kopia lustrzana https://github.com/jamesgao/kiln_controller
Backend state machine finished, untested
James Gao
rodzic
af8e6c6e00
commit
7183181d44
BIN
BOM.ods
BIN
BOM.ods
Plik binarny nie jest wyświetlany.
100
kiln/manager.py
100
kiln/manager.py
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@ -6,21 +6,25 @@ import warnings
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import threading
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import traceback
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import logging
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import states
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import PID
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logger = logging.getLogger("kiln.manager")
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class Manager(threading.Thread):
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def __init__(self, start=states.Idle):
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def __init__(self, start=states.Idle, simulate=False):
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"""
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Implement a state machine that cycles through States
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"""
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super(Manager, self).__init__()
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self._send = None
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self.thermocouple = thermo.Monitor(self._send_state)
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self.regulator = stepper.Regulator()
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self.profile = None
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self.regulator = stepper.Regulator(simulate=simulate)
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if simulate:
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self.therm = thermo.Simulate(regulator=self.regulator)
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else:
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self.therm = thermo.MAX31850()
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self.state = start(self)
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self.state_change = threading.Event()
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@ -28,28 +32,14 @@ class Manager(threading.Thread):
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self.running = True
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self.start()
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def register(self, webapp):
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self._send = webapp.send
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def notify(self, data):
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if self._send is not None:
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self._send(data)
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else:
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logging.warn("No notifier set, ignoring message: %s"%data)
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def _send_state(self, time, temp):
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profile = None
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if self.profile is not None:
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profile.get_state()
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state = dict(
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output=self.regulator.output,
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profile=profile,
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time=time,
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temp=temp,
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)
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if self._send is not None:
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self._send(state)
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def __del__(self):
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self.manager_stop()
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def __getattr__(self, name):
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"""Mutates the manager to return State actions
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@ -65,23 +55,77 @@ class Manager(threading.Thread):
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return attr
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def _change_state(self, output):
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if isinstance(output, states.State) :
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self.state = output()
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if isinstance(output, type) and issubclass(output, states.State) :
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self.state = output(self)
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self.state_change.set()
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self.notify(dict(type="change", state=newstate.__name__))
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elif isinstance(output, tuple) and isinstance(output[0], states.State):
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self.notify(dict(type="change", state=output.__name__))
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elif isinstance(output, tuple) and issubclass(output[0], states.State):
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newstate, kwargs = output
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self.state = output(**kwargs)
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self.state = newstate(self, **kwargs)
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self.notify(dict(type="change", state=newstate.__name__))
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elif isinstance(output, dict) and "type" in dict:
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self.notify(output)
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elif output is not None:
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logger.warn("Unknown state output: %s"%output)
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logger.warn("Unknown state output: %r"%output)
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def run(self):
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while running:
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while self.running:
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self._change_state(self.state.run())
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def manager_stop(self):
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self.running = False
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self.state_change.set()
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class Profile(threading.Thread):
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"""Performs the PID loop required for feedback control"""
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def __init__(self, schedule, therm, regulator, interval=5, start_time=None, callback=None,
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Kp=.025, Ki=.01, Kd=.005):
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self.schedule = schedule
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self.therm = therm
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self.regulator = regulator
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self.interval = interval
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self.start_time = start_time
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if start_time is None:
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self.start_time = time.time()
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self.pid = PID.PID(Kp, Ki, Kd)
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self.callback = callback
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self.running = True
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self.start()
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@property
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def elapsed(self):
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''' Returns the elapsed time from start in seconds'''
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return time.time() - self.start_time
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@property
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def completed(self):
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return self.elapsed > self.schedule[-1][0]
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def stop(self):
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self.running = False
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self.state_change.set()
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def run(self):
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while not self.completed and self.running:
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now = time.time()
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ts = self.elapsed
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#find epoch
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for i in range(len(self.schedule)-1):
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if self.schedule[i][0] < ts < self.schedule[i+1][0]:
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time0, temp0 = self.schedule[i]
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time1, temp1 = self.schedule[i+1]
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frac = (ts - time0) / (time1 - time0)
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setpoint = frac * (temp1 - temp0) + temp0
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self.pid.setPoint(setpoint)
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temp = self.thermocouple.temperature
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pid_out = self.pid.update(temp)
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if pid_out < 0: pid_out = 0
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if pid_out > 1: pid_out = 1
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self.regulator.set(pid_out)
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if self.callback is not None:
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self.callback(temp, setpoint, pid_out)
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time.sleep(self.interval - (time.time()-now))
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@ -1,6 +1,7 @@
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import time
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import os
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import json
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import traceback
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import tornado.ioloop
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import tornado.web
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from tornado import websocket
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@ -22,7 +23,7 @@ class DataRequest(tornado.web.RequestHandler):
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self.manager = manager
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def get(self):
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data = self.manager.thermocouple.history
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data = list(self.manager.history)
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output = [dict(time=ts.time, temp=ts.temp) for ts in data]
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self.write(json.dumps(output))
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@ -31,7 +32,20 @@ class DoAction(tornado.web.RequestHandler):
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self.manager = manager
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def get(self, action):
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pass
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try:
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func = getattr(self.manager, action)
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func()
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self.write(json.dumps(dict(type="success")))
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except:
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self.write(json.dumps(dict(type="error", msg=traceback.format_exc())))
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def post(self, action):
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try:
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func = getattr(self.manager, action)
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func()
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self.write(json.dumps(dict(type="success")))
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except:
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self.write(json.dumps(dict(type="error", msg=traceback.format_exc())))
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class WebApp(object):
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def __init__(self, manager, port=8888):
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@ -57,11 +71,10 @@ class WebApp(object):
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if __name__ == "__main__":
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try:
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import manager
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kiln = manager.Manager()
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kiln = manager.Manager(simulate=True)
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app = WebApp(kiln)
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kiln.register(app)
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kiln.start()
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kiln._send = app.send
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app.run()
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except KeyboardInterrupt:
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kiln.stop()
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kiln.manager_stop()
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102
kiln/states.py
102
kiln/states.py
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@ -3,7 +3,8 @@ http://python-3-patterns-idioms-test.readthedocs.org/en/latest/StateMachine.html
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"""
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import time
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import traceback
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import PID
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import manager
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from collections import deque
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class State(object):
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def __init__(self, machine):
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@ -15,15 +16,29 @@ class State(object):
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self.parent.state_change.wait()
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class Idle(State):
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def __init__(self, parent):
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super(Idle, self).__init__(parent)
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self.history = deque(maxlen=1024) #about 10 minutes worth
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def run(self):
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ts = self.parent.therm.get()
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self.history.append(ts)
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self.parent.notify(dict(type="temperature", time=ts.time, temp=ts.temp))
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def ignite(self):
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_ignite(self.parent.regulator, self.parent.notify)
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return Lit
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return Lit, dict(history=self.history)
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def start(self, **kwargs):
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_ignite(self.parent.regulator, self.parent.notify)
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kwargs['history'] = deque(self.history)
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return Running, kwargs
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class Lit(State):
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def __init__(self, parent, history):
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super(Lit, self).__init__(parent)
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self.history = deque(history)
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def set(self, value):
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try:
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self.parent.regulator.set(value)
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@ -31,71 +46,62 @@ class Lit(State):
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except:
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self.parent.notify(dict(type="error", msg=traceback.format_exc()))
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def run(self):
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ts = self.parent.therm.get()
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self.history.append(ts)
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def start(self, **kwargs):
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kwargs['history'] = self.history
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return Running, kwargs
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def stop(self):
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_shutoff(self.parent.regulator, self.parent.notify)
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return Idle
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class Running(State):
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def __init__(self, parent, schedule, interval=5, start_time=None, Kp=.025, Ki=.01, Kd=.005):
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self.schedule = schedule
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self.thermocouple = parent.thermocouple
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self.interval = interval
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self.start_time = start_time
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if start_time is None:
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self.start_time = time.time()
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self.regulator = parent.regulator
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self.pid = PID.PID(Kp, Ki, Kd)
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self.running = True
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super(Running, self).__init__(parent)
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@property
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def elapsed(self):
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''' Returns the elapsed time from start in seconds'''
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return time.time() - self.start_time
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@property
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def _info(self):
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return dict(type="profile",
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output=pid_out,
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start_time=self.start_time,
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elapsed=self.elapsed,
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)
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class Cooling(State):
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def __init__(self, parent, history):
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super(Cooling, self).__init__(parent)
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self.history = history
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def run(self):
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now = time.time()
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ts = self.elapsed
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#find epoch
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for i in range(len(self.schedule)-1):
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if self.schedule[i][0] < ts < self.schedule[i+1][0]:
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time0, temp0 = self.schedule[i]
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time1, temp1 = self.schedule[i+1]
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frac = (ts - time0) / (time1 - time0)
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setpoint = frac * (temp1 - temp0) + temp0
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self.pid.setPoint(setpoint)
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ts = self.parent.therm.get()
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self.history.append(ts)
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if ts.temp < 50:
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#TODO: save temperature log somewhere
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return Idle
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temp = self.thermocouple.temperature
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pid_out = self.pid.update(temp)
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if pid_out < 0: pid_out = 0
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if pid_out > 1: pid_out = 1
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self.regulator.set(pid_out, block=True)
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self.parent.notify(self.info)
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class Running(State):
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def __init__(self, parent, history, **kwargs):
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super(Running, self).__init__(parent)
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self.profile = manager.Profile(therm=self.parent.therm, regulator=self.parent.regulator,
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callback=self._notify, **kwargs)
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self.history = history
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if ts > self.schedule[-1][0]:
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def _notify(self, therm, setpoint, out):
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self.parent.notify(dict(
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type="profile",
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temp=therm,
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setpoint=setpoint,
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output=out,
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ts=self.profile.elapsed,
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))
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def run(self):
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if self.profile.completed:
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self.parent.notify(dict(type="profile",status="complete"))
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_shutoff(self.parent.regulator, self.parent.notify)
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return Idle,
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return Cooling, dict(history=self.history)
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time.sleep(self.interval - (time.time()-now))
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self.history.append(self.parent.therm.get())
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def pause(self):
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return Lit
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self.profile.stop()
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return Lit, dict(history=self.history)
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def stop(self):
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self.profile.stop()
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_shutoff(self.parent.regulator, self.parent.notify)
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return Idle
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return Cooling, dict(history=self.history)
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def _ignite(regulator, notify):
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@ -189,7 +189,7 @@ class Regulator(threading.Thread):
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if self.current != 0:
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raise ValueError("Must be off to ignite")
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logger.log("Ignition start")
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logger.info("Ignition start")
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self.stepper.step(start, self.speed, block=True)
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if self.ignite_pin is not None:
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GPIO.output(self.ignite_pin, True)
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@ -198,10 +198,10 @@ class Regulator(threading.Thread):
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GPIO.output(self.ignite_pin, False)
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self.stepper.step(self.min - start, self.speed, block=True)
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self.current = self.min
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logger.log("Ignition complete")
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logger.info("Ignition complete")
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def off(self, block=True):
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logger.log("Shutting off gas")
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logger.info("Shutting off gas")
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self.stepper.step(-self.current, self.speed, block=block)
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self.current = 0
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@ -218,7 +218,10 @@ class Regulator(threading.Thread):
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@property
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def output(self):
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return (self.current - self.min) / (self.max - self.min)
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out = (self.current - self.min) / float(self.max - self.min)
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if out < 0:
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return -1
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return out
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def run(self):
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"""Check the status of the flame sensor"""
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@ -17,9 +17,11 @@ var tempgraph = (function(module) {
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var now = new Date(data.time*1000.);
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var temp = this.scalefunc(data.temp);
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var hourstr = now.getHours() % 12;
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hourstr = hourstr == 0 ? 12 : houstr;
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var minstr = now.getMinutes();
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minstr = minstr.length < 2 ? "0"+minstr : minstr;
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var nowstr = now.getHours() % 12 + ":" + minstr + (now.getHours() > 12 ? " pm" : " am");
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var nowstr = hourstr + ":" + minstr + (now.getHours() >= 12 ? " pm" : " am");
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$("#current_time").text(nowstr);
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$("#current_temp").text(this.temp_prefix+temp+this.temp_suffix);
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@ -93,13 +95,18 @@ var tempgraph = (function(module) {
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module.Monitor.prototype._map_temp = function(d) {
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return {x:new Date(d.time*1000), y:this.scalefunc(d.temp)};
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}
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module.Monitor.prototype.setState = function(name) {
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}
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module.Monitor.prototype._bindUI = function() {
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try {
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var sock = new WebSocket("ws://"+window.location.hostname+":"+window.location.port+"/ws/", "protocolOne");
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sock.onmessage = function(event) {
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var data = JSON.parse(event.data);
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this.update_temp(data);
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if (data.type == "temperature")
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this.update_temp(data);
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}.bind(this);
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} catch (e) {}
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@ -120,7 +127,7 @@ var tempgraph = (function(module) {
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return module;
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}(tempgraph || {}));
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d3.json("data2.json", function(error, data) {
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d3.json("temperature.json", function(error, data) {
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monitor = new tempgraph.Monitor(data);
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});
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@ -109,9 +109,6 @@
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<div class="row">
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<div class="col-sm-8 col-md-8 row-space">
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<svg id="graph" class="row-space"></svg>
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<script src="http://d3js.org/d3.v3.min.js" charset="utf-8"></script>
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<script type="text/javascript" src="temp_graph.js"></script>
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<script type="text/javascript" src="temp_monitor.js"></script>
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<div class="btn-group btn-group-justified row-space">
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<div class="btn-group">
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@ -159,5 +156,8 @@
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<script src="https://ajax.googleapis.com/ajax/libs/jquery/1.11.1/jquery.min.js"></script>
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<script src="https://maxcdn.bootstrapcdn.com/bootstrap/3.2.0/js/bootstrap.min.js"></script>
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<script src="http://d3js.org/d3.v3.min.js" charset="utf-8"></script>
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<script type="text/javascript" src="temp_graph.js"></script>
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<script type="text/javascript" src="temp_monitor.js"></script>
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</body>
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</html>
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@ -20,26 +20,11 @@ def temp_to_cone(temp):
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tempsample = namedtuple("tempsample", ['time', 'temp'])
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class Monitor(threading.Thread):
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def __init__(self, name="3b-000000182b57", callback=None):
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super(Monitor, self).__init__()
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self.daemon = True
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class MAX31850(object):
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def __init__(self, name="3b-000000182b57", smooth_window=4):
|
||||
self.device = "/sys/bus/w1/devices/%s/w1_slave"%name
|
||||
self.history = deque(maxlen=1048576)
|
||||
self.callback = callback
|
||||
|
||||
try:
|
||||
from Adafruit_alphanumeric import AlphaScroller
|
||||
self.display = AlphaScroller(interval=.4)
|
||||
self.display.start()
|
||||
self.display.hide()
|
||||
except ImportError:
|
||||
logger.info("Could not start AlphaScroller")
|
||||
self.display = None
|
||||
|
||||
self.running = True
|
||||
self.start()
|
||||
self.temps = deque(maxlen=smooth_window)
|
||||
self.last = None
|
||||
|
||||
def _read_temp(self):
|
||||
with open(self.device, 'r') as f:
|
||||
|
|
@ -54,35 +39,62 @@ class Monitor(threading.Thread):
|
|||
if match is not None:
|
||||
return float(match.group(1)) / 1000.0
|
||||
|
||||
def stop(self):
|
||||
self.running = False
|
||||
if self.display is not None:
|
||||
self.display.stop()
|
||||
def get(self):
|
||||
"""Blocking call to retrieve latest temperature sample"""
|
||||
temp = self._read_temp()
|
||||
self.last = time.time()
|
||||
self.history.append(temp)
|
||||
return self.temperature
|
||||
|
||||
@property
|
||||
def temperature(self):
|
||||
return self.history[-1][1]
|
||||
if self.last is None or time.time() - self.last > 5:
|
||||
return self.get()
|
||||
|
||||
return tempsample(self.last, sum(self.history) / float(len(self.history)))
|
||||
|
||||
class Simulate(object):
|
||||
def __init__(self, regulator):
|
||||
self.regulator = regulator
|
||||
|
||||
def get(self):
|
||||
time.sleep(.8)
|
||||
return self.temperature
|
||||
|
||||
@property
|
||||
def temperature(self):
|
||||
return tempsample(time.time(), self.regulator.output * 1000. + 15)
|
||||
|
||||
class Monitor(threading.Thread):
|
||||
def __init__(self, cls=MAX31850, **kwargs):
|
||||
self.therm = cls(**kwargs)
|
||||
self.running = True
|
||||
|
||||
from Adafruit_alphanumeric import AlphaScroller
|
||||
self.display = AlphaScroller(interval=.4)
|
||||
self.display.start()
|
||||
self.display.hide()
|
||||
|
||||
def run(self):
|
||||
while self.running:
|
||||
temp = self._read_temp()
|
||||
now = time.time()
|
||||
self.history.append(tempsample(now, temp))
|
||||
if self.callback is not None:
|
||||
self.callback(now, temp)
|
||||
_, temp = self.therm.get()
|
||||
|
||||
if temp > 50:
|
||||
if not self.display.shown:
|
||||
self.display.show()
|
||||
fahr = temp * 9. / 5. + 32.
|
||||
text = list('%0.0f'%temp) + ['degree'] + list('C %0.0f'%fahr)+['degree'] + list("F")
|
||||
if 600 <= temp:
|
||||
text += [' ', ' ', 'cone']+list(temp_to_cone(temp))
|
||||
self.display.set_text(text, reset=False)
|
||||
elif self.display.shown:
|
||||
self.display.hide()
|
||||
|
||||
def stop(self):
|
||||
self.running = False
|
||||
self.display.stop()
|
||||
|
||||
if self.display is not None:
|
||||
if temp > 50:
|
||||
if not self.display.shown:
|
||||
self.display.show()
|
||||
fahr = temp * 9. / 5. + 32.
|
||||
text = list('%0.0f'%temp) + ['degree'] + list('C %0.0f'%fahr)+['degree'] + list("F")
|
||||
if 600 <= temp:
|
||||
text += [' ', ' ', 'cone']+list(temp_to_cone(temp))
|
||||
self.display.set_text(text, reset=False)
|
||||
elif self.display.shown:
|
||||
self.display.hide()
|
||||
|
||||
if __name__ == "__main__":
|
||||
mon = Monitor()
|
||||
mon.join()
|
||||
monitor = Monitor()
|
||||
monitor.start()
|
||||
Ładowanie…
Reference in New Issue