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raspibrew.py
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raspibrew.py
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#
# Copyright (c) 2012 Stephen P. Smith
#
# Permission is hereby granted, free of charge, to any person obtaining
# a copy of this software and associated documentation files
# (the "Software"), to deal in the Software without restriction,
# including without limitation the rights to use, copy, modify,
# merge, publish, distribute, sublicense, and/or sell copies of the Software,
# and to permit persons to whom the Software is furnished to do so,
# subject to the following conditions:
# The above copyright notice and this permission notice shall be included
# in all copies or substantial portions of the Software.
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
# OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
# WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR
# IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
from multiprocessing import Process, Pipe, Queue, current_process
from subprocess import Popen, PIPE, call
from datetime import datetime
import web, time, random, json, serial, os
from smbus import SMBus
import RPi.GPIO as GPIO
from pid import pidpy as PIDController
class param:
mode = "off"
cycle_time = 2.0
duty_cycle = 0.0
set_point = 0.0
k_param = 44
i_param = 165
d_param = 4
def add_global_hook(parent_conn, statusQ):
g = web.storage({"parent_conn" : parent_conn, "statusQ" : statusQ})
def _wrapper(handler):
web.ctx.globals = g
return handler()
return _wrapper
class raspibrew:
def __init__(self):
self.mode = param.mode
self.cycle_time = param.cycle_time
self.duty_cycle = param.duty_cycle
self.set_point = param.set_point
self.k_param = param.k_param
self.i_param = param.i_param
self.d_param = param.d_param
def GET(self):
return render.raspibrew(self.mode, self.set_point, self.duty_cycle, self.cycle_time, \
self.k_param,self.i_param,self.d_param)
def POST(self):
data = web.data()
datalist = data.split("&")
for item in datalist:
datalistkey = item.split("=")
if datalistkey[0] == "mode":
self.mode = datalistkey[1]
if datalistkey[0] == "setpoint":
self.set_point = float(datalistkey[1])
if datalistkey[0] == "dutycycle":
self.duty_cycle = float(datalistkey[1])
if datalistkey[0] == "cycletime":
self.cycle_time = float(datalistkey[1])
if datalistkey[0] == "k":
self.k_param = float(datalistkey[1])
if datalistkey[0] == "i":
self.i_param = float(datalistkey[1])
if datalistkey[0] == "d":
self.d_param = float(datalistkey[1])
web.ctx.globals.parent_conn.send([self.mode, self.cycle_time, self.duty_cycle, self.set_point, \
self.k_param, self.i_param, self.d_param])
def gettempProc(conn):
p = current_process()
print 'Starting:', p.name, p.pid
while (True):
t = time.time()
time.sleep(.5) #.1+~.83 = ~1.33 seconds
num = tempData1Wire()
if (num != -99):
elapsed = "%.2f" % (time.time() - t)
conn.send([num, elapsed])
def getonofftime(cycle_time, duty_cycle):
duty = duty_cycle/100.0
on_time = cycle_time*(duty)
off_time = cycle_time*(1.0-duty)
return [on_time, off_time]
def heatProcI2C(cycle_time, duty_cycle, conn):
p = current_process()
print 'Starting:', p.name, p.pid
bus = SMBus(0)
bus.write_byte_data(0x26,0x00,0x00) #set I/0 to write
while (True):
while (conn.poll()): #get last
cycle_time, duty_cycle = conn.recv()
conn.send([cycle_time, duty_cycle])
if duty_cycle == 0:
bus.write_byte_data(0x26,0x09,0x00)
time.sleep(cycle_time)
elif duty_cycle == 100:
bus.write_byte_data(0x26,0x09,0x01)
time.sleep(cycle_time)
else:
on_time, off_time = getonofftime(cycle_time, duty_cycle)
bus.write_byte_data(0x26,0x09,0x01)
time.sleep(on_time)
bus.write_byte_data(0x26,0x09,0x00)
time.sleep(off_time)
def heatProcGPIO(cycle_time, duty_cycle, conn):
p = current_process()
print 'Starting:', p.name, p.pid
GPIO.setmode(GPIO.BCM)
GPIO.setup(17, GPIO.OUT)
while (True):
while (conn.poll()): #get last
cycle_time, duty_cycle = conn.recv()
conn.send([cycle_time, duty_cycle])
if duty_cycle == 0:
GPIO.output(17, False)
time.sleep(cycle_time)
elif duty_cycle == 100:
GPIO.output(17, True)
time.sleep(cycle_time)
else:
on_time, off_time = getonofftime(cycle_time, duty_cycle)
GPIO.output(17, True)
time.sleep(on_time)
GPIO.output(17, False)
time.sleep(off_time)
def tempControlProc(mode, cycle_time, duty_cycle, set_point, k_param, i_param, d_param, statusQ, conn):
#initialize LCD
ser = serial.Serial("/dev/ttyAMA0", 9600)
ser.write("?BFF")
time.sleep(.1) #wait 100msec
ser.write("?f?a")
ser.write("?y0?x00PID off ")
ser.write("?y1?x00HLT:")
ser.write("?y3?x00Heat: off ")
ser.write("?D70609090600000000") #define degree symbol
time.sleep(.1) #wait 100msec
p = current_process()
print 'Starting:', p.name, p.pid
parent_conn_temp, child_conn_temp = Pipe()
ptemp = Process(name = "gettempProc", target=gettempProc, args=(child_conn_temp,))
ptemp.daemon = True
ptemp.start()
parent_conn_heat, child_conn_heat = Pipe()
pheat = Process(name = "heatProcGPIO", target=heatProcGPIO, args=(cycle_time, duty_cycle, child_conn_heat))
pheat.daemon = True
pheat.start()
temp_F_ma_list = []
temp_F_ma = 0.0
while (True):
readytemp = False
while parent_conn_temp.poll():
temp_C, elapsed = parent_conn_temp.recv() #non blocking receive
temp_F = (9.0/5.0)*temp_C + 32
temp_F_ma_list.append(temp_F)
#smooth temp data
if (len(temp_F_ma_list) == 1):
temp_F_ma = temp_F_ma_list[0]
elif (len(temp_F_ma_list) == 2):
temp_F_ma = (temp_F_ma_list[0] + temp_F_ma_list[1]) / 2.0
elif (len(temp_F_ma_list) == 3):
temp_F_ma = (temp_F_ma_list[0] + temp_F_ma_list[1] + temp_F_ma_list[2]) / 3.0
elif (len(temp_F_ma_list) == 4):
temp_F_ma = (temp_F_ma_list[0] + temp_F_ma_list[1] + temp_F_ma_list[2] + temp_F_ma_list[3]) / 4.0
else:
temp_F_ma = (temp_F_ma_list[0] + temp_F_ma_list[1] + temp_F_ma_list[2] + temp_F_ma_list[3] + \
temp_F_ma_list[4]) / 5.0
temp_F_ma_list.pop(0) #remove oldest element in list
temp_C_str = "%3.2f" % temp_C
temp_F_str = "%3.2f" % temp_F
ser.write("?y1?x05")
ser.write(temp_F_str)
ser.write("?7") #degree
time.sleep(.005) #wait 5msec
ser.write("F ")
readytemp = True
if readytemp == True:
if mode == "auto":
#calculate PID every cycle - alwyas get latest temp
print "Temp F MA %.2f" % temp_F_ma
duty_cycle = pid.calcPID_reg4(temp_F_ma, set_point, True)
#send to heat process every cycle
parent_conn_heat.send([cycle_time, duty_cycle])
if (not statusQ.full()):
statusQ.put([temp_F_str, elapsed, mode, cycle_time, duty_cycle, set_point, k_param, i_param, d_param]) #GET request
readytemp == False
while parent_conn_heat.poll(): #non blocking receive
cycle_time, duty_cycle = parent_conn_heat.recv()
ser.write("?y2?x00Duty: ")
ser.write("%3.1f" % duty_cycle)
ser.write("% ")
readyPOST = False
while conn.poll(): #POST settings
mode, cycle_time, duty_cycle_temp, set_point, k_param, i_param, d_param = conn.recv()
readyPOST = True
if readyPOST == True:
if mode == "auto":
ser.write("?y0?x00Auto Mode ")
ser.write("?y1?x00HLT:")
ser.write("?y3?x00Set To: ")
ser.write("%3.1f" % set_point)
ser.write("?7") #degree
time.sleep(.005) #wait 5msec
ser.write("F ")
print "auto selected"
pid = PIDController.pidpy(cycle_time, k_param, i_param, d_param) #init pid
duty_cycle = pid.calcPID_reg4(temp_F_ma, set_point, True)
parent_conn_heat.send([cycle_time, duty_cycle])
if mode == "manual":
ser.write("?y0?x00Manual Mode ")
ser.write("?y1?x00BK: ")
ser.write("?y3?x00Heat: on ")
print "manual selected"
duty_cycle = duty_cycle_temp
parent_conn_heat.send([cycle_time, duty_cycle])
if mode == "off":
ser.write("?y0?x00PID off ")
ser.write("?y1?x00HLT:")
ser.write("?y3?x00Heat: off ")
print "off selected"
duty_cycle = 0
parent_conn_heat.send([cycle_time, duty_cycle])
readyPOST = False
time.sleep(.01)
class getstatus:
def __init__(self):
pass
def GET(self):
#blocking receive
if (statusQ.full()): #remove old data
for i in range(statusQ.qsize()):
temp, elapsed, mode, cycle_time, duty_cycle, set_point, k_param, i_param, d_param = web.ctx.globals.statusQ.get()
temp, elapsed, mode, cycle_time, duty_cycle, set_point, k_param, i_param, d_param = web.ctx.globals.statusQ.get()
out = json.dumps({"temp" : temp,
"elapsed" : elapsed,
"mode" : mode,
"cycle_time" : cycle_time,
"duty_cycle" : duty_cycle,
"set_point" : set_point,
"k_param" : k_param,
"i_param" : i_param,
"d_param" : d_param})
return out
def POST(self):
pass
def tempData1Wire():
#change 28-000002b2fa07 to your own temp sensor id
pipe = Popen(["cat","/sys/bus/w1/devices/w1_bus_master1/28-0000037eb5c0/w1_slave"], stdout=PIPE)
result = pipe.communicate()[0]
if (result.split('\n')[0].split(' ')[11] == "YES"):
temp_C = float(result.split("=")[-1])/1000 # temp in Celcius
else:
temp_C = -99
return temp_C
if __name__ == '__main__':
os.chdir("/var/www")
call(["modprobe", "w1-gpio"])
call(["modprobe", "w1-therm"])
call(["modprobe", "i2c-bcm2708"])
call(["modprobe", "i2c-dev"])
urls = ("/", "raspibrew",
"/getrand", "getrand",
"/getstatus", "getstatus")
render = web.template.render("/var/www/templates/")
app = web.application(urls, globals())
statusQ = Queue(2)
parent_conn, child_conn = Pipe()
p = Process(name = "tempControlProc", target=tempControlProc, args=(param.mode, param.cycle_time, param.duty_cycle, \
param.set_point, param.k_param, param.i_param, param.d_param, \
statusQ, child_conn))
p.start()
app.add_processor(add_global_hook(parent_conn, statusQ))
app.run()