Add a comprehensive mash-schedule demo

Drives a real Smith-predictor TempController, Pot, HeaterSim, and StirrerSim through sude/sud_0010.json end-to-end (mirroring brewpi.py's wiring, including the model/plant power-discretization mismatch and tasks/sud.py's stirrer-switching rules), auto-confirming waitForUser pauses so it completes unattended. Plots theta/heatrate (actual vs. target), heater power_set/power_eff, Sud state, rest index, and stirrer speed/duty cycle over time. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-06-19 18:11:13 +02:00
parent 7e131df4ca
commit 395eda5eb4
2 changed files with 172 additions and 0 deletions
@@ -0,0 +1,172 @@
+import numpy as np
+from matplotlib.pyplot import plot, step, figure, subplot, grid, show, legend, yticks
+from components.sud import Sud, SudState
+from components.pid.temp_controller_smith import TempController
+from components.plant.pot import Pot
+from components.actor.stirrersim import StirrerSim
+from components.actor.heater_sim import HeaterSim
+
+# Mirrors tasks/sud.py's SudTask, but driven synchronously for a demo run.
+TEMP_REACHED_TOLERANCE = 0.2
+
+# A real user would click "Confirm" in the GUI; auto-confirm after this many
+# simulated seconds so the demo can run to completion unattended.
+WAIT_USER_AUTO_CONFIRM_S = 30.0
+
+
+if __name__ == '__main__':
+	dt = 1.0
+	theta_amb = 20
+
+	ctrl_params = {
+		"Hold": {
+			"kp": 0.4,
+			"ki": 0.0,
+			"kd": 0.0,
+			"kt": 0.0
+		},
+		"Heat": {
+			"kp": 0.08,
+			"ki": 0.008,
+			"kd": 0.0,
+			"kt": 1.5
+		}
+	}
+
+	plant_params = {
+		"theta"		: 20,
+		"C"			: 4190,
+		"M"			: 20,
+		"L"			: 0.2,
+		"Td"		: 30,
+		"gain"		: 1.0
+	}
+
+	sud = Sud("sude/sud_0010.json")
+	ctrl = TempController(dt, ctrl_params, plant_params, theta_amb)
+	plant = Pot(dt, plant_params, theta_amb)
+	stirrer = StirrerSim(dt)
+	heater = HeaterSim({})
+
+	# Mirror brewpi.py's data flow: the controller's internal Smith-predictor
+	# model sees the (continuous) requested power, the real plant sees the
+	# heater's actual (discretized) output power.
+	heater.set_on_changed('power_set', ctrl.set_model_power)
+	heater.set_on_changed('power_eff', plant.set_power)
+
+	def on_rast_changed(rast):
+		if rast is not None:
+			ctrl.set_theta_soll(rast['temp'])
+			ctrl.set_heatrate_soll(rast['heatRate'])
+
+	def on_state_changed(state):
+		if state == SudState.RAMPING:
+			stirrer.set_duty_cycle(1.0)
+			stirrer.set_speed(sud.stirr_speed_heat)
+		elif state == SudState.HOLDING:
+			stirrer.set_cycle_time(sud.stirr_cycle_time)
+			stirrer.set_duty_cycle(sud.stirr_duty_rast)
+			stirrer.set_speed(sud.stirr_speed_rast)
+		elif state in (SudState.WAIT_USER, SudState.DONE):
+			stirrer.set_duty_cycle(1.0)
+			stirrer.set_speed(0)
+
+	sud.set_on_changed('rast', on_rast_changed)
+	sud.set_on_changed('state', on_state_changed)
+
+	sud.start()
+
+	_t = []
+	_temp_ist = []
+	_temp_soll = []
+	_heatrate_ist = []
+	_heatrate_soll = []
+	_sud_state = []
+	_rast_index = []
+	_stirrer_speed = []
+	_stirrer_duty = []
+	_heater_power_set = []
+	_heater_power_eff = []
+
+	wait_user_elapsed = 0.0
+	t = 0.0
+	steps = 0
+	max_steps = 30000
+	while sud.state != SudState.DONE and steps < max_steps:
+		plant.process()
+		ctrl.set_theta_ist(plant.get_temperature())
+		ctrl.process()
+
+		y = ctrl.get_power()
+		heater.set_power(max(0, 3500*y))
+		heater.process()
+
+		stirrer.process()
+
+		if sud.state == SudState.RAMPING:
+			if abs(ctrl.get_theta_ist() - ctrl.get_theta_soll_set()) < TEMP_REACHED_TOLERANCE:
+				sud.temp_reached()
+
+		if sud.state == SudState.WAIT_USER:
+			wait_user_elapsed += dt
+			if wait_user_elapsed >= WAIT_USER_AUTO_CONFIRM_S:
+				sud.confirm()
+				wait_user_elapsed = 0.0
+		else:
+			wait_user_elapsed = 0.0
+
+		sud.tick(dt)
+
+		_t.append(t)
+		_temp_ist.append(ctrl.get_theta_ist())
+		_temp_soll.append(ctrl.get_theta_soll_set())
+		_heatrate_ist.append(ctrl.get_heatrate_ist())
+		_heatrate_soll.append(ctrl.get_heatrate_soll())
+		_sud_state.append(sud.state.value)
+		_rast_index.append(sud.index)
+		_stirrer_speed.append(stirrer.speed * stirrer.isOn)
+		_stirrer_duty.append(stirrer.dutyCycle * 100)
+		_heater_power_set.append(heater.power_set)
+		_heater_power_eff.append(heater.power_eff)
+
+		t += dt
+		steps += 1
+
+	if sud.state != SudState.DONE:
+		print("Sud did not finish within {} steps (stuck in {})".format(max_steps, sud.state))
+	print("Sud finished after {:.0f} s ({:.1f} min), final state = {}".format(t, t/60.0, sud.state))
+
+	_t_min = np.array(_t) / 60.0
+
+	figure(1)
+	subplot(3, 1, 1)
+	plot(_t_min, _temp_ist, '-b', _t_min, _temp_soll, '-r', linewidth=1)
+	legend(["theta_ist", "theta_soll"])
+	grid(True)
+	subplot(3, 1, 2)
+	plot(_t_min, _heatrate_ist, '-b', _t_min, _heatrate_soll, '-r', linewidth=1)
+	legend(["heatrate_ist", "heatrate_soll"])
+	grid(True)
+	subplot(3, 1, 3)
+	plot(_t_min, _heater_power_set, '-r', _t_min, _heater_power_eff, '-b', linewidth=1)
+	legend(["heater power_set", "heater power_eff"])
+	grid(True)
+
+	figure(2)
+	subplot(3, 1, 1)
+	step(_t_min, _sud_state, where='post', color='m')
+	yticks([0, 1, 2, 3, 4], ["IDLE", "RAMPING", "HOLDING", "WAIT_USER", "DONE"])
+	legend(["Sud state"])
+	grid(True)
+	subplot(3, 1, 2)
+	step(_t_min, _rast_index, where='post', color='k')
+	legend(["Rast index"])
+	grid(True)
+	subplot(3, 1, 3)
+	plot(_t_min, _stirrer_speed, '-g', _t_min, _stirrer_duty, '-c', linewidth=1)
+	legend(["stirrer speed (effective)", "stirrer duty cycle [%]"])
+	grid(True)
+
+	show()
+
+	print("End of program")