- added Temp controller

- use AttributeChange for Processing objects

brewpi.py

@@ -46,7 +46,7 @@ class TempSensorTask(ATask):
 		self.kalman.initial((self.sensor.temperature(), 0))
 		temp = ValueChanged(self.on_temp_changed, prec=1)
 		temp_kalman = ValueChanged(self.on_temp_changed_kalman, prec=1)
-		self.sensor.set_on_changed("temp", temp)
+		self.sensor.set_on_changed("temp", temp.set)
 		while True:
 			self.sensor.process()
 			Z = self.kalman.process_measurement((self.sensor.temperature(), 0), 0)
@@ -64,6 +64,11 @@ class HeaterTask(ATask):
 		self.msg_handler = msg_handler
 		msg_handler.set_recv_handler(self.recv)
 		self.heater = heater
+		self.y = 0
+		self.power_soll = 0
+
+	def actor(self, y):
+		self.y = y
 
 	async def recv(self, data):
 		print(data)
@@ -82,6 +87,8 @@ class HeaterTask(ATask):
 
 		power = Value()
 		while True:
+			self.power_soll = 200 + self.heater.get_power_max()*self.y
+			self.heater.setPower(self.power_soll)
 			self.heater.process()
 			power.set(round(self.heater.getPower()))
 			if power.is_changed():
@@ -125,6 +132,31 @@ class PotTask(ATask):
 			await asyncio.sleep(self.interval)
 
 
+class TcTask(ATask):
+	def __init__(self, tc: temp_controller.TempController, interval, msg_handler: MsgIo):
+		ATask.__init__(self, interval)
+
+		self.msg_handler = msg_handler
+		msg_handler.set_recv_handler(self.recv)
+		self.tc = tc
+
+	async def recv(self, data):
+		print(data)
+		for pair in data.items():
+			if 'Soll' in pair[0]:
+				self.tc.set_theta_soll(pair[1])
+
+	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))
+		self.tc.set_theta_soll(20)
+		while True:
+			self.tc.process()
+			await asyncio.sleep(self.interval)
+
+
 class TaskManager:
 	def __init__(self):
 		self.tasks = []
@@ -166,7 +198,7 @@ if __name__ == '__main__':
 
 		# Sensor
 		sensor = TempSensorSim()
-		taskmgr.add(TempSensorTask(sensor, 0.2, dispatcher.msgio_get("Sensor"), kalman))
+		taskmgr.add(TempSensorTask(sensor, 1.0, dispatcher.msgio_get("Sensor"), kalman))
 
 		# Plant
 		pot_params = {
@@ -179,13 +211,14 @@ if __name__ == '__main__':
 			"kn"			: 0.2
 		}
 		pot = Pot(pot_params)
-		pot.set_on_changed("temp", ValueChanged(sensor.set_fake_temp, prec=1))
-		taskmgr.add(PotTask(pot, 0.1, dispatcher.msgio_get("Pot")))
+		pot.set_on_changed("temp", ValueChanged(sensor.set_fake_temp, prec=1).set)
+		taskmgr.add(PotTask(pot, 1.0, dispatcher.msgio_get("Pot")))
 
 		# Heater
 		heater = Heater()
-		heater.set_on_changed("power_eff", ValueChanged(pot.setPower, prec=0))
-		taskmgr.add(HeaterTask(heater, 0.02, dispatcher.msgio_get("Heater")))
+		heater.set_on_changed("power_eff", ValueChanged(pot.setPower, prec=0).set)
+		heater_task = HeaterTask(heater, 1.0, dispatcher.msgio_get("Heater"))
+		taskmgr.add(heater_task)
 
 		# Temperature Controller
 		tc_params = {
@@ -208,7 +241,12 @@ if __name__ == '__main__':
 			}
 		}
 		tc = temp_controller.TempController(tc_params)
+		tc.set_on_changed("y_hold", heater_task.actor)
+		tc_task = TcTask(tc, 1.0, dispatcher.msgio_get("Tc"))
+		taskmgr.add(tc_task)
+		sensor.set_on_changed("temp", ValueChanged(tc.set_theta_ist, prec=1).set)
 
+		# Message dispatcher
 		h_dispatcher = taskmgr.start()
 		h_server = server.listen("localhost", 8765)
 		asyncio.gather(h_dispatcher, h_server)