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multithreadPIDPump.py
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multithreadPIDPump.py
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import os
import glob
import time
import threading
import readMaxim
import readHSR
import SSRControl
from RPi import GPIO
#for data input
import sys
from select import select
class TaskControlPID(threading.Thread):
#default target temp is 118C
def __init__(self, taskid = 0, dataPump = None, pTarget = 11.0):
threading.Thread.__init__(self)
self.lok = threading.Lock()
self.taskid = taskid
self._stopevent = threading.Event( )
self.dataPump = dataPump
self.currentDrive = 0
#init regulator values
# self.m_timeStep = 0.05
self.m_timeStep = 1
self.m_targetPressure = pTarget
self.m_latestPressure = 9.0
self.m_latestPower = 0.0
self.m_latestPower2 = 0.0
#init PID values
self.m_PIDBASE = 25
self.m_pGain = 0.5 #20.0 #100.0 #0.6
self.m_iGain = 0.0 #1.0
self.m_iState = 0.0
self.m_iMin = -self.m_PIDBASE
self.m_iMax = self.m_PIDBASE
self.m_dGain = 0.0#30.0 #1.0
self.m_dState = 0.0
#rythmes hauts et bas
def rythmeHaut(self):
self.m_timeStep = 0.1
def rythmeBas(self):
self.m_timeStep = 1
#based on James Ward's PID algorithm
def pid_update(self,error = 0.0, position = 0.0, pt= 0):
if( pt == 0):
# calculate proportional term
pTerm = self.m_pGain * error
else:
#Add Proportional on Measurement, for P_ON_M algorithm
pTerm = -(self.m_pGain * (position - self.m_latestPressure));
if(pTerm > self.m_iMax ):
pTerm = self.m_iMax
if(pTerm < self.m_iMin ):
pTerm = self.m_iMin
# calculate integral state with appropriate limiting
self.m_iState += error
if ( self.m_iState > self.m_iMax ):
self.m_iState = self.m_iMax
if ( self.m_iState < self.m_iMin ):
self.m_iState = self.m_iMin
#calculate integral term
iTerm = self.m_iGain * self.m_iState
#calculate derivative term
dTerm = self.m_dGain * (self.m_dState - position)
self.m_dState = position
return pTerm + dTerm + iTerm
def run(self):
print "Thread PID no", self.taskid, "is readry!\n > PID pump power!"
drive = 0.0
lastdrive = 0.0
#based on James Ward's PID algorithm
while not self._stopevent.isSet():
#get user entry
# rlist, _, _ = select([sys.stdin], [], [], 0.005)
rlist = 0
if rlist:
cP=cI=cD=0.0
s = sys.stdin.readline()
try:
sP,sI,sD = s.split(" ")
cP=float(sP)
cI=float(sI)
cD=float(sD)
except ValueError:
print "Error conversion, NaN"
# print "Entered:",s," cP=",cP," cI=",cI," cD=",cD
# print "***********************************************************"
# print "oldP=",self.m_pGain,"oldI=",self.m_iGain,"oldD=",self.m_dGain
# print "newcP=",cP," cI=",cI," cD=",cD
# print "***********************************************************"
self.m_pGain = cP
self.m_iGain = cI
self.m_dGain = cD
#PID computation
#timestamp
next = time.time()
#get current pressure
latestPressure = self.dataPump.getRange()
#controle de la pompe
lastdrive = drive
#calculate next time step
next += self.m_timeStep
#get current target pressure
cTargetPressure = self.getTargetPressure()
#calculate PID update
drive = self.pid_update( cTargetPressure - latestPressure, latestPressure, 0)
#clamp the output power to sensible range
if ( drive > self.m_PIDBASE ):
drive = self.m_PIDBASE
if ( drive < -self.m_PIDBASE ):
drive = -self.m_PIDBASE
#update the pump power (with PWM) if last state changed
if ( 1 ):#drive != lastdrive ):
drv = self.m_latestPower + drive
# drv = 50 + drive
if(drv < 50):
drv = 50
if(drv > 100):
drv = 100
#reduce pump power at lower pressures when going up
if((cTargetPressure < 11) and (cTargetPressure > latestPressure)):
if(cTargetPressure == 10):
maxdrive=50+25
if(cTargetPressure == 9):
maxdrive=50+22
if(cTargetPressure == 8):
maxdrive=50+19
if(cTargetPressure < 8):
maxdrive= 50+(cTargetPressure+(cTargetPressure+1))
#SANS CAFE
#target=4 max=7
#target=5 max=8
#target=6 max=9
#target=7 max=10
#target=8 max=12
#target=9 max=15
#target=10 max=20
if(drv > maxdrive):
drv = maxdrive
print "Bar/",latestPressure,"/Target/",cTargetPressure,"/Real drv% to SSR/",drv,"/raw drive/",drive
#SSRControl.setPumpPWM( 50 + (drv/2) )
#moyenne
#drv = (drv + self.m_latestPower + self.m_latestPower2)/3
self.setCurrentDrive( drv )
if(self.m_latestPower != drv):
SSRControl.setPumpPWM( drv )
self.m_latestPower2 = self.m_latestPower
self.m_latestPower = drv
#wait the remaining time (typically, slot = 1 second)
remain = next - time.time()
if ( remain > 0.0 ):
# print "sleeping ", remain
self._stopevent.wait(remain)
def stop(self):
print "stopping thread no", self.taskid
self._stopevent.set( )
def getTargetPressure(self):
#protect concurrent access with mutex
self.lok.acquire()
tt = self.m_targetPressure
self.lok.release()
return tt
def setTargetPressure(self,press=9):
#protect concurrent access with mutex
self.lok.acquire()
self.m_targetPressure = press
self.lok.release()
def getCurrentDrive(self):
#protect concurrent access with mutex
self.lok.acquire()
tt = self.currentDrive
self.lok.release()
return tt
def setCurrentDrive(self,drive=0):
#protect concurrent access with mutex
self.lok.acquire()
self.currentDrive = drive
self.lok.release()