Add stdout thread to capture commands from the server

shroom_controller_mock.py

@@ -3,6 +3,7 @@ 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)
@@ -13,7 +14,14 @@ def send_update(msg):
   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):
@@ -44,7 +52,7 @@ class MockSerial:
       self.humidity[1:-1] += 0.2*(avg - self.humidity[1:-1])
     #print(self.humidity)
 
-    humidity = self.humidity[60]
+    humidity = self.humidity[60] + np.random.random()*0.003
     if self.humidifier_on:
       hv = 3.3
     else:
@@ -93,6 +101,9 @@ class Humidifier:
 humidifier = Humidifier()
 target_lower = 0.85
 target_upper = 0.90
+
+humidifier_history = np.zeros(30)
+first_sample = False
 try:
   last_sample = 0
   while True:
@@ -113,15 +124,24 @@ try:
     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
 
-    humidifier.update(volts)
-    if humidity < target_lower and humidifier.off:
-      print("try toggle")
-      humidifier.toggle(s)
-    elif humidity > target_upper and humidifier.on:
-      humidifier.toggle(s)
+    # 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,
@@ -132,11 +152,19 @@ try:
     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()
-  pass
+  stdout_thread.join()