- improved logging

git-svn-id: http://moon:8086/svn/projects/HendiControl@117 fda53097-d464-4ada-af97-ba876c37ca34

Control/brewpi/controller.py

@@ -4,6 +4,7 @@ from enum import Enum
 from pid import Pid
 from matplotlib.pyplot import figure, clf, plot, xlabel, ylabel, xlim, ylim, title, grid, axes, show, subplot
 from utils import Smoother, Stable
+import time
 
 ovenStates = Enum('ovenStates', 'NOP HEAT HOLD')
 controllerStates = Enum('controllerStates', 'ACQU TRACK')
@@ -20,12 +21,31 @@ class Controller():
 		self.dt = params['dt']
 		self.params = params
 		self.pid = Pid()
+		self.theta_ist = 0
+		self.heatrate_ist = 0
 		self.theta_v = np.empty(0)
 		self.heatrate_v = np.empty(0)
 		self.time_v = np.empty(0)
 		self.power_v = np.empty(0)
 		self.error_v = np.empty(0)
 		self.time = 0
+		self.sim_warp_factor = 10
+		self.log_report_interval = 1.0
+		self.log_last_time = 0
+
+	def log(self, s):
+		now = time.time()
+		print("{:.2f}: {}".format(now, s))
+
+	def report(self):
+		now = time.time()
+		if (now - self.log_last_time) >= self.log_report_interval:
+
+			self.log("Temp IST = {:0.2f} °C".format(self.theta_ist))
+			self.log("Heatrate IST = {:0.2f} °C/min.".format(self.heatrate_ist))
+			self.log("Power = {:0.2f} W".format(self.plant.getPower()))
+			# self.log("theta_err = {:0.2f} °C".format(theta_err))
+			self.log_last_time = now
 
 	def start(self, recipe):
 		print(json.dumps({recipe['Name'] : recipe}, indent=4, sort_keys=True))
@@ -73,10 +93,10 @@ class Controller():
 		self.stirrer.setCycleTime(self.stirrCycleTime)
 
 		# Temperature
-		theta_last = self.plant.getTemperature()
+		self.theta_ist = self.plant.getTemperature()
 		theta_soll = rast['temp']
 		heatrate_soll = rast['heatRate']
-		print("Target temperature {} °C".format(theta_soll))
+		self.log("Target temperature {} °C".format(theta_soll))
 
 		# Timer
 		timer_ist = 0
@@ -89,6 +109,8 @@ class Controller():
 		theta_err_sm = Smoother(0.5)
 		heatrate_err_sm = Smoother(0.5)
 		while(doLoop):
+			time_start = time.time()
+
 			controllerStateNext = self.controllerState
 			ovenStateNext = self.ovenState
 
@@ -97,9 +119,7 @@ class Controller():
 			self.plant.process()
 			theta_ist = self.plant.getTemperature()
 
-			heatrate_ist = 60/self.dt * (theta_ist - theta_last)
-
-			# print ("{}: Temp IST = {:0.2f} °C".format(timer_ist, temp_ist))
+			heatrate_ist = 60/self.dt * (theta_ist - self.theta_ist)
 
 			theta_err = theta_soll - theta_ist
 			heatrate_err = heatrate_soll - heatrate_ist
@@ -150,9 +170,6 @@ class Controller():
 			power = max(self.params['P_min'], min(self.params['P_max'], self.params['P_max']*y))
 			self.plant.setPower(power)
 
-			self.time += self.dt
-			theta_last = theta_ist
-
 			self.theta_v = np.append(self.theta_v, theta_ist)
 			self.heatrate_v = np.append(self.heatrate_v, heatrate_ist)
 			self.time_v = np.append(self.time_v, self.time/60)
@@ -160,12 +177,10 @@ class Controller():
 			self.error_v = np.append(self.error_v, pid_err)
 			#self.error_v = np.append(self.error_v, self.stirrer.getRpm())
 
-			# print ("theta_err = {:0.2f} °C".format(theta_err))
-			# print ("Power = {:0.2f} W".format(power))
 
 			# -----------------------------------------
 			if ovenStateNext != self.ovenState:
-				print("{} -> {}".format(self.ovenState, ovenStateNext))
+				self.log("{} -> {}".format(self.ovenState, ovenStateNext))
 				if ovenStateNext == ovenStates.HEAT:
 					self.stirrer.setRpm(self.stirrRpmHeat)
 					self.stirrer.setDutyCycle(1.0)
@@ -175,10 +190,23 @@ class Controller():
 					self.stirrer.setDutyCycle(self.stirrDutyRast)
 
 			if controllerStateNext != self.controllerState:
-				print("{} -> {}".format(self.controllerState, controllerStateNext))
+				self.log("{} -> {}".format(self.controllerState, controllerStateNext))
 
 			self.ovenState = ovenStateNext
 			self.controllerState = controllerStateNext
 			# ------------------------------
+			time_stop = time.time()
+			time_to_sleep = self.dt / self.sim_warp_factor - (time_stop - time_start)
+			if time_to_sleep < 0:
+				self.log("Warning: dt is too small!")
+				time_to_sleep = 0
+
+			self.time += self.dt
+			self.theta_ist = theta_ist
+			self.heatrate_ist = heatrate_ist
+
+			self.report()
+
+			time.sleep(time_to_sleep)
 
 		self.stirrer.stop()