- added abstarct PID APid

- added PidFactory
- use variable args for factory

brewpi.py

@@ -5,7 +5,7 @@ from utils import ChangedFloat
 from ws.message import MessageDispatcher
 from ws.server.ws_server_multi_user import WsServerMultiUser
 from components.sensor import TempSensorFactory
-from components.pid import TempController
+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
@@ -31,14 +31,14 @@ if __name__ == '__main__':
 	taskmgr.add(PotTask(pot, DT_TASK, dispatcher.msgio_get("Pot")))
 
 	# Heater
-	heater = HeaterFactory.create(config['Controller']['heater_name'], DT, config['Heater'])
+	heater = HeaterFactory.create(config['Controller']['heater_name'], config['Heater'])
 	heater.set_on_changed("power_eff", ChangedFloat(pot.set_power, prec=0).set)
 	heater_task = HeaterTask(heater, DT_TASK, dispatcher.msgio_get("Heater"))
 	taskmgr.add(heater_task)
 
 	# Temperature Controller
 	tc_params = config['TempCtrl']
-	tc = TempController(DT, tc_params)
+	tc = PidFactory.create('Normal', DT, tc_params)
 	tc.set_on_changed("y", heater_task.actor)
 	tc_task = TcTask(tc, DT_TASK, dispatcher.msgio_get("TempCtrl"))
 	taskmgr.add(tc_task)

components/__init__.py

@@ -1,3 +1,4 @@
 from components.atemperatureSensor import *
 from components.astirrer import *
 from components.aheater import *
+from components.apid import *

components/actor/heaterFactory.py

@@ -2,10 +2,12 @@
 
 class HeaterFactory:
 	@staticmethod
-	def create(name, dt, params):
+	def create(name, *args, **kwargs):
 		if "sim" in name:
 			from components.actor.heater_sim import HeaterSim
-			return HeaterSim()
+			print (*args)
+			print (**kwargs)
+			return HeaterSim(*args, **kwargs)
 		elif "Hendi" in name:
 			from components.actor.heater_hendi import HeaterHendi
-			return HeaterHendi(params)
+			return HeaterHendi(*args, **kwargs)

components/actor/heater_sim.py

@@ -2,7 +2,7 @@ from components.aheater import AHeater
 
 
 class HeaterSim(AHeater):
-	def __init__(self):
+	def __init__(self, params):
 		AHeater.__init__(self)
 		self.power_set = 0
 		self.power_eff = 0

components/apid.py

@@ -0,0 +1,43 @@
+import abc
+from utils.value import AttributeChange
+
+
+class APid(AttributeChange):
+	def __init__(self):
+		AttributeChange.__init__(self)
+
+	@abc.abstractmethod
+	def set_theta_soll(self, value):
+		return None
+
+	@abc.abstractmethod
+	def set_heatrate_soll(self, value):
+		return None
+
+	@abc.abstractmethod
+	def get_theta_ist(self):
+		return None
+
+	@abc.abstractmethod
+	def get_heatrate_ist(self):
+		return None
+
+	@abc.abstractmethod
+	def get_theta_soll_set(self):
+		return None
+
+	@abc.abstractmethod
+	def get_theta_soll(self):
+		return None
+
+	@abc.abstractmethod
+	def get_heatrate_soll_set(self):
+		return None
+
+	@abc.abstractmethod
+	def get_heatrate_soll(self):
+		return None
+
+	@abc.abstractmethod
+	def process(self):
+		pass

components/pid/__init__.py

@@ -1,3 +1,3 @@
 from components.pid.pid import *
 from components.pid.kalman import *
-from components.pid.temp_controller_smith import *
+from components.pid.pid_factory import PidFactory

components/pid/pid_factory.py

@@ -0,0 +1,11 @@
+
+
+class PidFactory:
+	@staticmethod
+	def create(name, *args, **kwargs):
+		if "Normal" in name:
+			from components.pid.temp_controller import TempController
+			return TempController(*args, **kwargs)
+		elif "Smith" in name:
+			from components.pid.temp_controller_smith import TempController
+			return TempController(*args, **kwargs)

components/pid/temp_controller.py

@@ -1,8 +1,8 @@
 from components.plant.pot import Pot
 from matplotlib.pyplot import plot, figure, subplot, grid, show, legend
 from components.pid import Pid, Kalman
+from components import APid
 import numpy as np
-from utils.value import AttributeChange
 from enum import Enum
 
 
@@ -12,9 +12,9 @@ class States(Enum):
 	HOLD = 2
 
 
-class TempController(AttributeChange):
+class TempController(APid):
 	def __init__(self, dt, params):
-		AttributeChange.__init__(self)
+		APid.__init__(self)
 		self.pid_hold = Pid(dt)
 		self.pid_rate = Pid(dt)
 		self.theta_ist_set = 20

components/pid/temp_controller_smith.py

@@ -1,8 +1,8 @@
 from components.plant.pot import Pot, Delay
 from matplotlib.pyplot import plot, figure, subplot, grid, show, legend
 from components.pid import Pid, Kalman
+from components import APid
 import numpy as np
-from utils.value import AttributeChange
 from enum import Enum
 
 
@@ -12,9 +12,9 @@ class States(Enum):
 	HOLD = 2
 
 
-class TempController(AttributeChange):
+class TempController(APid):
 	def __init__(self, dt, params):
-		AttributeChange.__init__(self)
+		APid.__init__(self)
 		self.pid_hold = Pid(dt)
 		self.pid_rate = Pid(dt)
 		self.theta_ist_set = 20
@@ -41,15 +41,33 @@ class TempController(AttributeChange):
 	def set_theta_ist(self, value):
 		self.theta_ist_set = value
 
+	def get_theta_ist(self):
+		return self.theta_ist
+
 	def set_heatrate_ist(self, value):
 		self.heatrate_ist_set = value
 
+	def get_heatrate_ist(self):
+		return self.heatrate_ist
+
 	def set_theta_soll(self, value):
 		self.theta_soll_set = value
 
+	def get_theta_soll(self):
+		return self.theta_soll
+
+	def get_theta_soll_set(self):
+		return self.theta_soll_set
+
 	def set_heatrate_soll(self, value):
 		self.heatrate_soll_set = value
 
+	def get_heatrate_soll(self):
+		return self.heatrate_soll
+
+	def get_heatrate_soll_set(self):
+		return self.heatrate_soll_set
+
 	def process(self):
 		# Process Kalman of Model
 		Z_model = self.kalman_model.process_measurement((self.model.get_temperature_intermediate(), 0), 0.0)

components/sensor/tempSensorSim.py

@@ -6,8 +6,9 @@ class TempSensorSim(ATemperatureSensor):
 	def name(self):
 		return "FakeTemp"
 
-	def __init__(self):
+	def __init__(self, temp_offset=0):
 		ATemperatureSensor.__init__(self)
+		self.temp_offset = temp_offset
 		self.temp = 22.37
 		self.temp_set = self.temp
 		self.k_noise = 0.01
@@ -16,8 +17,7 @@ class TempSensorSim(ATemperatureSensor):
 		self.temp_set = temp
 
 	def temperature(self):
-		return self.temp_set + self.k_noise * np.random.normal(0, 1) / np.sqrt(12.0)
+		return self.temp_offset + self.temp
 
 	def process(self):
-		temp = self.temperature()
+		self.temp = self.temp_set + self.k_noise * np.random.normal(0, 1) / np.sqrt(12.0)
-		self.temp = temp

components/sensor/tempSensor_max31865.py

@@ -1,4 +1,4 @@
-#!/usr/bin/python3
+#!/usr/bin/env python3
 import time
 from components import ATemperatureSensor
 import spidev

components/sensor/tempsensor_factory.py

@@ -2,10 +2,10 @@
 
 class TempSensorFactory:
 	@staticmethod
-	def create(name):
+	def create(name, *args, **kwargs):
 		if "sim" in name:
 			from components.sensor.tempSensorSim import TempSensorSim
-			return TempSensorSim()
+			return TempSensorSim(*args, **kwargs)
 		elif "31865" in name:
 			from components.sensor.tempSensor_max31865 import TempSensor_max31865
-			return TempSensor_max31865(temp_offset=0)
+			return TempSensor_max31865(*args, **kwargs)

results.m

@@ -26,11 +26,27 @@
 function retval = results()
 
 load brewpi.mat
+
+close all;
+
+figure(1)
+
 set(0, "defaultlinelinewidth", 1.5);
 subplot(3,1,1)
 plot(time, tc_temp_soll, time, tc_temp_ist); grid
 legend("Temp_{soll}","Temp_{ist}")
 subplot(3,1,2)
+plot(time, tc_temp_ist-tc_temp_soll, "ro"); grid
+legend("Temp_{ist} - dTemp_{soll}")
+subplot(3,1,3)
+plot(time, heater_power); grid
+legend("Power_{Heater}")
+
+figure(2)
+subplot(3,1,1)
+plot(time, tc_temp_soll, time, tc_temp_ist); grid
+legend("Temp_{soll}","Temp_{ist}")
+subplot(3,1,2)
 plot(time, tc_dtemp_soll, time, tc_dtemp_ist, time, tc_dtemp_commanded); grid
 legend("dTemp_{soll}","dTemp_{ist}","dTemp_{cmd}")
 subplot(3,1,3)

tasks/tempctrl.py

@@ -2,11 +2,11 @@ import asyncio
 from tasks import ATask
 from ws.message import MsgIo
 from utils.value import ChangedFloat
-from components.pid import TempController
+from components import APid
 
 
 class TcTask(ATask):
-	def __init__(self, tc: TempController, interval, msg_handler: MsgIo):
+	def __init__(self, tc: APid, interval, msg_handler: MsgIo):
 		ATask.__init__(self, interval)
 
 		self.tc = tc

tasks/tracer.py

@@ -4,14 +4,14 @@ from tasks import ATask
 from ws.message import MsgIo
 from components import ATemperatureSensor
 from components import AHeater
-from components.pid import TempController
+from components import APid
 
 import numpy as np
 import scipy.io
 
 
 class TracerTask(ATask):
-	def __init__(self, sensor: ATemperatureSensor, heater: AHeater, temp_ctrl: TempController, interval, msg_handler: MsgIo):
+	def __init__(self, sensor: ATemperatureSensor, heater: AHeater, temp_ctrl: APid, interval, msg_handler: MsgIo):
 		ATask.__init__(self, interval)
 
 		self.msg_handler = msg_handler