- added generic tracer class

- create tracer for TC
- tracer task runs TC-Tracer

brewpi.py

@@ -9,6 +9,7 @@ from components.pid import PidFactory
 from components.plant import Pot
 from components.actor import HeaterFactory, StirrerFactory
 from tasks import TaskManager, TempSensorTask, HeaterTask, PotTask, TcTask, StirrerTask, TracerTask
+from tracer import Tracer
 
 if __name__ == '__main__':
 	config = json.load(open("config.json"))
@@ -40,13 +41,24 @@ if __name__ == '__main__':
 	tc_task = TcTask(tc, DT_TASK, dispatcher.msgio_get("TempCtrl"))
 	taskmgr.add(tc_task)
 
+	tc_trace_vars = [
+		{'variable': 'theta_ist_plant', 'name': 'theta_ist_plant', 'unit': ''},
+		{'variable': 'dtheta_ist_plant', 'name': 'dtheta_ist_plant', 'unit': ''},
+		{'variable': 'theta_ist_model', 'name': 'theta_ist_model', 'unit': ''},
+		{'variable': 'dtheta_ist_model', 'name': 'dtheta_ist_model', 'unit': ''},
+		{'variable': 'theta_ist_model_delay', 'name': 'theta_ist_model_delay', 'unit': ''},
+		{'variable': 'dtheta_ist_model_delay', 'name': 'dtheta_ist_model_delay', 'unit': ''}
+	]
+
+	trace_tc = Tracer(tc, tc_trace_vars, name='tc_trace')
+
 	# Stirrer
 	stirrer = StirrerFactory.create(config['Controller']['stirrer_name'], DT, config['Stirrer'])
 	stirrer_task = StirrerTask(stirrer, DT_TASK, dispatcher.msgio_get("Stirrer"))
 	taskmgr.add(stirrer_task)
 
 	# Tracer
-	taskmgr.add(TracerTask(sensor, heater, tc, DT_TASK_TRACER, dispatcher.msgio_get("Tracer")))
+	taskmgr.add(TracerTask(sensor, heater, tc, trace_tc, DT_TASK_TRACER, dispatcher.msgio_get("Tracer")))
 
 	# Assign data flow
 	tc.set_on_changed("y", heater_task.actor)

components/pid/temp_controller_smith.py

@@ -100,9 +100,9 @@ class TempController(APid):
 
 		self.heatrate_soll = self.heatrate_soll_set * self.pid_hold.get_y()
 
-		print ("Model    : T_ist={:2.2f}, dT_ist={:2.2f}".format(theta_ist_model, heatrate_ist_model))
+#		print ("Model    : T_ist={:2.2f}, dT_ist={:2.2f}".format(theta_ist_model, heatrate_ist_model))
-		print ("Model*z-1: T_ist={:2.2f}, dT_ist={:2.2f}".format(theta_ist_model_delay, dtheta_ist_model_delay))
+#		print ("Model*z-1: T_ist={:2.2f}, dT_ist={:2.2f}".format(theta_ist_model_delay, dtheta_ist_model_delay))
-		print ("Plant    : T_ist={:2.2f}, dT_ist={:2.2f}".format(theta_ist_plant, heatrate_ist_plant))
+#		print ("Plant    : T_ist={:2.2f}, dT_ist={:2.2f}".format(theta_ist_plant, heatrate_ist_plant))
 		if 0:
 			theta_err = self.theta_soll_set - (theta_ist_plant - theta_ist_model_delay + theta_ist_model)
 		else:

results_tc.m

@@ -0,0 +1,45 @@
+## Copyright (C) 2020 Jens
+## 
+## This program is free software: you can redistribute it and/or modify it
+## under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+## 
+## This program is distributed in the hope that it will be useful, but
+## WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU General Public License for more details.
+## 
+## You should have received a copy of the GNU General Public License
+## along with this program.  If not, see
+## <https://www.gnu.org/licenses/>.
+
+## -*- texinfo -*- 
+## @deftypefn {} {@var{retval} =} results (@var{input1}, @var{input2})
+##
+## @seealso{}
+## @end deftypefn
+
+## Author: Jens <jens@orion>
+## Created: 2020-12-20
+
+function retval = results_tc()
+
+load ('logs/tc_trace.mat')
+
+close all;
+
+figure(1)
+
+set(0, "defaultlinelinewidth", 1.5);
+subplot(2,1,1)
+plot(time, theta_ist_plant, time, theta_ist_model, theta_ist_model_delay); grid
+title("Temperature [°C]")
+legend("Plant","Model","Model*z")
+
+subplot(2,1,2)
+plot(time, dtheta_ist_plant, time, dtheta_ist_model, dtheta_ist_model_delay); grid
+title("Heatrate [°C/min]")
+legend("Plant","Model","Model*z")
+
+endfunction

tasks/tracer.py

@@ -5,6 +5,7 @@ from ws.message import MsgIo
 from components import ATemperatureSensor
 from components import AHeater
 from components import APid
+from tracer import Tracer
 
 import numpy as np
 import scipy.io
@@ -12,7 +13,7 @@ import os
 
 
 class TracerTask(ATask):
-	def __init__(self, sensor: ATemperatureSensor, heater: AHeater, temp_ctrl: APid, interval, msg_handler: MsgIo, path= './logs'):
+	def __init__(self, sensor: ATemperatureSensor, heater: AHeater, temp_ctrl: APid, tracer: Tracer, interval, msg_handler: MsgIo, path= './logs'):
 		ATask.__init__(self, interval)
 		if not os.path.exists(path):
 			os.makedirs(path)
@@ -23,6 +24,7 @@ class TracerTask(ATask):
 		self.sensor = sensor
 		self.heater = heater
 		self.temp_ctrl = temp_ctrl
+		self.tracer = tracer
 		self.path = path
 
 	async def recv(self, data):
@@ -44,8 +46,13 @@ class TracerTask(ATask):
 		_tc_dtemp_soll = np.empty(0)
 		_tc_dtemp_commanded = np.empty(0)
 
-		filename = os.path.join(self.path, '') + "brewpi." + time.strftime("%Y%m%d%H%M%S", time.localtime()) + ".mat"
+		name = 'brewpi'
+		filename = os.path.join(self.path, '') + name + ".mat"
+		filename_full = os.path.join(self.path, '') + name + "." + time.strftime("%Y%m%d%H%M%S", time.localtime()) + ".mat"
+
 		while True:
+			self.tracer.process()
+
 			_timestamp = np.append(_timestamp, timestamp)
 			_sensor_temp = np.append(_sensor_temp, self.sensor.temperature())
 			_heater_power = np.append(_heater_power, self.heater.get_power())
@@ -57,8 +64,8 @@ class TracerTask(ATask):
 
 			data = {'time': _timestamp, 'sensor_temp': _sensor_temp, 'heater_power': _heater_power, 'tc_temp_ist': _tc_temp_ist, 'tc_dtemp_ist': _tc_dtemp_ist, 'tc_temp_soll': _tc_temp_soll, 'tc_dtemp_soll': _tc_dtemp_soll, 'tc_dtemp_commanded': _tc_dtemp_commanded}
 
-			scipy.io.savemat('brewpi.mat', data)
 			scipy.io.savemat(filename, data)
+			scipy.io.savemat(filename_full, data)
 			timestamp += 1
 			await asyncio.sleep(self.interval)
 

tracer.py

@@ -0,0 +1,67 @@
+from typing import TypedDict
+import numpy as np
+import scipy.io
+import os
+import time
+
+
+class Entry(TypedDict):
+	variable: str
+	name: str
+	unit: str
+
+
+class Tracer:
+	def __init__(self, obj, var_list: Entry, name='default', path='./logs'):
+		if not os.path.exists(path):
+			os.makedirs(path)
+		self.obj = obj
+		self.var_list = var_list
+		self.timestamp = 0
+		self.timestamp_data = np.empty(0)
+		self.filename_full = os.path.join(path, '') + name + "." + time.strftime("%Y%m%d%H%M%S", time.localtime()) + ".mat"
+		self.filename = os.path.join(path, '') + name + ".mat"
+		self.data_list = {}
+		for var in self.var_list:
+			self.data_list[var['name']] = np.empty(0)
+
+	def process(self):
+		data = {}
+		self.timestamp_data = np.append(self.timestamp_data, self.timestamp)
+		data['time'] = self.timestamp_data
+
+		for var in self.var_list:
+			key_name = var['name']
+			key_variable = var['variable']
+			self.data_list[key_name] = np.append(self.data_list[key_name], self.obj.__getattribute__(key_variable))
+			data[key_name] = self.data_list[key_name]
+
+		scipy.io.savemat(self.filename, data)
+		scipy.io.savemat(self.filename_full, data)
+		self.timestamp += 1
+
+
+class Test:
+	def __init__(self):
+		self.a = 0
+		self.b = 0
+
+	def process(self):
+		self.a += 1
+		self.b += 10
+
+	@staticmethod
+	def get_entry():
+		a: Entry = [{'variable': 'a', 'name' : 'v_a', 'unit': 'u_a'}]
+		b: Entry = [{'variable': 'b', 'name' : 'v_b', 'unit': 'u_b'}]
+		return a + b
+
+
+if __name__ == '__main__':
+	test = Test()
+
+	dut = Tracer(test, Test.get_entry(), name='TracerTest')
+
+	for i in range(0, 10):
+		dut.process()
+		test.process()