annotate rust/src/fridge.rs @ 635:4424a8b30f9c rust

config crate wants everything to be lower case
author Matt Johnston <matt@ucc.asn.au>
date Sun, 22 Sep 2019 22:06:46 +0800
parents a5721c02d3ee
children 43eb3cfdf769
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1 // TODO:
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2 // - riker
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3 // - use monotonic clock
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4 // - timer.rs should use rx.recv_timeout(next_time) instead of rx.try_recv()
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5 // and then could remove cfg.frequency_millis
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6 use std;
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7
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8 use std::time::{Duration,Instant};
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9 use riker::actors::*;
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10
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11 #[cfg(target_os = "linux")]
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12 use self::sysfs_gpio::{Direction, Pin};
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13
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14 use super::config::Config;
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15 use super::params::Params;
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16 use super::types::*;
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17
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18 #[derive(Debug,Clone)]
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19 pub struct Tick;
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20
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21 #[actor(Params, Tick, Readings)]
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22 pub struct Fridge {
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23 params: Params,
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24 config: Config,
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25
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26 on: bool,
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27 temp_wort: Option<f32>,
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28 temp_fridge: Option<f32>,
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29 last_off_time: Instant,
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30 wort_valid_time: Instant,
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31 integrator: StepIntegrator,
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32 control: FridgeControl,
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33 }
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34
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35 impl Actor for Fridge {
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36 type Msg = FridgeMsg;
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37 fn recv(&mut self,
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38 ctx: &Context<Self::Msg>,
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39 msg: Self::Msg,
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40 sender: Sender) {
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41 self.receive(ctx, msg, sender);
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42 // TODO: should we do self.tick(ctx) here instead?
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43 }
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44
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45 fn pre_start(&mut self, ctx: &Context<Self::Msg>) {
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46 let chan: ChannelRef<Readings> = channel("readings", &ctx.system).unwrap();
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47 let sub = Box::new(ctx.myself());
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48 chan.tell(Subscribe {actor: sub, topic: "readings".into()}, None);
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49
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50 let chan: ChannelRef<Params> = channel("params", &ctx.system).unwrap();
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51 let sub = Box::new(ctx.myself());
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52 chan.tell(Subscribe {actor: sub, topic: "params".into()}, None);
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53
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54 self.tick(ctx);
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55 }
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56 }
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57
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58 impl Receive<Readings> for Fridge {
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59 type Msg = FridgeMsg;
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60 fn receive(&mut self,
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61 ctx: &Context<Self::Msg>,
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62 r: Readings,
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63 _sender: Sender) {
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64 self.temp_wort = r.get_temp(&self.config.wort_name);
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65 self.temp_fridge = r.get_temp(&self.config.fridge_name);
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66
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67 if self.temp_wort.is_some() {
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68 self.wort_valid_time = Instant::now();
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69 }
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70
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71 self.tick(ctx);
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72 }
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73 }
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74
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75 impl Receive<Params> for Fridge {
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76 type Msg = FridgeMsg;
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77 fn receive(&mut self,
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78 ctx: &Context<Self::Msg>,
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79 p: Params,
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80 _sender: Sender) {
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81 self.params = p;
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82 println!("fridge set_params {:?}", self.params);
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83
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84 self.tick(ctx);
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85 }
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86 }
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87
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88 impl Receive<Tick> for Fridge {
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89 type Msg = FridgeMsg;
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90 fn receive(&mut self,
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91 ctx: &Context<Self::Msg>,
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92 _tick: Tick,
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93 _sender: Sender) {
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94 self.tick(ctx);
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95 }
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96 }
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97
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98 enum FridgeControl {
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99 #[cfg(target_os = "linux")]
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100 Gpio(Pin),
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101 Fake,
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102 }
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103
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104 impl Drop for Fridge {
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105 fn drop(&mut self) {
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106 // safety fridge off
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107 self.turn(false);
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108 }
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109 }
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110
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111 impl Fridge {
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112 pub fn new_actor((config, nowait) : (Config, bool)) -> Fridge {
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113 Self::new(config, nowait)
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114
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115 }
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116 pub fn new(config: Config, nowait: bool) -> Fridge {
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117 let mut f = Fridge {
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118 config: config.clone(),
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119 params: Params::defaults(),
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120 on: false,
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121 temp_wort: None,
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122 temp_fridge: None,
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123 last_off_time: Instant::now(),
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124 wort_valid_time: Instant::now() - Duration::new(config.fridge_wort_invalid_time, 100),
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125 integrator: StepIntegrator::new(Duration::new(1, 0)),
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126 control: Self::make_control(&config),
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127 };
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128
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129 if nowait {
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130 f.last_off_time -= Duration::new(config.fridge_delay, 1);
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131 }
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132
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133 f
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134 }
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135
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136 #[cfg(target_os = "linux")]
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137 fn make_control(config: &Config) -> FridgeControl {
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138 let mut pin = Pin(config.fridge_gpio_pin);
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139 // XXX better error handling?
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140 pin.export().expect("Exporting fridge gpio failed");
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141 pin.set_direction(Direction::Low).expect("Fridge gpio direction failed");
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142 FridgeControl::Gpio(pin)
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143 }
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144
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145 #[cfg(not(target_os = "linux"))]
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146 fn make_control(_config: &Config) -> FridgeControl {
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147 FridgeControl::Fake
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148 }
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149
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150 fn next_wakeup(&self) -> Duration {
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151 let millis = 400;
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152 let dur = Duration::from_millis(millis);
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153 dur
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154 }
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155
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156
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157 fn turn_off(&mut self) {
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158 info!("Turning fridge off");
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159 self.turn(false);
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160 }
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161
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162 fn turn_on(&mut self) {
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163 info!("Turning fridge on");
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164 self.turn(true);
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165 }
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166
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167 fn turn(&mut self, on: bool) {
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168 match self.control {
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169 #[cfg(target_os = "linux")]
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170 Gpio(pin) => pin.set_value(on as u8),
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171 FridgeControl::Fake => debug!("fridge turns {}", if on {"on"} else {"off"}),
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172 }
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173 self.on = on;
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174 }
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175
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176 // Turns the fridge off and on
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177 fn compare_temperatures(&mut self) {
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178 let fridge_min = self.params.fridge_setpoint - self.params.fridge_range_lower;
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179 let fridge_max = self.params.fridge_setpoint - self.params.fridge_range_upper;
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180 let wort_max = self.params.fridge_setpoint + self.params.fridge_difference;
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181 let off_time = Instant::now() - self.last_off_time;
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182
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183 // Or elsewhere?
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184 self.integrator.set_limit(Duration::new(self.params.overshoot_delay, 0));
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185
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186 // Safety to avoid bad things happening to the fridge motor (?)
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187 // When it turns off don't start up again for at least FRIDGE_DELAY
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188 if !self.on && off_time < Duration::new(self.config.fridge_delay, 0) {
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189 info!("fridge skipping, too early");
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190 return;
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191 }
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192
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193 if self.params.disabled {
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194 if self.on {
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195 info!("Disabled, turning fridge off");
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196 self.turn_off();
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197 }
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198 return;
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199 }
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200
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201 // handle broken wort sensor
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202 if self.temp_wort.is_none() {
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203 let invalid_time = Instant::now() - self.wort_valid_time;
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204 warn!("Invalid wort sensor for {:?} secs", invalid_time);
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205 if invalid_time < Duration::new(self.config.fridge_wort_invalid_time, 0) {
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206 warn!("Has only been invalid for {:?}, waiting", invalid_time);
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207 return;
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208 }
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209 }
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210
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211 if self.temp_fridge.is_none() {
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212 warn!("Invalid fridge sensor");
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213 }
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214
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215 if self.on {
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216 debug!("fridge is on");
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217 let on_time = self.integrator.integrate().as_secs() as f32;
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218 let on_ratio = on_time / self.params.overshoot_delay as f32;
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219
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220 let overshoot = self.params.overshoot_factor as f32 * on_ratio;
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221 debug!("on_percent {}, overshoot {}", on_ratio * 100.0, overshoot);
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222
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223 let mut turn_off = false;
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224 if self.temp_wort.is_some() && !self.params.nowort {
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225 let t = self.temp_wort.unwrap();
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226 // use the wort temperature
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227 if t - overshoot < self.params.fridge_setpoint {
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228 info!("wort has cooled enough, {temp}º (overshoot {overshoot}º = {factor} × {percent}%)",
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229 temp = t, overshoot = overshoot,
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230 factor = self.params.overshoot_factor,
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231 percent = on_ratio*100.0);
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232 turn_off = true;
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233 }
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234 } else if let Some(t) = self.temp_fridge {
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235 // use the fridge temperature
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236 if t < fridge_min {
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237 warn!("fridge off fallback, fridge {}, min {}", t, fridge_min);
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238 if self.temp_wort.is_none() {
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239 warn!("wort has been invalid for {:?}", Instant::now() - self.wort_valid_time);
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240 }
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241 turn_off = true;
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242 }
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243 }
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244 if turn_off {
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245 self.turn_off();
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246 }
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247 } else {
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248 debug!("fridge is off. fridge {:?} max {:?}. wort {:?} max {:?}",
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249 self.temp_fridge, fridge_max, self.temp_wort, wort_max);
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250 let mut turn_on = false;
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251 if self.temp_wort.is_some() && !self.params.nowort {
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252 // use the wort temperature
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253 let t = self.temp_wort.unwrap();
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254 if t >= wort_max {
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255 info!("Wort is too hot {}°, max {}°", t, wort_max);
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256 turn_on = true;
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257 }
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258 }
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259
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260 if let Some(t) = self.temp_fridge {
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261 if t >= fridge_max {
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262 warn!("fridge too hot fallback, fridge {}°, max {}°", t, fridge_max);
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263 turn_on = true;
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264 }
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265 }
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266
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267 if turn_on {
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268 self.turn_on()
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269 }
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270 }
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271 }
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272
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273 /// Must be called after every state change. Turns the fridge on/off as required and
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274 /// schedules any future wakeups based on the present (new) state
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275 /// Examples of wakeups events are
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276 ///
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277 /// * overshoot calculation
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278 /// * minimum fridge-off time
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279 /// * invalid wort timeout
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280 /// All specified in next_wakeup()
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281 fn tick(&mut self,
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282 ctx: &Context<<Self as Actor>::Msg>) {
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283 debug!("tick");
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284
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285 self.compare_temperatures();
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286
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287 // Sets the next self-wakeup timeout
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288 let dur = self.next_wakeup();
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289 ctx.schedule_once(dur, ctx.myself(), None, Tick);
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290 }
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291 }