From 36a7d28187695c91929898306b51c08f4ddfd024 Mon Sep 17 00:00:00 2001 From: Kelvin Ly Date: Mon, 10 Feb 2025 23:09:55 -0500 Subject: [PATCH] Save before switching to new architecture --- .gitignore | 8 + controller.py | 267 +++++-- humidifier_controller/build.sh | 3 + .../humidifier_controller.ino | 29 +- humidifier_controller/sketch.yaml | 1 + shroom-client/Cargo.lock | 742 ++++++++++++++++++ shroom-client/Cargo.toml | 11 + shroom-client/src/main.rs | 57 ++ shroom_controller.py | 310 ++++---- 9 files changed, 1200 insertions(+), 228 deletions(-) create mode 100755 humidifier_controller/build.sh create mode 100644 humidifier_controller/sketch.yaml create mode 100644 shroom-client/Cargo.lock create mode 100644 shroom-client/Cargo.toml create mode 100644 shroom-client/src/main.rs diff --git a/.gitignore b/.gitignore index 56c7346..254a64d 100644 --- a/.gitignore +++ b/.gitignore @@ -2,5 +2,13 @@ shroom_server shrooms.db auth_secret __pycache__/ +target/ test_float_parse + +# venv stuff +bin/ +create/ +lib/ +lib64 +pyvenv.cfg diff --git a/controller.py b/controller.py index 53214c2..1bd257b 100644 --- a/controller.py +++ b/controller.py @@ -1,73 +1,218 @@ -import numpy as np -import time +import threading -from utils import send_update - -from humidifier import Humidifier, HumidifierV2 -from humidifier_v3 import HumidifierV3 class Controller: - def __init__(self, humidifiers): - self.target_lower = 83 - self.target_upper = 87 - self.feedforward_coeff = 50 - self.last_toggle = 0 + def __init__(self, ser): + # if there isn't a timeout we can get deadlocked in some situations + assert ser.timeout is not None - self._manual_mode = False - self.manual_on = False - self.manual_timeout = 0 - self.manual_duration = 40 + self.ser = ser + self.ser_lock = threading.Lock() - self.humidifier_history = np.zeros(50) - self.first_sample = False - self.humidifiers = humidifiers + self.callbacks = dict() + self.properties = dict() + self.last_status = None - @property - def manual_mode(self): - return self._manual_mode + # add callbacks to these to capture these events + self.on_status = [] + self.on_fan_toggle = [] + self.on_humd_toggle = [] - @manual_mode.setter - def manual_mode(self, on): - self._manual_mode = on - send_update({"status": {"manual_mode": on}}) + self.registerCallback(b"s:", lambda line: self._read_status(line)) + self.registerCallback(b"h:", lambda line: self._toggle_cb(line)) + self.registerCallback(b"f:", lambda line: self._toggle_cb(line)) - def set_checked(self, s, humidifier, on): - if time.time() - self.last_toggle > 0.8: - print("setting {} to {}".format(humidifier, on)) - if isinstance(humidifier, HumidifierV3): - humidifier.set(s, on) - elif isinstance(humidifier, Humidifier) or isinstance(humidifier, HumidifierV2): - humidifier.toggle(s) - self.last_toggle = time.time() + self.processing = True + self.process_thr = threading.Thread(target=self._process_loop) + self.process_thr.start() - def update(self, s, humidity): - if self.first_sample: - self.humidifier_history[:] = humidity - self.first_sample = False - else: - self.humidifier_history[:-1] = self.humidifier_history[1:] - self.humidifier_history[-1] = humidity + def stop(self): + self.processing = False + if self.process_thr is not None: + self.process_thr.join() - # compensate for the slow response time by adding a little feed forward - # using the slope of the humidifier data - slope = (self.humidifier_history[-1] - self.humidifier_history[0])/self.humidifier_history.shape[0] - comp_humidity = humidity + self.feedforward_coeff*slope + def restart(self): + self.stop() - if self.manual_mode and time.time() > self.manual_timeout: - self.manual_mode = False + self.processing = True + self.process_thr = threading.Thread(target=self._process_loop) + self.process_thr.start() - if self.manual_mode: - for humidifier in self.humidifiers: - if not humidifier.on and self.manual_on: - self.set_checked(s, humidifier, True) - elif not humidifier.off and not self.manual_on: - self.set_checked(s, humidifier, False) - else: - if comp_humidity < self.target_lower: - for humidifier in self.humidifiers: - if not humidifier.on: - self.set_checked(s, humidifier, True) - elif comp_humidity > self.target_upper: - for humidifier in self.humidifiers: - if not humidifier.off: - self.set_checked(s, humidifier, False) + def _read_status(self, line: bytes): + parts = line.split(b":") + if len(parts) < 5: + print("w: invalid status ", line) + return + self.last_status = { + "humd": float(parts[1]), + "temp": float(parts[2]), + "v": float(parts[3]), + "v2": float(parts[4]), + } + for cb in self.on_status: + cb(self.last_status) + + def _toggle_cb(self, line: bytes): + parts = line.split(b":") + if len(parts) < 2: + print("w: invalid status ", line) + return + + try: + ty = parts[0] + toggle_map = { + b"f": self.on_fan_toggle, + b"h": self.on_humd_toggle, + } + if ty not in toggle_map: + print("e: invalid toggle update ", line) + return + status = int(parts[1]) + for cb in toggle_map[ty]: + cb(status) + except Exception as e: + print("e: bad toggle update ", line, repr(e)) + + def registerCallback(self, prefix, cb): + self.callbacks[prefix] = cb + + def unregisterCallback(self, prefix): + del self.callbacks[prefix] + + def _process_loop(self): + tmp = b"" + try: + while self.processing: + line = self.ser.read_until(b"\n") + tmp += line + if len(tmp) == 0: + continue + if not tmp.endswith(b"\n"): + continue + if len(tmp) > 80: + print("w: ignoring long unterminated line ", tmp) + tmp = b"" + continue + + self._process_line(tmp.rstrip()) # strip off the newlines + tmp = b"" + finally: + self.process_thr = None + + def _process_line(self, line): + matching = [] + for prefix in self.callbacks: + if line.startswith(prefix): + matching.append(prefix) + + if len(matching) == 0: + print("w: uncaught line ", line) + for prefix in matching: + self.callbacks[prefix](line) + + def _read(self, prop): + prefix = bytes("r:" + prop, "utf8") + + result, me = None, self + ev = threading.Event() + + def set_result(v): + nonlocal result, me, ev + if len(v) >= len(prefix): + result = v[len(prefix) + 1 :] + ev.set() + else: + print("e: invalid line found ", v) + me.unregisterCallback(prefix) + + self.registerCallback(prefix, set_result) + self.ser.write(prefix + b"\n") + + ev.wait(timeout=1.0) + return result + + def _write(self, prop, val): + prefix = bytes("w:" + prop, "utf8") + full_msg = prefix + bytes(":{}\n".format(val), "utf8") + + success, me = False, self + ev = threading.Event() + + def set_result(_): + nonlocal success, me, ev + success = True + ev.set() + me.unregisterCallback(prefix) + + self.registerCallback(prefix, set_result) + self.ser.write(full_msg) + + ev.wait(timeout=1.0) + return success + + def enumerate(self): + done, line_added, me = threading.Event(), False, self + + def add_property(line: bytes): + nonlocal me, done, line_added + parts = line.split(b":") + if len(parts) >= 3: + ty_map = {b"i": int, b"f": float, b"b": lambda x: bool(int(x))} + if parts[2] in ty_map: + me.properties[parts[1].decode("utf8")] = ty_map[parts[2]] + line_added = True + else: + print("w: unknown property {} found: {}".format(parts[1], line)) + elif line.startswith(b"d:done"): + done.set() + + self.registerCallback(b"d:", add_property) + self.ser.write(b"d\n") + + done.wait(timeout=1.0) + + def queryStatus(self): + self.ser.write(b"s\n") + # callbacks should handle everything else + + def getProp(self, prop: str): + if prop not in self.properties: + raise ValueError("invalid property {}".format(prop)) + for _ in range(5): + result = self._read(prop) + if result is not None: + try: + return self.properties[prop](result) + except Exception as e: + print("e: unable to convert result ", result, repr(e)) + raise RuntimeError("unable to read prop {}".format(prop)) + + def setProp(self, prop: str, val): + if prop not in self.properties: + raise ValueError("invalid property {}".format(prop)) + for _ in range(5): + result = self._write(prop, val) + if result is not None: + try: + return self.properties[prop](result) + except Exception as e: + print("e: unable to convert result ", result, repr(e)) + raise RuntimeError("unable to write prop {} {}".format(prop, val)) + + def humidifier(self, enable): + if enable: + self.ser.write(b"H\n") + else: + self.ser.write(b"h\n") + + def fan(self, enable): + if enable: + self.ser.write(b"F\n") + else: + self.ser.write(b"f\n") + + def manualMode(self, enable): + if enable: + self.ser.write(b"M\n") + else: + self.ser.write(b"m\n") diff --git a/humidifier_controller/build.sh b/humidifier_controller/build.sh new file mode 100755 index 0000000..df0628b --- /dev/null +++ b/humidifier_controller/build.sh @@ -0,0 +1,3 @@ +#!/usr/bin/bash + +arduino-cli compile -e diff --git a/humidifier_controller/humidifier_controller.ino b/humidifier_controller/humidifier_controller.ino index ee1383e..aef01a7 100644 --- a/humidifier_controller/humidifier_controller.ino +++ b/humidifier_controller/humidifier_controller.ino @@ -163,11 +163,11 @@ void setup() void printStatus() { Serial.print(F("s:")); Serial.print(cur.humd); - Serial.print(F(",")); + Serial.print(F(":")); Serial.print(cur.temp); - Serial.print(F(",")); + Serial.print(F(":")); Serial.print(cur.volt1); - Serial.print(F(",")); + Serial.print(F(":")); Serial.print(cur.volt2); Serial.println(F("")); } @@ -421,18 +421,19 @@ void dumpIntrospect() { void loop() { unsigned long now = millis(); - if ((now - cur.last_sample_time) > cur.sample_time_millis) { + if (now > (cur.manual_mode_ts_millis + cur.manual_mode_timeout_millis)) { + cur.manual_mode = false; + } + + if ((now - cur.last_sample_time) >= cur.sample_time_millis) { cur.last_sample_time = now; - if (now > (cur.manual_mode_ts_millis + cur.manual_mode_timeout_millis)) { - cur.manual_mode = false; - } cur.readSamples(); if (!cur.manual_mode) { cur.controlHumidifier(); cur.controlFan(); - printStatus(); } + printStatus(); } if (Serial.available()) { const int c = Serial.read(); @@ -505,10 +506,14 @@ void loop() Serial.print(F(":")); tmp.readVal(); Serial.println(F("")); - } else if (c == 'z') humidifier(true); - else if (c == 'Z') humidifier(false); - else if (c == 'y') fan(true); - else if (c == 'Y') fan(false); + } else if (c == 'H') humidifier(true); + else if (c == 'h') humidifier(false); + else if (c == 'F') fan(true); + else if (c == 'f') fan(false); + else if (c == 'M') { + cur.manual_mode = true; + cur.manual_mode_ts_millis = millis(); + } else if (c == 'm') cur.manual_mode = false; else if (c == 'd') dumpIntrospect(); } } diff --git a/humidifier_controller/sketch.yaml b/humidifier_controller/sketch.yaml new file mode 100644 index 0000000..ac37a60 --- /dev/null +++ b/humidifier_controller/sketch.yaml @@ -0,0 +1 @@ +default_fqbn: arduino:avr:uno diff --git a/shroom-client/Cargo.lock b/shroom-client/Cargo.lock new file mode 100644 index 0000000..11556b0 --- /dev/null +++ b/shroom-client/Cargo.lock @@ 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handle everything, passing data into queues + // one to supervise the SSH tunnel used to transfer data over TCP + // to the server backend + // one for serial, one for TCP messages + + // Moving this into a systemd service that the client will depend on +/* + tokio::spawn(async { + // constantly retry spawning with exponential timeouts + let mut timeout = 5; + loop { + let child = Command::new(ssh) + .args("-L 0.0.0.0:3333:localhost:4444") + .args("shrooms@git.threefortiethofonehamster.com") + .args("-N") + .kill_on_drop(true) + .spawn(); + if !child.is_ok() { + println!("ssh pipe failed to spawn, ") + } + let status = child..await; + println!("") + } + }); +*/ + + tokio::spawn(async move { + // TODO TCP stuff here + // TODO connect to the SSH tunnel + // TODO retry if it fails + // TODO read from TCP or serial event queue, handle appropriately + }); + + loop { + // TODO serial stuff here + let mut ser: Option> = { + let all_ports = available_ports(); + // TODO get the port + None + }; + } + + Ok(()) +} diff --git a/shroom_controller.py b/shroom_controller.py index 75c63f8..e3187e1 100644 --- a/shroom_controller.py +++ b/shroom_controller.py @@ -1,5 +1,3 @@ -import numpy as np - import json import os import serial @@ -7,10 +5,6 @@ import subprocess import threading import time -from humidifier import Humidifier, HumidifierV2 -from humidifier_v3 import HumidifierV3 -from controller import Controller - import utils from utils import start_process, send_update @@ -21,98 +15,105 @@ SAMPLE_PERIOD = 0.5 DECIMATION_RATE = 1 try: - is_mock = os.environ['MOCK'] + is_mock = os.environ["MOCK"] except KeyError: - is_mock = False + is_mock = False print("controller start") start_process() if is_mock: - import mock_serial - s = mock_serial.MockSerial() + import mock_serial + + s = mock_serial.MockSerial() else: - s = serial.Serial(SERIAL_PATH, SERIAL_BAUD, timeout = 0.3) - print("pausing for bootloader...") - time.sleep(10) - print("pause done") + s = serial.Serial(SERIAL_PATH, SERIAL_BAUD, timeout=0.3) + print("pausing for bootloader...") + time.sleep(10) + print("pause done") + def reset_serial(): - global s - if not is_mock: - s.close() - s = serial.Serial(SERIAL_PATH, SERIAL_BAUD, timeout = 0.3) - time.sleep(10) + global s + if not is_mock: + s.close() + s = serial.Serial(SERIAL_PATH, SERIAL_BAUD, timeout=0.3) + time.sleep(10) -humidifier = HumidifierV3() -controller = Controller([humidifier]) exiting = False + + # run thread to process data from process's stdout def stdout_loop(): - global process, controller, humidifier, humidifier2 - while not exiting: - msg = utils.process.stdout.readline() - if len(msg) <= 1: - continue - print("got message ", msg) - try: - msg_js = json.loads(msg) - if "query_params" in msg_js: - if msg_js["query_params"]: - send_update({"params": { - "target_lower": controller.target_lower, - "target_upper": controller.target_upper, - "feedforward_coeff": controller.feedforward_coeff, - "manual_timeout": controller.manual_timeout, - "manual_duration_s": controller.manual_duration, - "manual_mode": 1.0 if controller.manual_mode else 0.0, - "manual_hum_on": 1.0 if controller.manual_on else 0.0, + global process, controller, humidifier, humidifier2 + while not exiting: + msg = utils.process.stdout.readline() + if len(msg) <= 1: + continue + print("got message ", msg) + try: + msg_js = json.loads(msg) + if "query_params" in msg_js: + if msg_js["query_params"]: + send_update( + { + "params": { + "target_lower": controller.target_lower, + "target_upper": controller.target_upper, + "feedforward_coeff": controller.feedforward_coeff, + "manual_timeout": controller.manual_timeout, + "manual_duration_s": controller.manual_duration, + "manual_mode": 1.0 if controller.manual_mode else 0.0, + "manual_hum_on": 1.0 if controller.manual_on else 0.0, + "off_threshold_volts": humidifier.off_threshold, + "on_threshold_volts": humidifier.on_threshold, + "toggle_cooldown": humidifier.toggle_cooldown, + } + } + ) + elif "set_params" in msg_js: + if type(msg_js["set_params"]) is dict: + set_params = msg_js["set_params"] + if "name" in set_params and "value" in set_params: + name, value = set_params["name"], set_params["value"] + if type(value) is float: + if name == "target_lower": + controller.target_lower = value + elif name == "target_upper": + controller.target_upper = value + elif name == "feedforward_coeff": + controller.feedforward_coeff = value + elif name == "manual_timeout": + controller.manual_timeout = value + elif name == "manual_duration_s": + controller.manual_duration = value + elif name == "off_threshold_volts": + humidifier.off_threshold = value + elif name == "on_threshold_volts": + humidifier.on_threshold = value + elif name == "toggle_cooldown": + humidifier.toggle_cooldown = value + elif name == "off_threshold_volts2": + humidifier2.off_threshold = value + elif name == "on_threshold_volts2": + humidifier2.on_threshold = value + elif name == "toggle_cooldown2": + humidifier2.toggle_cooldown = value + elif "manual_mode" in msg_js: + controller.manual_mode = msg_js["manual_mode"] + if controller.manual_mode: + controller.manual_timeout = time.time() + controller.manual_duration + elif "manual_mode_on" in msg_js: + controller.manual_on = msg_js["manual_mode_on"] + except json.JSONDecodeError as e: + print("received bad json ", msg) + - "off_threshold_volts": humidifier.off_threshold, - "on_threshold_volts": humidifier.on_threshold, - "toggle_cooldown": humidifier.toggle_cooldown - } - }) - elif "set_params" in msg_js: - if type(msg_js["set_params"]) is dict: - set_params = msg_js["set_params"] - if "name" in set_params and "value" in set_params: - name, value = set_params["name"], set_params["value"] - if type(value) is float: - if name == "target_lower": - controller.target_lower = value - elif name == "target_upper": - controller.target_upper = value - elif name == "feedforward_coeff": - controller.feedforward_coeff = value - elif name == "manual_timeout": - controller.manual_timeout = value - elif name == "manual_duration_s": - controller.manual_duration = value - elif name == "off_threshold_volts": - humidifier.off_threshold = value - elif name == "on_threshold_volts": - humidifier.on_threshold = value - elif name == "toggle_cooldown": - humidifier.toggle_cooldown = value - elif name == "off_threshold_volts2": - humidifier2.off_threshold = value - elif name == "on_threshold_volts2": - humidifier2.on_threshold = value - elif name == "toggle_cooldown2": - humidifier2.toggle_cooldown = value - elif "manual_mode" in msg_js: - controller.manual_mode = msg_js["manual_mode"] - if controller.manual_mode: - controller.manual_timeout = time.time() + controller.manual_duration - elif "manual_mode_on" in msg_js: - controller.manual_on = msg_js["manual_mode_on"] - except json.JSONDecodeError as e: - print("received bad json ", msg) stdout_thread = threading.Thread(target=stdout_loop) stdout_thread.start() + def restart_pipe(): global exiting, stdout_thread exiting = True @@ -127,7 +128,6 @@ def restart_pipe(): stdout_thread.start() - frame_num = 0 last_sample = 0 @@ -138,83 +138,83 @@ pipe_timeout = 10 fan_on = False try: - while True: - now = time.time() + while True: + now = time.time() - # check to see if the SSH pipe is working - if utils.running(): - if not last_running and utils.running(): - print("pipe is now running, resetting timeout", pipe_timeout) - pipe_timeout = 10 - last_running = utils.running() + # check to see if the SSH pipe is working + if utils.running(): + if not last_running and utils.running(): + print("pipe is now running, resetting timeout", pipe_timeout) + pipe_timeout = 10 + last_running = utils.running() + + if not utils.running() and (now - last_pipe_reboot) > pipe_timeout: + try: + restart_pipe() + except Exception as e: + print("error restarting pipe: {}".format(repr(e))) + last_pipe_reboot = now + pipe_timeout *= 1.5 + pipe_timeout = min(pipe_timeout, 5 * 60) + print("new pipe timeout ", pipe_timeout) + + now = time.time() + if now - last_sample < SAMPLE_PERIOD: + time.sleep(SAMPLE_PERIOD - (now - last_sample) + 0.001) + continue + last_sample = now + + # turn on the fan 1 minutes every 5 minutes + cur_min = int(now / 60) + fan_should_be_on = cur_min % 5 == 0 + if fan_on != fan_should_be_on: + if fan_should_be_on: + s.write(b"Y") + else: + s.write(b"y") + + # print("write s") + s.write(b"s") + s.flush() + resp = s.read(120) + # print("read", resp) + 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]) + volts2 = float(parts[3]) + fan_on = int(volts2) + # print(parts) - if not utils.running() and (now - last_pipe_reboot) > pipe_timeout: try: - restart_pipe() + humidifier.update(volts) + controller.update(s, humidity) + + if frame_num == 0: + # print(humidity, temp, volts) + update = { + "data": { + "time": int(now * 1000), + "temp": temp, + "hum": humidity, + "hv": volts, + "hv2": volts2, + } + } + send_update(update) + # print("sending update {}".format(update)) + frame_num = (frame_num + 1) % DECIMATION_RATE except Exception as e: - print("error restarting pipe: {}".format(repr(e))) - last_pipe_reboot = now - pipe_timeout *= 1.5 - pipe_timeout = min(pipe_timeout, 5*60) - print("new pipe timeout ", pipe_timeout) - - now = time.time() - if now - last_sample < SAMPLE_PERIOD: - time.sleep(SAMPLE_PERIOD - (now - last_sample) + 0.001) - continue - last_sample = now - - # turn on the fan 1 minutes every 5 minutes - cur_min = int(now / 60) - fan_should_be_on = (cur_min % 5 == 0) - if fan_on != fan_should_be_on: - if fan_should_be_on: - s.write(b"Y") - else: - s.write(b"y") - - #print("write s") - s.write(b"s") - s.flush() - resp = s.read(120) - #print("read", resp) - 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]) - volts2 = float(parts[3]) - fan_on = int(volts2) - #print(parts) - - try: - humidifier.update(volts) - controller.update(s, humidity) - - if frame_num == 0: - #print(humidity, temp, volts) - update = { - "data": { - "time": int(now*1000), - "temp": temp, - "hum": humidity, - "hv": volts, - "hv2": volts2, - } - } - send_update(update) - #print("sending update {}".format(update)) - frame_num = (frame_num + 1) % DECIMATION_RATE - except Exception as e: - print("pipe errored out, restarting: ", repr(e)) - # restart the process I guess - restart_pipe() + print("pipe errored out, restarting: ", repr(e)) + # restart the process I guess + restart_pipe() finally: - # kill ssh connection - exiting = True - utils.process.kill() - stdout_thread.join() + # kill ssh connection + exiting = True + utils.process.kill() + stdout_thread.join()