jens
e171892804
SudTask.on_step_changed() set the controller's target temp/rate on every step, but never touched the real Pot's or the Smith predictor's internal model's thermal mass (M/C) - those stayed frozen at brewpi.py's startup DEFAULT_PLANT_PARAMS for the whole brew, even though grain_mass/water_mass change per step (malt going in, water boiling off) and demo_sud.py already recomputes them every step via derive_plant_params(). Production SudTask just never got the same treatment. Adds SudTask.apply_plant_params(), called alongside the existing theta_soll/heatrate_soll push, mirroring the demo. Needs the real Pot now, so SudTask takes a `pot` constructor arg; set_model_params() is only called if the configured controller actually defines one (the "Normal" pid_type doesn't).
118 lines
4.3 KiB
Python
118 lines
4.3 KiB
Python
import asyncio
|
|
from tasks import ATask
|
|
from ws.message import MsgIo
|
|
from utils.value import ChangedFloat
|
|
from components import APid, AStirrer
|
|
from components.plant import APlant
|
|
from components.sud import Sud, SudState
|
|
|
|
# How close theta_ist needs to be to theta_soll_set to count as "reached".
|
|
TEMP_REACHED_TOLERANCE = 0.2
|
|
|
|
|
|
class SudTask(ATask):
|
|
def __init__(self, sud: Sud, tc: APid, stirrer: AStirrer, pot: APlant, interval, msg_handler: MsgIo):
|
|
ATask.__init__(self, interval)
|
|
self.sud = sud
|
|
self.tc = tc
|
|
self.stirrer = stirrer
|
|
self.pot = pot
|
|
self.msg_handler = msg_handler
|
|
msg_handler.set_recv_handler(self.recv)
|
|
|
|
def apply_plant_params(self, step):
|
|
"""Keeps the real plant's and the controller's internal model's
|
|
lumped (M, C) in sync with the step's grain_mass/water_mass, since
|
|
those vary over the course of a brew (malt going in, water boiling
|
|
off) - mirrors demo_sud.py's apply_plant_params()."""
|
|
params = self.sud.derive_plant_params(step.get('grain_mass', 0), step.get('water_mass', 0))
|
|
self.pot.set_thermal_params(params['M'], params['C'])
|
|
if hasattr(self.tc, 'set_model_params'):
|
|
self.tc.set_model_params(params['M'], params['C'])
|
|
|
|
def apply_stirrer(self, step):
|
|
stirrer_cfg = step.get('ramp', step.get('hold', {})).get('stirrer', {})
|
|
speed = stirrer_cfg.get('speed', 0)
|
|
interval_time = stirrer_cfg.get('interval_time', 0)
|
|
on_ratio = stirrer_cfg.get('on_ratio', 1.0)
|
|
if interval_time > 0:
|
|
self.stirrer.set_cycle_time(interval_time)
|
|
self.stirrer.set_duty_cycle(on_ratio)
|
|
else:
|
|
self.stirrer.set_cycle_time(1.0)
|
|
self.stirrer.set_duty_cycle(1.0 if speed > 0 else 0.0)
|
|
self.stirrer.set_speed(speed)
|
|
|
|
def on_step_changed(self, step):
|
|
ramp = step.get('ramp') if step else None
|
|
hold = step.get('hold') if step else None
|
|
if step is not None:
|
|
self.apply_plant_params(step)
|
|
if ramp is not None:
|
|
self.tc.set_theta_soll(ramp['temp'])
|
|
self.tc.set_heatrate_soll(ramp['rate'])
|
|
self.apply_stirrer(step)
|
|
|
|
asyncio.create_task(self.send({'Step': {
|
|
'Index': self.sud.index,
|
|
'Type': 'ramp' if ramp is not None else 'hold' if hold is not None else None,
|
|
'Descr': step.get('descr') if step else None,
|
|
'Temp': ramp.get('temp') if ramp else None,
|
|
'Rate': ramp.get('rate') if ramp else None,
|
|
'Duration': hold.get('duration') if hold else None,
|
|
'WaitForUser': step.get('user_wait_for_continue', False) if step else None,
|
|
}}))
|
|
|
|
def on_state_changed(self, value):
|
|
asyncio.create_task(self.send({'State': str(value)}))
|
|
|
|
if value in (SudState.DONE, SudState.IDLE):
|
|
self.stirrer.set_duty_cycle(1.0)
|
|
self.stirrer.set_speed(0)
|
|
|
|
def on_user_message_changed(self, value):
|
|
asyncio.create_task(self.send({'UserMessage': value}))
|
|
|
|
def on_hold_remaining_changed(self, value):
|
|
asyncio.create_task(self.send({'HoldRemaining': value}))
|
|
|
|
async def recv(self, data):
|
|
for pair in data.items():
|
|
if 'Start' in pair[0]:
|
|
self.sud.start()
|
|
elif 'Confirm' in pair[0]:
|
|
self.sud.confirm()
|
|
elif 'Pause' in pair[0]:
|
|
self.sud.pause()
|
|
elif 'Stop' in pair[0]:
|
|
self.sud.stop()
|
|
elif 'Save' in pair[0]:
|
|
await self.send({'Json': self.sud.save()})
|
|
elif 'Load' in pair[0]:
|
|
if self.sud.load(pair[1]):
|
|
await self.send({'Name': self.sud.name, 'Description': self.sud.description})
|
|
await self.send({'Json': pair[1]})
|
|
|
|
async def send(self, data):
|
|
await self.msg_handler.send(data)
|
|
|
|
async def on_process(self):
|
|
print("{}: Started with interval {} s".format(self.msg_handler.get_key(), self.interval))
|
|
|
|
self.sud.set_on_changed('step', self.on_step_changed)
|
|
self.sud.set_on_changed('state', self.on_state_changed)
|
|
self.sud.set_on_changed('user_message', self.on_user_message_changed)
|
|
self.sud.set_on_changed('hold_remaining', ChangedFloat(self.on_hold_remaining_changed, prec=0).set)
|
|
|
|
asyncio.create_task(self.send({'Name': self.sud.name, 'Description': self.sud.description}))
|
|
|
|
while True:
|
|
if self.sud.state == SudState.RAMPING:
|
|
# Compare against the controller's own live setpoint/measurement
|
|
# rather than its state machine, which can still read HOLD from
|
|
# the previous step for one tick after a new target is pushed.
|
|
if abs(self.tc.get_theta_ist() - self.tc.get_theta_soll_set()) < TEMP_REACHED_TOLERANCE:
|
|
self.sud.temp_reached()
|
|
self.sud.tick(self.interval)
|
|
await asyncio.sleep(self.interval)
|