Manual merge of main's PID / SlowPWM

aquaPi/machineroom/__init__.py

@@ -8,7 +8,7 @@
 from .msg_bus import MsgBus
 from .ctrl_nodes import MinimumCtrl, MaximumCtrl, PidCtrl, SunCtrl, FadeCtrl
 from .in_nodes import AnalogInput, ScheduleInput
-from .out_nodes import SwitchDevice, AnalogDevice
+from .out_nodes import SwitchDevice, SlowPwmDevice, AnalogDevice
 from .aux_nodes import ScaleAux, MinAux, MaxAux, AvgAux
 from .hist_nodes import History
 from .alert_nodes import Alert, AlertAbove, AlertBelow
@@ -127,10 +127,14 @@ def create_default_nodes(self) -> None:
 
             # single water temp sensor, switched relay
             wasser_i = AnalogInput('Wasser', 'DS1820 xA2E9C', 25.0, '°C',
-                                   avg=1, interval=30)
-            wasser = MinimumCtrl('Temperatur', wasser_i.id, 25.0)
-            wasser_o = SwitchDevice('Heizstab', wasser.id,
-                                    'GPIO 12 out', inverted=True)
+                                   avg=1, interval=180)
+            #wasser = MinimumCtrl('Temperatur', wasser_i.id, 25.0)
+            #wasser_o = SwitchDevice('Heizstab', wasser.id,
+            #                        'GPIO 12 out', inverted=True)
+            wasser = PidCtrl('PID Temperatur', wasser_i.id, 25.0,
+                             p_fact=1.5, i_fact=0.1, d_fact=0.)
+            wasser_o = SlowPwmDevice('Heizstab', wasser.id,
+                                     'GPIO 12 out', inverted=True, cycle=90)
             wasser_i.plugin(self.bus)
             wasser.plugin(self.bus)
             wasser_o.plugin(self.bus)
@@ -241,16 +245,19 @@ def create_default_nodes(self) -> None:
         if SIM_TEMP:
             if not COMPLEX_TEMP:
                 # single temp sensor -> temp ctrl -> relay
-                wasser_i = AnalogInput('Wasser', 'DS1820 xA2E9C', 25.0, '°C')
-                #wasser = MinimumCtrl('Temperatur', wasser_i.id, 25.0)
-                wasser_pid = PidCtrl('Temperatur', wasser_i.id, 25.0)
-                wasser_o = SwitchDevice('Heizstab', wasser_pid.id, 'GPIO 12 out')
-                wasser_pid.plugin(self.bus)
+                wasser_i = AnalogInput('Wasser', 'DS1820 xA2E9C', 25.0, '°C', interval=61)
+                #wasser = MinimumCtrl('Temperaturregler', wasser_i.id, 25.0)
+                #wasser_o = SwitchDevice('Heizstab', wasser_pid.id, 'GPIO 12 out')
+                wasser = PidCtrl('Temperaturregler', wasser_i.id, 25.0,
+                                 p_fact=1.5, i_fact=0.1, d_fact=0.)
+                wasser_o = SlowPwmDevice('Heizstab', wasser.id,
+                                        'GPIO 12 out', inverted=True, cycle=20)
+                wasser.plugin(self.bus)
                 wasser_o.plugin(self.bus)
                 wasser_i.plugin(self.bus)
 
                 t_history = History('Temperaturen',
-                                    [wasser_i.id, wasser_pid.id, wasser_o.id])
+                                    [wasser_i.id, wasser.id, wasser_o.id])
                 t_history.plugin(self.bus)
 
             else:

aquaPi/machineroom/alert_nodes.py

@@ -1,8 +1,8 @@
 #!/usr/bin/env python3
 
+from abc import ABC, abstractmethod
 import logging
 from typing import Any
-from abc import ABC, abstractmethod
 
 from .msg_types import (Msg, MsgPayload, MsgData)
 from .msg_bus import (BusListener, BusRole, DataRange)

aquaPi/machineroom/aux_nodes.py

@@ -1,8 +1,8 @@
 #!/usr/bin/env python3
 
+from abc import ABC
 import logging
 from typing import (Iterable, Any)
-from abc import ABC
 
 from .msg_types import (Msg, MsgData)
 from .msg_bus import (BusListener, BusRole, DataRange)

aquaPi/machineroom/ctrl_nodes.py

@@ -1,8 +1,8 @@
 #!/usr/bin/env python3
 
+from abc import ABC
 import logging
 from typing import Any
-from abc import ABC
 import time
 import math
 import random
@@ -218,102 +218,75 @@ class PidCtrl(ControllerNode):
             receives   - id of a single (!) input to receive measurements from
             setpoint   - the target value
             p_fact/i_fact,d_fact - the PID factors
-            sample     - the ratio of sensor reads to 1 PID output
 
         Output:
             posts a series of PWM pulses
     """
     data_range = DataRange.PERCENT
-    #data_range = DataRange.BINARY
 
     def __init__(self, name: str, receives: str, setpoint: float,
-                 p_fact: float = 1.0, i_fact: float = .1, d_fact: float = 0.1,
-                 sample: int = 10,
+                 p_fact: float = 1.0, i_fact: float = 0.05, d_fact: float = 0.,
                  _cont: bool = False):
         super().__init__(name, receives, _cont=_cont)
         self.setpoint: float = setpoint
         self.p_fact: float = p_fact
         self.i_fact: float = i_fact
         self.d_fact: float = d_fact
-        self.sample: int = sample
         self._err_sum: float = 0
-        self._err_pre: float = 0
-        self._ta_pre: float = 0
-        self._t_pre: float = 0
-        self._cnt: int = 0
+        self._err_old: float = 0
+        self._tm_old: float = 0
+        self.data: float = 0.
 
     def __getstate__(self) -> dict[str, Any]:
         state = super().__getstate__()
         state.update(setpoint=self.setpoint)
         state.update(p_fact=self.p_fact)
         state.update(i_fact=self.i_fact)
         state.update(d_fact=self.d_fact)
-        state.update(sample=self.sample)
         return state
 
     def __setstate__(self, state: dict[str, Any]) -> None:
         log.debug('__SETstate__ %r', state)
         self.data = state['data']
         PidCtrl.__init__(self, state['name'], state['receives'], state['setpoint'],
                          p_fact=state['p_fact'], i_fact=state['i_fact'], d_fact=state['d_fact'],
-                         sample=state['sample'],
                          _cont=True)
 
-    def _pulse(self, dur: float, perc: float):
-        log.info('  PID ON: %d %% -> %f s', perc, round(dur * perc / 100, 1))
-        if perc:
-            self.post(MsgData(self.id, 100))
-            time.sleep(dur * perc / 100)
-        log.info('  PID off')
-        if perc < 100:
-            self.post(MsgData(self.id, 0))
-        return
-
-    def listen(self, msg: Msg) -> bool:
+    def listen(self, msg):
         if isinstance(msg, MsgData):
             log.debug('PID got %s', msg)
             now = time.time()
-            ta = now - self._t_pre
+            ta = now - self._tm_old
             err = float(msg.data) - self.setpoint
-            if self._ta_pre:
-                err_sum = self._err_sum + err
-                val = self.p_fact * err \
-                    + self.i_fact * ta * err_sum \
-                    + self.d_fact / ta * (err - self._err_pre)
-
-                log.debug('PID err %f, e-sum %f, p %f / i %f / d %f, ',
+            if self._tm_old >= 1.:
+                self._err_sum = self._err_sum / 1 + err
+                p_dev = self.p_fact * err
+                i_dev = self.i_fact * ta * self._err_sum  / 100 #??
+                d_dev = self.d_fact / ta * (err - self._err_old)
+                val = p_dev + i_dev + d_dev
+
+                log.warning('PID err %f, e-sum %f | P %+.1f%% / I %+.1f%% / D %+.1f %%, ',
                           err, self._err_sum,
-                          self.p_fact * err,
-                          self.i_fact * ta * err_sum,
-                          self.d_fact / ta * (err - self._err_pre))
-                self.data = min(max(0., 50. - val*10), 100.)
-                if self.data > 0.0 and self.data < 100.:
-                    self._err_sum = err_sum
-                else:
-                    log.debug('clipped')
-
-                self._cnt += 1
-                if self._cnt % self.sample == 0:
-                    log.info('PID -> %f (%f)', self.data, val)
-                    if self.data_range == DataRange.PERCENT:
-                        self.post(MsgData(self.id, round(self.data, 4)))
-                        #self.post(MsgData(self.id, 100 if self.data >= 50 else 0))
-                    else:
-                        Thread(name='PIDpulse', target=self._pulse, args=[9 * ta, self.data], daemon=True).start()
-            self._err_pre = err
-            self._ta_pre = ta
-            self._t_pre = now
+                          100 * p_dev, 100 * i_dev, 100 * d_dev)
+                self.data = min(max(0., 50. - val*100.), 100.)
+                log.brief('PID -> %f (%+.1f)', self.data, -val * 100)
+                self.post(MsgData(self.id, round(self.data, 4)))
+
+                if self.data <= 0. or self.data >= 100.:
+                    self._err_sum /= 2
+            self._err_old = err
+            self._ta_old = ta
+            self._tm_old = now
 
         return super().listen(msg)
 
     def get_settings(self) -> list[tuple]:
         settings = super().get_settings()
         settings.append(('setpoint', 'Sollwert [%s]' % self.unit,
-                         self.setpoint, 'type="number"'))
-        settings.append(('p_fact', 'P Faktor', self.p_fact, 'type="number" min="0" max="10" step="0.1"'))
-        settings.append(('i_fact', 'I Faktor', self.i_fact, 'type="number" min="0" max="10" step="0.1"'))
-        settings.append(('d_fact', 'D Faktor', self.d_fact, 'type="number" min="0" max="10" step="0.1"'))
-        settings.append(('sample', 'Samples', self.sample, 'type="number" min="1" max="25" step="1"'))
+                         self.setpoint, 'type="number" step="0.1"'))
+        settings.append(('p_fact', 'P Faktor', self.p_fact, 'type="number" min="-10" max="10" step="0.1"'))
+        settings.append(('i_fact', 'I Faktor', self.i_fact, 'type="number" min="-10" max="10" step="0.01"'))
+        settings.append(('d_fact', 'D Faktor', self.d_fact, 'type="number" min="-10" max="10" step="0.1"'))
         return settings
 
 

aquaPi/machineroom/hist_nodes.py

@@ -1,8 +1,8 @@
 #!/usr/bin/env python3
 
+from abc import (ABC, abstractmethod)
 import logging
 from typing import Any
-from abc import (ABC, abstractmethod)
 import os
 import sys
 import platform
@@ -404,7 +404,8 @@ def __setstate__(self, state: dict[str, Any]) -> None:
 
     def listen(self, msg) -> bool:
         if isinstance(msg, MsgData):
-            self.db.feed(msg.sender, msg.data)
+            if self.db:
+                self.db.feed(msg.sender, msg.data)
             if time() >= self._nextrefresh:
                 self.post(MsgData(self.id, 0))
                 self._nextrefresh = int(time()) + 10

aquaPi/machineroom/in_nodes.py

@@ -1,8 +1,8 @@
 #!/usr/bin/env python3
 
+from abc import ABC
 import logging
 from typing import Any
-from abc import ABC
 import time
 from datetime import datetime
 from croniter import croniter
@@ -107,7 +107,7 @@ def get_settings(self) -> list[tuple]:
         settings.append(('port', 'Input',
                          self.port, 'type="text"'))
         settings.append(('interval', 'Leseintervall [s]',
-                         self.interval, 'type="number" min="0.1" max="60" step="0.1"'))
+                         self.interval, 'type="number" min="1" max="600" step="1"'))
         return settings
 
 

aquaPi/machineroom/msg_bus.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 
-import logging
 from abc import (ABC, abstractmethod)
+import logging
 import time
 from queue import Queue
 from enum import (Enum, Flag, auto)
@@ -73,7 +73,7 @@ def __getstate__(self) -> dict[str, Any]:
         state = {'name': self.name}
         state.update(id=self.id)
         state.update(identifier=self.identifier)
-        state.update(receives=self.receives)
+        state.update(receives=self.receives)  #FIXME: "No overload var. of "update" of "MutableMapping" matches list[str]"
         state.update(data=self.data)
         state.update(unit=self.unit)
         state.update(data_range=self.data_range.name)

aquaPi/machineroom/msg_types.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 
-import logging
 from abc import ABC
+import logging
 from typing import Any