- refactored

- integrated stirrer

brewpi.py

@@ -6,8 +6,8 @@ from ws.server.ws_server_multi_user import WsServerMultiUser
 from components.sensor import TempSensorFactory
 from components.pid import TempController
 from components.plant import Pot
-from components.actor import HeaterFactory
+from components.actor import HeaterFactory, StirrerFactory
-from tasks import TaskManager, TempSensorTask, HeaterTask, PotTask, TcTask
+from tasks import TaskManager, TempSensorTask, HeaterTask, PotTask, TcTask, StirrerTask
 
 DT_CTRL = 0.1
 
@@ -32,7 +32,7 @@ if __name__ == '__main__':
 		taskmgr.add(PotTask(pot, DT_CTRL, dispatcher.msgio_get("Pot")))
 
 	# Heater
-	heater = HeaterFactory.create(config['Controller']['heater_name'])
+	heater = HeaterFactory.create(config['Controller']['heater_name'], 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"))
 	taskmgr.add(heater_task)
@@ -45,6 +45,11 @@ if __name__ == '__main__':
 	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_task = StirrerTask(stirrer, DT_CTRL, dispatcher.msgio_get("Stirrer"))
+	taskmgr.add(stirrer_task)
+
 	# Message dispatcher
 	h_dispatcher = taskmgr.start()
 	h_server = server.listen("0.0.0.0", 8765)

components/actor/__init__.py

@@ -1 +1,2 @@
 from components.actor.heaterFactory import HeaterFactory
+from components.actor.stirrerFactory import StirrerFactory

components/actor/heaterFactory.py

@@ -2,10 +2,10 @@
 
 class HeaterFactory:
 	@staticmethod
-	def create(name):
+	def create(name, 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('/dev/ttyUSB0', 115200)
+			return HeaterHendi(params)

components/actor/heater_hendi.py

@@ -3,12 +3,12 @@ from hendiCtrl import HendiCtrl
 
 
 class HeaterHendi(AHeater):
-	def __init__(self, port, baudrate):
+	def __init__(self, params):
 		AHeater.__init__(self)
 		self.power_set = self.get_power_min()
 		self.is_active = False
 		self.power_eff = 0
-		self.hendi = HendiCtrl(port, baudrate)
+		self.hendi = HendiCtrl(params['port'], params['baudrate'])
 
 	def get_power_min(self):
 		caps = self.hendi.getCapabilties()

components/actor/stirrerFactory.py

@@ -2,10 +2,10 @@
 
 class StirrerFactory:
 	@staticmethod
-	def create(name, dt):
+	def create(name, params):
 		if "sim" in name:
 			from components.actor.stirrersim import StirrerSim
-			return StirrerSim(dt)
+			return StirrerSim(params)
 		elif "1376" in name:
 			from components.actor.stirrerpololu1376 import StirrerPololu1376
-			return StirrerPololu1376(dt, '/dev/ttyUSB0', 115200)
+			return StirrerPololu1376(params)

components/actor/stirrerpololu1376.py

@@ -8,7 +8,7 @@ class StirrerPololu1376(AStirrer):
 		return "Pololu1376"
 	
 	def __init__(self, dt, port, baudrate):
-		super(StirrerPololu1376, self).__init__(dt)
+		AStirrer.__init__(self, dt)
 		self.isMasterOn = 0
 
 		self.ser_speed = baudrate

components/actor/stirrersim.py

@@ -3,11 +3,8 @@ import time
 
 
 class StirrerSim(AStirrer):
-	def name(self):
+	def __init__(self, params):
-		return "FakeStirrer"
+		AStirrer.__init__(self, params['dt'])
-
-	def __init__(self, dt):
-		super(StirrerSim, self).__init__(dt)
 
 	def __del__(self):
 		self.activate(False)

components/astirrer.py

@@ -1,12 +1,10 @@
 import abc
+from utils.value import AttributeChange
 
 
-class AStirrer:
+class AStirrer(AttributeChange):
-	@abc.abstractmethod
-	def name(self):
-		return ""
-
 	def __init__(self, dt):
+		AttributeChange.__init__(self)
 		self.dt = dt
 		self.speed = 0
 		self.cycleTime = 1

tasks/__init__.py

@@ -1,5 +1,6 @@
 from tasks.task import *
 from tasks.tempsensor import *
 from tasks.heater import *
+from tasks.stirrer import *
 from tasks.pot import *
 from tasks.tempctrl import *

tasks/pot.py

@@ -1,8 +1,8 @@
 import asyncio
 from tasks import ATask
-from components.plant import APlant
 from ws.message import MsgIo
 from utils.value import ChangedInteger, ChangedFloat
+from components.plant import APlant
 
 
 class PotTask(ATask):

tasks/stirrer.py

@@ -0,0 +1,36 @@
+import asyncio
+from tasks import ATask
+from ws.message import MsgIo
+from components import AStirrer
+
+
+class StirrerTask(ATask):
+	def __init__(self, stirrer_device: AStirrer, interval, msg_handler: MsgIo):
+		ATask.__init__(self, interval)
+		self.msg_handler = msg_handler
+		msg_handler.set_recv_handler(self.recv)
+		self.device = stirrer_device
+
+	def on_speed_changed(self, value):
+		asyncio.create_task(self.send({'Speed': value}))
+
+	def on_dutycycle_changed(self, value):
+		asyncio.create_task(self.send({'DutyCycle': value}))
+
+	def on_cycletime_changed(self, value):
+		asyncio.create_task(self.send({'CycleTime': value}))
+
+	async def recv(self, data):
+		print(data)
+
+	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.device.set_on_changed("speed", self.on_speed_changed)
+		self.device.set_on_changed("dutyCycle", self.on_dutycycle_changed)
+		self.device.set_on_changed("cycleTime", self.on_cycletime_changed)
+		while True:
+			self.device.process()
+			await asyncio.sleep(self.interval)

tasks/tempctrl.py

@@ -1,8 +1,8 @@
 import asyncio
 from tasks import ATask
-from components.pid import TempController
-from utils.value import ChangedFloat
 from ws.message import MsgIo
+from utils.value import ChangedFloat
+from components.pid import TempController
 
 
 class TcTask(ATask):

tasks/tempsensor.py

@@ -1,8 +1,8 @@
 import asyncio
 from tasks import ATask
-from components import ATemperatureSensor
-from utils.value import ChangedFloat
 from ws.message import MsgIo
+from utils.value import ChangedFloat
+from components import ATemperatureSensor
 
 
 class TempSensorTask(ATask):

utils/value.py

@@ -1,3 +1,5 @@
+
+
 class Value:
 	def __init__(self, initial=None):
 		self.value = initial