[Controller]

- refactored
- added IPC for RUN, PAUSE, STOP, STIRR ON/OFF

[TIMER]
- fixed default minimum wait time
- added duration to elapse



git-svn-id: http://moon:8086/svn/projects/HendiControl@277 fda53097-d464-4ada-af97-ba876c37ca34

Control/brewpi/brewpi.py

@@ -2,7 +2,7 @@
 
 import signal
 import json
-from controller import Controller
+from controller import Controller, commands
 from mass import Mass
 from stirrer import Stirrer
 #from pololu1376 import Pololu1376
@@ -49,20 +49,31 @@ def results_plot(self):
 
 if __name__ == '__main__':
 
+	stirr_isOn = False
+
 	def handler(signum, frame):
+		global stirr_isOn
 		print('Signal handler called with signal', signum)
 
 		if signum == signal.SIGINT:
-			ablauf.stop()
+			ablauf.command(commands.ABORT)
 		if signum == signal.SIGSTOP:
-			ablauf.pause()
-		if signum == signal.SIGCONT:
-			ablauf.cont()
+			ablauf.command(commands.PAUSE)
+		if signum == signal.SIGUSR1:
+			ablauf.command(commands.RUN)
+		if signum == signal.SIGHUP:
+			if stirr_isOn:
+				ablauf.command(commands.STIRR_OFF)
+				stirr_isOn = False
+			else:
+				ablauf.command(commands.STIRR_ON)
+				stirr_isOn = True
 
 	# Set the signal handler and a 5-second alarm
 	signal.signal(signal.SIGABRT, handler)
 	signal.signal(signal.SIGINT, handler)
-	signal.signal(signal.SIGCONT, handler)
+	signal.signal(signal.SIGUSR1, handler)
+	signal.signal(signal.SIGHUP, handler)
 
 	fp = open("brewpi.json")
 	configJson = json.load(fp)
@@ -77,7 +88,7 @@ if __name__ == '__main__':
 	fp = open("Rezept-001.json")
 	recipeJson = json.load(fp)
 
-	ablauf.start(recipeJson)
+	ablauf.setRecipe(recipeJson)
 	ablauf.wait_finished()
 
 	results_plot(ablauf)

Control/brewpi/controller.py

@@ -7,24 +7,24 @@ import time
 import threading
 from kalman import Kalman
 from timer import Timer, TimerManager, TimerListener
+import queue
 
-
-ovenStates = Enum('ovenStates', 'NOP HEAT HOLD')
-
+ovenStates = Enum('ovenStates', 'IDLE HEAT HOLD')
+states = Enum('controllerStates', 'IDLE NORMAL PAUSE')
+commands = Enum('controllerCommands', 'RUN PAUSE ABORT STIRR_OFF STIRR_ON')
 
 class Controller(TimerListener):
 
 	def __init__(self, params, plant, stirrer):
 		print(json.dumps({'Controller': params}, indent=4, sort_keys=True))
 		self.sim_warp_factor = params['sim_warp_factor']
-		self.ovenState = ovenStates.NOP
+		self.ovenState = ovenStates.IDLE
 		self.plant = plant
 		self.stirrer = stirrer
 		self.dt = params['dt']
 		self.params = params
 		self.pid_hold = Pid()
 		self.pid_rate = Pid()
-		self.timer_ist = 0
 		self.sensorTime_v = np.empty(0)
 		self.theta_raw_v = np.empty(0)
 		self.theta_v = np.empty(0)
@@ -50,16 +50,26 @@ class Controller(TimerListener):
 		self.kalman = Kalman(params['kalman'])
 		self.sensor_dt = params['kalman']['dt']
 		self.timerMgr = TimerManager()
+		self.processTimer = Timer("Process", self)
 		self.rastTimer = Timer("Rast", self)
 		self.sensorTimer = Timer("Sensor", self)
 		self.plantTimer = Timer("Plant", self)
 		self.reportTimer = Timer("Report", self)
+		self.timerMgr.registerTimer(self.processTimer)
+		self.timerMgr.registerTimer(self.rastTimer)
 		self.timerMgr.registerTimer(self.sensorTimer)
 		self.timerMgr.registerTimer(self.plantTimer)
 		self.timerMgr.registerTimer(self.reportTimer)
-		self.rast_running = False
 		self.power_hold_offset = 200
 		self.power_heat_offset = 1500
+		self.queue = queue.Queue()
+		self.thread = threading.Thread(target=self.main)
+		self.rast_done = False
+		self.receipe_done = False
+		self.thread.start()
+
+	def command(self, cmd):
+		self.queue.put_nowait(cmd)
 
 	def onTimer(self, timer):
 		if timer == self.sensorTimer:
@@ -83,60 +93,59 @@ class Controller(TimerListener):
 			self.theta_k_v = np.append(self.theta_k_v, self.theta_ist_k)
 			self.heatrate_k_v = np.append(self.heatrate_k_v, self.heatrate_ist_k)
 
-		if timer == self.plantTimer:
+		elif timer == self.plantTimer:
 			# Process plant
 			self.plant.process()
 
-		if timer == self.reportTimer:
+			# Process stirrer
+			self.stirrer.process()
+
+		elif timer == self.reportTimer:
 			self.report()
 
+		elif timer == self.processTimer:
+			rast = self.rasten[self.rast_index]
+			if rast is not None:
+				self.ctrl_theta_soll = rast['temp']
+				self.ctrl_heatrate_soll = rast['heatRate']
+				self.rast_timer_soll = 60 * rast['time']
+				isFinished = self.rast(rast)
+				if isFinished:
+					if not self.rastTimer.isActive and not self.rast_done:
+						self.log ("Start rast timer with {} min.".format(self.rast_timer_soll/60))
+						self.rastTimer.start(self.rast_timer_soll / self.sim_warp_factor, mode='oneshot')
+					self.rast_done = True
+			else:
+				self.receipe_done = True
+
+		elif timer == self.rastTimer:
+			rast = self.rasten[self.rast_index]
+			if not rast["waitForUser"]:
+				self.rast_index += 1
+				self.rast_done = False
+				self.ovenState = ovenStates.IDLE
+
+			self.log("Rast timer elapsed")
+
 	def log(self, s):
 		now = time.time()
 		print("{:.2f}: {}".format(now, s))
 
 	def report(self):
-		if self.rast_running:
-			self.log("Temp SOLL {} °C".format(self.ctrl_theta_soll))
-			self.log("Temp IST = {:0.1f} °C".format(self.ctrl_theta))
-			self.log("Heatrate SOLL = {:0.1f} °C/min.".format(self.ctrl_heatrate_soll))
-			self.log("Heatrate IST = {:0.1f} °C/min.".format(self.ctrl_heatrate))
-			self.log("Power = {:0.0f} W".format(self.power_soll))
-			if self.timer_ist > 0:
-				self.log("Rast remaining : {:0.1f} min.".format(self.timer_ist/60))
+		self.log("Temp SOLL {} °C".format(self.ctrl_theta_soll))
+		self.log("Temp IST = {:0.1f} °C".format(self.ctrl_theta))
+		self.log("Heatrate SOLL = {:0.1f} °C/min.".format(self.ctrl_heatrate_soll))
+		self.log("Heatrate IST = {:0.1f} °C/min.".format(self.ctrl_heatrate))
+		self.log("Power = {:0.0f} W".format(self.power_soll))
+		if self.rastTimer.isActive:
+			self.log("Rast remaining : {:0.1f} min.".format(self.rastTimer.elapseDuration / 60))
 
 
-	def start(self, recipe):
-		self.receipe = recipe
+	def setRecipe(self, recipe):
 		print(json.dumps({recipe['Name'] : recipe}, indent=4, sort_keys=True))
-
-		self.sensorTimer.start(self.sensor_dt/self.sim_warp_factor)
-		self.plantTimer.start(1/self.sim_warp_factor)
-		self.reportTimer.start(self.report_interval)
-		self.rastTimer.start(self.dt/self.sim_warp_factor)
-		self.rast_running = False
-
-		self.thread = threading.Thread(target=self.receipe_run, args=(recipe,))
-		self.thread.start()
-
-	def stop(self):
-		if self.thread != None:
-			self.receipe = None
-			self.thread.join()
-			self.thread = None
-
-	def pause(self):
-		if self.thread != None:
-			self.ovenState = ovenStates.HOLD
-
-	def cont(self):
-		if self.thread != None:
-			self.ovenState = ovenStates.NOP
-
-	def wait_finished(self):
-		self.receipe_sema.acquire()
-		pass
-
-	def receipe_run(self, recipe):
+		self.receipe = recipe
+		self.rasten = recipe['Rasten']
+		self.rasten.append(None)
 
 		# Stirrer
 		self.stirrSpeedHeat = recipe['stirrSpeedHeat']
@@ -144,74 +153,73 @@ class Controller(TimerListener):
 		self.stirrDutyRast = recipe['stirrDutyRast']
 		self.stirrCycleTime = recipe['stirrCycleTime']
 
-		# Stirrer and plant
-		self.stirrer.activate()
-		self.plant.activate(True)
+	def wait_finished(self):
+		self.receipe_sema.acquire()
+		pass
 
-		self.stirrer.setCycleTime(self.stirrCycleTime)
+	def main(self):
+		self.sensorTimer.start(self.sensor_dt/self.sim_warp_factor)
+		self.plantTimer.start(1/self.sim_warp_factor)
 
-		self.time = 0
-		rasten = recipe['Rasten']
-		rasten.append(None)
-		rast_count = 0
-		self.timer_ist = 0
-		while(self.receipe is not None):
+		run = True
+		while(run and not self.receipe_done):
 			self.timerMgr.process()
-			if self.rastTimer.isElapsed():
-				rast = rasten[rast_count]
-				if rast is not None:
-					isFinished = self.rast(rast)
-					if isFinished:
-						rast_count += 1
-						self.timer_ist = 0
-				else:
-					break
+			wait = self.timerMgr.getMinTimeout(1.0/self.sim_warp_factor)
+			try:
+				msg = self.queue.get(block=True, timeout=wait)
+				print ("Received: ", msg)
+				if msg == commands.PAUSE:
+					pass
 
-			waut = self.timerMgr.getMinTimeout()
-			time.sleep(waut)
+				elif msg == commands.RUN:
+					if not self.processTimer.isActive:
+						self.time = 0
+						self.rast_index = 0
+						self.reportTimer.start(self.report_interval)
+						self.processTimer.start(self.dt / self.sim_warp_factor)
+
+						# Stirrer and plant
+						self.stirrer.activate()
+						self.plant.activate(True)
+						self.stirrer.setCycleTime(self.stirrCycleTime)
+						self.receipe_done = False
+					else:
+						self.rast_index += 1
+						self.rast_done = False
+						self.ovenState = ovenStates.IDLE
+
+				elif msg == commands.ABORT:
+					run = False
+
+				elif msg == commands.STIRR_ON:
+					self.stirrer.activate()
+
+				elif msg == commands.STIRR_OFF:
+					self.stirrer.deactivate()
+			except:
+				pass
 
 		# Stirrer and plant
 		self.stirrer.deactivate()
 		self.plant.activate(False)
-
 		self.receipe_sema.release()
 
 	def rast(self, rast):
 
 		# Temperature
-		self.ctrl_theta_soll = rast['temp']
 		self.ctrl_theta = self.theta_ist_k
-		self.ctrl_heatrate_soll = rast['heatRate']
 		self.ctrl_heatrate = self.heatrate_ist_k
 
-		# Timer
-		timer_soll = 60*rast['time']
-
-		# ------------------------------
-		# The loop
-		# ------------------------------
 		ovenStateNext = self.ovenState
 
 		# -----------------------------------------
-		self.stirrer.process()
-
 		ctrl_theta = self.ctrl_theta
 		ctrl_heatrate = self.ctrl_heatrate
 
 		ctrl_theta_err = self.ctrl_theta_soll - ctrl_theta
 		ctrl_heatrate_err = self.ctrl_heatrate_soll - ctrl_heatrate
 
-		if self.ovenState == ovenStates.NOP:
-			if ctrl_theta < self.ctrl_theta_soll:
-				ovenStateNext = ovenStates.HEAT
-
-		if self.ovenState == ovenStates.HEAT:
-			if (ctrl_theta + 1.0) >= self.ctrl_theta_soll:
-				ovenStateNext = ovenStates.HOLD
-				self.log("Set rast timer to {:0.1f} min.".format(timer_soll/60))
-				self.timer_ist = timer_soll
-
-		if self.ovenState != ovenStates.NOP:
+		if self.ovenState != ovenStates.IDLE:
 			self.pid_hold.process(self.dt, self.params['Hold']['Pid'], ctrl_theta_err)
 			self.pid_rate.process(self.dt, self.params['Heat']['Pid'], ctrl_heatrate_err)
 
@@ -221,49 +229,50 @@ class Controller(TimerListener):
 		power_hold = max(self.params['P_min'], min(self.params['P_max'], power_hold))
 		power_heat = max(self.params['P_min'], min(self.params['P_max'], power_heat))
 
-		power_soll = min(power_hold, power_hold)
+		self.power_soll = power_hold
 		if self.ovenState == ovenStates.HEAT:
-			power_soll = min(power_heat, power_heat)
+			self.power_soll = power_heat
 
-		self.plant.setPower(power_soll)
-		power_ist = self.plant.getPower()
+		self.plant.setPower(self.power_soll)
 
 		self.time_v = np.append(self.time_v, self.time/60)
 		self.theta_v = np.append(self.theta_v, ctrl_theta)
 		self.heatrate_v = np.append(self.heatrate_v, ctrl_heatrate)
-		self.power_v = np.append(self.power_v, power_soll)
+		self.power_v = np.append(self.power_v, self.power_soll)
 		self.power_hold_v = np.append(self.power_hold_v, power_hold)
 		self.power_heat_v = np.append(self.power_heat_v, power_heat)
 		self.error_v = np.append(self.error_v, ctrl_theta_err)
-		self.power_soll = power_soll
 
 		self.time += self.dt
 
-		if self.timer_ist > 0:
-			self.timer_ist -= self.dt
-		else:
-			self.timer_ist = 0
-			if self.ovenState == ovenStates.HOLD:
-				if self.timer_ist == 0:
-					if not rast["waitForUser"]:
-						ovenStateNext = ovenStates.NOP
-
 		# -----------------------------------------
+		rast_finished = False
+
+		if self.ovenState == ovenStates.IDLE:
+			if (ctrl_theta + 1.0) < self.ctrl_theta_soll:
+				ovenStateNext = ovenStates.HEAT
+
+		if self.ovenState == ovenStates.HEAT:
+			if (ctrl_theta + 1.0) >= self.ctrl_theta_soll:
+				ovenStateNext = ovenStates.HOLD
+
 		if ovenStateNext != self.ovenState:
 			self.log("{} -> {}".format(self.ovenState, ovenStateNext))
 			if ovenStateNext == ovenStates.HEAT:
-				self.power_hold_offset = power_hold
 				self.pid_rate.reset()
 				self.stirrer.setSpeed(self.stirrSpeedHeat)
 				self.stirrer.setDutyCycle(1.0)
+				if self.ovenState == ovenStates.HOLD:
+					self.power_hold_offset = power_hold
 
 			if ovenStateNext == ovenStates.HOLD:
-				self.power_heat_offset = power_heat
 				self.pid_hold.reset()
 				self.stirrer.setSpeed(self.stirrSpeedRast)
 				self.stirrer.setDutyCycle(self.stirrDutyRast)
+				if self.ovenState == ovenStates.HEAT:
+					self.power_heat_offset = power_heat
 
 		# ------------------------------
 		self.rast_running = True
 		self.ovenState = ovenStateNext
-		return self.ovenState == ovenStates.NOP
+		return self.ovenState == ovenStates.HOLD

Control/brewpi/timer.py

@@ -9,6 +9,7 @@ class Timer(object):
 		self.mode = 'periodic'
 		self.interval = 0
 		self.elapseTime = 0
+		self.elapseDuration = 0
 		self.count = 0
 
 	def start(self, interval, mode='periodic'):
@@ -29,9 +30,11 @@ class Timer(object):
 	def isElapsed(self):
 		result = False
 		now = time.time()
+		self.elapseDuration = max(0, self.elapseTime - now)
 		if self.isActive:
-			if self.elapseTime <= now:
+			if self.elapseDuration == 0:
 				result = True
+				self.isActive = False
 				if 'periodic' in self.mode:
 					self.start(self.interval, self.mode)
 
@@ -61,7 +64,6 @@ class TimerManager(object):
 					timer.count += 1
 
 	def getMinTimeout(self, default=1.0):
-		minTimeout = default
 		timeouts = []
 		for timer in self.timers:
 			now = time.time()
@@ -72,7 +74,7 @@ class TimerManager(object):
 		if len(timeouts) > 0:
 			minTimeout = min(timeouts)
 
-		return minTimeout
+		return max(default, minTimeout)
 
 if __name__ == '__main__':
 	class Test (TimerListener):