84 lines
3.1 KiB
Python
Executable File
84 lines
3.1 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 tasks import TaskManager, TempSensorTask, HeaterTask, PotTask, TcTask, StirrerTask, TracerTask
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from tracer import Tracer
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if __name__ == '__main__':
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config = json.load(open("config.json"))
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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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# Sensor
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sensor = TempSensorFactory.create(config['Controller']['sensor_name'], temp_offset=-0.15)
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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, 20)
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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'])
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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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{'variable': 'theta_ist_plant', 'name': 'theta_ist_plant', 'unit': ''},
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{'variable': 'dtheta_ist_plant', 'name': 'dtheta_ist_plant', 'unit': ''},
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{'variable': 'theta_ist_model', 'name': 'theta_ist_model', 'unit': ''},
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{'variable': 'dtheta_ist_model', 'name': 'dtheta_ist_model', 'unit': ''},
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{'variable': 'theta_ist_model_delay', 'name': 'theta_ist_model_delay', 'unit': ''},
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{'variable': 'dtheta_ist_model_delay', 'name': 'dtheta_ist_model_delay', 'unit': ''}
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]
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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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# 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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