Blame view
redpitaya/client/pid_only.py
9.4 KB
145da201a
-
|
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 |
#!/usr/bin/env python2
# -*- coding: utf-8 -*-
##################################################
# GNU Radio Python Flow Graph
# Title: Pid Only
# Generated: Fri Mar 31 15:40:54 2017
##################################################
if __name__ == '__main__':
import ctypes
import sys
if sys.platform.startswith('linux'):
try:
x11 = ctypes.cdll.LoadLibrary('libX11.so')
x11.XInitThreads()
except:
print "Warning: failed to XInitThreads()"
from PyQt4 import Qt
from gnuradio import eng_notation
from gnuradio import gr
from gnuradio.eng_option import eng_option
from gnuradio.filter import firdes
from gnuradio.qtgui import Range, RangeWidget
from optparse import OptionParser
import redpitaya_gnuradio
import sys
class pid_only(gr.top_block, Qt.QWidget):
def __init__(self):
gr.top_block.__init__(self, "Pid Only")
Qt.QWidget.__init__(self)
self.setWindowTitle("Pid Only")
try:
self.setWindowIcon(Qt.QIcon.fromTheme('gnuradio-grc'))
except:
pass
self.top_scroll_layout = Qt.QVBoxLayout()
self.setLayout(self.top_scroll_layout)
self.top_scroll = Qt.QScrollArea()
self.top_scroll.setFrameStyle(Qt.QFrame.NoFrame)
self.top_scroll_layout.addWidget(self.top_scroll)
self.top_scroll.setWidgetResizable(True)
self.top_widget = Qt.QWidget()
self.top_scroll.setWidget(self.top_widget)
self.top_layout = Qt.QVBoxLayout(self.top_widget)
self.top_grid_layout = Qt.QGridLayout()
self.top_layout.addLayout(self.top_grid_layout)
self.settings = Qt.QSettings("GNU Radio", "pid_only")
self.restoreGeometry(self.settings.value("geometry").toByteArray())
##################################################
# Variables
##################################################
self.port = port = 1001
self.pid_sp = pid_sp = 0
self.pid_sign = pid_sign = 0
self.pid_kp = pid_kp = 0
self.pid_ki = pid_ki = 0
self.pid_kd = pid_kd = 0
self.pid_int_rst = pid_int_rst = 0
self.dac1_offset = dac1_offset = 0
self.addr = addr = "192.168.0.202"
self.adc1_offset = adc1_offset = 0
##################################################
# Blocks
##################################################
self._pid_sp_range = Range(-2**13, 2**13-1, 1, 0, 200)
self._pid_sp_win = RangeWidget(self._pid_sp_range, self.set_pid_sp, 'pid_sp', "counter_slider", int)
self.top_grid_layout.addWidget(self._pid_sp_win, 2, 2)
_pid_sign_check_box = Qt.QCheckBox('pid_sign')
self._pid_sign_choices = {True: 1, False: 0}
self._pid_sign_choices_inv = dict((v,k) for k,v in self._pid_sign_choices.iteritems())
self._pid_sign_callback = lambda i: Qt.QMetaObject.invokeMethod(_pid_sign_check_box, "setChecked", Qt.Q_ARG("bool", self._pid_sign_choices_inv[i]))
self._pid_sign_callback(self.pid_sign)
_pid_sign_check_box.stateChanged.connect(lambda i: self.set_pid_sign(self._pid_sign_choices[bool(i)]))
self.top_grid_layout.addWidget(_pid_sign_check_box, 3, 2)
self._pid_kp_range = Range(0, 2**13-1, 1, 0, 200)
self._pid_kp_win = RangeWidget(self._pid_kp_range, self.set_pid_kp, 'pid_kp', "counter_slider", int)
self.top_grid_layout.addWidget(self._pid_kp_win, 2, 1)
self._pid_ki_range = Range(0, 2**13-1, 1, 0, 200)
self._pid_ki_win = RangeWidget(self._pid_ki_range, self.set_pid_ki, 'pid_ki', "counter_slider", int)
self.top_grid_layout.addWidget(self._pid_ki_win, 3, 1)
self._pid_kd_range = Range(0, 2**13-1, 1, 0, 200)
self._pid_kd_win = RangeWidget(self._pid_kd_range, self.set_pid_kd, 'pid_kd', "counter_slider", int)
self.top_grid_layout.addWidget(self._pid_kd_win, 4, 1)
_pid_int_rst_push_button = Qt.QPushButton('pid_int_rst')
self._pid_int_rst_choices = {'Pressed': 1, 'Released': 0}
_pid_int_rst_push_button.pressed.connect(lambda: self.set_pid_int_rst(self._pid_int_rst_choices['Pressed']))
_pid_int_rst_push_button.released.connect(lambda: self.set_pid_int_rst(self._pid_int_rst_choices['Released']))
self.top_grid_layout.addWidget(_pid_int_rst_push_button, 4, 2)
self._dac1_offset_range = Range(-2**13, 2**13-1, 1, 0, 200)
self._dac1_offset_win = RangeWidget(self._dac1_offset_range, self.set_dac1_offset, 'dac1_offset', "counter_slider", int)
self.top_grid_layout.addWidget(self._dac1_offset_win, 1, 2)
self._adc1_offset_range = Range(-2**13, 2**13-1, 1, 0, 200)
self._adc1_offset_win = RangeWidget(self._adc1_offset_range, self.set_adc1_offset, 'adc1_offset', "counter_slider", int)
self.top_grid_layout.addWidget(self._adc1_offset_win, 1, 1)
self.add_const_set_offset_0_0_0_1_0_0_0_0_0 = redpitaya_gnuradio.add_const_set_offset(
addr=addr,
port=port,
device='/dev/pid_int_rst',
const=pid_int_rst,
)
self.add_const_set_offset_0_0_0_1_0_0_0_0 = redpitaya_gnuradio.add_const_set_offset(
addr=addr,
port=port,
device='/dev/pid_sign',
const=pid_sign,
)
self.add_const_set_offset_0_0_0_1_0_0_0 = redpitaya_gnuradio.add_const_set_offset(
addr=addr,
port=port,
device='/dev/pid_kd',
const=pid_kd,
)
self.add_const_set_offset_0_0_0_1_0_0 = redpitaya_gnuradio.add_const_set_offset(
addr=addr,
port=port,
device='/dev/pid_ki',
const=pid_ki,
)
self.add_const_set_offset_0_0_0_1_0 = redpitaya_gnuradio.add_const_set_offset(
addr=addr,
port=port,
device='/dev/pid_kp',
const=pid_kp,
)
self.add_const_set_offset_0_0_0_1 = redpitaya_gnuradio.add_const_set_offset(
addr=addr,
port=port,
device='/dev/pid_sp',
const=pid_sp,
)
self.add_const_set_offset_0_0_0_0 = redpitaya_gnuradio.add_const_set_offset(
addr=addr,
port=port,
device='/dev/dac1_offset',
const=dac1_offset,
)
self.add_const_set_offset_0_0_0 = redpitaya_gnuradio.add_const_set_offset(
addr=addr,
port=port,
device='/dev/adc1_offset',
const=adc1_offset,
)
def closeEvent(self, event):
self.settings = Qt.QSettings("GNU Radio", "pid_only")
self.settings.setValue("geometry", self.saveGeometry())
event.accept()
def get_port(self):
return self.port
def set_port(self, port):
self.port = port
def get_pid_sp(self):
return self.pid_sp
def set_pid_sp(self, pid_sp):
self.pid_sp = pid_sp
self.add_const_set_offset_0_0_0_1.set_const(device='/dev/pid_sp', const=self.pid_sp)
def get_pid_sign(self):
return self.pid_sign
def set_pid_sign(self, pid_sign):
self.pid_sign = pid_sign
self._pid_sign_callback(self.pid_sign)
self.add_const_set_offset_0_0_0_1_0_0_0_0.set_const(device='/dev/pid_sign', const=self.pid_sign)
def get_pid_kp(self):
return self.pid_kp
def set_pid_kp(self, pid_kp):
self.pid_kp = pid_kp
self.add_const_set_offset_0_0_0_1_0.set_const(device='/dev/pid_kp', const=self.pid_kp)
def get_pid_ki(self):
return self.pid_ki
def set_pid_ki(self, pid_ki):
self.pid_ki = pid_ki
self.add_const_set_offset_0_0_0_1_0_0.set_const(device='/dev/pid_ki', const=self.pid_ki)
def get_pid_kd(self):
return self.pid_kd
def set_pid_kd(self, pid_kd):
self.pid_kd = pid_kd
self.add_const_set_offset_0_0_0_1_0_0_0.set_const(device='/dev/pid_kd', const=self.pid_kd)
def get_pid_int_rst(self):
return self.pid_int_rst
def set_pid_int_rst(self, pid_int_rst):
self.pid_int_rst = pid_int_rst
self.add_const_set_offset_0_0_0_1_0_0_0_0_0.set_const(device='/dev/pid_int_rst', const=self.pid_int_rst)
def get_dac1_offset(self):
return self.dac1_offset
def set_dac1_offset(self, dac1_offset):
self.dac1_offset = dac1_offset
self.add_const_set_offset_0_0_0_0.set_const(device='/dev/dac1_offset', const=self.dac1_offset)
def get_addr(self):
return self.addr
def set_addr(self, addr):
self.addr = addr
def get_adc1_offset(self):
return self.adc1_offset
def set_adc1_offset(self, adc1_offset):
self.adc1_offset = adc1_offset
self.add_const_set_offset_0_0_0.set_const(device='/dev/adc1_offset', const=self.adc1_offset)
def main(top_block_cls=pid_only, options=None):
from distutils.version import StrictVersion
if StrictVersion(Qt.qVersion()) >= StrictVersion("4.5.0"):
style = gr.prefs().get_string('qtgui', 'style', 'raster')
Qt.QApplication.setGraphicsSystem(style)
qapp = Qt.QApplication(sys.argv)
tb = top_block_cls()
tb.start()
tb.show()
def quitting():
tb.stop()
tb.wait()
qapp.connect(qapp, Qt.SIGNAL("aboutToQuit()"), quitting)
qapp.exec_()
if __name__ == '__main__':
main()
|