- TC: state IDLE introduced

- TC: send states

brewpi.py

@@ -7,7 +7,7 @@ from components.plant.pot import Pot, APlant
 from components.actor.heater import Heater, AHeater
 from components.pid import kalman, temp_controller
 from ws.message import MsgIo, MessageDispatcher
-from utils.value import Value, ValueChanged
+from utils.value import Value, ChangedFloat, ChangedInteger
 
 TC_DT = 0.1
 
@@ -41,7 +41,7 @@ class TempSensorTask(ATask):
 
 	async def on_process(self):
 		print("{}: Started with interval {} s".format(self.msg_handler.get_key(), self.interval))
-		temp = ValueChanged(self.on_temp_changed, prec=1)
+		temp = ChangedFloat(self.on_temp_changed, prec=1)
 		self.sensor.set_on_changed("temp", temp.set)
 		while True:
 			self.sensor.process()
@@ -126,6 +126,10 @@ class TcTask(ATask):
 		self.tc = tc
 		self.temp_soll = 30
 
+	def on_state_changed(self, state):
+		print ("State change to {}".format(state))
+		asyncio.create_task(self.send({'State': state.value}))
+
 	async def recv(self, data):
 		print(data)
 		for pair in data.items():
@@ -138,6 +142,9 @@ class TcTask(ATask):
 	async def on_process(self):
 		print("{}: Started with interval {} s".format(self.msg_handler.get_key(), self.interval))
 		temp_soll = Value()
+
+		self.tc.set_on_changed('state', ChangedInteger(self.on_state_changed).set)
+
 		while True:
 			temp_soll.set(self.temp_soll)
 			if temp_soll.is_changed():
@@ -201,12 +208,12 @@ if __name__ == '__main__':
 			"kn"			: 0.2
 		}
 		pot = Pot(pot_params, 20)
-		pot.set_on_changed("temp", ValueChanged(sensor.set_fake_temp, prec=3).set)
+		pot.set_on_changed("temp", ChangedFloat(sensor.set_fake_temp, prec=3).set)
 		taskmgr.add(PotTask(pot, TC_DT, dispatcher.msgio_get("Pot")))
 
 		# Heater
 		heater = Heater()
-		heater.set_on_changed("power_eff", ValueChanged(pot.setPower, prec=0).set)
+		heater.set_on_changed("power_eff", ChangedFloat(pot.setPower, prec=0).set)
 		heater_task = HeaterTask(heater, TC_DT, dispatcher.msgio_get("Heater"))
 		taskmgr.add(heater_task)
 
@@ -231,7 +238,7 @@ if __name__ == '__main__':
 		tc.set_on_changed("y", heater_task.actor)
 		tc_task = TcTask(tc, TC_DT, dispatcher.msgio_get("TempCtrl"))
 		taskmgr.add(tc_task)
-		sensor.set_on_changed("temp", ValueChanged(tc.set_theta_ist, prec=2).set)
+		sensor.set_on_changed("temp", ChangedFloat(tc.set_theta_ist, prec=2).set)
 
 		# Message dispatcher
 		h_dispatcher = taskmgr.start()

components/pid/temp_controller.py

@@ -28,7 +28,7 @@ class TempController(AttributeChange):
 		self.params = params_pid
 		self.kalman = kalman.Kalman(params_kalman)
 		self.y = 0
-		self.state = States.HOLD
+		self.state = States.IDLE
 		self.use_kalman = True
 		self.kalman.initial((20, 0))
 
@@ -60,12 +60,30 @@ class TempController(AttributeChange):
 
 		# Process state
 		state_next = self.state
-		if self.state == States.HOLD:
-			if (self.theta_ist + 1.0) < self.theta_soll_set:
+		diff = self.theta_soll_set - self.theta_ist
+
+		THRESH_HEAT = 1.0
+		THRESH_IDLE = 1.0
+		THRESH_IDLE_HOLD = 0.1
+		THRESH_HEAT_HOLD = 1.0
+
+		if self.state == States.IDLE:
+			if diff > THRESH_HEAT:
 				state_next = States.HEAT
 				self.pid_rate.reset()
+			elif diff > -THRESH_IDLE_HOLD:
+				state_next = States.HOLD
+				self.pid_hold.reset()
+		elif self.state == States.HOLD:
+			if diff > THRESH_HEAT:
+				state_next = States.HEAT
+				self.pid_rate.reset()
+			elif diff < -THRESH_IDLE_HOLD:
+				state_next = States.IDLE
 		elif self.state == States.HEAT:
-			if (self.theta_ist + 1.0) >= self.theta_soll_set:
+			if diff < -THRESH_IDLE:
+				state_next = States.IDLE
+			elif diff < THRESH_HEAT_HOLD:
 				state_next = States.HOLD
 				self.pid_hold.reset()
 
@@ -75,8 +93,10 @@ class TempController(AttributeChange):
 
 		if self.state == States.HEAT:
 			self.y = self.pid_rate.get_y()
-		else:
+		elif self.state == States.HOLD:
 			self.y = self.pid_hold.get_y()
+		else:
+			self.y = 0
 
 		if state_next != self.state:
 			print("New state = {}".format(state_next))

utils/value.py

@@ -15,7 +15,7 @@ class Value:
 		return self.value
 
 
-class ValueChanged(object):
+class ChangedFloat(object):
 	def __init__(self, on_changed, prec=2, initial=None):
 		self.on_changed = on_changed
 		self.prec = prec
@@ -32,6 +32,21 @@ class ValueChanged(object):
 			self.on_changed(value_rounded)
 
 
+class ChangedInteger(object):
+	def __init__(self, on_changed, initial=None):
+		self.on_changed = on_changed
+		self.value = initial
+
+	def set(self, value):
+		has_changed = True
+		if self.value is not None:
+			has_changed = self.value != value
+
+		self.value = value
+		if has_changed:
+			self.on_changed(value)
+
+
 class AttributeChange(object):
 	def __init__(self):
 		self.callbacks = {}