jens
9bd9889cb0
A step can now carry both 'ramp' and 'hold': it ramps to the target temp, then holds there for the given duration, instead of needing two separate schedule entries. Sud.temp_reached() switches such a step from its ramp phase into its hold phase in place (re-firing the step-changed callback so SudTask/demo_sud re-apply the hold's stirrer settings); user_wait_for_continue still applies once the whole step - both phases - is done. Merges sud_0010.json's three ramp/hold pairs into combined steps.
133 lines
5.1 KiB
Python
133 lines
5.1 KiB
Python
import asyncio
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from tasks import ATask
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from ws.message import MsgIo
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from utils.value import ChangedFloat
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from components import APid, AStirrer
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from components.plant import APlant
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from components.sud import Sud, SudState
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# How close theta_ist needs to be to theta_soll_set to count as "reached".
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TEMP_REACHED_TOLERANCE = 0.2
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class SudTask(ATask):
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def __init__(self, sud: Sud, tc: APid, stirrer: AStirrer, pot: APlant, dt, interval, msg_handler: MsgIo):
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ATask.__init__(self, interval)
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self.sud = sud
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self.tc = tc
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self.stirrer = stirrer
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self.pot = pot
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# Simulated seconds per tick, vs. interval's wall-clock seconds per
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# tick - same dt/interval split Pot/TempController/Stirrer already
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# use internally. Their warp-induced speedup falls out naturally
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# from ticking real physics at simulated dt; Sud has no physics of
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# its own, so hold_remaining must be ticked by dt explicitly to get
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# the same speedup instead of running in real time.
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self.dt = dt
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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 apply_plant_params(self, step):
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"""Keeps the real plant's and the controller's internal model's
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lumped (M, C) in sync with the step's grain_mass/water_mass, since
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those vary over the course of a brew (malt going in, water boiling
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off) - mirrors demo_sud.py's apply_plant_params()."""
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params = self.sud.derive_plant_params(step.get('grain_mass', 0), step.get('water_mass', 0))
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self.pot.set_thermal_params(params['M'], params['C'])
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if hasattr(self.tc, 'set_model_params'):
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self.tc.set_model_params(params['M'], params['C'])
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def apply_stirrer(self, phase):
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stirrer_cfg = phase.get('stirrer', {})
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speed = stirrer_cfg.get('speed', 0)
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interval_time = stirrer_cfg.get('interval_time', 0)
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on_ratio = stirrer_cfg.get('on_ratio', 1.0)
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if interval_time > 0:
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self.stirrer.set_cycle_time(interval_time)
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self.stirrer.set_duty_cycle(on_ratio)
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else:
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self.stirrer.set_cycle_time(1.0)
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self.stirrer.set_duty_cycle(1.0 if speed > 0 else 0.0)
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self.stirrer.set_speed(speed)
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def on_step_changed(self, step):
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ramp = step.get('ramp') if step else None
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hold = step.get('hold') if step else None
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# A step may carry both 'ramp' and 'hold' (ramp to temp, then hold) -
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# self.sud.state tells us which phase is currently active; it's
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# already up to date by the time this callback fires, both on a
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# full step transition and on the ramp->hold phase switch within
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# one step (components/sud.py's temp_reached()).
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ramping = self.sud.state == SudState.RAMPING
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phase = ramp if ramping and ramp is not None else hold
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if step is not None:
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self.apply_plant_params(step)
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if ramping and ramp is not None:
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self.tc.set_theta_soll(ramp['temp'])
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self.tc.set_heatrate_soll(ramp['rate'])
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self.apply_stirrer(phase)
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asyncio.create_task(self.send({'Step': {
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'Index': self.sud.index,
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'Type': 'ramp' if ramping and ramp is not None else 'hold' if hold is not None else None,
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'Descr': step.get('descr') if step else None,
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'Temp': ramp.get('temp') if ramp else None,
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'Rate': ramp.get('rate') if ramp else None,
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'Duration': hold.get('duration') if (hold is not None and not ramping) else None,
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'WaitForUser': step.get('user_wait_for_continue', False) if step else None,
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}}))
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def on_state_changed(self, value):
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asyncio.create_task(self.send({'State': str(value)}))
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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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def on_user_message_changed(self, value):
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asyncio.create_task(self.send({'UserMessage': value}))
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def on_hold_remaining_changed(self, value):
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asyncio.create_task(self.send({'HoldRemaining': value}))
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async def recv(self, data):
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for pair in data.items():
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if 'Start' in pair[0]:
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self.sud.start()
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elif 'Confirm' in pair[0]:
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self.sud.confirm()
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elif 'Pause' in pair[0]:
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self.sud.pause()
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elif 'Stop' in pair[0]:
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self.sud.stop()
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elif 'Save' in pair[0]:
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await self.send({'Json': self.sud.save()})
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elif 'Load' in pair[0]:
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if self.sud.load(pair[1]):
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await self.send({'Name': self.sud.name, 'Description': self.sud.description})
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await self.send({'Json': 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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self.sud.set_on_changed('step', self.on_step_changed)
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self.sud.set_on_changed('state', self.on_state_changed)
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self.sud.set_on_changed('user_message', self.on_user_message_changed)
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self.sud.set_on_changed('hold_remaining', ChangedFloat(self.on_hold_remaining_changed, prec=0).set)
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asyncio.create_task(self.send({'Name': self.sud.name, 'Description': self.sud.description}))
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while True:
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if self.sud.state == SudState.RAMPING:
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# Compare against the controller's own live setpoint/measurement
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# rather than its state machine, which can still read HOLD from
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# the previous step for one tick after a new target is pushed.
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if abs(self.tc.get_theta_ist() - self.tc.get_theta_soll_set()) < TEMP_REACHED_TOLERANCE:
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self.sud.temp_reached()
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self.sud.tick(self.dt)
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await asyncio.sleep(self.interval)
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