- refactored dt

brewpi.py

@@ -9,7 +9,7 @@ from components.plant import Pot
 from components.actor import HeaterFactory, StirrerFactory
 from tasks import TaskManager, TempSensorTask, HeaterTask, PotTask, TcTask, StirrerTask, TracerTask
 
-DT_CTRL = 0.1
+DT_TASK = 0.1
 
 if __name__ == '__main__':
 	config = json.load(open("config.json"))
@@ -17,40 +17,41 @@ if __name__ == '__main__':
 	server = WsServerMultiUser(listener=dispatcher)
 	taskmgr = TaskManager()
 
-	DT_CTRL = 1.0/config['Controller']['sim_warp_factor']
+	DT = config['Controller']['dt']
+	DT_TASK = 1.0 / config['Controller']['sim_warp_factor']
 
 	# Sensor
 	sensor = TempSensorFactory.create(config['Controller']['sensor_name'])
-	taskmgr.add(TempSensorTask(sensor, DT_CTRL, dispatcher.msgio_get("Sensor")))
+	taskmgr.add(TempSensorTask(sensor, DT_TASK, dispatcher.msgio_get("Sensor")))
 
 	# Plant
 	pot_params = config['Plant']
-	pot = Pot(pot_params, 20)
+	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_CTRL, dispatcher.msgio_get("Pot")))
+	taskmgr.add(PotTask(pot, DT_TASK, dispatcher.msgio_get("Pot")))
 
 	# Heater
-	heater = HeaterFactory.create(config['Controller']['heater_name'], config['Heater'])
+	heater = HeaterFactory.create(config['Controller']['heater_name'], DT, config['Heater'])
 	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_TASK, dispatcher.msgio_get("Heater"))
 	taskmgr.add(heater_task)
 
 	# Temperature Controller
 	tc_params = config['TempCtrl']
-	tc = TempController(tc_params)
+	tc = TempController(DT, tc_params)
 	tc.set_on_changed("y", heater_task.actor)
-	tc_task = TcTask(tc, DT_CTRL, dispatcher.msgio_get("TempCtrl"))
+	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'], config['Stirrer'])
+	stirrer = StirrerFactory.create(config['Controller']['stirrer_name'], DT, config['Stirrer'])
-	stirrer_task = StirrerTask(stirrer, DT_CTRL, dispatcher.msgio_get("Stirrer"))
+	stirrer_task = StirrerTask(stirrer, DT_TASK, dispatcher.msgio_get("Stirrer"))
 	taskmgr.add(stirrer_task)
 
 	# Tracer
-	taskmgr.add(TracerTask(sensor, heater, tc, DT_CTRL, dispatcher.msgio_get("Tracer")))
+	taskmgr.add(TracerTask(sensor, heater, tc, DT_TASK, dispatcher.msgio_get("Tracer")))
 
 	# Message dispatcher
 	h_dispatcher = taskmgr.start()

components/actor/heaterFactory.py

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

components/actor/stirrerFactory.py

@@ -2,10 +2,10 @@
 
 class StirrerFactory:
 	@staticmethod
-	def create(name, params):
+	def create(name, dt, params):
 		if "sim" in name:
 			from components.actor.stirrersim import StirrerSim
-			return StirrerSim(params)
+			return StirrerSim(dt)
 		elif "1376" in name:
 			from components.actor.stirrerpololu1376 import StirrerPololu1376
-			return StirrerPololu1376(params)
+			return StirrerPololu1376(dt, params)

components/actor/stirrerpololu1376.py

@@ -8,8 +8,8 @@ class StirrerPololu1376(AStirrer):
 	def name(self):
 		return "Pololu1376"
 
-	def __init__(self, params):
+	def __init__(self, dt, params):
-		AStirrer.__init__(self, params['dt'])
+		AStirrer.__init__(self, dt)
 		self.isMasterOn = 0
 
 		self.ser_speed = params['speed']

components/actor/stirrersim.py

@@ -3,8 +3,8 @@ import time
 
 
 class StirrerSim(AStirrer):
-	def __init__(self, params):
+	def __init__(self, dt):
-		AStirrer.__init__(self, params['dt'])
+		AStirrer.__init__(self, dt)
 
 	def activate(self, enable):
 		print("activate {}".format(enable))

components/pid/temp_controller.py

@@ -13,9 +13,8 @@ class States(Enum):
 
 
 class TempController(AttributeChange):
-	def __init__(self, params):
+	def __init__(self, dt, params):
 		AttributeChange.__init__(self)
-		dt = params['dt']
 		self.pid_hold = Pid(dt)
 		self.pid_rate = Pid(dt)
 		self.theta_ist_set = 20
@@ -108,8 +107,9 @@ class TempController(AttributeChange):
 
 
 if __name__ == '__main__':
+	dt = 1.0
+
 	tc_params = {
-		"dt": 1.0,
 		"Kalman": {
 			"var_P"	: 1.0,
 			"var_Q"	: 0.0001,
@@ -130,7 +130,6 @@ if __name__ == '__main__':
 	}
 
 	pot_params = {
-		"dt"		: 1.0,
 		"theta"		: 20,
 		"C"			: 4190,
 		"M"			: 20,
@@ -141,8 +140,8 @@ if __name__ == '__main__':
 
 	temp_ist = 0
 	temp_soll = 20
-	ctrl = TempController(tc_params)
+	ctrl = TempController(dt, tc_params)
-	plant = Pot(pot_params)
+	plant = Pot(dt, pot_params)
 	_temp_ist = np.empty(0)
 	_temp_soll = np.empty(0)
 	_y = np.empty(0)

components/plant/pot.py

@@ -3,9 +3,9 @@ from components.plant.delay import Delay
 
 
 class Pot(APlant):
-	def __init__(self, params, theta_amb=20):
+	def __init__(self, dt, params, theta_amb=20):
 		APlant.__init__(self)
-		self.dt = params['dt']
+		self.dt = dt
 		self.alpha = 1.0
 
 		self.e = 0