class QFellesController(QFellesWidgetBaseClass):
"""
@brief: Widget representing a PID controller
"""
proportional = pyqtSignal(float)
integral = pyqtSignal(float)
derivative = pyqtSignal(float)
MV_sp = pyqtSignal(float)
CV_sp = pyqtSignal(float)
def initUi(self, parent=None):
""" Generates the user interface """
#Update widget meta data
self.meta["type"] = "Controller"
self.meta["name"] = "foobar"
self.meta["unit"] = "--"
self.label = QLabel(parent)
self.label.setObjectName("PID Controller")
#Group box
group_box = QGroupBox('Controller Settings')
#Spin button Labels
gain = "K<sub>c</sub>"
Kc = gain.decode('utf-8')
self.gain_label = QLabel(Kc)
self.gain_label.setStyleSheet("font:25pt")
time1 = "τ<sub>i</sub>"
taui = time1.decode('utf-8')
self.taui_label = QLabel(taui)
self.taui_label.setStyleSheet("font:25pt ")
time2 = "τ<sub>d</sub>"
taud = time2.decode('utf-8')
self.taud_label = QLabel(taud)
self.taud_label.setStyleSheet("font:25pt")
#Spin buttons
self.gain = QDoubleSpinBox() #Controller gain
self.taui = QDoubleSpinBox() #Controller integral time constant
self.taud = QDoubleSpinBox() #Controller derivative time constant
self.GAIN_0 = self.gain.value()
self.TAUI_0 = self.taui.value()
self.TAUD_0 = self.taud.value()
self.gain.setKeyboardTracking(False)
self.taui.setKeyboardTracking(False)
self.taud.setKeyboardTracking(False)
#self.gain.setRange(minimum, maximum)
self.gain_label.setBuddy(self.gain)
self.taui_label.setBuddy(self.taui)
self.taud_label.setBuddy(self.taud)
self.gain.valueChanged.connect(self.controllersettings)
self.taui.valueChanged.connect(self.controllersettings)
self.taud.valueChanged.connect(self.controllersettings)
self.setpoint = QDoubleSpinBox() #Controlled variable setpoint
self.setpoint.setHidden(True)
self.setpoint_label = QLabel('CV Setpoint')
self.setpoint_label.setBuddy(self.setpoint)
self.setpoint.valueChanged.connect(self.CVSetPoint)
#On-Off Buttons
self.on = QRadioButton("Controller On")
self.on.setChecked(False) #Default to have controller off
self.on.toggled.connect(self.btnstate)
#Slider
self.MV_manual = QSlider(Qt.Horizontal)
self.MV_manual_label = QLabel('MV Setpoint')
self.MV_manual.sliderReleased.connect(self.mv_state)
#self.MV_manual.setRange(minimum, maximum)
#Layout
controlsLayout = QGridLayout()
controlsLayout.addWidget(self.gain_label, 0, 0)
controlsLayout.addWidget(self.gain, 0, 1)
controlsLayout.addWidget(self.setpoint_label, 0, 2)
controlsLayout.addWidget(self.setpoint, 0, 3)
controlsLayout.addWidget(self.taui_label, 1, 0)
controlsLayout.addWidget(self.taui, 1, 1)
controlsLayout.addWidget(self.MV_manual_label, 1, 2)
controlsLayout.addWidget(self.MV_manual, 1, 3)
controlsLayout.addWidget(self.taud_label, 2, 0)
controlsLayout.addWidget(self.taud, 2, 1)
controlsLayout.addWidget(self.on, 2, 2)
controlsLayout.setRowStretch(3, 1)
layout = QHBoxLayout()
layout.addLayout(controlsLayout)
self.setLayout(layout)
@pyqtSlot()
def CVSetPoint(self, event=None):
self.setpoint_value = self.setpoint.value()
self.CV_sp.emit(self.setpoint_value)
#print self.setpoint_value
@pyqtSlot()
def controllersettings(self, event=None):
if self.gain.value() != self.GAIN_0:
self.GAIN_0 = self.gain.value()
self.gain_value = self.gain.value()
self.proportional.emit(self.gain_value) #Emitting Gain value
#print self.gain_value
elif self.taui.value() != self.TAUI_0:
self.TAUI_0 = self.taui.value()
self.taui_value = self.taui.value()
self.integral.emit(self.taui_value)
#print self.taui_value
elif self.taud.value() != self.TAUD_0:
self.TAUD_0 = self.taud.value()
self.taud_value = self.taud.value()
self.derivative.emit(self.taud_value)
#print self.taud_value
@pyqtSlot()
def btnstate(self, event=None):
if self.on.isChecked() == True:
self.setpoint.setHidden(False)
self.MV_manual.setHidden(True)
#print "Controller is on"
else:
self.setpoint.setHidden(True)
self.MV_manual.setHidden(False)
#print "Controller is off"
@pyqtSlot()
def mv_state(self, event=None):
MV_setpoint = self.MV_manual.value()
self.MV_sp.emit(MV_setpoint)
#print MV_setpoint
def closeEvent(self, event=None):
print("Shutting down %s" % self.__class__.__name__)
self.onQuit()
class ControllerWidget(QWidget):
proportional = pyqtSignal(float)
integral = pyqtSignal(float)
derivative = pyqtSignal(float)
MV_sp = pyqtSignal(float)
CV_sp = pyqtSignal(float)
def __init__(self, parent):
super(ControllerWidget, self).__init__()
# self._controllerstate = 1 #default off
self.initUI()
self.on.toggled.connect(self.btnstate)
self.setpoint.valueChanged[str].connect(self.CVSetPoint)
self.gain.valueChanged[str].connect(self.controllersettings)
self.taui.valueChanged[str].connect(self.controllersettings)
self.taud.valueChanged[str].connect(self.controllersettings)
self.MV_manual.sliderReleased.connect(self.mv_state)
# @property
# def controllerstate(self):
# return self._controllerstate
#
# @controllerstate.setter
# def controllerstate(self, value):
# self._controllerstate = value
def initUI(self):
#Group box
group_box = QGroupBox('Controller Settings')
#Spin button Labels
gain = "K<sub>c</sub>"
Kc = gain.decode('utf-8')
self.gain_label = QLabel(Kc)
self.gain_label.setStyleSheet("font:25pt")
time1 = "τ<sub>i</sub>"
taui = time1.decode('utf-8')
self.taui_label = QLabel(taui)
self.taui_label.setStyleSheet("font:25pt ")
time2 = "τ<sub>d</sub>"
taud = time2.decode('utf-8')
self.taud_label = QLabel(taud)
self.taud_label.setStyleSheet("font:25pt")
#Spin buttons
self.gain = QDoubleSpinBox() #Controller gain
self.taui = QDoubleSpinBox() #Controller integral time constant
self.taud = QDoubleSpinBox() #Controller derivative time constant
self.GAIN_0 = self.gain.value()
self.TAUI_0 = self.taui.value()
self.TAUD_0 = self.taud.value()
self.gain.setKeyboardTracking(False)
self.taui.setKeyboardTracking(False)
self.taud.setKeyboardTracking(False)
#self.gain.setRange(minimum, maximum)
self.gain_label.setBuddy(self.gain)
self.taui_label.setBuddy(self.taui)
self.taud_label.setBuddy(self.taud)
self.setpoint = QDoubleSpinBox() #Controlled variable setpoint
self.setpoint.setHidden(True)
self.setpoint_label = QLabel('CV Setpoint')
self.setpoint_label.setBuddy(self.setpoint)
#On-Off Buttons
self.on = QRadioButton("Controller On")
self.on.setChecked(False) #Default to have controller off
#Slider
self.MV_manual = QSlider(Qt.Horizontal)
self.MV_manual_label = QLabel('MV Setpoint')
#self.MV_manual.setRange(minimum, maximum)
#Layout
controlsLayout = QGridLayout()
controlsLayout.addWidget(self.gain_label, 0, 0)
controlsLayout.addWidget(self.gain, 0, 1)
controlsLayout.addWidget(self.setpoint_label, 0, 2)
controlsLayout.addWidget(self.setpoint, 0, 3)
controlsLayout.addWidget(self.taui_label, 1, 0)
controlsLayout.addWidget(self.taui, 1, 1)
controlsLayout.addWidget(self.MV_manual_label, 1, 2)
controlsLayout.addWidget(self.MV_manual, 1, 3)
controlsLayout.addWidget(self.taud_label, 2, 0)
controlsLayout.addWidget(self.taud, 2, 1)
controlsLayout.addWidget(self.on, 2, 2)
controlsLayout.setRowStretch(3, 1)
layout = QHBoxLayout()
layout.addLayout(controlsLayout)
self.setLayout(layout)
@pyqtSlot()
def CVSetPoint(self, event=None):
self.setpoint_value = self.setpoint.value()
self.CV_sp.emit(self.setpoint_value)
#print self.setpoint_value
@pyqtSlot()
def controllersettings(self, event=None):
if self.gain.value() != self.GAIN_0:
self.GAIN_0 = self.gain.value()
self.gain_value = self.gain.value()
self.proportional.emit(self.gain_value) #emitting Gain value
#print self.gain_value
elif self.taui.value() != self.TAUI_0:
self.TAUI_0 = self.taui.value()
self.taui_value = self.taui.value()
self.integral.emit(self.taui_value)
#print self.taui_value
elif self.taud.value() != self.TAUD_0:
self.TAUD_0 = self.taud.value()
self.taud_value = self.taud.value()
self.derivative.emit(self.taud_value)
#print self.taud_value
@pyqtSlot()
def btnstate(self, event=None):
if self.on.isChecked() == True:
self.setpoint.setHidden(False)
self.MV_manual.setHidden(True)
#print "Controller is on"
else:
self.setpoint.setHidden(True)
self.MV_manual.setHidden(False)
#print "Controller is off"
@pyqtSlot()
def mv_state(self, event=None):
MV_setpoint = self.MV_manual.value()
self.MV_sp.emit(MV_setpoint)
