HydroBot/hydrobot-software Changeset - da6947ec7d99

Changeset - da6947ec7d99

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matthewreed - 9 years ago 2016-08-07 18:19:07

Added cron task check to set correct state when starting up. Also added untested PID control for outputs.

3 files changed with 129 insertions and 7 deletions:

PID.py

hydrobot.py

hydrobot_can.json

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PID.py

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@@ new file 100644 @@
 import time
 class PID:
     def __init__(self, setpoint = 0):
         self.setpoint = float(setpoint)
         self.Kp = 0
         self.Ki = 0
         self.Kd = 0
         self.min_out = 0
         self.max_out = 1000
         self.Reset()
     def SetMin(self, min_out):
         self.min_out = min_out
     def SetMax(self, max_out):
         self.max_out = max_out
     def SetSetpoint(self, setpoint):
         self.setpoint = float(setpoint)
     def SetKp(self, Kp):
         self.Kp = float(Kp)
     def SetKi(self, Ki):
         self.Ki = float(Ki)
     def SetKd(self, Kd):
         self.Kd = float(Kd)
     def Reset(self):
         self.current_time = time.time()
         self.last_time = self.current_time
         self.last_error = 0
         self.Cp = 0
         self.Ci = 0
         self.Cd = 0
     def Update(self, value):
         print("PID input: " + str(value))
         error = self.setpoint - value
         self.current_time = time.time()
         dt = self.current_time - self.last_time
         de = error - self.last_error
         self.Cp = self.Kp * error
         self.Ci += error * dt
         self.Cd = 0
         if dt > 0:
             self.Cd = de/dt
         self.last_time = self.current_time
         self.last_error = error
         output = self.Cp + (self.Ki * self.Ci) + (self.Kd * self.Cd)
         if output > self.max_out:
             output = self.max_out
         if output < self.min_out:
             output = self.min_out
         print("PID output: " + str(output))
         return output

hydrobot.py

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 import sys
 import time
 import _thread
 import ast
 import configparser
 import datetime
 from canard import can, messaging
 from canard.hw import socketcan
 from canard.hw import cantact
 from canard.file import jsondb
 from influxdb import InfluxDBClient
 from influxdb import SeriesHelper
 from apscheduler.schedulers.background import BackgroundScheduler
 import PID
 #TODO
 #fix temperature offsets
 #database time interval logging
 #set initial state for cron timers
 config = configparser.ConfigParser(allow_no_value = True)
 config.read("hydrobot.conf")
 DEBUG_CAN = config.getboolean("debug", "can")
 DEBUG_CAN_DETAIL = config.getboolean("debug", "can_detail")
 DEBUG_TIMER = config.getboolean("debug", "timer")
 class MySeriesHelper(SeriesHelper):
     # Meta class stores time series helper configuration.
     class Meta:
         # The client should be an instance of InfluxDBClient.
         #client = myclient
         # The series name must be a string. Add dependent fields/tags in curly brackets.
         series_name = '{measurement}'
         # Defines all the fields in this time series.
         fields = ['value']
         # Defines all the tags for the series.
         tags = ['measurement']
         # Defines the number of data points to store prior to writing on the wire.
         bulk_size = 5
         # autocommit must be set to True when using bulk_size
         autocommit = True
 class Database:
     def __init__(self):
         host = config.get("database", "host")
         port = config.get("database", "port")
         username = config.get("database", "username")
         password = config.get("database", "password")
         database = config.get("database", "database")
         self.name = config.get("system", "name")
         self.client = InfluxDBClient(host, port, username, password, database)
         MySeriesHelper.Meta.client = self.client
         MySeriesHelper.Meta.series_name = self.name + '.{measurement}'
         # To manually submit data points which are not yet written, call commit:
         #MySeriesHelper.commit()
     def log_data(self, msgdb, message):
         if message == msgdb.AirSense:
             MySeriesHelper(measurement='air_temp', value=(float)(message.Temperature.value))
             MySeriesHelper(measurement='air_humidity', value=(float)(message.Humidity.value))
             MySeriesHelper(measurement='air_pressure', value=(float)(message.Pressure.value))
         if message == msgdb.RelayDriveIn:
             MySeriesHelper(measurement='water_flow_rate', value=(float)(message.FlowRate.value))
             MySeriesHelper(measurement='input_1', value=(float)(message.Input1.value))
             MySeriesHelper(measurement='input_2', value=(float)(message.Input2.value))
             MySeriesHelper(measurement='input_3', value=(float)(message.Input3.value))
             MySeriesHelper(measurement='input_4', value=(float)(message.Input4.value))
         if message == msgdb.WaterSense:
             MySeriesHelper(measurement='water_level', value=(float)(message.PercentFull.value))
             MySeriesHelper(measurement='water_temp', value=(float)(message.Temperature.value))
 class CanBus:
     def __init__(self, database):
         self.database = database
         self.dev = socketcan.SocketCanDev("can0")
         #self.dev = cantact.CantactDev("/dev/ttyACM8")
         #self.dev.set_bitrate(500000)
         parser = jsondb.JsonDbParser()
         self.msgdb = parser.parse('hydrobot_can.json')
         self.temp_msg = self.msgdb.AirSense
         self.relay_msg = self.msgdb.RelayDriveIn
         self.relay_send_msg = self.msgdb.RelayDriveOut
     def start(self):
         self.dev.start()
     def start_receive(self):
         _thread.start_new_thread(self.process_can, ())
     def process_can(self):
         while True:
             frame = self.dev.recv()
             message = self.msgdb.decode(frame)
             if message:
                 if DEBUG_CAN:
                     print("Received CAN message! ID: " + hex(message.id))
                 for s in message._signals.values():
                     if DEBUG_CAN_DETAIL:
                         print(s)
                         print(s.value)
                 self.database.log_data(self.msgdb, message)
     def send_can(self):
         self.relay_send_msg.Nothing.value = 0
         if self.relay_send_msg.Output1.value == 0:
             self.relay_send_msg.Output1.value = 1
         else:
             self.relay_send_msg.Output1.value = 0
         self.relay_send_msg.Output2.value = 1
         self.relay_send_msg.Output3.value = 1
         self.relay_send_msg.Output4.value = 1
         if DEBUG_CAN:
             print("Send CAN message! ID: " + hex(self.relay_send_msg.id))
         if DEBUG_CAN_DETAIL:
             print(self.relay_send_msg)
         self.dev.send(self.relay_send_msg.encode())
     def set_output(self, module, output, state):
         print("Output! " + module + " " + output + " " + str(state))
         msg = self.msgdb.lookup_message(module)
         msg.lookup_signal(output).value = state
         self.dev.send(msg.encode())
         if msg.lookup_signal(output) == msg.Output1:
             MySeriesHelper(measurement='output_1', value=state)
         if msg.lookup_signal(output) == msg.Output2:
             MySeriesHelper(measurement='output_2', value=state)
         if msg.lookup_signal(output) == msg.Output3:
             MySeriesHelper(measurement='output_3', value=state)
         if msg.lookup_signal(output) == msg.Output4:
             MySeriesHelper(measurement='output_4', value=state)
 class Scheduler:
     def __init__(self, canbus):
         self.canbus = canbus
         self.apscheduler = BackgroundScheduler()
     def start(self):
         self.apscheduler.start()
         for section in config.sections():
             if "timer" in section:
                 items = config.items(section)
                 for item in items:
                     if item[0] == 'trigger':
                         trigger = item[1]
                     if item[0] == 'module':
                         module = item[1]
                     if item[0] == 'output':
                         output = item[1]
                     if item[0] == 'on_time':
                         on_time = ast.literal_eval(item[1])
                     if item[0] == 'off_time':
                         off_time = ast.literal_eval(item[1])
                     if item[0] == 'on_duration':
                         on_duration = ast.literal_eval(item[1])
                     if item[0] == 'off_duration':
                         off_duration = ast.literal_eval(item[1])
                 if trigger == 'cron':
                     self.apscheduler.add_job(self.canbus.set_output, trigger, [module, output, 1], day = on_time[0], day_of_week = on_time[1], hour = on_time[2], minute = on_time[3], second = on_time[4])
                     self.apscheduler.add_job(self.canbus.set_output, trigger, [module, output, 0], day = off_time[0], day_of_week = off_time[1], hour = off_time[2], minute = off_time[3], second = off_time[4])
                     on_job = self.apscheduler.add_job(self.canbus.set_output, trigger, [module, output, 1], day = on_time[0], day_of_week = on_time[1], hour = on_time[2], minute = on_time[3], second = on_time[4])
                     off_job = self.apscheduler.add_job(self.canbus.set_output, trigger, [module, output, 0], day = off_time[0], day_of_week = off_time[1], hour = off_time[2], minute = off_time[3], second = off_time[4])
                     #evalute the current state of the cron trigger and set output on if needed
                     if on_job.next_run_time > off_job.next_run_time:
                         self.canbus.set_output(module, output, 1)
                 if trigger == 'interval':
                     self.apscheduler.add_job(self.interval_off, trigger, [module, output, section + "_off", section + "_on", on_duration], id = section + "_off", weeks = off_duration[0], days = off_duration[1], hours = off_duration[2], minutes = off_duration[3], seconds = off_duration[4])
                     timer = self.apscheduler.add_job(self.interval_on, trigger, [module, output, section + "_off", section + "_on", off_duration], id = section + "_on", weeks = on_duration[0], days = on_duration[1], hours = on_duration[2], minutes = on_duration[3], seconds = on_duration[4])
                     timer.pause()
             if "pid" in section:
                 items = config.items(section)
                 for item in items:
                     if item[0] == 'module_out':
                         module_out = item[1]
                     if item[0] == 'output':
                         signal_out = item[1]
                     if item[0] == 'module_in':
                         module_in = item[1]
                     if item[0] == 'input':
                         signal_in = item[1]
                     if item[0] == 'kp':
                         kp = item[1]
                     if item[0] == 'ki':
                         ki = item[1]
                     if item[0] == 'kd':
                         kd = item[1]
                     if item[0] == 'rate':
                         rate = item[1]
                     if item[0] == 'setpoint':
                         setpoint = item[1]
                 pid = PID.PID(float(setpoint))
                 pid.SetKp(kp)
                 pid.SetKi(ki)
                 pid.SetKd(kd)
                 pid.Reset()
                 self.apscheduler.add_job(self.process_PID, "interval", [pid, module_out, signal_out, module_in, signal_in], seconds = int(rate))
     def interval_off(self, module, output, timer_off, timer_on, on_duration):
         self.canbus.set_output(module, output, 1)
         self.apscheduler.get_job(timer_on).reschedule("interval", weeks = on_duration[0], days = on_duration[1], hours = on_duration[2], minutes = on_duration[3], seconds = on_duration[4])
         self.apscheduler.get_job(timer_on).resume()
         self.apscheduler.get_job(timer_off).pause()
         if DEBUG_TIMER:
             print("Turning " + timer_on + "! " + str(datetime.datetime.now().time()))
     def interval_on(self, module, output, timer_off, timer_on, off_duration):
         self.canbus.set_output(module, output, 0)
         self.apscheduler.get_job(timer_off).reschedule("interval", weeks = off_duration[0], days = off_duration[1], hours = off_duration[2], minutes = off_duration[3], seconds = off_duration[4])
         self.apscheduler.get_job(timer_off).resume()
         self.apscheduler.get_job(timer_on).pause()
         if DEBUG_TIMER:
             print("Turning " + timer_off + "! " + str(datetime.datetime.now().time()))
     def process_PID(self, pid, module_out, signal_out, module_in, signal_in):
         msg = self.canbus.msgdb.lookup_message(module_in)
         input_reading = msg.lookup_signal(signal_in).value
         input_reading = 19
         pid_out = pid.Update(input_reading)
         if pid_out > 0:
             self.canbus.set_output(module_out, signal_out, 1)
             run_time = datetime.datetime.now() + datetime.timedelta(milliseconds=pid_out)
             self.apscheduler.add_job(self.canbus.set_output, "date", run_date=run_time, args=[module_out, signal_out, 0])
 def func():
     print(1)
 def main():
     database = Database()
     canbus = CanBus(database)
     canbus.start()
     canbus.start_receive()
     scheduler = Scheduler(canbus)
     scheduler.start()
     while True:
         time.sleep(1)
         canbus.dev.send(can.Frame(0x7FF, 8, [0x11, 0x22, 0x33, 0x44, 0x55, 0x66, 0x77, 0x88]))
         time.sleep(0.001)
 if __name__ == "__main__":
     main()

hydrobot_can.json

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+{
     "messages": [
+        {
         "name": "AirSense",
         "id": "0x202",
         "signals": { "0": {"name": "Nothing", "bit_length": 16, "factor": 1, "offset": 0, "unit": ""},
                     "16": {"name": "Temperature", "bit_length": 16, "factor": 0.1, "offset": 40, "unit": "C"},
                     "32": {"name": "Humidity", "bit_length": 16, "factor": 0.1, "offset": 0, "unit": "%RH"},
                     "48": {"name": "Pressure", "bit_length": 16, "factor": 0.1, "offset": 0, "unit": "hPa"}
+                   }
         },
+        {
         "name": "RelayDriveOut",
         "id": "0x203",
         "signals": { "0": {"name": "Nothing", "bit_length": 32, "factor": 1, "offset": 0, "unit": ""},
                     "32": {"name": "Output1", "bit_length": 8, "factor": 1, "offset": 0, "unit": "bool"},
                     "40": {"name": "Output2", "bit_length": 8, "factor": 1, "offset": 0, "unit": "bool"},
                     "48": {"name": "Output3", "bit_length": 8, "factor": 1, "offset": 0, "unit": "bool"},
                     "56": {"name": "Output4", "bit_length": 8, "factor": 1, "offset": 0, "unit": "bool"}
+                   }
         },
+        {
         "name": "RelayDriveIn",
         "id": "0x204",
         "signals": { "0": {"name": "FlowRate", "bit_length": 16, "factor": 0.133, "offset": 0, "unit": "Hz"},
                     "16": {"name": "Nothing", "bit_length": 16, "factor": 1, "offset": 0, "unit": ""},
                     "32": {"name": "Input1", "bit_length": 8, "factor": 1, "offset": 0, "unit": "bool"},
                     "40": {"name": "Input2", "bit_length": 8, "factor": 1, "offset": 0, "unit": "bool"},
                     "48": {"name": "Input3", "bit_length": 8, "factor": 1, "offset": 0, "unit": "bool"},
                     "56": {"name": "Input4", "bit_length": 8, "factor": 1, "offset": 0, "unit": "bool"}
+                   }
         },
+        {
         "name": "Stuff",
         "id": "0x205",
         "signals": { "0": {"name": "Nothing", "bit_length": 32, "factor": 1, "offset": 0, "unit": ""},
                     "32": {"name": "Input1", "bit_length": 8, "factor": 1, "offset": 0, "unit": "bool"},
                     "40": {"name": "Input2", "bit_length": 8, "factor": 1, "offset": 0, "unit": "bool"},
                     "48": {"name": "Input3", "bit_length": 8, "factor": 1, "offset": 0, "unit": "bool"},
                     "56": {"name": "Input4", "bit_length": 8, "factor": 1, "offset": 0, "unit": "bool"}
+                   }
         },
+        {
         "name": "WaterSense",
         "id": "0x206",
         "signals": { "0": {"name": "Temperature", "bit_length": 8, "factor": 0.5, "offset": 40, "unit": "C"},
                     "8": {"name": "Nothing", "bit_length": 16, "factor": 1, "offset": 0, "unit": ""},
-                    "16": {"name": "PercentFull", "bit_length": 8, "factor": 1, "offset": 0, "unit": "%"}
+                    "32": {"name": "PercentFull", "bit_length": 8, "factor": 1, "offset": 0, "unit": "%"}
+                   }
+        }
+    ]
+}

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