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redpitaya/client/pid_only.py
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#!/usr/bin/env python2 # -*- coding: utf-8 -*- ################################################## # GNU Radio Python Flow Graph # Title: Pid Only |
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# Generated: Wed Apr 19 09:35:59 2017 |
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##################################################
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
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self.addr = addr = "192.168.0.201" |
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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()
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