Have only one version of the controller, TODO add flags to switch from mock and actual version

shroom_controller.py

@@ -1,37 +1,97 @@
 import numpy as np
 
+import json
 import serial
 import subprocess
+import threading
 import time
 
-s = serial.Serial("/dev/ttyUSB0", 115200, timeout=10)
+#process = subprocess.Popen(["ssh", "shrooms@localhost", "/usr/bin/env", "python", "/home/shrooms/go/src/shroom-server/shroom-pipe.py"], stdin=subprocess.PIPE, stdout=subprocess.PIPE)
-q = queue.Queue()
+process = subprocess.Popen(["/usr/bin/env", "python", "/home/kelvin/src/shroom-server/shroom_pipe.py"], stdin=subprocess.PIPE, stdout=subprocess.PIPE)
 
-process = subprocess.Popen(["ssh", "shrooms@threefortiethofonehamster.com", "python", "/home/shrooms/go/src/shroom-server/shroom-pipe.py"], stdin=subprocess.PIPE, stdout=subprocess.PIPE)
+def send_update(msg):
+  global process
+  process.stdin.write(bytes(json.dumps(msg) + "\n", "utf8"))
+  process.stdin.flush()
 
-# TODO run thread to process data from process's stdout
+exiting = False
+# run thread to process data from process's stdout
+def stdout_loop():
+  while not exiting:
+    msg = process.stdout.readline()
+    print("got message ", msg)
+stdout_thread = threading.Thread(target=stdout_loop)
+stdout_thread.start()
+
+class MockSerial:
+  def __init__(self):
+    self.humidity = np.zeros(100)
+    self.humidifier_on = False
+    self.humidity[:] = 0.80
+    self.humidity[-1] = 0.20
+    self.humidity[0] = 0.20
+
+  def write(self, msg):
+    if msg == b'h':
+      print("mock hum toggle")
+      self.humidifier_on = not self.humidifier_on
+
+  def read(self, _):
+    t = time.time()
+    temp = 25 + np.sin(0.01*2*np.pi*t) + 0.5*np.sin(0.0001*2*np.pi*t + 7)
+
+    # very janky model of humidity diffusion
+    # fix end conditions
+    for _ in range(20):
+      self.humidity[-1] = 0.2*0.20 + 0.8*self.humidity[-2]
+      self.humidity[0] = 0.20
+      if self.humidifier_on:
+        self.humidity[20] = 1.5
+      # use the gradient to determine the change in humidity
+      avg = 0.5*(self.humidity[:-2] + self.humidity[2:])
+      self.humidity[1:-1] += 0.2*(avg - self.humidity[1:-1])
+    #print(self.humidity)
+
+    humidity = self.humidity[60] + np.random.random()*0.003
+    if self.humidifier_on:
+      hv = 3.3
+    else:
+      hv = 0.0
+    return bytes("{},{},{}\n".format(humidity, temp, hv), "utf8")
+
+s = MockSerial()
 
 def reset_serial():
-  s.close()
+  pass
-  s = serial.Serial("/dev/ttyUSB0", 115200, timeout = 10)
   time.sleep(10)
 
 class Humidifier:
   def __init__(self):
     self.on = False
-    self.history = np.array(30)
+    self.history = np.zeros(10)
     self.switch_timeout = 0
 
+  @property
+  def off(self):
+    return not self.on
+
   def update(self, volts):
     self.history[1:] = self.history[:-1]
     self.history[0] = volts
+    #print(self.history)
     avg = np.sum(self.history)/self.history.shape[0]
-    if self.state:
+    if self.on:
       if avg < 0.2:
         self.on = False
+        print("send status off")
+        send_update({"status": 0})
+        self.switch_timeout = time.time() + 1
     else:
       if avg > 2.6:
         self.on = True
+        print("send status on")
+        send_update({"status": 1})
+        self.switch_timeout = time.time() + 1
 
   def toggle(self, s):
     if time.time() > self.switch_timeout:
@@ -40,34 +100,73 @@ class Humidifier:
 
 humidifier = Humidifier()
 target_lower = 0.85
-target_higher = 0.90
+target_upper = 0.90
+feedforward_coeff = 50
+
+humidifier_history = np.zeros(30)
+first_sample = False
 try:
   last_sample = 0
   while True:
     now = time.time()
     if now - last_sample < 0.5:
-      s.write(b"s")
+      time.sleep(0.5 - (now - last_sample))
-      resp = s.read(120)
+      continue
-      if len(resp) == 0:
+    last_sample = now
-        reset_serial()
-        time.sleep(5)
-        continue
-      parts = resp.split(b",")
-      humidity = float(parts[0])
-      temp = float(parts[1])
-      volts = float(parts[2])
-      print(humidity, temp, volts)
 
-      humidifier.update(volts)
+    s.write(b"s")
-      if humidity < target_lower and humidifier.off:
+    resp = s.read(120)
-        humidifier.toggle(s)
+    if len(resp) == 0:
-      elif humidity > target_upper and humidifier.on:
+      reset_serial()
-        humidifier.toggle(s)
+      time.sleep(5)
-      # TODO check on the process
+      continue
+    parts = resp.split(b",")
+    humidity = float(parts[0])
+    temp = float(parts[1])
+    volts = float(parts[2])
+    print(humidity, temp, volts)
+    if first_sample:
+      humidifier_history[:] = humidity
+      first_sample = False
     else:
-      time.sleep(0.5-(now - last_sample))
+      humidifier_history[:-1] = humidifier_history[1:]
+      humidifier_history[-1] = humidity
+
+    # compensate for the slow response time by adding a little feed forward
+    # using the slope of the humidifier data
+    slope = (humidifier_history[-1] - humidifier_history[0])/humidifier_history.shape[0]
+    comp_humidity = humidity + feedforward_coeff*slope
+
+    try:
+      humidifier.update(volts)
+      if comp_humidity < target_lower and humidifier.off:
+        humidifier.toggle(s)
+      elif comp_humidity > target_upper and humidifier.on:
+        humidifier.toggle(s)
+
+      update = {
+          "time": int(now*1000),
+          "temp": temp,
+          "hum": humidity,
+          "hv": volts
+      }
+      send_update(update)
+    except Exception as e:
+      print("pipe errored out, restarting: ", e)
+      # restart the process I guess
+      exiting = True
+      process.kill()
+      time.sleep(0.1)
+      stdout_thread.join()
+      exiting = False
+
+      process = subprocess.Popen(["/usr/bin/env", "python", "/home/kelvin/src/shroom-server/shroom_pipe.py"], stdin=subprocess.PIPE, stdout=subprocess.PIPE)
+
+      stdout_thread = threading.Thread(target=stdout_loop)
+      stdout_thread.start()
 
 finally:
-  # TODO kill ssh connection
+  # kill ssh connection
-  process.
+  exiting = True
-  pass
+  process.kill()
+  stdout_thread.join()

shroom_controller_mock.py

@@ -1,170 +0,0 @@
-import numpy as np
-
-import json
-import serial
-import subprocess
-import threading
-import time
-
-#process = subprocess.Popen(["ssh", "shrooms@localhost", "/usr/bin/env", "python", "/home/shrooms/go/src/shroom-server/shroom-pipe.py"], stdin=subprocess.PIPE, stdout=subprocess.PIPE)
-process = subprocess.Popen(["/usr/bin/env", "python", "/home/kelvin/src/shroom-server/shroom_pipe.py"], stdin=subprocess.PIPE, stdout=subprocess.PIPE)
-
-def send_update(msg):
-  global process
-  process.stdin.write(bytes(json.dumps(msg) + "\n", "utf8"))
-  process.stdin.flush()
-
-exiting = False
-# run thread to process data from process's stdout
-def stdout_loop():
-  while not exiting:
-    msg = process.stdout.readline()
-    print("got message ", msg)
-stdout_thread = threading.Thread(target=stdout_loop)
-stdout_thread.start()
-
-class MockSerial:
-  def __init__(self):
-    self.humidity = np.zeros(100)
-    self.humidifier_on = False
-    self.humidity[:] = 0.80
-    self.humidity[-1] = 0.20
-    self.humidity[0] = 0.20
-
-  def write(self, msg):
-    if msg == b'h':
-      print("mock hum toggle")
-      self.humidifier_on = not self.humidifier_on
-
-  def read(self, _):
-    t = time.time()
-    temp = 25 + np.sin(0.01*2*np.pi*t) + 0.5*np.sin(0.0001*2*np.pi*t + 7)
-
-    # very janky model of humidity diffusion
-    # fix end conditions
-    for _ in range(20):
-      self.humidity[-1] = 0.2*0.20 + 0.8*self.humidity[-2]
-      self.humidity[0] = 0.20
-      if self.humidifier_on:
-        self.humidity[20] = 2
-      # use the gradient to determine the change in humidity
-      avg = 0.5*(self.humidity[:-2] + self.humidity[2:])
-      self.humidity[1:-1] += 0.2*(avg - self.humidity[1:-1])
-    #print(self.humidity)
-
-    humidity = self.humidity[60] + np.random.random()*0.003
-    if self.humidifier_on:
-      hv = 3.3
-    else:
-      hv = 0.0
-    return bytes("{},{},{}\n".format(humidity, temp, hv), "utf8")
-
-s = MockSerial()
-
-def reset_serial():
-  pass
-  time.sleep(10)
-
-class Humidifier:
-  def __init__(self):
-    self.on = False
-    self.history = np.zeros(10)
-    self.switch_timeout = 0
-
-  @property
-  def off(self):
-    return not self.on
-
-  def update(self, volts):
-    self.history[1:] = self.history[:-1]
-    self.history[0] = volts
-    #print(self.history)
-    avg = np.sum(self.history)/self.history.shape[0]
-    if self.on:
-      if avg < 0.2:
-        self.on = False
-        print("send status off")
-        send_update({"status": 0})
-        self.switch_timeout = time.time() + 1
-    else:
-      if avg > 2.6:
-        self.on = True
-        print("send status on")
-        send_update({"status": 1})
-        self.switch_timeout = time.time() + 1
-
-  def toggle(self, s):
-    if time.time() > self.switch_timeout:
-      s.write(b"h")
-      self.switch_timeout = time.time() + 7
-
-humidifier = Humidifier()
-target_lower = 0.85
-target_upper = 0.90
-
-humidifier_history = np.zeros(30)
-first_sample = False
-try:
-  last_sample = 0
-  while True:
-    now = time.time()
-    if now - last_sample < 0.5:
-      time.sleep(0.5 - (now - last_sample))
-      continue
-    last_sample = now
-
-    s.write(b"s")
-    resp = s.read(120)
-    if len(resp) == 0:
-      reset_serial()
-      time.sleep(5)
-      continue
-    parts = resp.split(b",")
-    humidity = float(parts[0])
-    temp = float(parts[1])
-    volts = float(parts[2])
-    print(humidity, temp, volts)
-    if first_sample:
-      humidifier_history[:] = humidity
-      first_sample = False
-    else:
-      humidifier_history[:-1] = humidifier_history[1:]
-      humidifier_history[-1] = humidity
-
-    # compensate for the slow response time
-    slope = (humidifier_history[-1] - humidifier_history[0])/humidifier_history.shape[0]
-    comp_humidity = humidity + 50*slope
-
-    try:
-      humidifier.update(volts)
-      if comp_humidity < target_lower and humidifier.off:
-        humidifier.toggle(s)
-      elif comp_humidity > target_upper and humidifier.on:
-        humidifier.toggle(s)
-
-      update = {
-          "time": int(now*1000),
-          "temp": temp,
-          "hum": humidity,
-          "hv": volts
-      }
-      send_update(update)
-    except Exception as e:
-      print("pipe errored out, restarting: ", e)
-      # restart the process I guess
-      exiting = True
-      process.kill()
-      time.sleep(0.1)
-      stdout_thread.join()
-      exiting = False
-
-      process = subprocess.Popen(["/usr/bin/env", "python", "/home/kelvin/src/shroom-server/shroom_pipe.py"], stdin=subprocess.PIPE, stdout=subprocess.PIPE)
-
-      stdout_thread = threading.Thread(target=stdout_loop)
-      stdout_thread.start()
-
-finally:
-  # kill ssh connection
-  exiting = True
-  process.kill()
-  stdout_thread.join()