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- added generic tracer class

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- create tracer for TC
- tracer task runs TC-Tracer
This commit is contained in:
jens
2021-10-18 17:57:40 +02:00
parent 236c33d8d6
commit 54f2322c07
5 changed files with 138 additions and 7 deletions
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brewpi.py
+13 -1
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@@ -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
+3 -3
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@@ -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*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 ("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 ("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
+45
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@@ -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
+10 -3
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@@ -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
+67
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@@ -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()