pid_only.py
9.4 KB
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: Wed Apr 19 09:35:59 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 = "192.168.0.201"
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()