- pid can negative

- controller: check user input and continue, removed old stuff, cleaned up


git-svn-id: http://moon:8086/svn/projects/HendiControl@275 fda53097-d464-4ada-af97-ba876c37ca34

Control/brewpi/brewpi.py

@@ -58,14 +58,11 @@ if __name__ == '__main__':
 			ablauf.pause()
 		if signum == signal.SIGCONT:
 			ablauf.cont()
-		if signum == signal.SIGHUP:
-			ablauf.restart()
 
 	# 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.SIGHUP, handler)
 
 	fp = open("brewpi.json")
 	configJson = json.load(fp)

Control/brewpi/controller.py

@@ -10,7 +10,6 @@ from timer import Timer, TimerManager, TimerListener
 
 
 ovenStates = Enum('ovenStates', 'NOP HEAT HOLD')
-controllerStates = Enum('controllerStates', 'ACQU TRACK')
 
 
 class Controller(TimerListener):
@@ -19,7 +18,6 @@ class Controller(TimerListener):
 		print(json.dumps({'Controller': params}, indent=4, sort_keys=True))
 		self.sim_warp_factor = params['sim_warp_factor']
 		self.ovenState = ovenStates.NOP
-		self.controllerState = controllerStates.ACQU
 		self.plant = plant
 		self.stirrer = stirrer
 		self.dt = params['dt']
@@ -42,10 +40,7 @@ class Controller(TimerListener):
 		self.time = 0
 		self.report_interval = 1.0
 		self.thread = None
-		self.rast_abort = False
 		self.receipe_sema = threading.Semaphore(0)
-		self.is_pause = False
-		self.is_restart = False
 		self.receipe = None
 		self.theta_sm = Smoother(1.0)
 		self.heatrate_sm = Smoother(0.01)
@@ -55,7 +50,6 @@ class Controller(TimerListener):
 		self.kalman = Kalman(params['kalman'])
 		self.sensor_dt = params['kalman']['dt']
 		self.timerMgr = TimerManager()
-
 		self.rastTimer = Timer("Rast", self)
 		self.sensorTimer = Timer("Sensor", self)
 		self.plantTimer = Timer("Plant", self)
@@ -112,7 +106,6 @@ class Controller(TimerListener):
 
 
 	def start(self, recipe):
-		self.is_pause = False
 		self.receipe = recipe
 		print(json.dumps({recipe['Name'] : recipe}, indent=4, sort_keys=True))
 
@@ -120,34 +113,24 @@ class Controller(TimerListener):
 		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.rast_abort = True
+			self.receipe = None
 			self.thread.join()
 			self.thread = None
-		self.rast_abort = False
-		self.receipe = None
-
-	def restart(self):
-		receipe = self.receipe
-		self.is_restart = True
-		self.stop()
-		self.start(receipe)
-		self.is_restart = False
 
 	def pause(self):
 		if self.thread != None:
-			self.is_pause = True
-			self.stirrer.deactivate()
-			self.plant.activate(False)
+			self.ovenState = ovenStates.HOLD
 
 	def cont(self):
 		if self.thread != None:
-			self.is_pause = False
+			self.ovenState = ovenStates.NOP
 
 	def wait_finished(self):
 		self.receipe_sema.acquire()
@@ -172,7 +155,7 @@ class Controller(TimerListener):
 		rasten.append(None)
 		rast_count = 0
 		self.timer_ist = 0
-		while(not self.rast_abort):
+		while(self.receipe is not None):
 			self.timerMgr.process()
 			if self.rastTimer.isElapsed():
 				rast = rasten[rast_count]
@@ -183,12 +166,10 @@ class Controller(TimerListener):
 						self.timer_ist = 0
 				else:
 					break
-				self.rast_running = True
 
 			waut = self.timerMgr.getMinTimeout()
 			time.sleep(waut)
 
-		self.rast_running = False
 		# Stirrer and plant
 		self.stirrer.deactivate()
 		self.plant.activate(False)
@@ -209,7 +190,6 @@ class Controller(TimerListener):
 		# ------------------------------
 		# The loop
 		# ------------------------------
-		controllerStateNext = self.controllerState
 		ovenStateNext = self.ovenState
 
 		# -----------------------------------------
@@ -231,10 +211,6 @@ class Controller(TimerListener):
 				self.log("Set rast timer to {:0.1f} min.".format(timer_soll/60))
 				self.timer_ist = timer_soll
 
-		if self.ovenState == ovenStates.HOLD:
-			if self.timer_ist == 0:
-				ovenStateNext = ovenStates.NOP
-
 		if self.ovenState != ovenStates.NOP:
 			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)
@@ -261,6 +237,17 @@ class Controller(TimerListener):
 		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
+
 		# -----------------------------------------
 		if ovenStateNext != self.ovenState:
 			self.log("{} -> {}".format(self.ovenState, ovenStateNext))
@@ -276,17 +263,7 @@ class Controller(TimerListener):
 				self.stirrer.setSpeed(self.stirrSpeedRast)
 				self.stirrer.setDutyCycle(self.stirrDutyRast)
 
-		if controllerStateNext != self.controllerState:
-			self.log("{} -> {}".format(self.controllerState, controllerStateNext))
-
-		self.ovenState = ovenStateNext
-		self.controllerState = controllerStateNext
 		# ------------------------------
-		self.time += self.dt
-
-		if self.timer_ist > 0:
-			self.timer_ist -= self.dt
-		else:
-			self.timer_ist = 0
-
+		self.rast_running = True
+		self.ovenState = ovenStateNext
 		return self.ovenState == ovenStates.NOP

Control/brewpi/pid.py

@@ -10,7 +10,7 @@ class Pid():
         self.xd = 0
 
         # Auto windup
-        self.y_min = 0.0
+        self.y_min = -1.0
         self.y_max = 1.0
 
         # Output