- use Valuechanged mechanism

brewpi.py

@@ -5,7 +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 components.pid import kalman, temp_controller
 from ws.message import MsgIo, MessageDispatcher
 from utils.value import Value, ValueChanged
 
@@ -179,14 +179,36 @@ if __name__ == '__main__':
 			"kn"			: 0.2
 		}
 		pot = Pot(pot_params)
-		pot.connect_theta_changed(sensor.set_fake_temp)
+		pot.set_on_changed("temp", ValueChanged(sensor.set_fake_temp, prec=1))
 		taskmgr.add(PotTask(pot, 0.1, dispatcher.msgio_get("Pot")))
 
 		# Heater
 		heater = Heater()
-		heater.connect_power_changed(pot.setPower)
+		heater.set_on_changed("power_eff", ValueChanged(pot.setPower, prec=0))
 		taskmgr.add(HeaterTask(heater, 0.02, dispatcher.msgio_get("Heater")))
 
+		# Temperature Controller
+		tc_params = {
+			"dt": 1.0,
+			"Hold": {
+				"Pid": {
+					"kp": 0.5,
+					"ki": 0.0,
+					"kd": 0.5,
+					"rho": 1.0
+				}
+			},
+			"Heat": {
+				"Pid": {
+					"kp": 0.002,
+					"ki": 0.0002,
+					"kd": 0.0,
+					"rho": 1.0
+				}
+			}
+		}
+		tc = temp_controller.TempController(tc_params)
+
 		h_dispatcher = taskmgr.start()
 		h_server = server.listen("localhost", 8765)
 		asyncio.gather(h_dispatcher, h_server)