Mercurial > templog
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 |
| rev | line source |
|---|---|
| 634 | 1 // TODO: |
| 2 // - riker | |
| 3 // - use monotonic clock | |
| 4 // - timer.rs should use rx.recv_timeout(next_time) instead of rx.try_recv() | |
| 5 // and then could remove cfg.frequency_millis | |
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6 use std; |
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7 |
| 597 | 8 use std::time::{Duration,Instant}; |
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9 use riker::actors::*; |
| 621 | 10 |
| 11 #[cfg(target_os = "linux")] | |
| 626 | 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::*; |
| 592 | 17 |
| 634 | 18 #[derive(Debug,Clone)] |
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19 pub struct Tick; |
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20 |
| 633 | 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, |
| 620 | 25 |
| 26 on: bool, | |
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27 temp_wort: Option<f32>, |
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28 temp_fridge: Option<f32>, |
| 620 | 29 last_off_time: Instant, |
| 30 wort_valid_time: Instant, | |
| 31 integrator: StepIntegrator, | |
| 621 | 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 |
| 634 | 45 fn pre_start(&mut self, ctx: &Context<Self::Msg>) { |
| 46 let chan: ChannelRef<Readings> = channel("readings", &ctx.system).unwrap(); | |
| 633 | 47 let sub = Box::new(ctx.myself()); |
| 48 chan.tell(Subscribe {actor: sub, topic: "readings".into()}, None); | |
| 49 | |
| 634 | 50 let chan: ChannelRef<Params> = channel("params", &ctx.system).unwrap(); |
| 633 | 51 let sub = Box::new(ctx.myself()); |
| 52 chan.tell(Subscribe {actor: sub, topic: "params".into()}, None); | |
| 634 | 53 |
| 54 self.tick(ctx); | |
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55 } |
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56 } |
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57 |
| 633 | 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>, |
| 633 | 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 } |
| 592 | 96 } |
| 97 | |
| 621 | 98 enum FridgeControl { |
| 99 #[cfg(target_os = "linux")] | |
| 100 Gpio(Pin), | |
| 101 Fake, | |
| 102 } | |
| 103 | |
| 620 | 104 impl Drop for Fridge { |
| 105 fn drop(&mut self) { | |
| 106 // safety fridge off | |
| 621 | 107 self.turn(false); |
| 620 | 108 } |
| 109 } | |
| 110 | |
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111 impl Fridge { |
| 634 | 112 pub fn new_actor((config, nowait) : (Config, bool)) -> Fridge { |
| 113 Self::new(config, nowait) | |
| 114 | |
| 115 } | |
| 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(), |
| 634 | 119 params: Params::defaults(), |
| 620 | 120 on: false, |
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121 temp_wort: None, |
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122 temp_fridge: None, |
| 620 | 123 last_off_time: Instant::now(), |
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124 wort_valid_time: Instant::now() - Duration::new(config.fridge_wort_invalid_time, 100), |
| 634 | 125 integrator: StepIntegrator::new(Duration::new(1, 0)), |
| 126 control: Self::make_control(&config), | |
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127 }; |
| 620 | 128 |
| 597 | 129 if nowait { |
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130 f.last_off_time -= Duration::new(config.fridge_delay, 1); |
| 597 | 131 } |
| 620 | 132 |
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133 f |
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134 } |
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135 |
| 621 | 136 #[cfg(target_os = "linux")] |
| 137 fn make_control(config: &Config) -> FridgeControl { | |
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138 let mut pin = Pin(config.fridge_gpio_pin); |
| 621 | 139 // XXX better error handling? |
| 140 pin.export().expect("Exporting fridge gpio failed"); | |
| 141 pin.set_direction(Direction::Low).expect("Fridge gpio direction failed"); | |
| 142 FridgeControl::Gpio(pin) | |
| 143 } | |
| 144 | |
| 145 #[cfg(not(target_os = "linux"))] | |
| 634 | 146 fn make_control(_config: &Config) -> FridgeControl { |
| 621 | 147 FridgeControl::Fake |
| 148 } | |
| 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 |
| 606 | 156 |
| 620 | 157 fn turn_off(&mut self) { |
| 621 | 158 info!("Turning fridge off"); |
| 620 | 159 self.turn(false); |
| 160 } | |
| 161 | |
| 162 fn turn_on(&mut self) { | |
| 621 | 163 info!("Turning fridge on"); |
| 620 | 164 self.turn(true); |
| 165 } | |
| 166 | |
| 167 fn turn(&mut self, on: bool) { | |
| 621 | 168 match self.control { |
| 169 #[cfg(target_os = "linux")] | |
| 170 Gpio(pin) => pin.set_value(on as u8), | |
| 171 FridgeControl::Fake => debug!("fridge turns {}", if on {"on"} else {"off"}), | |
| 172 } | |
| 620 | 173 self.on = on; |
| 174 } | |
| 175 | |
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176 // Turns the fridge off and on |
| 620 | 177 fn compare_temperatures(&mut self) { |
| 178 let fridge_min = self.params.fridge_setpoint - self.params.fridge_range_lower; | |
| 179 let fridge_max = self.params.fridge_setpoint - self.params.fridge_range_upper; | |
| 180 let wort_max = self.params.fridge_setpoint + self.params.fridge_difference; | |
| 181 let off_time = Instant::now() - self.last_off_time; | |
| 182 | |
| 183 // Or elsewhere? | |
| 621 | 184 self.integrator.set_limit(Duration::new(self.params.overshoot_delay, 0)); |
| 620 | 185 |
| 186 // Safety to avoid bad things happening to the fridge motor (?) | |
| 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) { |
| 621 | 189 info!("fridge skipping, too early"); |
| 620 | 190 return; |
| 191 } | |
| 192 | |
| 193 if self.params.disabled { | |
| 194 if self.on { | |
| 621 | 195 info!("Disabled, turning fridge off"); |
| 620 | 196 self.turn_off(); |
| 197 } | |
| 198 return; | |
| 199 } | |
| 200 | |
| 201 // handle broken wort sensor | |
| 202 if self.temp_wort.is_none() { | |
| 203 let invalid_time = Instant::now() - self.wort_valid_time; | |
| 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) { |
| 620 | 206 warn!("Has only been invalid for {:?}, waiting", invalid_time); |
| 207 return; | |
| 208 } | |
| 209 } | |
| 210 | |
| 211 if self.temp_fridge.is_none() { | |
| 212 warn!("Invalid fridge sensor"); | |
| 213 } | |
| 214 | |
| 215 if self.on { | |
| 216 debug!("fridge is on"); | |
| 217 let on_time = self.integrator.integrate().as_secs() as f32; | |
| 621 | 218 let on_ratio = on_time / self.params.overshoot_delay as f32; |
| 620 | 219 |
| 621 | 220 let overshoot = self.params.overshoot_factor as f32 * on_ratio; |
| 221 debug!("on_percent {}, overshoot {}", on_ratio * 100.0, overshoot); | |
| 620 | 222 |
| 223 let mut turn_off = false; | |
| 621 | 224 if self.temp_wort.is_some() && !self.params.nowort { |
| 225 let t = self.temp_wort.unwrap(); | |
| 620 | 226 // use the wort temperature |
| 621 | 227 if t - overshoot < self.params.fridge_setpoint { |
| 228 info!("wort has cooled enough, {temp}º (overshoot {overshoot}º = {factor} × {percent}%)", | |
| 620 | 229 temp = t, overshoot = overshoot, |
| 621 | 230 factor = self.params.overshoot_factor, |
| 231 percent = on_ratio*100.0); | |
| 620 | 232 turn_off = true; |
| 233 } | |
| 621 | 234 } else if let Some(t) = self.temp_fridge { |
| 620 | 235 // use the fridge temperature |
| 236 if t < fridge_min { | |
| 237 warn!("fridge off fallback, fridge {}, min {}", t, fridge_min); | |
| 238 if self.temp_wort.is_none() { | |
| 621 | 239 warn!("wort has been invalid for {:?}", Instant::now() - self.wort_valid_time); |
| 620 | 240 } |
| 241 turn_off = true; | |
| 242 } | |
| 243 } | |
| 244 if turn_off { | |
| 245 self.turn_off(); | |
| 246 } | |
| 247 } else { | |
| 248 debug!("fridge is off. fridge {:?} max {:?}. wort {:?} max {:?}", | |
| 249 self.temp_fridge, fridge_max, self.temp_wort, wort_max); | |
| 250 let mut turn_on = false; | |
| 621 | 251 if self.temp_wort.is_some() && !self.params.nowort { |
| 620 | 252 // use the wort temperature |
| 621 | 253 let t = self.temp_wort.unwrap(); |
| 620 | 254 if t >= wort_max { |
| 621 | 255 info!("Wort is too hot {}°, max {}°", t, wort_max); |
| 620 | 256 turn_on = true; |
| 257 } | |
| 258 } | |
| 259 | |
| 260 if let Some(t) = self.temp_fridge { | |
| 261 if t >= fridge_max { | |
| 621 | 262 warn!("fridge too hot fallback, fridge {}°, max {}°", t, fridge_max); |
| 620 | 263 turn_on = true; |
| 264 } | |
| 265 } | |
| 266 | |
| 267 if turn_on { | |
| 268 self.turn_on() | |
| 269 } | |
| 270 } | |
| 271 } | |
| 272 | |
| 606 | 273 /// Must be called after every state change. Turns the fridge on/off as required and |
| 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, |
| 633 | 282 ctx: &Context<<Self as Actor>::Msg>) { |
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283 debug!("tick"); |
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284 |
| 621 | 285 self.compare_temperatures(); |
| 592 | 286 |
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287 // Sets the next self-wakeup timeout |
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288 let dur = self.next_wakeup(); |
| 634 | 289 ctx.schedule_once(dur, ctx.myself(), None, Tick); |
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290 } |
| 592 | 291 } |