Add Closed-loop/Open-loop heater control mode
Closed-loop (default, checkbox checked): TC has exclusive control over the heater; temp-soll and heatrate-soll sliders are active; direct heater power entry is disabled. TC now stays enabled at server startup and whenever closed-loop mode is active — SudTask no longer disables it on IDLE/DONE, so adjusting temp-soll manually with no sud running immediately drives the heater via the TC. Open-loop (checkbox unchecked, only selectable when paused/stopped): TC is disconnected from the heater; only the heater-power slider is active. Switching back to closed-loop resets power_soll to 0 and re-enables the TC. On play, the mode is automatically reset to closed-loop. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01SH2D4LRuCnhLSzoYerAfJX
This commit is contained in:
Claude Sonnet 4.6
@@ -143,6 +143,8 @@ if __name__ == '__main__':
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# Assign data flow
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# Assign tc control value to heater
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tc.set_on_changed("y", heater_task.actor)
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# HeaterTask owns TC enable: enabled in closed-loop mode, disabled in open-loop.
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heater_task.set_on_closed_loop_changed(tc.set_enabled)
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# Assign temp. sensor readings to tc
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sensor_task.set_on_changed("temp", ChangedFloat(tc.set_theta_ist, prec=2).set)
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+18
-3
@@ -15,10 +15,15 @@ class HeaterTask(ATask):
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msg_handler.set_recv_handler(self.recv)
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self.power_soll = 0
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self.power_actor = 0
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self.closed_loop = True
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self._on_closed_loop_changed = None
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self.pulse_counter = 0
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device.set_on_changed('power_eff', ChangedInteger(self.on_changed_power).set)
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self.power_set_changed = ChangedInteger(self.on_changed_power_set).set
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def set_on_closed_loop_changed(self, callback):
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self._on_closed_loop_changed = callback
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def actor(self, y):
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self.power_actor = max(0, self.device.get_power_max() * y)
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@@ -30,7 +35,14 @@ class HeaterTask(ATask):
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async def recv(self, data):
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for pair in data.items():
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if 'Power' in pair[0]:
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if pair[0] == 'ClosedLoop':
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self.closed_loop = pair[1]
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if self.closed_loop:
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self.power_soll = 0
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if self._on_closed_loop_changed:
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self._on_closed_loop_changed(self.closed_loop)
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await self.send({'ClosedLoop': self.closed_loop})
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elif 'Power' in pair[0]:
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self.power_soll = pair[1]
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async def send(self, data):
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@@ -52,14 +64,17 @@ class HeaterTask(ATask):
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async def on_process(self):
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await self.send({'Capabilities': {'Power': {'Min': 0, 'Max': self.device.get_power_max()}}})
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await self.send({'ClosedLoop': self.closed_loop})
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if self._on_closed_loop_changed:
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self._on_closed_loop_changed(self.closed_loop)
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pulse_period_s = 10
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pulse_period_count = pulse_period_s/self.interval
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with self.device.open():
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while True:
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# Combine power set from different sources
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power_soll = max(self.power_soll, self.power_actor)
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# Closed-loop: TC has full control. Open-loop: direct manual power only.
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power_soll = self.power_actor if self.closed_loop else self.power_soll
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self.power_set_changed(power_soll)
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# Calculate duty cycle
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@@ -220,14 +220,6 @@ class SudTask(ATask):
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if value in (SudState.DONE, SudState.IDLE):
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self.stirrer.set_duty_cycle(1.0)
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self.stirrer.set_speed(0)
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# A finished/stopped run no longer owns the controller - hand
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# control back to manual mode (off by default there too).
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self.tc.set_enabled(False)
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else:
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# Any other state (RAMPING/HOLDING/WAIT_USER/PAUSED) means a
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# run is in progress and needs the controller actively driving
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# the heater.
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self.tc.set_enabled(True)
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def on_user_message_changed(self, value):
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asyncio.create_task(self.send({'UserMessage': value}))
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+29
-5
@@ -37,6 +37,9 @@ let warpFactor = 1.0;
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let heaterPowerIst = 0;
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let heaterPowerSoll = 0;
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let heaterMaxPower = 100;
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// Closed-loop: TC drives heater exclusively. Open-loop: direct power_soll only.
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// Only switchable when not running; auto-reset to true on play.
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let closedLoop = true;
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// Sud state - mirrors the sud_* fields on client/brewpi_gui.py's Window.
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let sudSchedule = [];
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@@ -468,6 +471,19 @@ function updateStatusLine() {
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el.textContent = `${text} ${elapsedText} ${energyText}`;
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}
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// Enables/disables sliders and the closed-loop checkbox based on mode and sud state.
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// TC sliders (temp/heatrate): only when closed-loop and not running.
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// Heater power slider: only when open-loop and not running.
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// Stirrer: whenever not running. Checkbox: whenever not running.
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function updateControlsEnabled() {
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const sudRunning = RUNNING_STATES.has(sudState);
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document.getElementById('temp-soll').disabled = !closedLoop;
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document.getElementById('heatrate-soll').disabled = !closedLoop;
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document.getElementById('heater-power').disabled = !(!closedLoop && !sudRunning);
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document.getElementById('stirrer-speed').disabled = sudRunning;
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document.getElementById('closed-loop').disabled = sudRunning;
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}
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// Mirrors client/brewpi_gui.py's update_sud_actions(): Start also doubles
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// as Resume while paused; Stop can still abort a paused run.
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function updateSudActions() {
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@@ -555,6 +571,10 @@ function onHeaterChanged(msg) {
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} else if (key === 'Power') {
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heaterPowerIst = msg.Power;
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document.getElementById('lcd-power-ist').textContent = msg.Power;
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} else if (key === 'ClosedLoop') {
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closedLoop = msg.ClosedLoop;
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document.getElementById('closed-loop').checked = closedLoop;
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updateControlsEnabled();
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} else if (key === 'Capabilities') {
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const power = msg.Capabilities.Power;
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heaterMaxPower = power.Max || 100;
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@@ -649,16 +669,16 @@ function onSudChanged(msg) {
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const prevState = sudState;
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const isRunningNow = RUNNING_STATES.has(newState);
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if (isRunningNow && !wasRunning) {
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closedLoop = true;
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document.getElementById('closed-loop').checked = true;
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sendMsg('Heater', {ClosedLoop: true});
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elapsed = 0;
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energyByStep = {};
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energyCurrent = 0;
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}
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wasRunning = isRunningNow;
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sudState = newState;
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const sliderDisabled = RUNNING_STATES.has(sudState);
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for (const id of ['temp-soll', 'heatrate-soll', 'heater-power', 'stirrer-speed']) {
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document.getElementById(id).disabled = sliderDisabled;
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}
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updateControlsEnabled();
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if (newState === WAIT_USER_STATE && prevState !== WAIT_USER_STATE && sudUserMessage) {
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showUserMessage(sudUserMessage);
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} else if (prevState === WAIT_USER_STATE && newState !== WAIT_USER_STATE) {
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@@ -771,6 +791,7 @@ function connect() {
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initialHeatrateSync = true;
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initialTempSollSync = true;
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initialPotTempSync = true;
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closedLoop = true;
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setConnected(true);
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for (const channel of CHANNELS) {
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ws.send(JSON.stringify({'+': channel}));
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@@ -786,7 +807,7 @@ function connect() {
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statusEl.className = 'status-disconnected';
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};
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ws.onclose = () => {
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for (const id of ['temp-soll', 'heatrate-soll', 'heater-power', 'stirrer-speed']) {
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for (const id of ['temp-soll', 'heatrate-soll', 'heater-power', 'stirrer-speed', 'closed-loop']) {
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document.getElementById(id).disabled = false;
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}
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setConnected(false);
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@@ -820,6 +841,9 @@ document.getElementById('btn-connect').addEventListener('click', () => {
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}
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});
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document.getElementById('closed-loop').addEventListener('change', (e) => {
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sendMsg('Heater', {ClosedLoop: e.target.checked});
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});
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document.getElementById('heater-power').addEventListener('input', (e) => {
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document.getElementById('heater-power-readout').textContent = e.target.value;
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sendMsg('Heater', {Power: Number(e.target.value)});
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@@ -43,6 +43,9 @@
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</div>
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<div class="panel">
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<h3>Heater</h3>
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<label class="checkbox-label">
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<input type="checkbox" id="closed-loop" checked> Closed-loop
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</label>
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<label>Power [W]
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<div class="slider-row">
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<input type="range" id="heater-power" min="0" max="100" step="1">
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@@ -289,6 +289,7 @@ header#connection-bar {
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}
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.slider-row input[type="range"] { flex: 1; accent-color: var(--accent); }
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.panel input[type="checkbox"] { accent-color: var(--accent); width: 15px; height: 15px; }
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.panel label.checkbox-label { flex-direction: row; align-items: center; gap: 0.5em; cursor: pointer; }
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.panel input[type="number"] { width: 6em; }
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#pot-reset-row { display: flex; align-items: center; gap: 0.6em; margin: 0.4em 0; }
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