- load params from config.json

.gitignore

@@ -1,2 +1,3 @@
 __pycache__
 .idea/
+config.json

brewpi.py

@@ -1,6 +1,6 @@
 import asyncio
-from time import sleep
 import abc
+import json
 from ws.server.ws_server_multi_user import WsServerMultiUser
 from components import ATemperatureSensor, AHeater, AStirrer
 from components.sensor import TempSensorFactory
@@ -231,81 +231,72 @@ async def asleep(time):
 	await asyncio.sleep(time)
 
 if __name__ == '__main__':
-	if 0:
+	config = json.load(open("config.json"))
-		taskmgr = PeriodicUpdaterThreaded()
+	dispatcher = MessageDispatcher()
-		taskmgr.start("localhost", 8765)
+	server = WsServerMultiUser(listener=dispatcher)
-		bg_thread = Thread(target=taskmgr.loop.run_forever)
+	taskmgr = TaskManager()
-		bg_thread.setDaemon(True)
-		bg_thread.start()
-	else:
-		dispatcher = MessageDispatcher()
-		server = WsServerMultiUser(listener=dispatcher)
-		taskmgr = TaskManager()
 
-		# Sensor
+	DT_CTRL = 1.0/config['Controller']['sim_warp_factor']
-		sensor = TempSensorFactory.create("sim")
-		taskmgr.add(TempSensorTask(sensor, DT_CTRL, dispatcher.msgio_get("Sensor")))
 
-		# Plant
+	# Sensor
-		pot_params = {
+	sensor = TempSensorFactory.create(config['Controller']['sensor_name'])
-			"dt"			: DT_PARAMS,
+	taskmgr.add(TempSensorTask(sensor, DT_CTRL, dispatcher.msgio_get("Sensor")))
-			"theta"			: 20,
+
-			"C"				: 4190,
+	# Plant
-			"M"				: 20,
+	pot_params = {
-			"L"				: 0.05,
+		"theta"			: 20,
-			"Td"			: 12,
+		"C"				: 4190,
-			"kn"			: 0.2
+		"M"				: 20,
-		}
+		"L"				: 0.05,
+		"Td"			: 12,
+		"kn"			: 0.2
+	}
+
+	pot_params = config['Plant']
+	if "sim" in config['Controller']['plant_name']:
 		pot = Pot(pot_params, 20)
 		pot.set_on_changed("temp", ChangedFloat(sensor.set_fake_temp, prec=3).set)
 		taskmgr.add(PotTask(pot, DT_CTRL, dispatcher.msgio_get("Pot")))
 
-		# Heater
+	# Heater
-		heater = HeaterFactory.create("sim")
+	heater = HeaterFactory.create(config['Controller']['heater_name'])
-		heater.set_on_changed("power_eff", ChangedFloat(pot.set_power, prec=0).set)
+	heater.set_on_changed("power_eff", ChangedFloat(pot.set_power, prec=0).set)
-		heater_task = HeaterTask(heater, DT_CTRL, dispatcher.msgio_get("Heater"))
+	heater_task = HeaterTask(heater, DT_CTRL, dispatcher.msgio_get("Heater"))
-		taskmgr.add(heater_task)
+	taskmgr.add(heater_task)
 
-		# Temperature Controller
+	# Temperature Controller
-		tc_params = {
+	tc_params = {
-			"Hold": {
+		"dt": 1.0,
-				"dt": DT_PARAMS,
+		"Kalman": {
-				"kp": 1.0,
+			"dt"	: 1.0,
-				"ki": 0.0,
+			"var_P"	: 1.0,
-				"kd": 0.0,
+			"var_Q"	: 0.0001,
-				"kt": 0.0
+			"var_R"	: 1.0
-			},
+		},
-			"Heat": {
+		"Hold": {
-				"dt": DT_PARAMS,
+			"kp": 1.0,
-				"kp": 0.1,
+			"ki": 0.0,
-				"ki": 0.01,
+			"kd": 0.0,
-				"kd": 0.0,
+			"kt": 0.0
-				"kt": 1.0
+		},
-			}
+		"Heat": {
+			"kp": 0.1,
+			"ki": 0.01,
+			"kd": 0.0,
+			"kt": 1.0
 		}
+	}
 
-		# Kalman Filter
+	tc_params = config['TempCtrl']
-		kalman_params = {
+	tc = TempController(tc_params)
-			"dt"		: DT_PARAMS,
+	tc.set_on_changed("y", heater_task.actor)
-			"var_P"		: 1,
+	tc_task = TcTask(tc, DT_CTRL, dispatcher.msgio_get("TempCtrl"))
-			"var_Q"		: 0.0001,
+	taskmgr.add(tc_task)
-			"var_R"		: 1
+	sensor.set_on_changed("temp", ChangedFloat(tc.set_theta_ist, prec=2).set)
-		}
-
-		tc = TempController(tc_params, kalman_params)
-		tc.set_on_changed("y", heater_task.actor)
-		tc_task = TcTask(tc, DT_CTRL, dispatcher.msgio_get("TempCtrl"))
-		taskmgr.add(tc_task)
-		sensor.set_on_changed("temp", ChangedFloat(tc.set_theta_ist, prec=2).set)
-
-		# Message dispatcher
-		h_dispatcher = taskmgr.start()
-		h_server = server.listen("0.0.0.0", 8765)
-		asyncio.gather(h_dispatcher, h_server)
-		server.run_forever()
-
-	while True:
-		print("Hallo")
-		sleep(1)
 
+	# Message dispatcher
+	h_dispatcher = taskmgr.start()
+	h_server = server.listen("0.0.0.0", 8765)
+	asyncio.gather(h_dispatcher, h_server)
+	server.run_forever()
 

components/pid/temp_controller.py

@@ -13,11 +13,11 @@ class States(Enum):
 
 
 class TempController(AttributeChange):
-	def __init__(self, params_pid, params_kalman):
+	def __init__(self, params):
 		AttributeChange.__init__(self)
-
+		dt = params['dt']
-		self.pid_hold = Pid(params_pid['Hold'])
+		self.pid_hold = Pid(params['Hold'])
-		self.pid_rate = Pid(params_pid['Heat'])
+		self.pid_rate = Pid(params['Heat'])
 		self.theta_ist_set = 20
 		self.theta_soll_set = 0
 		self.heatrate_ist_set = 0
@@ -25,8 +25,8 @@ class TempController(AttributeChange):
 		self.heatrate_soll = 1.0
 		self.theta_ist = 0
 		self.heatrate_ist = 0
-		self.params = params_pid
+		self.params = params
-		self.kalman = Kalman(params_kalman)
+		self.kalman = Kalman(params['Kalman'])
 		self.y = -1
 		self.state = States.IDLE
 		self.use_kalman = True
@@ -102,7 +102,14 @@ class TempController(AttributeChange):
 
 
 if __name__ == '__main__':
-	params = {
+	tc_params = {
+		"dt": 1.0,
+		"Kalman": {
+			"dt": 1.0,
+			"var_P"	: 1.0,
+			"var_Q"	: 0.0001,
+			"var_R"	: 1.0
+		},
 		"Hold": {
 			"dt": 1.0,
 			"kp": 1.0,
@@ -121,24 +128,17 @@ if __name__ == '__main__':
 
 	pot_params = {
 		"dt"		: 1.0,
-		"theta"			: 20,
+		"theta"		: 20,
-		"C"				: 4190,
+		"C"			: 4190,
-		"M"				: 20,
+		"M"			: 20,
-		"L"				: 0.05,
+		"L"			: 0.05,
-		"Td"			: 12,
+		"Td"		: 12,
-		"kn"			: 0.2
+		"kn"		: 0.2
 	}
 
-	# Kalman Filter
-	kalman_params = {
-		"dt"			: 1.0,
-		"var_P"				: 1,
-		"var_Q"				: 0.0001,
-		"var_R"				: 1
-	}
 	temp_ist = 0
 	temp_soll = 20
-	ctrl = TempController(params, kalman_params)
+	ctrl = TempController(tc_params)
 	plant = Pot(pot_params)
 	_temp_ist = np.empty(0)
 	_temp_soll = np.empty(0)

config.json.templ

@@ -0,0 +1,46 @@
+{
+	"Controller" : {
+	"sim_warp_factor": 10.0,
+	"stirrer_name": "sim",
+	"heater_name": "sim",
+	"sensor_name": "sim",
+	"plant_name": "sim"
+	},
+ 	"TempCtrl": {
+		"dt": 1.0,
+		"Kalman": {
+			"dt": 1.0,
+			"var_P"	: 1.0,
+			"var_Q"	: 0.0001,
+			"var_R"	: 1.0
+		},
+		"Hold": {
+			"dt": 1.0,
+			"kp": 1.0,
+			"ki": 0.0,
+			"kd": 0.0,
+			"kt": 0.0
+		},
+		"Heat": {
+			"dt": 1.0,
+			"kp": 0.1,
+			"ki": 0.01,
+			"kd": 0.0,
+			"kt": 1.0
+		}
+	},
+	"Plant": {
+		"dt": 1.0,
+		"theta": 15,
+		"C": 4190,
+		"M": 20,
+		"L": 0.1,
+		"Td": 60,
+		"kn": 0.2
+	},
+	"Stirrer": {
+		"dt": 1.0,
+		"port": "/dev/ttyACM0",
+		"speed": "115200"
+	}
+}