- added Pid

- added Temp Controller
- added Kalman

brewpi.py

@@ -5,6 +5,7 @@ from ws.server.ws_server_multi_user import WsServerMultiUser
 from components.sensor.tempSensorSim import TempSensorSim, ATemperatureSensor
 from components.plant.pot import Pot, APlant
 from components.actor.heater import Heater, AHeater
+from components.pid import kalman
 from ws.message import MsgIo, MessageDispatcher, Value
 
 
@@ -18,12 +19,13 @@ class ATask:
 
 
 class TempSensorTask(ATask):
-	def __init__(self, sensor: ATemperatureSensor, interval, msg_handler: MsgIo):
+	def __init__(self, sensor: ATemperatureSensor, interval, msg_handler: MsgIo, kalman: kalman.Kalman):
 		ATask.__init__(self, interval)
 
 		self.msg_handler = msg_handler
 		msg_handler.set_recv_handler(self.recv)
 		self.sensor = sensor
+		self.kalman = kalman
 
 	async def recv(self, data):
 		print(data)
@@ -35,8 +37,13 @@ class TempSensorTask(ATask):
 		print("{}: Started with interval {} s".format(self.msg_handler.get_key(), self.interval))
 		temp = Value()
 		while True:
-			temp.set(round(self.sensor.temperature(), 1))
+			Z = self.kalman.process_measurement((self.sensor.temperature(), 0))
+			xp = self.kalman.process(Z)
+			theta_ist = xp[0, 0]
+			# heatrate_ist = xp[1, 0] * 60
+			temp.set(round(theta_ist, 1))
 			if temp.is_changed():
+				print("Sensor temp {}".format(temp.get()))
 				await self.send({'Temp': temp.get()})
 			await asyncio.sleep(self.interval)
 
@@ -109,42 +116,6 @@ class PotTask(ATask):
 			await asyncio.sleep(self.interval)
 
 
-class CounterTask(ATask):
-	def __init__(self, interval, msg_handler: MsgIo):
-		ATask.__init__(self, interval)
-
-		self.msg_handler = msg_handler
-		msg_handler.set_recv_handler(self.recv)
-
-	async def recv(self, data):
-		print(data)
-
-	async def send(self, data):
-		await self.msg_handler.send(data)
-
-	async def on_process(self):
-		print("{}: Started with interval {} s".format(self.msg_handler.get_key(), self.interval))
-		while True:
-			for count in range(0, 101):
-				await self.send(count)
-				await asyncio.sleep(self.interval)
-
-
-class ColorHandler:
-	def __init__(self, msg_handler: MsgIo):
-		self.msg_handler = msg_handler
-		msg_handler.set_recv_handler(self.recv)
-		print("{}: Constructed".format(self.msg_handler.get_key()))
-
-	async def recv(self, data):
-		print(data)
-		for value in data.values():
-			await self.send(value)
-
-	async def send(self, data):
-		await self.msg_handler.send(data)
-
-
 class TaskManager:
 	def __init__(self):
 		self.tasks: ATask = []
@@ -174,13 +145,22 @@ if __name__ == '__main__':
 		dispatcher = MessageDispatcher()
 		server = WsServerMultiUser(listener=dispatcher)
 		taskmgr = TaskManager()
-		taskmgr.add(CounterTask(1.0, dispatcher.msgio_get("a")))
-		taskmgr.add(CounterTask(0.5, dispatcher.msgio_get("b")))
-		taskmgr.add(CounterTask(0.1, dispatcher.msgio_get("c")))
+
+		# Kalman Filter
+		kalman_params = {
+			"dt"				: 1.0,
+			"var_P"				: 0,
+			"var_Q"				: 0.000001,
+			"var_R"				: 1,
+			"var_Z"				: 0.0
+		}
+		kalman = kalman.Kalman(kalman_params)
 
 		# Sensor
 		sensor = TempSensorSim()
-		taskmgr.add(TempSensorTask(sensor, 1.0, dispatcher.msgio_get("Sensor")))
+		taskmgr.add(TempSensorTask(sensor, 1.0, dispatcher.msgio_get("Sensor"), kalman))
+
+		# Plant
 		pot_params = {
 			"dt"			: 0.1,
 			"theta_amb"		: 15,
@@ -190,8 +170,6 @@ if __name__ == '__main__':
 			"Td"			: 12,
 			"kn"			: 0.2
 		}
-		# {"Heater": {"Activate": 1, "Power": 1000}}
-		# Plant
 		pot = Pot(pot_params)
 		pot.connect_theta_changed(sensor.set_fake_temp)
 		taskmgr.add(PotTask(pot, 0.1, dispatcher.msgio_get("Pot")))
@@ -201,8 +179,6 @@ if __name__ == '__main__':
 		heater.connect_power_changed(pot.setPower)
 		taskmgr.add(HeaterTask(heater, 0.1, dispatcher.msgio_get("Heater")))
 
-		ColorHandler(dispatcher.msgio_get("Color"))
-
 		h_dispatcher = taskmgr.start()
 		h_server = server.listen("localhost", 8765)
 		asyncio.gather(h_dispatcher, h_server)