- use thread for controller

- leave plot stuff in main thread

git-svn-id: http://moon:8086/svn/projects/HendiControl@127 fda53097-d464-4ada-af97-ba876c37ca34

Control/brewpi/brewpi.py

@@ -2,11 +2,37 @@
 
 import time
 import json
-import configparser
-from pid import Pid
 from controller import Controller
 from mass import Mass
 from stirrer import Stirrer
+from matplotlib.pyplot import figure, clf, plot, xlabel, ylabel, xlim, ylim, title, grid, axes, show, subplot
+
+def results_plot(self):
+
+	figure(1)
+	subplot(4, 1, 1)
+	plot(self.time_v, self.theta_v, 'b-', linewidth=1)
+	title('Temperature')
+	grid(True)
+	ylabel('°C')
+	subplot(4, 1, 2)
+	plot(self.time_v, self.power_v, 'r-', linewidth=1)
+	title('Power')
+	grid(True)
+	ylabel('W')
+	subplot(4, 1, 3)
+	plot(self.time_v, self.error_v, 'b-', linewidth=1)
+	title('Error')
+	grid(True)
+	ylabel('°C')
+	subplot(4, 1, 4)
+	plot(self.time_v, self.heatrate_v, 'r-', linewidth=1)
+	title('Heatrate')
+	grid(True)
+	ylabel('°C/min')
+	xlabel('t/min')
+	show()
+
 
 if __name__ == '__main__':
 
@@ -21,7 +47,9 @@ if __name__ == '__main__':
 	recipeJson = json.load(fp)
 
 	ablauf.start(recipeJson)
-	ablauf.stop()
+	ablauf.wait_finished()
+
+	results_plot(ablauf)
 
 	print ("End of program.")
 

Control/brewpi/controller.py

@@ -2,9 +2,9 @@ import numpy as np
 import json
 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
+import threading
 
 ovenStates = Enum('ovenStates', 'NOP HEAT HOLD')
 controllerStates = Enum('controllerStates', 'ACQU TRACK')
@@ -33,6 +33,9 @@ class Controller():
 		self.sim_warp_factor = 100
 		self.report_interval = 1.0
 		self.report_last_time = 0
+		self.thread = None
+		self.rast_abort = False
+		self.receipe_sema = threading.Semaphore(0)
 
 	def log(self, s):
 		now = time.time()
@@ -54,6 +57,22 @@ class Controller():
 	def start(self, recipe):
 		print(json.dumps({recipe['Name'] : recipe}, indent=4, sort_keys=True))
 
+		self.thread = threading.Thread(target=self.receipe_run, args=(recipe,))
+		self.thread.start()
+
+	def stop(self):
+		if self.thread != None:
+			self.rast_abort = True
+			self.thread.join()
+			self.thread = None
+		self.rast_abort = False
+
+	def wait_finished(self):
+		self.receipe_sema.acquire()
+		pass
+
+	def receipe_run(self, recipe):
+
 		# Stirrer
 		self.stirrRpmHeat = recipe['stirrRpmHeat']
 		self.stirrRpmRast = recipe['stirrRpmRast']
@@ -65,30 +84,7 @@ class Controller():
 		for rast in recipe['Rasten']:
 			self.rast(rast)
 
-	def stop(self):
+		self.receipe_sema.release()
-		figure(1)
-		subplot(4, 1, 1)
-		plot(self.time_v, self.theta_v, 'b-', linewidth=1)
-		title('Temperature')
-		grid(True)
-		ylabel('°C')
-		subplot(4, 1, 2)
-		plot(self.time_v, self.power_v, 'r-', linewidth=1)
-		title('Power')
-		grid(True)
-		ylabel('W')
-		subplot(4, 1, 3)
-		plot(self.time_v, self.error_v, 'b-', linewidth=1)
-		title('Error')
-		grid(True)
-		ylabel('°C')
-		subplot(4, 1, 4)
-		plot(self.time_v, self.heatrate_v, 'r-', linewidth=1)
-		title('Heatrate')
-		grid(True)
-		ylabel('°C/min')
-		xlabel('t/min')
-		show()
 
 	def rast(self, rast):
 
@@ -113,6 +109,9 @@ class Controller():
 		theta_err_sm = Smoother(0.5)
 		heatrate_err_sm = Smoother(0.5)
 		while(doLoop):
+			if self.rast_abort:
+				break
+
 			time_start = time.time()
 
 			controllerStateNext = self.controllerState