forked from M-Labs/thermostat
WIP: adding autotune
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@ -4,6 +4,8 @@ from pyqtgraph.parametertree import Parameter, ParameterTree, ParameterItem, reg
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import numpy as np
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import pyqtgraph as pg
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from pytec.client import Client
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from enum import Enum
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from autotune import PIDAutotune, PIDAutotuneState
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rec_len = 1000
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refresh_period = 20
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@ -35,7 +37,6 @@ TECparams = [ [
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]},
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] for _ in range(2)]
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GUIparams = [[
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{'name': 'Disable Output', 'type': 'action', 'tip': 'Disable Output'},
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{'name': 'Constant Current', 'type': 'group', 'children': [
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@ -57,10 +58,18 @@ GUIparams = [[
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{'name': 'kP', 'type': 'float', 'value': 0, 'step': 0.1},
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{'name': 'kI', 'type': 'float', 'value': 0, 'step': 0.1},
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{'name': 'kD', 'type': 'float', 'value': 0, 'step': 0.1},
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{'name': 'PID Auto Tune', 'expanded': False, 'type': 'group', 'children': [
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{'name': 'Target Temperature', 'type': 'float', 'value': 20, 'step': 0.1, 'siPrefix': True, 'suffix': 'C'},
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{'name': 'Test Current', 'type': 'float', 'value': 1, 'step': 0.1, 'siPrefix': True, 'suffix': 'A'},
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{'name': 'Temperature Swing', 'type': 'float', 'value': 1.5, 'step': 0.1, 'siPrefix': True, 'suffix': 'C'},
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{'name': 'Run', 'type': 'action', 'tip': 'Run'},
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]},
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]},
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{'name': 'Save', 'type': 'action', 'tip': 'Save'},
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{'name': 'Save to flash', 'type': 'action', 'tip': 'Save to flash'},
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] for _ in range(2)]
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autoTuneState = [PIDAutotuneState.STATE_OFF, 'idle']
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## If anything changes in the tree, print a message
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def change(param, changes, ch):
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print("tree changes:")
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@ -120,7 +129,10 @@ def change(param, changes, ch):
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if (childName == 'PID Config.kD'):
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tec.set_param('pid', ch, 'kd', data)
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if (childName == 'Save'):
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if (childName == 'PID Config.PID Auto Tune.Run'):
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autoTuneState[ch] = 'triggered'
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if (childName == 'Save to flash'):
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tec.save_config()
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def change0(param, changes):
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@ -174,6 +186,7 @@ def TECsync():
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for data in tec.report_mode():
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for children in parents['children']:
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children['value'] = data[channel][children['tag']]
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print(data[channel][children['tag']])
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if quit:
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break
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if parents['tag'] == 'pwm':
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@ -190,7 +203,6 @@ def TECsync():
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children['value'] = tec.get_pid()[channel]['target']
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def refreshTreeParam(tempTree:dict, channel:int) -> dict:
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# tempTree['children']['Constant Current']['value'] = not TECparams[channel][0]['children'][0]['value']
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tempTree['children']['Constant Current']['children']['Set Current']['value'] = TECparams[channel][1]['children'][3]['value']
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tempTree['children']['Temperature PID']['value'] = TECparams[channel][0]['children'][0]['value']
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tempTree['children']['Temperature PID']['children']['Set Temperature']['value'] = TECparams[channel][4]['children'][0]['value']
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@ -213,6 +225,11 @@ def updateData():
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ch1tempGraph.update(data, cnt)
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ch0currentGraph.update(data, cnt)
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ch1currentGraph.update(data, cnt)
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for state in autoTuneState:
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if state == 'triggered':
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state = 'tuning'
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if quit:
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break
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@ -238,12 +255,8 @@ if __name__ == '__main__':
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paramList = [Parameter.create(name='GUIparams', type='group', children=GUIparams[0]),
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Parameter.create(name='GUIparams', type='group', children=GUIparams[1])]
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paramList[0].sigTreeStateChanged.connect(change0)
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print(paramList[0].children())
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ch0Tree = ParameterTree()
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ch0Tree.setParameters(paramList[0], showTop=False)
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paramList[1].sigTreeStateChanged.connect(change1)
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ch0Tree.setParameters(paramList[0], showTop=False)
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ch1Tree = ParameterTree()
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ch1Tree.setParameters(paramList[1], showTop=False)
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@ -251,6 +264,9 @@ if __name__ == '__main__':
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paramList[0].restoreState(refreshTreeParam(paramList[0].saveState(), 0))
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paramList[1].restoreState(refreshTreeParam(paramList[1].saveState(), 1))
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paramList[0].sigTreeStateChanged.connect(change0)
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paramList[1].sigTreeStateChanged.connect(change1)
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layout.addWidget(ch0Tree, 1, 1, 1, 1)
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layout.addWidget(ch1Tree, 2, 1, 1, 1)
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