From 19ed110d0b2f1d02e50e5ae70c936fb1a0dbd76e Mon Sep 17 00:00:00 2001
From: jens <jens.ahrensfeld@gmx.de>
Date: Tue, 1 Dec 2020 19:35:06 +0100
Subject: [PATCH] - fixed not exitting executor thread - fixed PID params

---
 brewpi.py     | 9 +++++----
 brewpi_gui.py | 1 -
 ws/message.py | 7 ++++++-
 3 files changed, 11 insertions(+), 6 deletions(-)

diff --git a/brewpi.py b/brewpi.py
index 2208312..f1d80d1 100644
--- a/brewpi.py
+++ b/brewpi.py
@@ -11,6 +11,7 @@ from utils.value import Value, ValueChanged
 
 TC_DT = 0.1
 
+
 class ATask:
 	def __init__(self, interval):
 		self.interval = interval
@@ -67,7 +68,7 @@ class HeaterTask(ATask):
 		self.heater = heater
 
 	def actor(self, y):
-		self.heater.setPower(max(0, 200 + self.heater.get_power_max() * y))
+		self.heater.setPower(max(0, 0 + self.heater.get_power_max() * y))
 
 	async def recv(self, data):
 		print(data)
@@ -202,7 +203,7 @@ if __name__ == '__main__':
 			"dt"			: 1.0,
 			"theta"			: 20,
 			"C"				: 4190,
-			"M"				: 10,
+			"M"				: 20,
 			"L"				: 0.02,
 			"Td"			: 12,
 			"kn"			: 0.2
@@ -222,8 +223,8 @@ if __name__ == '__main__':
 			"dt": 1.0,
 			"Hold": {
 				"Pid": {
-					"kp": 0.4,
-					"ki": 0.0,
+					"kp": 0.8,
+					"ki": 0.000004,
 					"kd": 0.0,
 					"rho": 1.0
 				}
diff --git a/brewpi_gui.py b/brewpi_gui.py
index d6b545e..e51b339 100644
--- a/brewpi_gui.py
+++ b/brewpi_gui.py
@@ -5,7 +5,6 @@ from ws.client.ws_client import WsClient
 from ws.message import MessageDispatcherSync
 from queue import Queue
 import asyncio
-from ws.connection import IConnection
 
 
 class Window(QtWidgets.QMainWindow, Ui_MainWindow):
diff --git a/ws/message.py b/ws/message.py
index db77d3d..1d0a4ff 100644
--- a/ws/message.py
+++ b/ws/message.py
@@ -129,7 +129,12 @@ class MessageDispatcherSync(IConnection):
 					await asyncio.get_event_loop().run_in_executor(None, h.on_recv, d)
 
 	async def on_send(self):
-		return await asyncio.get_event_loop().run_in_executor(None, self.state.get)
+		result = None
+		try:
+			result = await asyncio.get_event_loop().run_in_executor(None, self.state.get, True, 1.0)
+		except:
+			pass
+		return result
 
 	def send(self, data):
 		self.state.put(data)