- used on-changed callbacks for heater and pot

brewpi.py

@@ -9,8 +9,9 @@ from components.pid import kalman, temp_controller
 from ws.message import MsgIo, MessageDispatcher
 from utils.value import Value, ChangedFloat, ChangedInteger
 
-TC_DT = 0.1
-PARAMS_DT = 0.1
+DT_CTRL = 0.1
+DT_PARAMS = 1.0
+
 
 class ATask:
 	def __init__(self, interval):
@@ -58,6 +59,12 @@ class HeaterTask(ATask):
 	def actor(self, y):
 		self.heater.setPower(max(0, 0 + self.heater.get_power_max() * y))
 
+	def on_changed_activated(self, is_activated):
+		asyncio.create_task(self.send({'Activate': int(is_activated)}))
+
+	def on_changed_power(self, power):
+		asyncio.create_task(self.send({'Power': power}))
+
 	async def recv(self, data):
 		print(data)
 		for pair in data.items():
@@ -73,12 +80,10 @@ class HeaterTask(ATask):
 		print("{}: Started with interval {} s".format(self.msg_handler.get_key(), self.interval))
 		await self.send({'Capabilities': {'Power': {'Min': self.heater.get_power_min(), 'Max': self.heater.get_power_max()}}})
 
-		power = Value()
+		self.heater.set_on_changed('is_activated', ChangedInteger(self.on_changed_activated).set)
+		self.heater.set_on_changed('power_eff', ChangedInteger(self.on_changed_power).set)
 		while True:
 			self.heater.process()
-			power.set(round(self.heater.getPower()))
-			if power.is_changed():
-				await self.send({'Power': power.get(), 'Activate': int(self.heater.is_activated() != 0)})
 			await asyncio.sleep(self.interval)
 
 
@@ -90,6 +95,12 @@ class PotTask(ATask):
 		msg_handler.set_recv_handler(self.recv)
 		self.plant = pot
 
+	def on_changed_power(self, value):
+		asyncio.create_task(self.send({'Power': value}))
+
+	def on_changed_temp(self, value):
+		asyncio.create_task(self.send({'Temp': value}))
+
 	async def recv(self, data):
 		print(data)
 		for key in data:
@@ -100,19 +111,11 @@ class PotTask(ATask):
 
 	async def on_process(self):
 		print("{}: Started with interval {} s".format(self.msg_handler.get_key(), self.interval))
-		plant_temp = Value(-1)
-		plant_power = Value()
+		self.plant.set_on_changed('power_actual', ChangedInteger(self.on_changed_power).set)
+		self.plant.set_on_changed('temp', ChangedFloat(self.on_changed_temp, prec=1).set)
+
 		while True:
 			self.plant.process()
-			plant_power.set(round(self.plant.getPower()))
-			plant_temp.set(round(self.plant.getTemperature(), 1))
-
-			if plant_power.is_changed():
-				await self.send({'Power': plant_power.get()})
-
-			if plant_temp.is_changed():
-				await self.send({'Temp': plant_temp.get()})
-
 			await asyncio.sleep(self.interval)
 
 
@@ -164,8 +167,8 @@ class TcTask(ATask):
 		self.tc.set_on_changed('state', self.on_state_changed)
 		self.tc.set_on_changed('theta_ist', ChangedFloat(self.on_temp_ist_changed, prec=1).set)
 		self.tc.set_on_changed('heatrate_ist', ChangedFloat(self.on_rate_ist_changed, prec=1).set)
-		self.tc.set_on_changed('theta_soll_set', self.on_temp_soll_changed)
-		self.tc.set_on_changed('heatrate_soll_set', self.on_rate_soll_changed)
+		self.tc.set_on_changed('theta_soll_set', ChangedFloat(self.on_temp_soll_changed, prec=1).set)
+		self.tc.set_on_changed('heatrate_soll_set', ChangedFloat(self.on_rate_soll_changed, prec=1).set)
 
 		self.tc.set_theta_soll(30.0)
 		self.tc.set_heatrate_soll(1.0)
@@ -207,11 +210,11 @@ if __name__ == '__main__':
 
 		# Sensor
 		sensor = TempSensorSim()
-		taskmgr.add(TempSensorTask(sensor, TC_DT, dispatcher.msgio_get("Sensor")))
+		taskmgr.add(TempSensorTask(sensor, DT_CTRL, dispatcher.msgio_get("Sensor")))
 
 		# Plant
 		pot_params = {
-			"dt"			: PARAMS_DT,
+			"dt"			: DT_PARAMS,
 			"theta"			: 20,
 			"C"				: 4190,
 			"M"				: 20,
@@ -221,25 +224,25 @@ if __name__ == '__main__':
 		}
 		pot = Pot(pot_params, 20)
 		pot.set_on_changed("temp", ChangedFloat(sensor.set_fake_temp, prec=3).set)
-		taskmgr.add(PotTask(pot, TC_DT, dispatcher.msgio_get("Pot")))
+		taskmgr.add(PotTask(pot, DT_CTRL, dispatcher.msgio_get("Pot")))
 
 		# Heater
 		heater = Heater()
 		heater.set_on_changed("power_eff", ChangedFloat(pot.setPower, prec=0).set)
-		heater_task = HeaterTask(heater, TC_DT, dispatcher.msgio_get("Heater"))
+		heater_task = HeaterTask(heater, DT_CTRL, dispatcher.msgio_get("Heater"))
 		taskmgr.add(heater_task)
 
 		# Temperature Controller
 		tc_params = {
 			"Hold": {
-				"dt": PARAMS_DT,
+				"dt": DT_PARAMS,
 				"kp": 0.5,
 				"ki": 0.005,
 				"kd": 0.0,
 				"rho": 1.0
 			},
 			"Heat": {
-				"dt": PARAMS_DT,
+				"dt": DT_PARAMS,
 				"kp": 0.1,
 				"ki": 0.01,
 				"kd": 0.0,
@@ -249,7 +252,7 @@ if __name__ == '__main__':
 
 		# Kalman Filter
 		kalman_params = {
-			"dt"		: PARAMS_DT,
+			"dt"		: DT_PARAMS,
 			"var_P"		: 1,
 			"var_Q"		: 0.0001,
 			"var_R"		: 1
@@ -257,7 +260,7 @@ if __name__ == '__main__':
 
 		tc = temp_controller.TempController(tc_params, kalman_params)
 		tc.set_on_changed("y", heater_task.actor)
-		tc_task = TcTask(tc, TC_DT, dispatcher.msgio_get("TempCtrl"))
+		tc_task = TcTask(tc, DT_CTRL, dispatcher.msgio_get("TempCtrl"))
 		taskmgr.add(tc_task)
 		sensor.set_on_changed("temp", ChangedFloat(tc.set_theta_ist, prec=2).set)