jensandClaude Sonnet 4.6
7e131df4ca
brewpi.py had a dead -m/--model CLI arg and sude/*.json schedules were pure data with no code to drive them, despite the README documenting them as if they were already wired up. Add components/sud.py's Sud, which loads a sude/*.json schedule and steps through its Rasten (ramp -> hold -> optional wait-for-user -> next rest), and tasks/sud.py's SudTask, which drives the temperature controller's theta_soll/heatrate_soll from the current rest and switches the stirrer between continuous (ramping) and intermittent (holding, via stirrSpeedRast/stirrDutyRast/stirrCycleTime) operation. Exposes progress on a new "Sud" WebSocket channel and accepts Start/Confirm commands. Enabled via a new optional top-level "sud" config key (see config.json.templ/.sim). "Reached target" is detected via abs(theta_ist - theta_soll_set) < tolerance rather than tc.state == HOLD, since the latter can still read HOLD left over from the previous rest for one tick after a new target is pushed (tc.state only updates on the controller's own, independently-scheduled process() tick). Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
94 lines
3.2 KiB
Python
Executable File
94 lines
3.2 KiB
Python
Executable File
#!/usr/bin/env python3
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import asyncio
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import json
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from utils import ChangedFloat
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from ws.message import MessageDispatcher
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from ws.server.ws_server_multi_user import WsServerMultiUser
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from components.sensor import TempSensorFactory
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from components.pid import PidFactory
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from components.plant import Pot
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from components.actor import HeaterFactory, StirrerFactory
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from components.sud import Sud
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from tasks import TaskManager, TempSensorTask, HeaterTask, PotTask, TcTask, StirrerTask, TracerTask, SudTask
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from tracer import Tracer
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import argparse as ap
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if __name__ == '__main__':
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parser = ap.ArgumentParser()
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parser.add_argument("-d", "--debug", action="store_true")
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parser.add_argument("-c", "--config", default="config.json")
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parser.add_argument("-m", "--model", default="model.json")
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parser.add_argument("-s", "--sim", action="store_true")
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args = parser.parse_args()
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config = json.load(open(args.config))
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dispatcher = MessageDispatcher()
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server = WsServerMultiUser(listener=dispatcher)
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taskmgr = TaskManager()
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DT = config['Controller']['dt']
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DT_TASK = 1.0 / config['Controller']['sim_warp_factor']
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DT_TASK_TRACER = DT_TASK / DT
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theta_amb = config['ambient_temperature']
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# Sensor
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sensor = TempSensorFactory.create(config['Controller']['sensor_name'], temp_offset=-0.15, variance=0.01)
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sensor_task = TempSensorTask(sensor, DT_TASK, dispatcher.msgio_get("Sensor"))
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taskmgr.add(sensor_task)
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# Plant
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pot_params = config['Plant']
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pot = Pot(DT, pot_params, theta_amb)
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taskmgr.add(PotTask(pot, DT_TASK, dispatcher.msgio_get("Pot")))
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# Heater
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heater = HeaterFactory.create(config['Controller']['heater_name'], config['Heater'])
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heater.set_on_changed("power_eff", ChangedFloat(pot.set_power, prec=0).set)
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heater_task = HeaterTask(heater, DT_TASK, dispatcher.msgio_get("Heater"))
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taskmgr.add(heater_task)
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# Temperature Controller
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tc = PidFactory.create(config['Controller']['pid_type'], DT, config['TempCtrl'], config['Model'], theta_amb=theta_amb)
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tc_task = TcTask(tc, DT_TASK, dispatcher.msgio_get("TempCtrl"))
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taskmgr.add(tc_task)
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tc_trace_vars = []
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trace_tc = Tracer(tc, tc_trace_vars, name='tc_trace')
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# Stirrer
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stirrer = StirrerFactory.create(config['Controller']['stirrer_name'], DT, config['Stirrer'])
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stirrer_task = StirrerTask(stirrer, DT_TASK, dispatcher.msgio_get("Stirrer"))
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taskmgr.add(stirrer_task)
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# Mash schedule (optional)
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sud_path = config.get('sud')
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if sud_path:
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sud = Sud(sud_path)
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taskmgr.add(SudTask(sud, tc, stirrer, DT_TASK, dispatcher.msgio_get("Sud")))
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# Tracer
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taskmgr.add(TracerTask(sensor, heater, tc, trace_tc, DT_TASK_TRACER, dispatcher.msgio_get("Tracer")))
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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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# 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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# Assign heater power set to tc model
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heater.set_on_changed("power_set", tc.set_model_power)
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# For simulation
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if "sim" in config['Controller']['sensor_name']:
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pot.set_on_changed("temp", ChangedFloat(sensor.set_fake_temp, prec=3).set)
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sensor.set_fake_temp(pot.temp)
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# Message dispatcher
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h_dispatcher = taskmgr.start()
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h_server = server.listen("0.0.0.0", 8765)
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asyncio.gather(h_dispatcher, h_server)
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server.run_forever()
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