             logging.error(f"Params tree cannot be updated. Data:{report}", exc_info=True)

pykirdy/ui/kirdy_qt.ui

@@ -78,10 +78,11 @@
              <font>
               <pointsize>14</pointsize>
               <bold>true</bold>
+              <underline>false</underline>
              </font>
             </property>
             <property name="text">
-             <string>  Laser Diode</string>
+             <string>  Laser Diode  </string>
             </property>
             <property name="wordWrap">
              <bool>false</bool>
@@ -92,23 +93,27 @@
            </widget>
           </item>
           <item>
-           <widget class="ParameterTree" name="ld_status" native="true">
-            <property name="enabled">
-             <bool>false</bool>
-            </property>
-            <property name="sizePolicy">
-             <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-              <horstretch>0</horstretch>
-              <verstretch>0</verstretch>
-             </sizepolicy>
-            </property>
-            <property name="maximumSize">
-             <size>
-              <width>16777215</width>
-              <height>57</height>
-             </size>
-            </property>
-           </widget>
+           <layout class="QHBoxLayout" name="horizontalLayout_3">
+            <item>
+             <widget class="QLabel" name="ld_status">
+              <property name="enabled">
+               <bool>false</bool>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>12</pointsize>
+                <bold>true</bold>
+               </font>
+              </property>
+              <property name="styleSheet">
+               <string notr="true"/>
+              </property>
+              <property name="text">
+               <string>     Status:    Power Off</string>
+              </property>
+             </widget>
+            </item>
+           </layout>
           </item>
           <item>
            <widget class="ParameterTree" name="ld_tree" native="true">
@@ -166,10 +171,11 @@
              <font>
               <pointsize>14</pointsize>
               <bold>true</bold>
+              <underline>false</underline>
              </font>
             </property>
             <property name="text">
-             <string>  Thermostat</string>
+             <string>  Thermostat  </string>
             </property>
             <property name="wordWrap">
              <bool>false</bool>
@@ -180,23 +186,27 @@
            </widget>
           </item>
           <item>
-           <widget class="ParameterTree" name="tec_status" native="true">
-            <property name="enabled">
-             <bool>false</bool>
-            </property>
-            <property name="sizePolicy">
-             <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-              <horstretch>0</horstretch>
-              <verstretch>0</verstretch>
-             </sizepolicy>
-            </property>
-            <property name="maximumSize">
-             <size>
-              <width>16777215</width>
-              <height>57</height>
-             </size>
-            </property>
-           </widget>
+           <layout class="QHBoxLayout" name="horizontalLayout_5">
+            <item>
+             <widget class="QLabel" name="tec_status">
+              <property name="enabled">
+               <bool>false</bool>
+              </property>
+              <property name="font">
+               <font>
+                <pointsize>12</pointsize>
+                <bold>true</bold>
+               </font>
+              </property>
+              <property name="styleSheet">
+               <string notr="true"/>
+              </property>
+              <property name="text">
+               <string>     Status:    Power Off</string>
+              </property>
+             </widget>
+            </item>
+           </layout>
           </item>
           <item>
            <widget class="ParameterTree" name="tec_tree" native="true">

pykirdy/ui/mainwindow.qss

@@ -3,4 +3,5 @@ ParameterTree:disabled { color: gray }
 QToolButton:disabled { color: gray }
 QDoubleSpinBox:disabled { color: gray }
 QCheckBox:disabled { color: gray }
-QMenu:disabled { color: gray }
+QMenu:disabled { color: gray }
+QLabel:disabled { color: gray }