a fun detour: experimental PID controller

- FIX: History inputs should be lists, to make their order in graphs
  prediuctable. Sets can be used with unpredictable order though.

- To allow a PID controller, all nodes now post unchanged results too.
  This may become the recommended behaviour.

- PidCtrl can now be used instead of MinimumCtrl. It can produce analog
  output for PWM or a 50% threshold switching in Binary devices, or it
  can be changed to produce slow PWM output of 0/100, if its set to
  DataRange.BINARY.

aquaPi/machineroom/__init__.py

@@ -6,7 +6,7 @@
 import atexit
 
 from .msg_bus import MsgBus
-from .ctrl_nodes import MinimumCtrl, MaximumCtrl, SunCtrl, FadeCtrl
+from .ctrl_nodes import MinimumCtrl, MaximumCtrl, PidCtrl, SunCtrl, FadeCtrl
 from .in_nodes import AnalogInput, ScheduleInput
 from .out_nodes import SwitchDevice, AnalogDevice
 from .aux_nodes import ScaleAux, MinAux, MaxAux, AvgAux
@@ -97,10 +97,10 @@ def create_default_nodes(self) -> None:
         #REAL_CONFIG = False
 
         TEST_ALERT = False  # True
-        TEST_PH = True
+        TEST_PH = False  # True
         SIM_LIGHT = False  # True
         DAWN_LIGHT = SIM_LIGHT and False  # True
-        SIM_TEMP = False  # True
+        SIM_TEMP = True
         COMPLEX_TEMP = SIM_TEMP and False
 
         if REAL_CONFIG:
@@ -122,7 +122,7 @@ def create_default_nodes(self) -> None:
 
             # ... and history for a diagram
             history = History('Beleuchtung',
-                              {light_schedule.id, light_c.id})  # , light_pwm.id])
+                              [light_schedule.id, light_c.id])  # , light_pwm.id])
             history.plugin(self.bus)
 
             # single water temp sensor, switched relay
@@ -150,9 +150,9 @@ def create_default_nodes(self) -> None:
 
             # ... and history for a diagram
             t_history = History('Temperaturen',
-                                {wasser_i.id, wasser_i2.id,
+                                [wasser_i.id, wasser_i2.id,
                                  wasser.id,  # wasser_o.id,
-                                 coolspeed.id})  # , cool.id])
+                                 coolspeed.id])  # , cool.id])
             t_history.plugin(self.bus)
 
             adc_ph = AnalogInput('pH Sonde', 'ADC #1 in 3', 2.49, 'V',
@@ -181,25 +181,26 @@ def create_default_nodes(self) -> None:
 
             # ... and history for a diagram
             ph_history = History('pH Verlauf',
-                                 {adc_ph.id, calib_ph.id, ph.id})  # , out_ph.id])
+                                 [adc_ph.id, calib_ph.id, ph.id])  # , out_ph.id])
             ph_history.plugin(self.bus)
 
             return
 
         if TEST_PH:
             adc_ph = AnalogInput('pH Sonde', 'ADC #1 in 3', 2.49, 'V',
-                                 avg=1, interval=30)
+                                 avg=1, interval=10)
             calib_ph = ScaleAux('pH Kalibrierung', adc_ph.id, 'pH',
                                 limit=(4.0, 10.0),
                                 points=[(2.99, 4.0), (2.51, 6.9)])
             ph = MaximumCtrl('pH', calib_ph.id, 7.0)
+            #ph = PidCtrl('pH', calib_ph.id, 7.0)
             out_ph = SwitchDevice('CO2 Ventil', ph.id, 'GPIO 20 out')
             out_ph.plugin(self.bus)
             ph.plugin(self.bus)
             calib_ph.plugin(self.bus)
             adc_ph.plugin(self.bus)
             ph_history = History('pH Verlauf',
-                                 {adc_ph.id, calib_ph.id, ph.id, out_ph.id})
+                                 [adc_ph.id, calib_ph.id, ph.id, out_ph.id])
             ph_history.plugin(self.bus)
 
         if SIM_LIGHT:
@@ -216,8 +217,8 @@ def create_default_nodes(self) -> None:
                 light_pwm.plugin(self.bus)
 
                 history = History('Licht',
-                                  {light_schedule.id,
-                                   light_c.id, light_pwm.id})
+                                  [light_schedule.id,
+                                   light_c.id, light_pwm.id])
                 history.plugin(self.bus)
             else:
                 dawn_schedule = ScheduleInput('Zeitplan 2', '* 22 * * *')
@@ -233,20 +234,25 @@ def create_default_nodes(self) -> None:
                 light_pwm.plugin(self.bus)
 
                 history = History('Licht',
-                                  {light_schedule.id, dawn_schedule.id,
-                                   light_c.id, dawn_c.id, light_pwm.id})
+                                  [light_schedule.id, dawn_schedule.id,
+                                   light_c.id, dawn_c.id, light_pwm.id])
                 history.plugin(self.bus)
 
         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_o = SwitchDevice('Heizstab', wasser.id, 'GPIO 12 out')
-                wasser.plugin(self.bus)
+                #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_o.plugin(self.bus)
                 wasser_i.plugin(self.bus)
 
+                t_history = History('Temperaturen',
+                                    [wasser_i.id, wasser_pid.id, wasser_o.id])
+                t_history.plugin(self.bus)
+
             else:
                 # 2 temp sensors -> average -> temp ctrl -> relay
                 w1_temp = AnalogInput('T-Sensor 1', 'DS1820 xA2E9C', 25.0, '°C')
@@ -277,8 +283,8 @@ def create_default_nodes(self) -> None:
                 w_coolspeed.plugin(self.bus)
 
                 t_history = History('Temperaturen',
-                                    {w1_temp.id, w2_temp.id, w_temp.id,
-                                     w_heat.id, w_cool.id})
+                                    [w1_temp.id, w2_temp.id, w_temp.id,
+                                     w_heat.id, w_cool.id])
                 t_history.plugin(self.bus)
 
         if TEST_ALERT:

aquaPi/machineroom/aux_nodes.py

@@ -180,7 +180,7 @@ def listen(self, msg: Msg) -> bool:
                 for k in self.values:
                     val += self.values[k] / len(self.values)
 
-            if (self.data != val):
+            if (self.data != val) or True:
                 self.data = val
                 log.info('AvgAux %s: output %f', self.id, self.data)
                 self.post(MsgData(self.id, round(self.data, 4)))
@@ -214,7 +214,7 @@ def listen(self, msg: Msg) -> bool:
             for k in self.values:
                 val = min(val, self.values[k])
             val = round(val, 4)
-            if self.data != val:
+            if self.data != val or True:
                 self.data = val
                 self.post(MsgData(self.id, self.data))
         return super().listen(msg)
@@ -241,7 +241,7 @@ def listen(self, msg: Msg) -> bool:
             for k in self.values:
                 val = max(val, self.values[k])
             val = round(val, 4)
-            if self.data != val:
+            if self.data != val or True:
                 self.data = val
                 log.info('MaxAux %s: output %f', self.id, self.data)
                 self.post(MsgData(self.id, self.data))

aquaPi/machineroom/ctrl_nodes.py

@@ -210,6 +210,113 @@ def get_settings(self) -> list[tuple]:
         return settings
 
 
+class PidCtrl(ControllerNode):
+    """ An experimental PID controller producing a slow PWM
+
+        Options:
+            name       - unique name of this controller node in UI
+            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,
+                 _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
+
+    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:
+        if isinstance(msg, MsgData):
+            log.debug('PID got %s', msg)
+            now = time.time()
+            ta = now - self._t_pre
+            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, ',
+                          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
+
+        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"'))
+        return settings
+
+
 class FadeCtrl(ControllerNode):
     """ Single channel linear fading controller, usable for light (dusk/dawn).
         A change of input value will start a ramp from current to new

aquaPi/machineroom/in_nodes.py

@@ -90,7 +90,7 @@ def _reader(self) -> None:
             try:
                 val = self.read()
                 self.alert = None
-                if self.data != val:
+                if self.data != val or True:
                     self.data = val
                     log.brief('%s: read %f', self.id, self.data)
                     self.post(MsgData(self.id, self.data))

aquaPi/machineroom/out_nodes.py

@@ -19,8 +19,8 @@
 class DeviceNode(BusListener, ABC):
     """ Base class for OUT_ENDP such as relay, PWM, GPIO pins.
         Receives float input from listened sender.
-        The interpretation is device specific, recommendation is
-        to follow pythonic truth testing to avoid surprises.
+        Binary devices should use a threashold of 50 or pythonic
+        truth testing, whatever is more intuitive for each dev.
     """
     ROLE = BusRole.OUT_ENDP
 
@@ -55,7 +55,7 @@ def __init__(self, name: str, receives: str, port: str,
         ##self.unit = '%' if self.data_range != DataRange.BINARY else '⏻'
         self.port = port
         self.switch(self.data if _cont else False)
-        log.info('%s init to %r|%f|%f', self.name, _cont, self.data, inverted)
+        log.info('%s init to %r|%f|%r', self.name, _cont, self.data, inverted)
 
     def __getstate__(self) -> dict[str, Any]:
         state = super().__getstate__()
@@ -96,12 +96,14 @@ def inverted(self, inverted: bool) -> None:
 
     def listen(self, msg: Msg) -> bool:
         if isinstance(msg, MsgData):
-            if self.data != bool(msg.data):
-                self.switch(msg.data)
+            #if self.data != bool(msg.data):
+            data = (msg.data > 50.)
+            if self.data != data:
+                self.switch(data)
         return super().listen(msg)
 
-    def switch(self, on: bool) -> None:
-        self.data: bool = on
+    def switch(self, state: bool) -> None:
+        self.data: bool = state
 
         log.info('SwitchDevice %s: turns %s', self.id, 'ON' if self.data else 'OFF')
         if self._driver:

aquaPi/static/spa/components/dashboard/comps.js

@@ -217,6 +217,7 @@ const MaximumCtrl = {
 	},
 }
 Vue.component('MaximumCtrl', MaximumCtrl)
+Vue.component('PidCtrl', MaximumCtrl)
 
 
 const SunCtrl = {