class ControllerDaemon(AtlasDaemon):
def _init(self):
self.logger.info("Initializing controller daemon.")
self.temp_target = 19
self.update_time = 0
self.period = 5 * 60
self.duty_cycle = 0
self.pid = PID()
self.pid.setPoint(self.temp_target)
self.pin = OutputPin("P8_10")
self.pin.set_low()
self.heater = State.off
self.subscriber = self.get_subscriber(Topic("temperature", "ferm1_wort"))
self.wort_temp = Average(self.subscriber.topic.data)
topic = Topic("temperature", "ferm1_wort_average", self.wort_temp.get_value())
self.publisher_average_temp = self.get_publisher(topic)
topic = Topic("pid", "ferm1_pid", self.pid.update(self.wort_temp.get_value()))
self.publisher_pid = self.get_publisher(topic)
topic = Topic("state", "ferm1_heating", self.heater)
self.publisher_heater = self.get_publisher(topic)
topic = Topic("temperature", "ferm1_target", self.temp_target)
self.publisher_target = self.get_publisher(topic)
topic = Topic("percentage", "ferm1_duty_cycle", self.duty_cycle)
self.publisher_duty_cycle = self.get_publisher(topic)
self.logger.info("Controller initialized.")
def _loop(self):
self.wort_temp.update(self.subscriber.topic.data)
self.publisher_average_temp.publish(self.wort_temp.get_value())
pid = self.pid.update(self.wort_temp.get_value())
self.publisher_pid.publish(pid)
self.publisher_target.publish(self.temp_target)
if pid < 1:
self.duty_cycle = pid
else:
self.duty_cycle = 1
self.publisher_duty_cycle.publish(self.duty_cycle)
if self.update_time + self.period < time.time():
self.update_time = time.time()
if 0 < self.duty_cycle:
self.heater = State.on
self.pin.set_high()
elif self.update_time + self.duty_cycle * self.period < time.time():
if self.heater == State.on:
self.heater = State.off
self.pin.set_low()
self.publisher_heater.publish(self.heater)
time.sleep(1)
def _init(self):
self.atlas.register_topic_handler(self._logger)
self.pin = OutputPin("P8_10")
self.pin.set_low()
self.t0 = time.time()
self.stage1 = 6 * 60 * 60 # 6 hours
self.stage2 = 6 * 60 * 60 # 6 hours
self.stage3 = 6 * 60 * 60 # 6 hours
self.t_cycle = self.t0
self.cycle_period = 5 * 60 # 5 minutes
self.power = 0.2 # 20% of full power
self.t_log = self.t0
self.log_period = 20
self.triplets = []
self.topics = []
self.atlas.register_topic_handler(self._logger)
subscriber = self.get_subscriber(Topic("temperature", "sensor1"))
average_temp = Average(subscriber.topic.data, 10)
topic = Topic("temperature", "sensor1_average", average_temp.get_value())
publisher = self.get_publisher(topic)
self.triplets.append((subscriber, average_temp, publisher))
subscriber = self.get_subscriber(Topic("temperature", "sensor2"))
average_temp = Average(subscriber.topic.data, 10)
topic = Topic("temperature", "sensor2_average", average_temp.get_value())
publisher = self.get_publisher(topic)
self.triplets.append((subscriber, average_temp, publisher))
subscriber = self.get_subscriber(Topic("temperature", "sensor3"))
average_temp = Average(subscriber.topic.data, 10)
topic = Topic("temperature", "sensor3_average", average_temp.get_value())
publisher = self.get_publisher(topic)
self.triplets.append((subscriber, average_temp, publisher))
topic = Topic("state", "heater", self.pin.get_state())
self.heater_publisher = self.get_publisher(topic)
topic = Topic("stage", "calibration_stage", 1)
self.stage_publisher = self.get_publisher(topic)
