308 lines
8.3 KiB
Python
308 lines
8.3 KiB
Python
import asyncio
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from time import sleep
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import abc
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from ws.server.ws_server_multi_user import WsServerMultiUser
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from components.sensor.tempSensorSim import TempSensorSim, ATemperatureSensor
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from components.plant.pot import Pot, APlant
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from components.actor.heater import Heater, AHeater
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from components.pid import kalman, temp_controller
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from ws.message import MsgIo, MessageDispatcher
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from utils.value import Value, ChangedFloat, ChangedInteger
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DT_CTRL = 0.1
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DT_PARAMS = 1.0
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class ATask:
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def __init__(self, interval):
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self.interval = interval
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@abc.abstractmethod
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def on_process(self):
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pass
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class TempSensorTask(ATask):
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def __init__(self, sensor: ATemperatureSensor, interval, msg_handler: MsgIo):
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ATask.__init__(self, interval)
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self.msg_handler = msg_handler
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msg_handler.set_recv_handler(self.recv)
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self.sensor = sensor
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def on_temp_changed(self, value):
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asyncio.create_task(self.send({'Temp': value}))
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async def recv(self, data):
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print(data)
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async def send(self, data):
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await self.msg_handler.send(data)
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async def on_process(self):
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print("{}: Started with interval {} s".format(self.msg_handler.get_key(), self.interval))
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temp = ChangedFloat(self.on_temp_changed, prec=1)
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self.sensor.set_on_changed("temp", temp.set)
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while True:
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self.sensor.process()
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await asyncio.sleep(self.interval)
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class HeaterTask(ATask):
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def __init__(self, heater: AHeater, interval, msg_handler: MsgIo):
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ATask.__init__(self, interval)
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self.heater = heater
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self.interval = interval
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self.msg_handler = msg_handler
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msg_handler.set_recv_handler(self.recv)
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self.power_soll = 0
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self.pulse_counter = 0
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def actor(self, y):
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self.power_soll = max(0, 250 + self.heater.get_power_max() * y)
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def on_changed_active(self, is_activated):
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asyncio.create_task(self.send({'Activate': int(is_activated)}))
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def on_changed_power(self, power):
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asyncio.create_task(self.send({'Power': power}))
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async def recv(self, data):
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print(data)
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for pair in data.items():
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if 'Power' in pair[0]:
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self.power_soll = pair[1]
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if 'Activate' in pair[0]:
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self.heater.activate(bool(pair[1]))
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async def send(self, data):
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await self.msg_handler.send(data)
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async def on_process(self):
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print("{}: Started with interval {} s".format(self.msg_handler.get_key(), self.interval))
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await self.send({'Capabilities': {'Power': {'Min': 0, 'Max': self.heater.get_power_max()}}})
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self.heater.set_on_changed('is_active', ChangedInteger(self.on_changed_active).set)
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self.heater.set_on_changed('power_eff', ChangedInteger(self.on_changed_power).set)
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self.heater.activate(False)
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pulse_period_s = 1
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pulse_period_count = pulse_period_s/self.interval
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while True:
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if self.power_soll < self.heater.get_power_min():
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self.heater.setPower(self.heater.get_power_min())
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self.heater.activate(False)
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else:
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self.heater.setPower(self.power_soll)
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self.heater.activate(True)
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on_count = pulse_period_count
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if self.heater.get_power_min() > 0:
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on_count = pulse_period_count*min(1, self.power_soll/self.heater.get_power_min())
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self.pulse_counter += 1
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if self.pulse_counter >= pulse_period_count:
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self.pulse_counter = 0
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if self.pulse_counter < on_count:
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self.heater.activate(True)
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else:
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self.heater.activate(False)
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self.heater.process()
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await asyncio.sleep(self.interval)
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class PotTask(ATask):
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def __init__(self, pot: APlant, interval, msg_handler: MsgIo):
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ATask.__init__(self, interval)
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self.msg_handler = msg_handler
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msg_handler.set_recv_handler(self.recv)
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self.plant = pot
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def on_changed_power(self, value):
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asyncio.create_task(self.send({'Power': value}))
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def on_changed_temp(self, value):
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asyncio.create_task(self.send({'Temp': value}))
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async def recv(self, data):
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print(data)
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for key in data:
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print(key)
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async def send(self, data):
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await self.msg_handler.send(data)
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async def on_process(self):
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print("{}: Started with interval {} s".format(self.msg_handler.get_key(), self.interval))
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self.plant.set_on_changed('power_actual', ChangedInteger(self.on_changed_power).set)
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self.plant.set_on_changed('temp', ChangedFloat(self.on_changed_temp, prec=1).set)
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while True:
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self.plant.process()
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await asyncio.sleep(self.interval)
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class TcTask(ATask):
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def __init__(self, tc: temp_controller.TempController, interval, msg_handler: MsgIo):
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ATask.__init__(self, interval)
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self.tc = tc
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self.msg_handler = msg_handler
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msg_handler.set_recv_handler(self.recv)
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def on_state_changed(self, value):
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print ("State change to {}".format(value))
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asyncio.create_task(self.send({'State': str(value)}))
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def on_temp_soll_changed(self, value):
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print ("Temp soll change to {}".format(value))
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asyncio.create_task(self.send({'Soll': {'Temp': value}}))
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def on_rate_soll_changed(self, value):
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print ("Rate soll change to {}".format(value))
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asyncio.create_task(self.send({'Soll': {'Rate': value}}))
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def on_temp_ist_changed(self, value):
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print ("Temp ist change to {}".format(value))
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asyncio.create_task(self.send({'Ist': {'Temp': value}}))
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def on_rate_ist_changed(self, value):
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print ("Rate ist change to {}".format(value))
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asyncio.create_task(self.send({'Ist': {'Rate': value}}))
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async def recv(self, msg):
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print(msg)
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for key in msg.keys():
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if 'Soll' in key:
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submsg = msg['Soll']
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for subkey in submsg.keys():
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if 'Temp' in subkey:
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self.tc.set_theta_soll(submsg['Temp'])
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if 'Rate' in subkey:
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self.tc.set_heatrate_soll(submsg['Rate'])
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async def send(self, data):
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await self.msg_handler.send(data)
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async def on_process(self):
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print("{}: Started with interval {} s".format(self.msg_handler.get_key(), self.interval))
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self.tc.set_on_changed('state', self.on_state_changed)
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self.tc.set_on_changed('theta_ist', ChangedFloat(self.on_temp_ist_changed, prec=1).set)
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self.tc.set_on_changed('heatrate_ist', ChangedFloat(self.on_rate_ist_changed, prec=1).set)
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self.tc.set_on_changed('theta_soll_set', ChangedFloat(self.on_temp_soll_changed, prec=1).set)
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self.tc.set_on_changed('heatrate_soll_set', ChangedFloat(self.on_rate_soll_changed, prec=1).set)
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self.tc.set_theta_soll(20.0)
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self.tc.set_heatrate_soll(1.0)
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while True:
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self.tc.process()
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await asyncio.sleep(self.interval)
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class TaskManager:
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def __init__(self):
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self.tasks = []
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def add(self, task: ATask):
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self.tasks.append(task)
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def start(self):
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funcs = []
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for task in self.tasks:
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funcs.append(task.on_process())
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return asyncio.gather(*funcs)
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async def asleep(time):
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await asyncio.sleep(time)
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if __name__ == '__main__':
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if 0:
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taskmgr = PeriodicUpdaterThreaded()
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taskmgr.start("localhost", 8765)
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bg_thread = Thread(target=taskmgr.loop.run_forever)
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bg_thread.setDaemon(True)
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bg_thread.start()
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else:
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dispatcher = MessageDispatcher()
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server = WsServerMultiUser(listener=dispatcher)
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taskmgr = TaskManager()
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# Sensor
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sensor = TempSensorSim()
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taskmgr.add(TempSensorTask(sensor, DT_CTRL, dispatcher.msgio_get("Sensor")))
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# Plant
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pot_params = {
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"dt" : DT_PARAMS,
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"theta" : 20,
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"C" : 4190,
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"M" : 20,
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"L" : 0.05,
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"Td" : 12,
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"kn" : 0.2
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}
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pot = Pot(pot_params, 20)
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pot.set_on_changed("temp", ChangedFloat(sensor.set_fake_temp, prec=3).set)
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taskmgr.add(PotTask(pot, DT_CTRL, dispatcher.msgio_get("Pot")))
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# Heater
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heater = Heater()
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heater.set_on_changed("power_eff", ChangedFloat(pot.setPower, prec=0).set)
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heater_task = HeaterTask(heater, DT_CTRL, dispatcher.msgio_get("Heater"))
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taskmgr.add(heater_task)
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# Temperature Controller
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tc_params = {
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"Hold": {
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"dt": DT_PARAMS,
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"kp": 0.5,
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"ki": 0.005,
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"kd": 0.0,
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"rho": 1.0
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},
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"Heat": {
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"dt": DT_PARAMS,
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"kp": 0.1,
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"ki": 0.01,
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"kd": 0.0,
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"rho": 1.0
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}
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}
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# Kalman Filter
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kalman_params = {
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"dt" : DT_PARAMS,
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"var_P" : 1,
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"var_Q" : 0.0001,
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"var_R" : 1
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}
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tc = temp_controller.TempController(tc_params, kalman_params)
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tc.set_on_changed("y", heater_task.actor)
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tc_task = TcTask(tc, DT_CTRL, dispatcher.msgio_get("TempCtrl"))
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taskmgr.add(tc_task)
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sensor.set_on_changed("temp", ChangedFloat(tc.set_theta_ist, prec=2).set)
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# Message dispatcher
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h_dispatcher = taskmgr.start()
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h_server = server.listen("localhost", 8765)
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asyncio.gather(h_dispatcher, h_server)
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server.run_forever()
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while True:
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print("Hallo")
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sleep(1)
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{"+":"Pot"}
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{"+":"Heater"}
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{"Heater": {"Power": 2000, "Activate": 1}}
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