- 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))
+		pot.set_on_changed("temp", ValueChanged(sensor.set_fake_temp, prec=1).set)
-		taskmgr.add(PotTask(pot, 0.1, dispatcher.msgio_get("Pot")))
+		taskmgr.add(PotTask(pot, 1.0, dispatcher.msgio_get("Pot")))
 
 		# Heater
 		heater = Heater()
-		heater.set_on_changed("power_eff", ValueChanged(pot.setPower, prec=0))
+		heater.set_on_changed("power_eff", ValueChanged(pot.setPower, prec=0).set)
-		taskmgr.add(HeaterTask(heater, 0.02, dispatcher.msgio_get("Heater")))
+		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)

components/actor/heater.py

@@ -3,12 +3,13 @@ from components.aheater import AHeater
 
 class Heater(AHeater):
 	def __init__(self):
+		AHeater.__init__(self)
 		self.power_set = self.get_power_min()
 		self.is_active = False
 		self.power_eff = 0
 
 	def get_power_min(self):
-		return 500
+		return 0
 
 	def get_power_max(self):
 		return 3500

components/aheater.py

@@ -3,6 +3,9 @@ from utils.value import AttributeChange
 
 
 class AHeater(AttributeChange):
+	def __init__(self):
+		AttributeChange.__init__(self)
+
 	@abc.abstractmethod
 	def get_power_min(self):
 		pass

components/aplant.py

@@ -3,6 +3,9 @@ from utils.value import AttributeChange
 
 
 class APlant(AttributeChange):
+	def __init__(self):
+		AttributeChange.__init__(self)
+
 	@abc.abstractmethod
 	def activate(self, enable):
 		return None

components/pid/temp_controller.py

@@ -1,10 +1,13 @@
 from components.pid.pid import Pid
 from matplotlib.pyplot import plot, figure, subplot, title, xlabel, ylabel, grid, show
 import numpy as np
+from utils.value import AttributeChange
 
 
-class TempController:
+class TempController(AttributeChange):
 	def __init__(self, params):
+		AttributeChange.__init__(self)
+
 		self.dt = params['dt']
 		self.pid_hold = Pid()
 		self.pid_rate = Pid()
@@ -13,6 +16,8 @@ class TempController:
 		self.heatrate_ist = 0
 		self.heatrate_soll = 0
 		self.params = params
+		self.y_hold = 0
+		self.y_heat = 0
 
 	def set_theta_ist(self, value):
 		self.theta_ist = value
@@ -33,11 +38,14 @@ class TempController:
 		self.pid_hold.process(self.dt, self.params['Hold']['Pid'], theta_err)
 		self.pid_rate.process(self.dt, self.params['Heat']['Pid'], heatrate_err)
 
+		self.y_hold = self.pid_hold.get_y()
+		self.y_heat = self.pid_rate.get_y()
+
 	def get_power_hold(self):
-		return self.pid_hold.get_y()
+		return self.y_hold
 
 	def get_power_heat(self):
-		return self.pid_rate.get_y()
+		return self.y_heat
 
 
 if __name__ == '__main__':

components/plant/pot.py

@@ -4,6 +4,7 @@ from components.aplant import APlant
 
 class Pot(APlant):
 	def __init__(self, params):
+		APlant.__init__(self)
 		self.dt = params['dt']
 		self.alpha = 1.0
 

utils/value.py

@@ -33,11 +33,14 @@ class ValueChanged(object):
 
 
 class AttributeChange(object):
-	callbacks = {}
+	def __init__(self):
+		self.callbacks = {}
 
-	def set_on_changed(self, key, on_changed: ValueChanged):
+	def set_on_changed(self, key, on_changed):
 		if key not in self.callbacks:
-			self.callbacks[key] = on_changed
+			self.callbacks[key] = [on_changed]
+		else:
+			self.callbacks[key].append(on_changed)
 
 	def __setattr__(self, key, value):
 		try:
@@ -48,4 +51,5 @@ class AttributeChange(object):
 		super().__setattr__(key, value)
 
 		if key in self.callbacks:
-			self.callbacks[key].set(value)
+			for cb in self.callbacks[key]:
+				cb(value)