- do data signal wiring at one central place

- fixed initializations

brewpi.py

@@ -26,8 +26,6 @@ if __name__ == '__main__':
 	# Plant
 	pot_params = config['Plant']
 	pot = Pot(DT, pot_params, 20)
-	if "sim" in config['Controller']['sensor_name']:
-		pot.set_on_changed("temp", ChangedFloat(sensor.set_fake_temp, prec=3).set)
 	taskmgr.add(PotTask(pot, DT_TASK, dispatcher.msgio_get("Pot")))
 
 	# Heater
@@ -39,10 +37,8 @@ if __name__ == '__main__':
 	# Temperature Controller
 	tc_params = config['TempCtrl']
 	tc = PidFactory.create(config['Controller']['pid_type'], 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)
-	sensor.set_on_changed("temp", ChangedFloat(tc.set_theta_ist, prec=2).set)
 
 	# Stirrer
 	stirrer = StirrerFactory.create(config['Controller']['stirrer_name'], DT, config['Stirrer'])
@@ -52,6 +48,13 @@ if __name__ == '__main__':
 	# Tracer
 	taskmgr.add(TracerTask(sensor, heater, tc, DT_TASK, dispatcher.msgio_get("Tracer")))
 
+	# Assign data flow
+	tc.set_on_changed("y", heater_task.actor)
+	sensor.set_on_changed("temp", ChangedFloat(tc.set_theta_ist, prec=2).set)
+	if "sim" in config['Controller']['sensor_name']:
+		pot.set_on_changed("temp", ChangedFloat(sensor.set_fake_temp, prec=3).set)
+		sensor.set_fake_temp(pot.temp)
+
 	# Message dispatcher
 	h_dispatcher = taskmgr.start()
 	h_server = server.listen("0.0.0.0", 8765)

components/pid/temp_controller.py

@@ -17,7 +17,7 @@ class TempController(APid):
 		APid.__init__(self)
 		self.pid_hold = Pid(dt)
 		self.pid_rate = Pid(dt)
-		self.theta_ist_set = 20
+		self.theta_ist_set = 0
 		self.theta_soll_set = 0
 		self.heatrate_ist_set = 0
 		self.heatrate_soll_set = 1.0

components/pid/temp_controller_smith.py

@@ -17,7 +17,7 @@ class TempController(APid):
 		APid.__init__(self)
 		self.pid_hold = Pid(dt)
 		self.pid_rate = Pid(dt)
-		self.theta_ist_set = 20
+		self.theta_ist_set = 0
 		self.theta_soll_set = 0
 		self.heatrate_ist_set = 0
 		self.heatrate_soll_set = 1.0

components/plant/pot.py

@@ -16,7 +16,7 @@ class Pot(APlant):
 		self.L = params['L']
 		self.Td = params['Td']
 		self.kn = params['kn']
-		self.temp = 0
+		self.temp = params['theta']
 		self.temp_intermediate = params['theta']
 
 		self.theta_amb = theta_amb