Mercurial > templog
annotate rust/src/fridge.rs @ 620:8fda564cc46f rust
fridge work
| author | Matt Johnston <matt@ucc.asn.au> |
|---|---|
| date | Thu, 23 Mar 2017 00:20:22 +0800 |
| parents | f153aec221be |
| children | 8136a6b99866 |
| rev | line source |
|---|---|
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1 extern crate futures; |
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2 extern crate tokio_core; |
| 620 | 3 extern crate sysfs_gpio; |
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4 |
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5 use std; |
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6 use std::io; |
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7 use std::mem; |
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8 use std::error::Error; |
| 597 | 9 use std::time::{Duration,Instant}; |
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10 |
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11 use futures::{Future,future,Sink,Stream}; |
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12 use tokio_core::reactor::{Timeout,Handle}; |
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13 use futures::sync::{mpsc}; |
| 620 | 14 use sysfs_gpio::{Direction, Pin}; |
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15 |
| 615 | 16 use config::Config; |
| 17 use params::Params; | |
| 592 | 18 use types::*; |
| 19 | |
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20 #[derive(Debug)] |
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21 pub enum Message { |
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22 Sensor {wort: Option<f32>, fridge: Option<f32>}, |
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23 Params (Params), |
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24 Tick(u64), |
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25 } |
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26 |
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27 pub struct Fridge { |
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28 params: Params, |
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29 config: Config, |
| 620 | 30 |
| 31 on: bool, | |
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32 temp_wort: Option<f32>, |
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33 temp_fridge: Option<f32>, |
| 620 | 34 last_off_time: Instant, |
| 35 wort_valid_time: Instant, | |
| 36 integrator: StepIntegrator, | |
| 37 gpio: Pin, | |
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38 |
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39 // Timeouts to wake ourselves up again |
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40 handle: Handle, |
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41 timeout_s: mpsc::Sender<u64>, |
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42 timeout_r: Option<mpsc::Receiver<u64>>, |
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43 ticker: u64, |
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44 } |
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45 |
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46 impl Sink for Fridge { |
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47 |
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48 type SinkItem = Message; |
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49 type SinkError = TemplogError; |
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50 |
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51 fn start_send(&mut self, msg: Message) |
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52 -> futures::StartSend<Self::SinkItem, Self::SinkError> { |
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53 self.process_msg(msg); |
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54 Ok(futures::AsyncSink::Ready) |
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55 } |
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56 |
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57 fn poll_complete(&mut self) -> futures::Poll<(), Self::SinkError> { |
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58 Ok(futures::Async::Ready(())) |
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59 } |
| 592 | 60 } |
| 61 | |
| 620 | 62 impl Drop for Fridge { |
| 63 fn drop(&mut self) { | |
| 64 // safety fridge off | |
| 65 self.gpio.set_state(0); | |
| 66 } | |
| 67 } | |
| 68 | |
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69 impl Fridge { |
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70 pub fn new(config: &Config, nowait: bool, p: Params, handle: &Handle) -> Fridge { |
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71 let (s, r) = mpsc::channel(1); |
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72 let mut f = Fridge { |
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73 config: config.clone(), |
| 615 | 74 params: p.clone(), |
| 620 | 75 on: false, |
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76 temp_wort: None, |
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77 temp_fridge: None, |
| 620 | 78 last_off_time: Instant::now(), |
| 79 wort_valid_time: Instant::now() - Duration::new(config.FRIDGE_WORT_INVALID_TIME, 100), | |
| 80 integrator: StepIntegrator::new(p.overshoot_delay), | |
| 81 gpio: Pin::new(config.FRIDGE_GPIO_PIN), | |
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82 |
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83 handle: handle.clone(), |
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84 timeout_s: s, |
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85 timeout_r: Some(r), |
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86 ticker: 0, |
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87 }; |
| 620 | 88 |
| 597 | 89 if nowait { |
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90 f.last_off_time -= Duration::new(config.FRIDGE_DELAY, 1); |
| 597 | 91 } |
| 620 | 92 |
| 93 // XXX better error handling? | |
| 94 f.gpio.export().expect("Exporting fridge gpio failed"); | |
| 95 f.gpio.set_direction(Direction::Low).expect("Fridge gpio direction failed"); | |
| 96 | |
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97 f.tick(); |
| 620 | 98 |
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99 f |
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100 } |
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101 |
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102 fn next_wakeup(&self) -> Duration { |
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103 let millis = 400; |
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104 let dur = Duration::from_millis(millis); |
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105 dur |
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106 } |
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107 |
| 606 | 108 /// The fridge needs to periodically wake itself up, the returned |
| 109 /// stream of Tick messages does so. | |
| 110 /// Examples of wakeups events are | |
| 111 /// | |
| 112 /// * overshoot calculation | |
| 113 /// * minimum fridge-off time | |
| 114 /// * invalid wort timeout | |
| 115 /// All specified in next_wakeup() | |
| 116 pub fn wakeups(&mut self) | |
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117 -> Box<Stream<Item=Message, Error=TemplogError>> { |
| 606 | 118 mem::replace(&mut self.timeout_r, None) |
| 119 .expect("Fridge::wakeups() can only be called once") | |
| 120 .map(|v| Message::Tick(v)) | |
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121 .map_err(|e| TemplogError::new("wakeups() receive failed")) |
| 606 | 122 .boxed() |
| 123 } | |
| 124 | |
| 620 | 125 fn turn_off(&mut self) { |
| 126 log!("Turning fridge off"); | |
| 127 self.turn(false); | |
| 128 } | |
| 129 | |
| 130 fn turn_on(&mut self) { | |
| 131 log!("Turning fridge on"); | |
| 132 self.turn(true); | |
| 133 } | |
| 134 | |
| 135 fn turn(&mut self, on: bool) { | |
| 136 self.on = on; | |
| 137 self.gpio.set_value(on as u8) | |
| 138 } | |
| 139 | |
| 140 /// Turns the fridge off and on | |
| 141 fn compare_temperatures(&mut self) { | |
| 142 let fridge_min = self.params.fridge_setpoint - self.params.fridge_range_lower; | |
| 143 let fridge_max = self.params.fridge_setpoint - self.params.fridge_range_upper; | |
| 144 let wort_max = self.params.fridge_setpoint + self.params.fridge_difference; | |
| 145 let off_time = Instant::now() - self.last_off_time; | |
| 146 | |
| 147 // Or elsewhere? | |
| 148 self.integrator.set_limit(self.params.overshoot_delay); | |
| 149 | |
| 150 // Safety to avoid bad things happening to the fridge motor (?) | |
| 151 // When it turns off don't start up again for at least FRIDGE_DELAY | |
| 152 if !self.on && off_time < self.config.FRIDGE_DELAY { | |
| 153 log!("fridge skipping, too early"); | |
| 154 return; | |
| 155 } | |
| 156 | |
| 157 if self.params.disabled { | |
| 158 if self.on { | |
| 159 log!("Disabled, turning fridge off"); | |
| 160 self.turn_off(); | |
| 161 } | |
| 162 return; | |
| 163 } | |
| 164 | |
| 165 // handle broken wort sensor | |
| 166 if self.temp_wort.is_none() { | |
| 167 let invalid_time = Instant::now() - self.wort_valid_time; | |
| 168 warn!("Invalid wort sensor for {:?} secs", invalid_time); | |
| 169 if invalid_time < self.config.FRIDGE_WORT_INVALID_TIME { | |
| 170 warn!("Has only been invalid for {:?}, waiting", invalid_time); | |
| 171 return; | |
| 172 } | |
| 173 } | |
| 174 | |
| 175 if self.temp_fridge.is_none() { | |
| 176 warn!("Invalid fridge sensor"); | |
| 177 } | |
| 178 | |
| 179 if self.on { | |
| 180 debug!("fridge is on"); | |
| 181 let on_time = self.integrator.integrate().as_secs() as f32; | |
| 182 let on_ratio = on_time / params.overshoot_delay as f32; | |
| 183 | |
| 184 overshoot = params.overshoot_factor as f32 * on_ratio; | |
| 185 debug!("on_time {}, overshoot {}", on_percent, overshoot); | |
| 186 | |
| 187 let mut turn_off = false; | |
| 188 if let Some(t) = self.temp_wort && !params.nowort { | |
| 189 // use the wort temperature | |
| 190 if t - overshoot < params.fridge_setpoint { | |
| 191 log!("wort has cooled enough, {temp}º (overshoot {overshoot}º = {factor} × {percent}%)", | |
| 192 temp = t, overshoot = overshoot, | |
| 193 factor = params.overshoot_factor, | |
| 194 percent = on_ratio*100); | |
| 195 turn_off = true; | |
| 196 } | |
| 197 } else let if Some(t) = self.temp_fridge { | |
| 198 // use the fridge temperature | |
| 199 if t < fridge_min { | |
| 200 warn!("fridge off fallback, fridge {}, min {}", t, fridge_min); | |
| 201 if self.temp_wort.is_none() { | |
| 202 W("wort has been invalid for {:?}", Instant::now() - self.wort_valid_time); | |
| 203 } | |
| 204 turn_off = true; | |
| 205 } | |
| 206 } | |
| 207 if turn_off { | |
| 208 self.turn_off(); | |
| 209 } | |
| 210 } else { | |
| 211 debug!("fridge is off. fridge {:?} max {:?}. wort {:?} max {:?}", | |
| 212 self.temp_fridge, fridge_max, self.temp_wort, wort_max); | |
| 213 let mut turn_on = false; | |
| 214 if let Some(t) = self.temp_wort && !params.nowort { | |
| 215 // use the wort temperature | |
| 216 if t >= wort_max { | |
| 217 log!("Wort is too hot {}°, max {}°", t, wort_max); | |
| 218 turn_on = true; | |
| 219 } | |
| 220 } | |
| 221 | |
| 222 if let Some(t) = self.temp_fridge { | |
| 223 if t >= fridge_max { | |
| 224 warn!("fridge too hot fallback, fridge {}°, max {}°", t, fridge_max) | |
| 225 turn_on = true; | |
| 226 } | |
| 227 } | |
| 228 | |
| 229 if turn_on { | |
| 230 self.turn_on() | |
| 231 } | |
| 232 } | |
| 233 } | |
| 234 | |
| 606 | 235 /// Must be called after every state change. Turns the fridge on/off as required and |
| 236 /// schedules any future wakeups based on the present (new) state | |
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237 fn tick(&mut self) { |
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238 debug!("tick"); |
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239 |
| 620 | 240 self.compare_temperatures() |
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241 self.send_next_timeout(); |
| 592 | 242 } |
| 243 | |
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244 /// Sets the next self-wakeup timeout |
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245 fn send_next_timeout(&mut self) { |
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246 let waker = self.timeout_s.clone(); |
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247 let dur = self.next_wakeup(); |
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248 debug!("fridge next wakeup {:?}", dur); |
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249 self.ticker += 1; |
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250 let v = self.ticker; |
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251 let t = Timeout::new(dur, &self.handle).unwrap() |
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252 .map_err(|_| ()) |
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253 .and_then(move |_| { |
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254 waker.send(v) |
| 595 | 255 .map_err(|e| { |
| 256 warn!("Send error in tick(): {}", e.to_string()); | |
| 257 () | |
| 258 }) | |
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259 }) |
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260 .map(|_| ()); |
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261 self.handle.spawn(t); |
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262 } |
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263 |
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264 fn process_msg(&mut self, msg: Message) { |
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265 debug!("process_msg {:?}", msg); |
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266 match msg { |
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267 Message::Sensor{wort, fridge} => self.update_sensor(wort, fridge), |
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268 Message::Params(p) => self.update_params(p), |
| 606 | 269 Message::Tick(v) => if v == self.ticker {self.tick()}, // schedule a timeout if there are none pending |
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270 }; |
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271 } |
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272 |
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273 pub fn update_params(&mut self, p: Params) { |
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274 self.params = p; |
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275 println!("fridge set_params {:?}", self.params); |
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276 |
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277 self.tick(); |
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278 } |
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279 |
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280 pub fn update_sensor(&mut self, wort: Option<f32>, fridge: Option<f32>) { |
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281 self.temp_wort = wort; |
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282 self.temp_fridge = fridge; |
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283 |
| 620 | 284 if self.temp_wort.is_some() { |
| 606 | 285 self.wort_valid_time = Instant::now(); |
| 620 | 286 } |
| 606 | 287 |
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288 self.tick(); |
| 592 | 289 } |
| 290 | |
| 291 } |