Skip to content

Fix HR PID race condition with training program speed changes #4553

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
cagnulein merged 1 commit into from
Apr 29, 2026
Merged

Fix HR PID race condition with training program speed changes #4553

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion .gitignore
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -53,4 +53,4 @@ src/inner_templates/googlemaps/cesium-key.js
/tst/Devices/.vs
src/inner_templates/googlemaps/cesium-key.js
src/qdomyos-zwift.pro.user.49de507
/.vs
/.vs
34 changes: 30 additions & 4 deletions src/homeform.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -1590,6 +1590,8 @@ void homeform::trainProgramSignals() {
disconnect(trainProgram, &trainprogram::lap, this, &homeform::Lap);
disconnect(trainProgram, &trainprogram::changeSpeed, ((treadmill *)bluetoothManager->device()),
&treadmill::changeSpeed);
disconnect(trainProgram, &trainprogram::changeSpeed, this,
&homeform::onTrainingProgramSpeedChanged);
disconnect(trainProgram, &trainprogram::changeInclination, ((treadmill *)bluetoothManager->device()),
&treadmill::changeInclination);
disconnect(trainProgram, &trainprogram::changeNextInclination300Meters, bluetoothManager->device(),
Expand Down Expand Up @@ -1647,6 +1649,9 @@ void homeform::trainProgramSignals() {
connect(trainProgram, &trainprogram::stop, this, &homeform::StopFromTrainProgram);
connect(trainProgram, &trainprogram::lap, this, &homeform::Lap);
connect(trainProgram, &trainprogram::toastRequest, this, &homeform::onToastRequested);
// Connect training program speed changes to reset HR PID timer
connect(trainProgram, &trainprogram::changeSpeed, this,
&homeform::onTrainingProgramSpeedChanged);
if (bluetoothManager->device()->deviceType() == TREADMILL) {
connect(trainProgram, &trainprogram::changeSpeed, ((treadmill *)bluetoothManager->device()),
&treadmill::changeSpeed);
Expand Down Expand Up @@ -1738,6 +1743,13 @@ void homeform::onToastRequested(QString message) {
}
}

void homeform::onTrainingProgramSpeedChanged(double speed) {
// Record the timestamp when the training program changed speed
// This is used by the HR PID controller to avoid race conditions
lastTrainingProgramSpeedChange = QDateTime::currentDateTime();
}


QStringList homeform::tile_order() {

QStringList r;
Expand Down Expand Up @@ -7300,6 +7312,12 @@ void homeform::update() {

if (!stopped && !paused && bluetoothManager->device()->currentHeart().value() && zone > 0 &&
bluetoothManager->device()->currentSpeed().value() > 0.0f) {
// Skip HR PID adjustments for a period after training program changes speed
// This prevents race conditions where HR PID overwrites training program speed changes
qint64 msSinceSpeedChange = lastTrainingProgramSpeedChange.msecsTo(QDateTime::currentDateTime());
bool recentSpeedChange = (msSinceSpeedChange < (delta * 1000));

if (!recentSpeedChange) {
if (bluetoothManager->device()->deviceType() == TREADMILL) {

const double step = 0.2;
Expand Down Expand Up @@ -7411,6 +7429,7 @@ void homeform::update() {
((rower *)bluetoothManager->device())->changeResistance(currentResistance + step);
}
}
} // Close the if (!recentSpeedChange) block
}
}
} else if ((settings.value(QZSettings::treadmill_pid_heart_min, QZSettings::default_treadmill_pid_heart_min)
Expand Down Expand Up @@ -7468,6 +7487,12 @@ void homeform::update() {
<< QStringLiteral("HRmin:") << hrmin << QStringLiteral("HRmax:") << hrmax
<< QStringLiteral("fromTrainProgram:") << fromTrainProgram;

// Skip HR PID adjustments for a period after training program changes speed
// This prevents race conditions where HR PID overwrites training program speed changes
qint64 msSinceSpeedChange = lastTrainingProgramSpeedChange.msecsTo(QDateTime::currentDateTime());
bool recentSpeedChange = (msSinceSpeedChange < (delta * 1000));

if (!recentSpeedChange) {
if (bluetoothManager->device()->deviceType() == TREADMILL) {

const double step = 0.2;
Expand Down Expand Up @@ -7589,10 +7614,11 @@ void homeform::update() {
qDebug() << QStringLiteral("ROWING PID HR - HR < HRmin, INCREASING resistance from")
<< currentResistance << QStringLiteral("to") << (currentResistance + step);
((rower *)bluetoothManager->device())->changeResistance(currentResistance + step);
} else {
qDebug() << QStringLiteral("ROWING PID HR - No action taken (in zone or at limits)");
}
}
} else {
qDebug() << QStringLiteral("ROWING PID HR - No action taken (in zone or at limits)");
}
}
} // Close the if (!recentSpeedChange) block
}
}
}
Expand Down
4 changes: 4 additions & 0 deletions src/homeform.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -974,6 +974,9 @@ class homeform : public QObject {
QTimer *backupTimer;
QTimer *automaticShiftingTimer;

// HR PID controller state - tracks when training program changes speed to prevent race conditions
QDateTime lastTrainingProgramSpeedChange = QDateTime::fromMSecsSinceEpoch(0);

// FIT backup threading
QThread *fitBackupThread;
FitBackupWriter *fitBackupWriter;
Expand Down Expand Up @@ -1089,6 +1092,7 @@ class homeform : public QObject {
void saveSessionAsTrainingProgram();
void strava_connect_clicked();
void trainProgramSignals();
void onTrainingProgramSpeedChanged(double speed);
void refresh_bluetooth_devices_clicked();
void onStravaGranted();
void onStravaAuthorizeWithBrowser(const QUrl &url);
Expand Down
Loading