class PIDController(AbstractController, threading.Thread):
"""
Class to operate discrete PID controller in Mycodo
"""
def __init__(self, ready, unique_id):
threading.Thread.__init__(self)
super(PIDController, self).__init__(ready, unique_id=unique_id, name=__name__)
self.unique_id = unique_id
self.sample_rate = None
self.dict_outputs = None
self.control = DaemonControl()
self.PID_Controller = None
self.setpoint = None
self.device_measurements = None
self.device_id = None
self.measurement_id = None
self.log_level_debug = None
self.lower_seconds_on = 0.0
self.raise_seconds_on = 0.0
self.lower_duty_cycle = 0.0
self.raise_duty_cycle = 0.0
self.last_time = None
self.last_measurement = None
self.last_measurement_success = False
self.is_activated = None
self.is_held = None
self.is_paused = None
self.measurement = None
self.setpoint_tracking_type = None
self.setpoint_tracking_id = None
self.setpoint_tracking_max_age = None
self.raise_output_id = None
self.raise_output_type = None
self.raise_min_duration = None
self.raise_max_duration = None
self.raise_min_off_duration = None
self.raise_always_min_pwm = None
self.lower_output_id = None
self.lower_output_type = None
self.lower_min_duration = None
self.lower_max_duration = None
self.lower_min_off_duration = None
self.lower_always_min_pwm = None
self.period = 0
self.start_offset = 0
self.max_measure_age = None
self.store_lower_as_negative = None
self.timer = None
# PID Autotune
self.autotune = None
self.autotune_activated = False
self.autotune_debug = False
self.autotune_noiseband = 0
self.autotune_outstep = 0
self.autotune_timestamp = None
# Check if a method is set for this PID
self.method_type = None
self.method_start_act = None
self.method_start_time = None
self.method_end_time = None
def loop(self):
if (self.method_start_act == 'Ended' and
self.method_type == 'Duration'):
self.stop_controller(
ended_normally=False, deactivate_pid=True)
self.logger.warning(
"Method has ended. "
"Activate the PID controller to start it again.")
elif time.time() > self.timer:
while time.time() > self.timer:
self.timer = self.timer + self.period
self.attempt_execute(self.check_pid)
def run_finally(self):
# Turn off output used in PID when the controller is deactivated
if self.raise_output_id and self.PID_Controller.direction in ['raise', 'both']:
self.control.output_off(
self.raise_output_id, trigger_conditionals=True)
if self.lower_output_id and self.PID_Controller.direction in ['lower', 'both']:
self.control.output_off(
self.lower_output_id, trigger_conditionals=True)
def initialize_variables(self):
"""Set PID parameters"""
self.set_log_level_debug(self.log_level_debug)
self.dict_outputs = parse_output_information()
self.sample_rate = db_retrieve_table_daemon(
Misc, entry='first').sample_rate_controller_pid
self.device_measurements = db_retrieve_table_daemon(
DeviceMeasurements)
pid = db_retrieve_table_daemon(PID, unique_id=self.unique_id)
self.device_id = pid.measurement.split(',')[0]
self.measurement_id = pid.measurement.split(',')[1]
self.is_activated = pid.is_activated
self.is_held = pid.is_held
self.is_paused = pid.is_paused
self.log_level_debug = pid.log_level_debug
self.setpoint_tracking_type = pid.setpoint_tracking_type
self.setpoint_tracking_id = pid.setpoint_tracking_id
self.setpoint_tracking_max_age = pid.setpoint_tracking_max_age
self.raise_output_id = pid.raise_output_id
self.raise_output_type = pid.raise_output_type
self.raise_min_duration = pid.raise_min_duration
self.raise_max_duration = pid.raise_max_duration
self.raise_min_off_duration = pid.raise_min_off_duration
self.raise_always_min_pwm = pid.raise_always_min_pwm
self.lower_output_id = pid.lower_output_id
self.lower_output_type = pid.lower_output_type
self.lower_min_duration = pid.lower_min_duration
self.lower_max_duration = pid.lower_max_duration
self.lower_min_off_duration = pid.lower_min_off_duration
self.lower_always_min_pwm = pid.lower_always_min_pwm
self.period = pid.period
self.start_offset = pid.start_offset
self.max_measure_age = pid.max_measure_age
self.store_lower_as_negative = pid.store_lower_as_negative
self.timer = time.time() + self.start_offset
self.setpoint = pid.setpoint
# Initialize PID Controller
if self.PID_Controller is None:
self.PID_Controller = PIDControl(
self.logger, pid.setpoint, pid.p, pid.i, pid.d, pid.direction,
pid.band, pid.integrator_min, pid.integrator_max)
else:
# Set PID options
self.PID_Controller.setpoint = pid.setpoint
self.PID_Controller.Kp = pid.p
self.PID_Controller.Ki = pid.i
self.PID_Controller.Kd = pid.d
self.PID_Controller.direction = pid.direction
self.PID_Controller.band = pid.band
self.PID_Controller.integrator_min = pid.integrator_min
self.PID_Controller.integrator_max = pid.integrator_max
self.PID_Controller.first_start = True
# Autotune options
self.autotune_activated = pid.autotune_activated
self.autotune_noiseband = pid.autotune_noiseband
self.autotune_outstep = pid.autotune_outstep
# If activated, initialize PID Autotune
if self.autotune_activated:
self.autotune_timestamp = time.time()
try:
self.autotune = PIDAutotune(
self.PID_Controller.setpoint,
out_step=self.autotune_outstep,
sampletime=self.period,
out_min=0,
out_max=self.period,
noiseband=self.autotune_noiseband)
except Exception as msg:
self.logger.error(msg)
self.stop_controller(deactivate_pid=True)
if self.setpoint_tracking_type == 'method' and self.setpoint_tracking_id != '':
self.setup_method(self.setpoint_tracking_id)
if self.is_paused:
self.logger.info("Starting Paused")
elif self.is_held:
self.logger.info("Starting Held")
self.logger.info("PID Settings: {}".format(self.pid_parameters_str()))
return "success"
def check_pid(self):
""" Get measurement and apply to PID controller """
# If PID is active, retrieve measurement and update
# the control variable.
# A PID on hold will sustain the current output and
# not update the control variable.
if self.is_activated and (not self.is_paused or not self.is_held):
self.get_last_measurement_pid()
if self.last_measurement_success:
if self.setpoint_tracking_type == 'method' and self.setpoint_tracking_id != '':
# Update setpoint using a method
this_pid = db_retrieve_table_daemon(
PID, unique_id=self.unique_id)
new_setpoint, ended = calculate_method_setpoint(
self.setpoint_tracking_id,
PID,
this_pid,
Method,
MethodData,
self.logger)
if ended:
self.method_start_act = 'Ended'
if new_setpoint is not None:
self.PID_Controller.setpoint = new_setpoint
else:
self.PID_Controller.setpoint = self.setpoint
if self.setpoint_tracking_type == 'input-math' and self.setpoint_tracking_id != '':
# Update setpoint using an Input or Math
device_id = self.setpoint_tracking_id.split(',')[0]
measurement_id = self.setpoint_tracking_id.split(',')[1]
measurement = get_measurement(measurement_id)
if not measurement:
return False, None
last_measurement = read_last_influxdb(
device_id,
measurement.unit,
measurement.channel,
measure=measurement.measurement,
duration_sec=self.setpoint_tracking_max_age)
if last_measurement[1] is not None:
self.PID_Controller.setpoint = last_measurement[1]
else:
self.logger.debug(
"Could not find measurement for Setpoint "
"Tracking. Max Age of {} exceeded for measuring "
"device ID {} (measurement {})".format(
self.setpoint_tracking_max_age,
device_id,
measurement_id))
self.PID_Controller.setpoint = None
# If autotune activated, determine control variable (output) from autotune
if self.autotune_activated:
if not self.autotune.run(self.last_measurement):
self.PID_Controller.control_variable = self.autotune.output
if self.autotune_debug:
self.logger.info('')
self.logger.info("state: {}".format(self.autotune.state))
self.logger.info("output: {}".format(self.autotune.output))
else:
# Autotune has finished
timestamp = time.time() - self.autotune_timestamp
self.logger.info('')
self.logger.info('time: {0} min'.format(round(timestamp / 60)))
self.logger.info('state: {0}'.format(self.autotune.state))
if self.autotune.state == PIDAutotune.STATE_SUCCEEDED:
for rule in self.autotune.tuning_rules:
params = self.autotune.get_pid_parameters(rule)
self.logger.info('')
self.logger.info('rule: {0}'.format(rule))
self.logger.info('Kp: {0}'.format(params.Kp))
self.logger.info('Ki: {0}'.format(params.Ki))
self.logger.info('Kd: {0}'.format(params.Kd))
self.stop_controller(deactivate_pid=True)
else:
# Calculate new control variable (output) from PID Controller
self.PID_Controller.update_pid_output(self.last_measurement)
self.write_pid_values() # Write variables to database
# Is PID in a state that allows manipulation of outputs
if (self.is_activated and
self.PID_Controller.setpoint is not None and
(not self.is_paused or self.is_held)):
self.manipulate_output()
def setup_method(self, method_id):
""" Initialize method variables to start running a method """
self.setpoint_tracking_id = ''
method = db_retrieve_table_daemon(Method, unique_id=method_id)
method_data = db_retrieve_table_daemon(MethodData)
method_data = method_data.filter(MethodData.method_id == method_id)
method_data_repeat = method_data.filter(
MethodData.duration_sec == 0).first()
pid = db_retrieve_table_daemon(PID, unique_id=self.unique_id)
self.method_type = method.method_type
self.method_start_act = pid.method_start_time
self.method_start_time = None
self.method_end_time = None
if self.method_type == 'Duration':
if self.method_start_act == 'Ended':
# Method has ended and hasn't been instructed to begin again
pass
elif (self.method_start_act == 'Ready' or
self.method_start_act is None):
# Method has been instructed to begin
now = datetime.datetime.now()
self.method_start_time = now
if method_data_repeat and method_data_repeat.duration_end:
self.method_end_time = now + datetime.timedelta(
seconds=float(method_data_repeat.duration_end))
with session_scope(MYCODO_DB_PATH) as db_session:
mod_pid = db_session.query(PID).filter(
PID.unique_id == self.unique_id).first()
mod_pid.method_start_time = self.method_start_time
mod_pid.method_end_time = self.method_end_time
db_session.commit()
else:
# Method neither instructed to begin or not to
# Likely there was a daemon restart ot power failure
# Resume method with saved start_time
self.method_start_time = datetime.datetime.strptime(
str(pid.method_start_time), '%Y-%m-%d %H:%M:%S.%f')
if method_data_repeat and method_data_repeat.duration_end:
self.method_end_time = datetime.datetime.strptime(
str(pid.method_end_time), '%Y-%m-%d %H:%M:%S.%f')
if self.method_end_time > datetime.datetime.now():
self.logger.warning(
"Resuming method {id}: started {start}, "
"ends {end}".format(
id=method_id,
start=self.method_start_time,
end=self.method_end_time))
else:
self.method_start_act = 'Ended'
else:
self.method_start_act = 'Ended'
self.setpoint_tracking_id = method_id
self.logger.debug("Method enabled: {id}".format(id=self.setpoint_tracking_id))
def write_pid_values(self):
""" Write PID values to the measurement database """
if self.PID_Controller.band:
setpoint_band_lower = self.PID_Controller.setpoint - self.PID_Controller.band
setpoint_band_upper = self.PID_Controller.setpoint + self.PID_Controller.band
else:
setpoint_band_lower = None
setpoint_band_upper = None
list_measurements = [
self.PID_Controller.setpoint,
setpoint_band_lower,
setpoint_band_upper,
self.PID_Controller.P_value,
self.PID_Controller.I_value,
self.PID_Controller.D_value
]
measurement_dict = {}
measurements = self.device_measurements.filter(
DeviceMeasurements.device_id == self.unique_id).all()
for each_channel, each_measurement in enumerate(measurements):
if (each_measurement.channel not in measurement_dict and
each_measurement.channel < len(list_measurements)):
# If setpoint, get unit from PID measurement
if each_measurement.measurement_type == 'setpoint':
setpoint_pid = db_retrieve_table_daemon(
PID, unique_id=each_measurement.device_id)
if setpoint_pid and ',' in setpoint_pid.measurement:
pid_measurement = setpoint_pid.measurement.split(',')[1]
setpoint_measurement = db_retrieve_table_daemon(
DeviceMeasurements, unique_id=pid_measurement)
if setpoint_measurement:
conversion = db_retrieve_table_daemon(
Conversion, unique_id=setpoint_measurement.conversion_id)
_, unit, _ = return_measurement_info(
setpoint_measurement, conversion)
measurement_dict[each_channel] = {
'measurement': each_measurement.measurement,
'unit': unit,
'value': list_measurements[each_channel]
}
else:
measurement_dict[each_channel] = {
'measurement': each_measurement.measurement,
'unit': each_measurement.unit,
'value': list_measurements[each_channel]
}
add_measurements_influxdb(self.unique_id, measurement_dict)
def get_last_measurement_pid(self):
"""
Retrieve the latest input measurement from InfluxDB
:rtype: None
"""
self.last_measurement_success = False
# Get latest measurement from influxdb
try:
device_measurement = get_measurement(self.measurement_id)
if device_measurement:
conversion = db_retrieve_table_daemon(
Conversion, unique_id=device_measurement.conversion_id)
else:
conversion = None
channel, unit, measurement = return_measurement_info(
device_measurement, conversion)
self.last_measurement = read_last_influxdb(
self.device_id,
unit,
channel,
measure=measurement,
duration_sec=int(self.max_measure_age))
if self.last_measurement:
self.last_time = self.last_measurement[0]
self.last_measurement = self.last_measurement[1]
utc_dt = datetime.datetime.strptime(
self.last_time.split(".")[0],
'%Y-%m-%dT%H:%M:%S')
utc_timestamp = calendar.timegm(utc_dt.timetuple())
local_timestamp = str(datetime.datetime.fromtimestamp(utc_timestamp))
self.logger.debug("Latest (CH{ch}, Unit: {unit}): {last} @ {ts}".format(
ch=channel,
unit=unit,
last=self.last_measurement,
ts=local_timestamp))
if calendar.timegm(time.gmtime()) - utc_timestamp > self.max_measure_age:
self.logger.error(
"Last measurement was {last_sec} seconds ago, however"
" the maximum measurement age is set to {max_sec}"
" seconds.".format(
last_sec=calendar.timegm(time.gmtime()) - utc_timestamp,
max_sec=self.max_measure_age
))
self.last_measurement_success = True
else:
self.logger.warning("No data returned from influxdb")
except requests.ConnectionError:
self.logger.error("Failed to read measurement from the "
"influxdb database: Could not connect.")
except Exception as except_msg:
self.logger.exception(
"Exception while reading measurement from the influxdb "
"database: {err}".format(err=except_msg))
def manipulate_output(self):
"""
Activate output based on PID control variable and whether
the manipulation directive is to raise, lower, or both.
:rtype: None
"""
# If the last measurement was able to be retrieved and was entered within the past minute
if self.last_measurement_success:
#
# PID control variable is positive, indicating a desire to raise
# the environmental condition
#
if self.PID_Controller.direction in ['raise', 'both'] and self.raise_output_id:
if self.PID_Controller.control_variable > 0:
# Determine if the output should be PWM or a duration
if self.raise_output_type == 'pwm':
self.raise_duty_cycle = float("{0:.1f}".format(
self.control_var_to_duty_cycle(self.PID_Controller.control_variable)))
# Ensure the duty cycle doesn't exceed the min/max
if (self.raise_max_duration and
self.raise_duty_cycle > self.raise_max_duration):
self.raise_duty_cycle = self.raise_max_duration
elif (self.raise_min_duration and
self.raise_duty_cycle < self.raise_min_duration):
self.raise_duty_cycle = self.raise_min_duration
self.logger.debug(
"Setpoint: {sp}, Control Variable: {cv}, Output: PWM output "
"{id} to {dc:.1f}%".format(
sp=self.PID_Controller.setpoint,
cv=self.PID_Controller.control_variable,
id=self.raise_output_id,
dc=self.raise_duty_cycle))
# Activate pwm with calculated duty cycle
self.control.output_on(
self.raise_output_id,
output_type='pwm',
duty_cycle=self.raise_duty_cycle)
self.write_pid_output_influxdb(
'percent', 'duty_cycle', 7,
self.control_var_to_duty_cycle(self.PID_Controller.control_variable))
elif self.raise_output_type == 'on_off':
# Ensure the output on duration doesn't exceed the set maximum
if (self.raise_max_duration and
self.PID_Controller.control_variable > self.raise_max_duration):
self.raise_seconds_on = self.raise_max_duration
else:
self.raise_seconds_on = float("{0:.2f}".format(
self.PID_Controller.control_variable))
if self.raise_seconds_on > self.raise_min_duration:
# Activate raise_output for a duration
self.logger.debug(
"Setpoint: {sp} Output: {cv} to output "
"{id}".format(
sp=self.PID_Controller.setpoint,
cv=self.PID_Controller.control_variable,
id=self.raise_output_id))
self.control.output_on(
self.raise_output_id,
output_type='sec',
amount=self.raise_seconds_on,
min_off=self.raise_min_off_duration)
self.write_pid_output_influxdb(
's', 'duration_time', 6,
self.PID_Controller.control_variable)
elif self.raise_output_type == 'volume':
# Activate raise_output for a volume (ml)
self.logger.debug(
"Setpoint: {sp} Output: {cv} ml to output "
"{id}".format(
sp=self.PID_Controller.setpoint,
cv=self.PID_Controller.control_variable,
id=self.raise_output_id))
self.control.output_on(
self.raise_output_id,
output_type='vol',
amount=self.PID_Controller.control_variable,
min_off=self.raise_min_off_duration)
self.write_pid_output_influxdb(
'ml', 'volume', 8,
self.PID_Controller.control_variable)
elif self.raise_output_type == 'pwm' and not self.raise_always_min_pwm:
# Turn PWM Off if PWM Output and not instructed to always be at least min
self.control.output_on(self.raise_output_id, duty_cycle=0)
#
# PID control variable is negative, indicating a desire to lower
# the environmental condition
#
if self.PID_Controller.direction in ['lower', 'both'] and self.lower_output_id:
if self.PID_Controller.control_variable < 0:
# Determine if the output should be PWM or a duration
if self.lower_output_type == 'pwm':
self.lower_duty_cycle = float("{0:.1f}".format(
self.control_var_to_duty_cycle(abs(self.PID_Controller.control_variable))))
# Ensure the duty cycle doesn't exceed the min/max
if (self.lower_max_duration and
self.lower_duty_cycle > self.lower_max_duration):
self.lower_duty_cycle = self.lower_max_duration
elif (self.lower_min_duration and
self.lower_duty_cycle < self.lower_min_duration):
self.lower_duty_cycle = self.lower_min_duration
self.logger.debug(
"Setpoint: {sp}, Control Variable: {cv}, "
"Output: PWM output {id} to {dc:.1f}%".format(
sp=self.PID_Controller.setpoint,
cv=self.PID_Controller.control_variable,
id=self.lower_output_id,
dc=self.lower_duty_cycle))
if self.store_lower_as_negative:
stored_duty_cycle = -abs(self.lower_duty_cycle)
stored_control_variable = -self.control_var_to_duty_cycle(
abs(self.PID_Controller.control_variable))
else:
stored_duty_cycle = abs(self.lower_duty_cycle)
stored_control_variable = self.control_var_to_duty_cycle(
abs(self.PID_Controller.control_variable))
# Activate pwm with calculated duty cycle
self.control.output_on(
self.lower_output_id,
output_type='pwm',
duty_cycle=stored_duty_cycle)
self.write_pid_output_influxdb(
'percent', 'duty_cycle', 7, stored_control_variable)
elif self.lower_output_type == 'on_off':
# Ensure the output on duration doesn't exceed the set maximum
if (self.lower_max_duration and
abs(self.PID_Controller.control_variable) > self.lower_max_duration):
self.lower_seconds_on = self.lower_max_duration
else:
self.lower_seconds_on = float("{0:.2f}".format(
abs(self.PID_Controller.control_variable)))
if self.store_lower_as_negative:
stored_amount_on = -abs(self.lower_seconds_on)
stored_control_variable = -abs(self.PID_Controller.control_variable)
else:
stored_amount_on = abs(self.lower_seconds_on)
stored_control_variable = abs(self.PID_Controller.control_variable)
if self.lower_seconds_on > self.lower_min_duration:
# Activate lower_output for a duration
self.logger.debug("Setpoint: {sp} Output: {cv} to "
"output {id}".format(
sp=self.PID_Controller.setpoint,
cv=self.PID_Controller.control_variable,
id=self.lower_output_id))
self.control.output_on(
self.lower_output_id,
output_type='sec',
amount=stored_amount_on,
min_off=self.lower_min_off_duration)
self.write_pid_output_influxdb(
's', 'duration_time', 6, stored_control_variable)
elif self.lower_output_type == 'volume':
if self.store_lower_as_negative:
stored_amount_on = -abs(self.lower_seconds_on)
stored_control_variable = -abs(self.PID_Controller.control_variable)
else:
stored_amount_on = abs(self.lower_seconds_on)
stored_control_variable = abs(self.PID_Controller.control_variable)
# Activate lower_output for a volume (ml)
self.logger.debug(
"Setpoint: {sp} Output: {cv} to output {id}".format(
sp=self.PID_Controller.setpoint,
cv=self.PID_Controller.control_variable,
id=self.lower_output_id))
self.control.output_on(
self.lower_output_id,
output_type='vol',
amount=stored_amount_on,
min_off=self.lower_min_off_duration)
self.write_pid_output_influxdb(
'ml', 'volume', 8, stored_control_variable)
elif self.lower_output_type == 'pwm' and not self.lower_always_min_pwm:
# Turn PWM Off if PWM Output and not instructed to always be at least min
self.control.output_on(self.lower_output_id, duty_cycle=0)
else:
self.logger.debug("Last measurement unsuccessful. Turning outputs off.")
if self.PID_Controller.direction in ['raise', 'both'] and self.raise_output_id:
self.control.output_off(self.raise_output_id)
if self.PID_Controller.direction in ['lower', 'both'] and self.lower_output_id:
self.control.output_off(self.lower_output_id)
def pid_parameters_str(self):
return "Device ID: {did}, " \
"Measurement ID: {mid}, " \
"Direction: {dir}, " \
"Period: {per}, " \
"Setpoint: {sp}, " \
"Band: {band}, " \
"Kp: {kp}, " \
"Ki: {ki}, " \
"Kd: {kd}, " \
"Integrator Min: {imn}, " \
"Integrator Max {imx}, " \
"Output Raise: {opr}, " \
"Output Raise Type: {oprt}, " \
"Output Raise Min On: {oprmnon}, " \
"Output Raise Max On: {oprmxon}, " \
"Output Raise Min Off: {oprmnoff}, " \
"Output Raise Always Min: {opramn}, " \
"Output Lower: {opl}, " \
"Output Lower Type: {oplt}, " \
"Output Lower Min On: {oplmnon}, " \
"Output Lower Max On: {oplmxon}, " \
"Output Lower Min Off: {oplmnoff}, " \
"Output Lower Always Min: {oplamn}, " \
"Setpoint Tracking Type: {sptt}, " \
"Setpoint Tracking ID: {spt}".format(
did=self.device_id,
mid=self.measurement_id,
dir=self.PID_Controller.direction,
per=self.period,
sp=self.PID_Controller.setpoint,
band=self.PID_Controller.band,
kp=self.PID_Controller.Kp,
ki=self.PID_Controller.Ki,
kd=self.PID_Controller.Kd,
imn=self.PID_Controller.integrator_min,
imx=self.PID_Controller.integrator_max,
opr=self.raise_output_id,
oprt=self.raise_output_type,
oprmnon=self.raise_min_duration,
oprmxon=self.raise_max_duration,
oprmnoff=self.raise_min_off_duration,
opramn=self.raise_always_min_pwm,
opl=self.lower_output_id,
oplt=self.lower_output_type,
oplmnon=self.lower_min_duration,
oplmxon=self.lower_max_duration,
oplmnoff=self.lower_min_off_duration,
oplamn=self.lower_always_min_pwm,
sptt=self.setpoint_tracking_type,
spt=self.setpoint_tracking_id)
def control_var_to_duty_cycle(self, control_variable):
# Convert control variable to duty cycle
if control_variable > self.period:
return 100.0
else:
return float((control_variable / self.period) * 100)
def write_pid_output_influxdb(self, unit, measurement, channel, value):
write_pid_out_db = threading.Thread(
target=write_influxdb_value,
args=(self.unique_id,
unit,
value,),
kwargs={'measure': measurement,
'channel': channel})
write_pid_out_db.start()
def pid_mod(self):
if self.initialize_variables():
return "success"
else:
return "error"
def pid_hold(self):
self.is_held = True
self.logger.info("Hold")
return "success"
def pid_pause(self):
self.is_paused = True
self.logger.info("Pause")
return "success"
def pid_resume(self):
self.is_activated = True
self.is_held = False
self.is_paused = False
self.logger.info("Resume")
return "success"
def set_setpoint(self, setpoint):
""" Set the setpoint of PID """
self.PID_Controller.setpoint = float(setpoint)
with session_scope(MYCODO_DB_PATH) as db_session:
mod_pid = db_session.query(PID).filter(
PID.unique_id == self.unique_id).first()
mod_pid.setpoint = setpoint
db_session.commit()
return "Setpoint set to {sp}".format(sp=setpoint)
def set_method(self, method_id):
""" Set the method of PID """
with session_scope(MYCODO_DB_PATH) as db_session:
mod_pid = db_session.query(PID).filter(
PID.unique_id == self.unique_id).first()
mod_pid.setpoint_tracking_id = method_id
if method_id == '':
self.setpoint_tracking_id = ''
db_session.commit()
else:
mod_pid.method_start_time = 'Ready'
mod_pid.method_end_time = None
db_session.commit()
self.setup_method(method_id)
return "Method set to {me}".format(me=method_id)
def set_integrator(self, integrator):
""" Set the integrator of the controller """
self.PID_Controller.integrator = float(integrator)
return "Integrator set to {i}".format(i=self.PID_Controller.integrator)
def set_derivator(self, derivator):
""" Set the derivator of the controller """
self.PID_Controller.derivator = float(derivator)
return "Derivator set to {d}".format(d=self.PID_Controller.derivator)
def set_kp(self, p):
""" Set Kp gain of the controller """
self.PID_Controller.Kp = float(p)
with session_scope(MYCODO_DB_PATH) as db_session:
mod_pid = db_session.query(PID).filter(
PID.unique_id == self.unique_id).first()
mod_pid.p = p
db_session.commit()
return "Kp set to {kp}".format(kp=self.PID_Controller.Kp)
def set_ki(self, i):
""" Set Ki gain of the controller """
self.PID_Controller.Ki = float(i)
with session_scope(MYCODO_DB_PATH) as db_session:
mod_pid = db_session.query(PID).filter(
PID.unique_id == self.unique_id).first()
mod_pid.i = i
db_session.commit()
return "Ki set to {ki}".format(ki=self.PID_Controller.Ki)
def set_kd(self, d):
""" Set Kd gain of the controller """
self.PID_Controller.Kd = float(d)
with session_scope(MYCODO_DB_PATH) as db_session:
mod_pid = db_session.query(PID).filter(
PID.unique_id == self.unique_id).first()
mod_pid.d = d
db_session.commit()
return "Kd set to {kd}".format(kd=self.PID_Controller.Kd)
def get_setpoint(self):
return self.PID_Controller.setpoint
def get_setpoint_band(self):
return self.PID_Controller.setpoint_band
def get_error(self):
return self.PID_Controller.error
def get_integrator(self):
return self.PID_Controller.integrator
def get_derivator(self):
return self.PID_Controller.derivator
def get_kp(self):
return self.PID_Controller.Kp
def get_ki(self):
return self.PID_Controller.Ki
def get_kd(self):
return self.PID_Controller.Kd
def stop_controller(self, ended_normally=True, deactivate_pid=False):
self.thread_shutdown_timer = timeit.default_timer()
self.running = False
# Unset method start time
if (self.setpoint_tracking_type == 'method' and
self.setpoint_tracking_id != '' and
ended_normally):
with session_scope(MYCODO_DB_PATH) as db_session:
mod_pid = db_session.query(PID).filter(
PID.unique_id == self.unique_id).first()
mod_pid.method_start_time = 'Ended'
mod_pid.method_end_time = None
db_session.commit()
# Deactivate PID and Autotune
if deactivate_pid:
with session_scope(MYCODO_DB_PATH) as db_session:
mod_pid = db_session.query(PID).filter(
PID.unique_id == self.unique_id).first()
mod_pid.is_activated = False
mod_pid.autotune_activated = False
db_session.commit()
def initialize_variables(self):
"""Set PID parameters"""
self.dict_outputs = parse_output_information()
self.sample_rate = db_retrieve_table_daemon(
Misc, entry='first').sample_rate_controller_pid
self.device_measurements = db_retrieve_table_daemon(DeviceMeasurements)
pid = db_retrieve_table_daemon(PID, unique_id=self.unique_id)
self.log_level_debug = pid.log_level_debug
self.set_log_level_debug(self.log_level_debug)
self.device_id = pid.measurement.split(',')[0]
self.measurement_id = pid.measurement.split(',')[1]
self.is_activated = pid.is_activated
self.is_held = pid.is_held
self.is_paused = pid.is_paused
self.setpoint_tracking_type = pid.setpoint_tracking_type
self.setpoint_tracking_id = pid.setpoint_tracking_id
self.setpoint_tracking_max_age = pid.setpoint_tracking_max_age
if pid.raise_output_id and "," in pid.raise_output_id:
self.raise_output_id = pid.raise_output_id.split(",")[0]
self.raise_output_channel_id = pid.raise_output_id.split(",")[1]
output_channel = db_retrieve_table_daemon(
OutputChannel, unique_id=self.raise_output_channel_id)
self.raise_output_channel = output_channel.channel
self.raise_output_type = pid.raise_output_type
self.raise_min_duration = pid.raise_min_duration
self.raise_max_duration = pid.raise_max_duration
self.raise_min_off_duration = pid.raise_min_off_duration
self.raise_always_min_pwm = pid.raise_always_min_pwm
if pid.lower_output_id and "," in pid.lower_output_id:
self.lower_output_id = pid.lower_output_id.split(",")[0]
self.lower_output_channel_id = pid.lower_output_id.split(",")[1]
output_channel = db_retrieve_table_daemon(
OutputChannel, unique_id=self.lower_output_channel_id)
self.lower_output_channel = output_channel.channel
self.lower_output_type = pid.lower_output_type
self.lower_min_duration = pid.lower_min_duration
self.lower_max_duration = pid.lower_max_duration
self.lower_min_off_duration = pid.lower_min_off_duration
self.lower_always_min_pwm = pid.lower_always_min_pwm
self.period = pid.period
self.start_offset = pid.start_offset
self.max_measure_age = pid.max_measure_age
self.send_lower_as_negative = pid.send_lower_as_negative
self.store_lower_as_negative = pid.store_lower_as_negative
self.timer = time.time() + self.start_offset
self.setpoint = pid.setpoint
# Initialize PID Controller
if self.PID_Controller is None:
self.PID_Controller = PIDControl(self.logger, pid.setpoint, pid.p,
pid.i, pid.d, pid.direction,
pid.band, pid.integrator_min,
pid.integrator_max)
else:
# Set PID options
self.PID_Controller.setpoint = pid.setpoint
self.PID_Controller.Kp = pid.p
self.PID_Controller.Ki = pid.i
self.PID_Controller.Kd = pid.d
self.PID_Controller.direction = pid.direction
self.PID_Controller.band = pid.band
self.PID_Controller.integrator_min = pid.integrator_min
self.PID_Controller.integrator_max = pid.integrator_max
self.PID_Controller.first_start = True
if self.setpoint_tracking_type == 'method' and self.setpoint_tracking_id != '':
self.setup_method(self.setpoint_tracking_id)
if self.is_paused:
self.logger.info("Starting Paused")
elif self.is_held:
self.logger.info("Starting Held")
self.logger.info("PID Settings: {}".format(self.pid_parameters_str()))
return "success"
def initialize_variables(self):
"""Set PID parameters"""
self.set_log_level_debug(self.log_level_debug)
self.dict_outputs = parse_output_information()
self.sample_rate = db_retrieve_table_daemon(
Misc, entry='first').sample_rate_controller_pid
self.device_measurements = db_retrieve_table_daemon(
DeviceMeasurements)
pid = db_retrieve_table_daemon(PID, unique_id=self.unique_id)
self.device_id = pid.measurement.split(',')[0]
self.measurement_id = pid.measurement.split(',')[1]
self.is_activated = pid.is_activated
self.is_held = pid.is_held
self.is_paused = pid.is_paused
self.log_level_debug = pid.log_level_debug
self.setpoint_tracking_type = pid.setpoint_tracking_type
self.setpoint_tracking_id = pid.setpoint_tracking_id
self.setpoint_tracking_max_age = pid.setpoint_tracking_max_age
self.raise_output_id = pid.raise_output_id
self.raise_output_type = pid.raise_output_type
self.raise_min_duration = pid.raise_min_duration
self.raise_max_duration = pid.raise_max_duration
self.raise_min_off_duration = pid.raise_min_off_duration
self.raise_always_min_pwm = pid.raise_always_min_pwm
self.lower_output_id = pid.lower_output_id
self.lower_output_type = pid.lower_output_type
self.lower_min_duration = pid.lower_min_duration
self.lower_max_duration = pid.lower_max_duration
self.lower_min_off_duration = pid.lower_min_off_duration
self.lower_always_min_pwm = pid.lower_always_min_pwm
self.period = pid.period
self.start_offset = pid.start_offset
self.max_measure_age = pid.max_measure_age
self.store_lower_as_negative = pid.store_lower_as_negative
self.timer = time.time() + self.start_offset
self.setpoint = pid.setpoint
# Initialize PID Controller
if self.PID_Controller is None:
self.PID_Controller = PIDControl(
self.logger, pid.setpoint, pid.p, pid.i, pid.d, pid.direction,
pid.band, pid.integrator_min, pid.integrator_max)
else:
# Set PID options
self.PID_Controller.setpoint = pid.setpoint
self.PID_Controller.Kp = pid.p
self.PID_Controller.Ki = pid.i
self.PID_Controller.Kd = pid.d
self.PID_Controller.direction = pid.direction
self.PID_Controller.band = pid.band
self.PID_Controller.integrator_min = pid.integrator_min
self.PID_Controller.integrator_max = pid.integrator_max
self.PID_Controller.first_start = True
# Autotune options
self.autotune_activated = pid.autotune_activated
self.autotune_noiseband = pid.autotune_noiseband
self.autotune_outstep = pid.autotune_outstep
# If activated, initialize PID Autotune
if self.autotune_activated:
self.autotune_timestamp = time.time()
try:
self.autotune = PIDAutotune(
self.PID_Controller.setpoint,
out_step=self.autotune_outstep,
sampletime=self.period,
out_min=0,
out_max=self.period,
noiseband=self.autotune_noiseband)
except Exception as msg:
self.logger.error(msg)
self.stop_controller(deactivate_pid=True)
if self.setpoint_tracking_type == 'method' and self.setpoint_tracking_id != '':
self.setup_method(self.setpoint_tracking_id)
if self.is_paused:
self.logger.info("Starting Paused")
elif self.is_held:
self.logger.info("Starting Held")
self.logger.info("PID Settings: {}".format(self.pid_parameters_str()))
return "success"
class PIDController(AbstractController, threading.Thread):
"""
Class to operate discrete PID controller in Mycodo
"""
def __init__(self, ready, unique_id):
threading.Thread.__init__(self)
super().__init__(ready, unique_id=unique_id, name=__name__)
self.unique_id = unique_id
self.sample_rate = None
self.dict_outputs = None
self.control = DaemonControl()
self.PID_Controller = None
self.setpoint = None
self.device_measurements = None
self.device_id = None
self.measurement_id = None
self.log_level_debug = None
self.last_time = None
self.last_measurement = None
self.last_measurement_success = False
self.is_activated = None
self.is_held = None
self.is_paused = None
self.measurement = None
self.setpoint_tracking_type = None
self.setpoint_tracking_id = None
self.setpoint_tracking_max_age = None
self.raise_output_id = None
self.raise_output_channel_id = None
self.raise_output_channel = None
self.raise_output_type = None
self.raise_min_duration = None
self.raise_max_duration = None
self.raise_min_off_duration = None
self.raise_always_min_pwm = None
self.lower_output_id = None
self.lower_output_channel_id = None
self.lower_output_channel = None
self.lower_output_type = None
self.lower_min_duration = None
self.lower_max_duration = None
self.lower_min_off_duration = None
self.lower_always_min_pwm = None
self.period = 0
self.start_offset = 0
self.max_measure_age = None
self.send_lower_as_negative = None
self.store_lower_as_negative = None
self.timer = 0
# Check if a method is set for this PID
self.method_type = None
self.method_start_time = None
self.method_end_time = None
def loop(self):
if time.time() > self.timer:
while time.time() > self.timer:
self.timer = self.timer + self.period
self.attempt_execute(self.check_pid)
def run_finally(self):
# Turn off output used in PID when the controller is deactivated
if self.raise_output_id and self.PID_Controller.direction in [
'raise', 'both'
]:
self.control.output_off(self.raise_output_id,
output_channel=self.raise_output_channel,
trigger_conditionals=True)
if self.lower_output_id and self.PID_Controller.direction in [
'lower', 'both'
]:
self.control.output_off(self.lower_output_id,
output_channel=self.lower_output_channel,
trigger_conditionals=True)
def initialize_variables(self):
"""Set PID parameters."""
self.dict_outputs = parse_output_information()
self.sample_rate = db_retrieve_table_daemon(
Misc, entry='first').sample_rate_controller_pid
self.device_measurements = db_retrieve_table_daemon(DeviceMeasurements)
pid = db_retrieve_table_daemon(PID, unique_id=self.unique_id)
self.log_level_debug = pid.log_level_debug
self.set_log_level_debug(self.log_level_debug)
self.device_id = pid.measurement.split(',')[0]
self.measurement_id = pid.measurement.split(',')[1]
self.is_activated = pid.is_activated
self.is_held = pid.is_held
self.is_paused = pid.is_paused
self.setpoint_tracking_type = pid.setpoint_tracking_type
self.setpoint_tracking_id = pid.setpoint_tracking_id
self.setpoint_tracking_max_age = pid.setpoint_tracking_max_age
if pid.raise_output_id and "," in pid.raise_output_id:
self.raise_output_id = pid.raise_output_id.split(",")[0]
self.raise_output_channel_id = pid.raise_output_id.split(",")[1]
output_channel = db_retrieve_table_daemon(
OutputChannel, unique_id=self.raise_output_channel_id)
self.raise_output_channel = output_channel.channel
self.raise_output_type = pid.raise_output_type
self.raise_min_duration = pid.raise_min_duration
self.raise_max_duration = pid.raise_max_duration
self.raise_min_off_duration = pid.raise_min_off_duration
self.raise_always_min_pwm = pid.raise_always_min_pwm
if pid.lower_output_id and "," in pid.lower_output_id:
self.lower_output_id = pid.lower_output_id.split(",")[0]
self.lower_output_channel_id = pid.lower_output_id.split(",")[1]
output_channel = db_retrieve_table_daemon(
OutputChannel, unique_id=self.lower_output_channel_id)
self.lower_output_channel = output_channel.channel
self.lower_output_type = pid.lower_output_type
self.lower_min_duration = pid.lower_min_duration
self.lower_max_duration = pid.lower_max_duration
self.lower_min_off_duration = pid.lower_min_off_duration
self.lower_always_min_pwm = pid.lower_always_min_pwm
self.period = pid.period
self.start_offset = pid.start_offset
self.max_measure_age = pid.max_measure_age
self.send_lower_as_negative = pid.send_lower_as_negative
self.store_lower_as_negative = pid.store_lower_as_negative
self.timer = time.time() + self.start_offset
self.setpoint = pid.setpoint
# Initialize PID Controller
if self.PID_Controller is None:
self.PID_Controller = PIDControl(self.logger, pid.setpoint, pid.p,
pid.i, pid.d, pid.direction,
pid.band, pid.integrator_min,
pid.integrator_max)
else:
# Set PID options
self.PID_Controller.setpoint = pid.setpoint
self.PID_Controller.Kp = pid.p
self.PID_Controller.Ki = pid.i
self.PID_Controller.Kd = pid.d
self.PID_Controller.direction = pid.direction
self.PID_Controller.band = pid.band
self.PID_Controller.integrator_min = pid.integrator_min
self.PID_Controller.integrator_max = pid.integrator_max
self.PID_Controller.first_start = True
if self.setpoint_tracking_type == 'method' and self.setpoint_tracking_id != '':
self.setup_method(self.setpoint_tracking_id)
if self.is_paused:
self.logger.info("Starting Paused")
elif self.is_held:
self.logger.info("Starting Held")
self.logger.info(f"PID Settings: {self.pid_parameters_str()}")
self.ready.set()
self.running = True
return "success"
def check_pid(self):
"""Get measurement and apply to PID controller."""
# If PID is active, retrieve measurement and update
# the control variable.
# A PID on hold will sustain the current output and
# not update the control variable.
if self.is_activated and (not self.is_paused or not self.is_held):
self.get_last_measurement_pid()
if self.last_measurement_success:
if self.setpoint_tracking_type == 'method' and self.setpoint_tracking_id != '':
# Update setpoint using a method
this_pid = db_retrieve_table_daemon(
PID, unique_id=self.unique_id)
now = datetime.datetime.now()
method = load_method_handler(self.setpoint_tracking_id,
self.logger)
new_setpoint, ended = method.calculate_setpoint(
now, this_pid.method_start_time)
self.logger.debug(
f"Method {self.setpoint_tracking_id} {method} {now} {this_pid.method_start_time}"
)
if ended:
# point in time is out of method range
with session_scope(MYCODO_DB_PATH) as db_session:
# Overwrite this_controller with committable connection
this_pid = db_session.query(PID).filter(
PID.unique_id == self.unique_id).first()
self.logger.debug("Ended")
# Duration method has ended, reset method_start_time locally and in DB
this_pid.method_start_time = None
this_pid.method_end_time = None
this_pid.is_activated = False
db_session.commit()
self.is_activated = False
self.stop_controller()
db_session.commit()
if new_setpoint is not None:
self.logger.debug(
f"New setpoint = {new_setpoint} {ended}")
self.PID_Controller.setpoint = new_setpoint
else:
self.logger.debug(
f"New setpoint = default {self.setpoint} {ended}")
self.PID_Controller.setpoint = self.setpoint
if self.setpoint_tracking_type == 'input-math' and self.setpoint_tracking_id != '':
# Update setpoint using an Input
device_id = self.setpoint_tracking_id.split(',')[0]
measurement_id = self.setpoint_tracking_id.split(',')[1]
measurement = get_measurement(measurement_id)
if not measurement:
return False, None
conversion = db_retrieve_table_daemon(
Conversion, unique_id=measurement.conversion_id)
channel, unit, measurement = return_measurement_info(
measurement, conversion)
last_measurement = read_influxdb_single(
device_id,
unit,
channel,
measure=measurement,
duration_sec=self.setpoint_tracking_max_age,
value='LAST')
if last_measurement[1] is not None:
self.PID_Controller.setpoint = last_measurement[1]
else:
self.logger.debug(
"Could not find measurement for Setpoint "
f"Tracking. Max Age of {self.setpoint_tracking_max_age} exceeded for measuring "
f"device ID {device_id} (measurement {measurement_id})"
)
self.PID_Controller.setpoint = None
# Calculate new control variable (output) from PID Controller
self.PID_Controller.update_pid_output(self.last_measurement)
self.write_pid_values() # Write variables to database
# Is PID in a state that allows manipulation of outputs
if (self.is_activated and self.PID_Controller.setpoint is not None
and (not self.is_paused or self.is_held)):
self.manipulate_output()
def setup_method(self, method_id):
"""Initialize method variables to start running a method."""
self.setpoint_tracking_id = ''
method = load_method_handler(method_id, self.logger)
this_controller = db_retrieve_table_daemon(PID,
unique_id=self.unique_id)
self.method_type = method.method_type
if parse_db_time(this_controller.method_start_time) is None:
self.method_start_time = datetime.datetime.now()
self.method_end_time = method.determine_end_time(
self.method_start_time)
self.logger.info(
f"Starting method {self.method_start_time} {self.method_end_time}"
)
with session_scope(MYCODO_DB_PATH) as db_session:
this_controller = db_session.query(PID)
this_controller = this_controller.filter(
PID.unique_id == self.unique_id).first()
this_controller.method_start_time = self.method_start_time
this_controller.method_end_time = self.method_end_time
db_session.commit()
else:
# already running, potentially the daemon has been restarted
self.method_start_time = this_controller.method_start_time
self.method_end_time = this_controller.method_end_time
self.setpoint_tracking_id = method_id
self.logger.debug(f"Method enabled: {self.setpoint_tracking_id}")
def stop_method(self):
self.method_start_time = None
self.method_end_time = None
with session_scope(MYCODO_DB_PATH) as db_session:
this_controller = db_session.query(PID)
this_controller = this_controller.filter(
PID.unique_id == self.unique_id).first()
this_controller.is_activated = False
this_controller.method_start_time = None
this_controller.method_end_time = None
db_session.commit()
self.stop_controller()
self.is_activated = False
self.logger.warning(
"Method has ended. "
"Activate the Trigger controller to start it again.")
def write_pid_values(self):
"""Write PID values to the measurement database"""
if self.PID_Controller.band:
setpoint_band_lower = self.PID_Controller.setpoint - self.PID_Controller.band
setpoint_band_upper = self.PID_Controller.setpoint + self.PID_Controller.band
else:
setpoint_band_lower = None
setpoint_band_upper = None
list_measurements = [
self.PID_Controller.setpoint, setpoint_band_lower,
setpoint_band_upper, self.PID_Controller.P_value,
self.PID_Controller.I_value, self.PID_Controller.D_value
]
measurement_dict = {}
measurements = self.device_measurements.filter(
DeviceMeasurements.device_id == self.unique_id).all()
for each_channel, each_measurement in enumerate(measurements):
if (each_measurement.channel not in measurement_dict
and each_measurement.channel < len(list_measurements)):
# If setpoint, get unit from PID measurement
if each_measurement.measurement_type == 'setpoint':
setpoint_pid = db_retrieve_table_daemon(
PID, unique_id=each_measurement.device_id)
if setpoint_pid and ',' in setpoint_pid.measurement:
pid_measurement = setpoint_pid.measurement.split(
',')[1]
setpoint_measurement = db_retrieve_table_daemon(
DeviceMeasurements, unique_id=pid_measurement)
if setpoint_measurement:
conversion = db_retrieve_table_daemon(
Conversion,
unique_id=setpoint_measurement.conversion_id)
_, unit, _ = return_measurement_info(
setpoint_measurement, conversion)
measurement_dict[each_channel] = {
'measurement': each_measurement.measurement,
'unit': unit,
'value': list_measurements[each_channel]
}
else:
measurement_dict[each_channel] = {
'measurement': each_measurement.measurement,
'unit': each_measurement.unit,
'value': list_measurements[each_channel]
}
add_measurements_influxdb(self.unique_id, measurement_dict)
def get_last_measurement_pid(self):
"""
Retrieve the latest input measurement from InfluxDB
:rtype: None
"""
self.last_measurement_success = False
# Get latest measurement from influxdb
try:
device_measurement = get_measurement(self.measurement_id)
if device_measurement:
conversion = db_retrieve_table_daemon(
Conversion, unique_id=device_measurement.conversion_id)
else:
conversion = None
channel, unit, measurement = return_measurement_info(
device_measurement, conversion)
self.last_measurement = read_influxdb_single(
self.device_id,
unit,
channel,
measure=measurement,
duration_sec=int(self.max_measure_age),
value='LAST')
if self.last_measurement:
self.last_time = self.last_measurement[0]
self.last_measurement = self.last_measurement[1]
utc_dt = datetime.datetime.strptime(
self.last_time.split(".")[0], '%Y-%m-%dT%H:%M:%S')
utc_timestamp = calendar.timegm(utc_dt.timetuple())
local_timestamp = str(
datetime.datetime.fromtimestamp(utc_timestamp))
self.logger.debug(
f"Latest (CH{channel}, Unit: {unit}): {self.last_measurement} @ {local_timestamp}"
)
if calendar.timegm(
time.gmtime()) - utc_timestamp > self.max_measure_age:
sec = calendar.timegm(time.gmtime()) - utc_timestamp
self.logger.error(
f"Last measurement was {sec} seconds ago, however the maximum "
f"measurement age is set to {self.max_measure_age} seconds."
)
self.last_measurement_success = True
else:
self.logger.warning("No data returned from influxdb")
except requests.ConnectionError:
self.logger.error(
"Failed to read measurement from the influxdb database: Could not connect."
)
except Exception:
self.logger.exception(
"Exception while reading measurement from the influxdb database"
)
def manipulate_output(self):
"""
Activate output based on PID control variable and whether
the manipulation directive is to raise, lower, or both.
:rtype: None
"""
# If the last measurement was able to be retrieved and was entered within the past minute
if self.last_measurement_success:
#
# PID control variable is positive, indicating a desire to raise
# the environmental condition
#
if self.PID_Controller.direction in ['raise', 'both'
] and self.raise_output_id:
if self.PID_Controller.control_variable > 0:
if self.raise_output_type == 'pwm':
raise_duty_cycle = self.control_var_to_duty_cycle(
self.PID_Controller.control_variable)
# Ensure the duty cycle doesn't exceed the min/max
if (self.raise_max_duration and
raise_duty_cycle > self.raise_max_duration):
raise_duty_cycle = self.raise_max_duration
elif (self.raise_min_duration
and raise_duty_cycle < self.raise_min_duration):
raise_duty_cycle = self.raise_min_duration
self.logger.debug(
f"Setpoint: {self.PID_Controller.setpoint}, "
f"Control Variable: {self.PID_Controller.control_variable}, "
f"Output: PWM output {self.raise_output_id} "
f"CH{self.raise_output_channel} to {raise_duty_cycle:.1f}%"
)
# Activate pwm with calculated duty cycle
self.control.output_on(
self.raise_output_id,
output_type='pwm',
amount=raise_duty_cycle,
output_channel=self.raise_output_channel)
self.write_pid_output_influxdb(
'percent', 'duty_cycle', 7,
self.control_var_to_duty_cycle(
self.PID_Controller.control_variable))
elif self.raise_output_type == 'on_off':
raise_seconds_on = self.PID_Controller.control_variable
# Ensure the output on duration doesn't exceed the set maximum
if (self.raise_max_duration and
raise_seconds_on > self.raise_max_duration):
raise_seconds_on = self.raise_max_duration
if raise_seconds_on >= self.raise_min_duration:
# Activate raise_output for a duration
self.logger.debug(
f"Setpoint: {self.PID_Controller.setpoint} "
f"Output: {self.PID_Controller.control_variable} sec to "
f"output {self.raise_output_id} CH{self.raise_output_channel}"
)
self.control.output_on(
self.raise_output_id,
output_type='sec',
amount=raise_seconds_on,
min_off=self.raise_min_off_duration,
output_channel=self.raise_output_channel)
self.write_pid_output_influxdb(
's', 'duration_time', 6,
self.PID_Controller.control_variable)
elif self.raise_output_type == 'value':
raise_value = self.PID_Controller.control_variable
# Ensure the duty cycle doesn't exceed the min/max
if (self.raise_max_duration
and raise_value > self.raise_max_duration):
raise_value = self.raise_max_duration
if raise_value >= self.raise_min_duration:
# Activate raise_output for a value
self.logger.debug(
f"Setpoint: {self.PID_Controller.setpoint} "
f"Output: {self.PID_Controller.control_variable} to "
f"output {self.raise_output_id} CH{self.raise_output_channel}"
)
self.control.output_on(
self.raise_output_id,
output_type='value',
amount=raise_value,
min_off=self.raise_min_off_duration,
output_channel=self.raise_output_channel)
self.write_pid_output_influxdb('none', 'unitless', 9,
raise_value)
elif self.raise_output_type == 'volume':
raise_volume = self.PID_Controller.control_variable
# Ensure the duty cycle doesn't exceed the min/max
if (self.raise_max_duration
and raise_volume > self.raise_max_duration):
raise_volume = self.raise_max_duration
if raise_volume >= self.raise_min_duration:
# Activate raise_output for a volume (ml)
self.logger.debug(
f"Setpoint: {self.PID_Controller.setpoint} "
f"Output: {self.PID_Controller.control_variable} ml to "
f"output {self.raise_output_id} CH{self.raise_output_channel}"
)
self.control.output_on(
self.raise_output_id,
output_type='vol',
amount=raise_volume,
min_off=self.raise_min_off_duration,
output_channel=self.raise_output_channel)
self.write_pid_output_influxdb(
'ml', 'volume', 8,
self.PID_Controller.control_variable)
elif self.raise_output_type == 'pwm' and not self.raise_always_min_pwm:
# Turn PWM Off if PWM Output and not instructed to always be at least min
self.control.output_on(
self.raise_output_id,
output_type='pwm',
amount=0,
output_channel=self.raise_output_channel)
#
# PID control variable is negative, indicating a desire to lower
# the environmental condition
#
if self.PID_Controller.direction in ['lower', 'both'
] and self.lower_output_id:
if self.PID_Controller.control_variable < 0:
if self.lower_output_type == 'pwm':
lower_duty_cycle = self.control_var_to_duty_cycle(
abs(self.PID_Controller.control_variable))
# Ensure the duty cycle doesn't exceed the min/max
if (self.lower_max_duration and
lower_duty_cycle > self.lower_max_duration):
lower_duty_cycle = self.lower_max_duration
elif (self.lower_min_duration
and lower_duty_cycle < self.lower_min_duration):
lower_duty_cycle = self.lower_min_duration
self.logger.debug(
f"Setpoint: {self.PID_Controller.setpoint}, "
f"Control Variable: {self.PID_Controller.control_variable}, "
f"Output: PWM output {self.lower_output_id} "
f"CH{self.lower_output_channel} to {lower_duty_cycle:.1f}%"
)
if self.store_lower_as_negative:
store_duty_cycle = -self.control_var_to_duty_cycle(
abs(self.PID_Controller.control_variable))
else:
store_duty_cycle = self.control_var_to_duty_cycle(
abs(self.PID_Controller.control_variable))
if self.send_lower_as_negative:
send_duty_cycle = -abs(lower_duty_cycle)
else:
send_duty_cycle = abs(lower_duty_cycle)
# Activate pwm with calculated duty cycle
self.control.output_on(
self.lower_output_id,
output_type='pwm',
amount=send_duty_cycle,
output_channel=self.lower_output_channel)
self.write_pid_output_influxdb('percent', 'duty_cycle',
7, store_duty_cycle)
elif self.lower_output_type == 'on_off':
lower_seconds_on = abs(
self.PID_Controller.control_variable)
# Ensure the output on duration doesn't exceed the set maximum
if (self.lower_max_duration and
lower_seconds_on > self.lower_max_duration):
lower_seconds_on = self.lower_max_duration
if self.store_lower_as_negative:
store_amount_on = -abs(
self.PID_Controller.control_variable)
else:
store_amount_on = abs(
self.PID_Controller.control_variable)
if self.send_lower_as_negative:
send_amount_on = -lower_seconds_on
else:
send_amount_on = lower_seconds_on
if lower_seconds_on >= self.lower_min_duration:
# Activate lower_output for a duration
self.logger.debug(
f"Setpoint: {self.PID_Controller.setpoint} "
f"Output: {self.PID_Controller.control_variable} sec to "
f"output {self.lower_output_id} CH{self.lower_output_channel}"
)
self.control.output_on(
self.lower_output_id,
output_type='sec',
amount=send_amount_on,
min_off=self.lower_min_off_duration,
output_channel=self.lower_output_channel)
self.write_pid_output_influxdb('s', 'duration_time', 6,
store_amount_on)
elif self.lower_output_type == 'value':
lower_value = abs(self.PID_Controller.control_variable)
# Ensure the output value doesn't exceed the set maximum
if (self.lower_max_duration
and lower_value > self.lower_max_duration):
lower_value = self.lower_max_duration
if self.store_lower_as_negative:
store_value = -abs(
self.PID_Controller.control_variable)
else:
store_value = abs(
self.PID_Controller.control_variable)
if self.send_lower_as_negative:
send_value = -lower_value
else:
send_value = lower_value
if lower_value >= self.lower_min_duration:
# Activate lower_output for a value
self.logger.debug(
f"Setpoint: {self.PID_Controller.setpoint} "
f"Output: {self.PID_Controller.control_variable} to "
f"output {self.lower_output_id} CH{self.lower_output_channel}"
)
self.control.output_on(
self.lower_output_id,
output_type='value',
amount=send_value,
min_off=self.lower_min_off_duration,
output_channel=self.lower_output_channel)
self.write_pid_output_influxdb('none', 'unitless', 9,
store_value)
elif self.lower_output_type == 'volume':
lower_volume = abs(
self.PID_Controller.control_variable)
# Ensure the output volume doesn't exceed the set maximum
if (self.lower_max_duration
and lower_volume > self.lower_max_duration):
lower_volume = self.lower_max_duration
if self.store_lower_as_negative:
store_volume = -abs(
self.PID_Controller.control_variable)
else:
store_volume = abs(
self.PID_Controller.control_variable)
if self.send_lower_as_negative:
send_volume = -lower_volume
else:
send_volume = lower_volume
if lower_volume >= self.lower_min_duration:
# Activate lower_output for a volume (ml)
self.logger.debug(
f"Setpoint: {self.PID_Controller.setpoint} "
f"Output: {self.PID_Controller.control_variable} ml to "
f"output {self.lower_output_id} CH{self.lower_output_channel}"
)
self.control.output_on(
self.lower_output_id,
output_type='vol',
amount=send_volume,
min_off=self.lower_min_off_duration,
output_channel=self.lower_output_channel)
self.write_pid_output_influxdb('ml', 'volume', 8,
store_volume)
elif self.lower_output_type == 'pwm' and not self.lower_always_min_pwm:
# Turn PWM Off if PWM Output and not instructed to always be at least min
self.control.output_on(
self.lower_output_id,
output_type='pwm',
amount=0,
output_channel=self.lower_output_channel)
else:
self.logger.debug(
"Last measurement unsuccessful. Turning outputs off.")
if self.PID_Controller.direction in ['raise', 'both'
] and self.raise_output_id:
self.control.output_off(
self.raise_output_id,
output_channel=self.raise_output_channel)
if self.PID_Controller.direction in ['lower', 'both'
] and self.lower_output_id:
self.control.output_off(
self.lower_output_id,
output_channel=self.lower_output_channel)
def pid_parameters_str(self):
return f"Device ID: {self.device_id}, " \
f"Measurement ID: {self.measurement_id}, " \
f"Direction: {self.PID_Controller.direction}, " \
f"Period: {self.period}, " \
f"Setpoint: {self.PID_Controller.setpoint}, " \
f"Band: {self.PID_Controller.band}, " \
f"Kp: {self.PID_Controller.Kp}, " \
f"Ki: {self.PID_Controller.Ki}, " \
f"Kd: {self.PID_Controller.Kd}, " \
f"Integrator Min: {self.PID_Controller.integrator_min}, " \
f"Integrator Max {self.PID_Controller.integrator_max}, " \
f"Output Raise: {self.raise_output_id}, " \
f"Output Raise Channel: {self.raise_output_channel}, " \
f"Output Raise Type: {self.raise_output_type}, " \
f"Output Raise Min On: {self.raise_min_duration}, " \
f"Output Raise Max On: {self.raise_max_duration}, " \
f"Output Raise Min Off: {self.raise_min_off_duration}, " \
f"Output Raise Always Min: {self.raise_always_min_pwm}, " \
f"Output Lower: {self.lower_output_id}, " \
f"Output Lower Channel: {self.lower_output_channel}, " \
f"Output Lower Type: {self.lower_output_type}, " \
f"Output Lower Min On: {self.lower_min_duration}, " \
f"Output Lower Max On: {self.lower_max_duration}, " \
f"Output Lower Min Off: {self.lower_min_off_duration}, " \
f"Output Lower Always Min: {self.lower_always_min_pwm}, " \
f"Setpoint Tracking Type: {self.setpoint_tracking_type}, " \
f"Setpoint Tracking ID: {self.setpoint_tracking_id}"
def control_var_to_duty_cycle(self, control_variable):
# Convert control variable to duty cycle
if control_variable > self.period:
return 100.0
else:
return float((control_variable / self.period) * 100)
@staticmethod
def return_output_channel(output_channel_id):
output_channel = db_retrieve_table_daemon(OutputChannel,
unique_id=output_channel_id)
if output_channel and output_channel.channel is not None:
return output_channel.channel
def write_pid_output_influxdb(self, unit, measurement, channel, value):
write_pid_out_db = threading.Thread(target=write_influxdb_value,
args=(
self.unique_id,
unit,
value,
),
kwargs={
'measure': measurement,
'channel': channel
})
write_pid_out_db.start()
def pid_mod(self):
if self.initialize_variables():
return "success"
else:
return "error"
def pid_hold(self):
self.is_held = True
with session_scope(MYCODO_DB_PATH) as db_session:
mod_pid = db_session.query(PID).filter(
PID.unique_id == self.unique_id).first()
mod_pid.is_held = True
db_session.commit()
self.logger.info("PID Held")
return "success"
def pid_pause(self):
self.is_paused = True
with session_scope(MYCODO_DB_PATH) as db_session:
mod_pid = db_session.query(PID).filter(
PID.unique_id == self.unique_id).first()
mod_pid.is_paused = True
db_session.commit()
self.logger.info("PID Paused")
return "success"
def pid_resume(self):
self.is_activated = True
self.is_held = False
self.is_paused = False
with session_scope(MYCODO_DB_PATH) as db_session:
mod_pid = db_session.query(PID).filter(
PID.unique_id == self.unique_id).first()
mod_pid.is_activated = True
mod_pid.is_held = False
mod_pid.is_paused = False
db_session.commit()
self.logger.info("PID Resumed")
return "success"
def set_setpoint(self, setpoint):
"""Set the setpoint of PID."""
self.PID_Controller.setpoint = float(setpoint)
with session_scope(MYCODO_DB_PATH) as db_session:
mod_pid = db_session.query(PID).filter(
PID.unique_id == self.unique_id).first()
mod_pid.setpoint = setpoint
db_session.commit()
return f"Setpoint set to {setpoint}"
def set_method(self, method_id):
"""Set the method of PID."""
with session_scope(MYCODO_DB_PATH) as db_session:
mod_pid = db_session.query(PID).filter(
PID.unique_id == self.unique_id).first()
mod_pid.setpoint_tracking_id = method_id
if method_id == '':
self.setpoint_tracking_id = ''
db_session.commit()
else:
mod_pid.method_start_time = None
mod_pid.method_end_time = None
db_session.commit()
self.setup_method(method_id)
return f"Method set to {method_id}"
def set_integrator(self, integrator):
"""Set the integrator of the controller."""
self.PID_Controller.integrator = float(integrator)
return f"Integrator set to {self.PID_Controller.integrator}"
def set_derivator(self, derivator):
"""Set the derivator of the controller."""
self.PID_Controller.derivator = float(derivator)
return f"Derivator set to {self.PID_Controller.derivator}"
def set_kp(self, p):
"""Set Kp gain of the controller."""
self.PID_Controller.Kp = float(p)
with session_scope(MYCODO_DB_PATH) as db_session:
mod_pid = db_session.query(PID).filter(
PID.unique_id == self.unique_id).first()
mod_pid.p = p
db_session.commit()
return f"Kp set to {self.PID_Controller.Kp}"
def set_ki(self, i):
"""Set Ki gain of the controller."""
self.PID_Controller.Ki = float(i)
with session_scope(MYCODO_DB_PATH) as db_session:
mod_pid = db_session.query(PID).filter(
PID.unique_id == self.unique_id).first()
mod_pid.i = i
db_session.commit()
return f"Ki set to {self.PID_Controller.Ki}"
def set_kd(self, d):
"""Set Kd gain of the controller."""
self.PID_Controller.Kd = float(d)
with session_scope(MYCODO_DB_PATH) as db_session:
mod_pid = db_session.query(PID).filter(
PID.unique_id == self.unique_id).first()
mod_pid.d = d
db_session.commit()
return f"Kd set to {self.PID_Controller.Kd}"
def get_setpoint(self):
return self.PID_Controller.setpoint
def get_setpoint_band(self):
return self.PID_Controller.setpoint_band
def get_error(self):
return self.PID_Controller.error
def get_integrator(self):
return self.PID_Controller.integrator
def get_derivator(self):
return self.PID_Controller.derivator
def get_kp(self):
return self.PID_Controller.Kp
def get_ki(self):
return self.PID_Controller.Ki
def get_kd(self):
return self.PID_Controller.Kd
def function_status(self):
total = self.PID_Controller.P_value + self.PID_Controller.I_value + self.PID_Controller.D_value
return_dict = {
'string_status':
"This info is being returned from the PID Controller."
f"\nCurrent time: {datetime.datetime.now()}"
f"\nControl Variable: {total:.4f} = "
f"{self.PID_Controller.P_value:.4f} (P), "
f"{self.PID_Controller.I_value:.4f} (I), "
f"{self.PID_Controller.D_value:.4f} (D)",
'error': []
}
return return_dict
def stop_controller(self, ended_normally=True, deactivate_pid=False):
self.thread_shutdown_timer = timeit.default_timer()
self.running = False
# Unset method start time
if (self.setpoint_tracking_type == 'method'
and self.setpoint_tracking_id != '' and ended_normally):
with session_scope(MYCODO_DB_PATH) as db_session:
mod_pid = db_session.query(PID).filter(
PID.unique_id == self.unique_id).first()
mod_pid.method_start_time = None
mod_pid.method_end_time = None
db_session.commit()
# Deactivate PID and Autotune
if deactivate_pid:
with session_scope(MYCODO_DB_PATH) as db_session:
mod_pid = db_session.query(PID).filter(
PID.unique_id == self.unique_id).first()
mod_pid.is_activated = False
mod_pid.autotune_activated = False
db_session.commit()
