Commit 0dcc7e2077fe2adb740074f9abb6f3d56b424ea5 - sousvide

Add ability to tune PID params from web interface Will Haldean Brown 9 years ago

5 changed file(s) with 153 addition(s) and 50 deletion(s). Raw diff Collapse all Expand all

-4

chart.go less more

11	11	const (
12	12	imgWidth = 600
13	13	imgHeight = 400
14		useSvg = true
	14	useSvg = true
15	15	)
16	16
17	17	func (s SousVide) GenerateChart(w http.ResponseWriter, req http.Request) {

28	28	c.YRange.TicSetting.Grid = 1
29	29	c.YRange.TicSetting.HideLabels = true
30	30
31		s.HistoryLock.Lock()
	31	s.DataLock.Lock()
32	32	h := &s.History
33	33
34		c.XRange.Fixed(0, float64(h.End) + 1, float64(h.End / 10))
	34	c.XRange.Fixed(0, float64(h.End)+1, float64(h.End/10))
35	35
36	36	temps := make([]chart.EPoint, 0, h.End)
37	37	targets := make([]chart.EPoint, 0, h.End)

62	62	}
63	63	errs = append(errs, ep)
64	64	}
65		s.HistoryLock.Unlock()
	65	s.DataLock.Unlock()
66	66
67	67	c.AddData("Temperature", temps, chart.PlotStyleLines, chart.Style{
68	68	LineColor: color.NRGBA{0xFF, 0x00, 0x00, 0xFF}, LineWidth: 2,

+50

-10

server.go less more

1	1
2	2	import (
3	3	"encoding/json"
	4	"errors"
4	5	"fmt"
5	6	"log"
6	7	"net/http"

11	12	Temps []float64
12	13	Targets []float64
13	14	LogErrors []float64
	15	PidParams PidParams
	16	}
	17
	18	func floatData(w http.ResponseWriter, req *http.Request, arg string) (float64, error) {
	19	valStr := req.FormValue(arg)
	20	if valStr == "" {
	21	http.Error(
	22	w, fmt.Sprintf("missing argument %s", arg), http.StatusBadRequest)
	23	return 0, errors.New("argument not supplied in request")
	24	}
	25	val, err := strconv.ParseFloat(valStr, 64)
	26	if err != nil {
	27	http.Error(
	28	w, fmt.Sprintf("could not parse %s: %v", arg, err),
	29	http.StatusBadRequest)
	30	return 0, err
	31	}
	32	return val, nil
14	33	}
15	34
16	35	func (s *SousVide) StartServer() {
17	36	http.HandleFunc("/api_data", func(resp http.ResponseWriter, req *http.Request) {
18	37	resp.Header().Set("Content-type", "application/json")
19	38
20		s.HistoryLock.Lock()
21		defer s.HistoryLock.Unlock()
	39	s.DataLock.Lock()
	40	defer s.DataLock.Unlock()
22	41
23	42	h := &s.History
24	43	a := apiData{
25	44	h.Temps[:h.End],
26	45	h.Targets[:h.End],
27	46	h.LogErrors[:h.End],
	47	s.Pid,
28	48	}
29	49
30	50	b, err := json.Marshal(a)

35	55	})
36	56
37	57	http.HandleFunc("/target", func(resp http.ResponseWriter, req *http.Request) {
38		t_str := req.FormValue("target")
39		if t_str == "" {
40		http.Error(resp, "no target specified", http.StatusBadRequest)
	58	s.DataLock.Lock()
	59	defer s.DataLock.Unlock()
	60
	61	t, err := floatData(resp, req, "target")
	62	if err != nil {
41	63	return
42	64	}
43		target, err := strconv.ParseFloat(t_str, 64)
	65	s.Target = Celsius(t)
	66	s.checkpoint()
	67	http.Redirect(resp, req, "/", http.StatusSeeOther)
	68	})
	69
	70	http.HandleFunc("/pid", func(resp http.ResponseWriter, req *http.Request) {
	71	log.Printf("acquire lock")
	72	s.DataLock.Lock()
	73	defer s.DataLock.Unlock()
	74	log.Printf("acquired lock")
	75
	76	p, err := floatData(resp, req, "p")
44	77	if err != nil {
45		http.Error(
46		resp, fmt.Sprintf("could not parse target temp: %v", err),
47		http.StatusBadRequest)
48	78	return
49	79	}
50		s.Target = Celsius(target)
	80	i, err := floatData(resp, req, "i")
	81	if err != nil {
	82	return
	83	}
	84	d, err := floatData(resp, req, "d")
	85	if err != nil {
	86	return
	87	}
	88	s.Pid.P = p
	89	s.Pid.I = i
	90	s.Pid.D = d
51	91	s.checkpoint()
52	92	http.Redirect(resp, req, "/", http.StatusSeeOther)
53	93	})

+20

-8

sousvide.go less more

14	14	)
15	15
16	16	type SousVide struct {
17		Temp Celsius
18		Target Celsius
19		History TempHistory
20		HistoryLock sync.Mutex
	17	Temp Celsius
	18	Target Celsius
	19	History TempHistory
	20	Pid PidParams
	21	DataLock sync.Mutex
21	22	}
22	23
23		// A ring buffer to store historical data for plotting
24	24	type TempHistory struct {
25	25	Times [HistoryLength]time.Time
26	26	Temps [HistoryLength]float64

29	29	End int
30	30	}
31	31
	32	type PidParams struct {
	33	P float64
	34	I float64
	35	D float64
	36	}
	37
32	38	type Celsius float64
33	39
34	40	func (s *SousVide) checkpoint() {
35		s.HistoryLock.Lock()
36		defer s.HistoryLock.Unlock()
37
38	41	// this would be better implemented by a ring buffer, but it doesn't
39	42	// actually buy me anything because on every change I have to write it to a
40	43	// flat array to plot it anyway.

60	63	func (s *SousVide) StartControlLoop() {
61	64	tick := time.Tick(InterruptDelay)
62	65	for _ = range tick {
	66	s.DataLock.Lock()
63	67	s.Temp -= 0.1*s.Error() + Celsius(rand.Float64()-0.5)
64	68	log.Printf("read temperature %f deg C", s.Temp)
65	69	s.checkpoint()
	70	s.DataLock.Unlock()
66	71	}
67	72	}
68	73
69	74	func (s *SousVide) SetTarget(target Celsius) {
	75	s.DataLock.Lock()
	76	defer s.DataLock.Unlock()
	77
70	78	s.Target = target
71	79	s.checkpoint()
72	80	}

78	86	func main() {
79	87	s := new(SousVide)
80	88	s.Target = 200
	89	s.Pid.P = 10
	90	s.Pid.I = 0.1
	91	s.Pid.D = 10
	92
81	93	go s.StartControlLoop()
82	94	s.StartServer()
83	95	}

+67

-28

static/index.html less more

4	4	<style>
5	5	body {
6	6	font-family: 'Source Sans Pro', sans-serif;
7		margin: 100px 50px;
	7	margin: 50px 50px;
8	8	max-width: 600px;
9	9	font-size: 14pt;
	10	}
	11
	12	section {
	13	border-left: 7pt solid #EEE;
	14	padding-left: 10pt;
10	15	}
11	16
12	17	.val {

37	42	display: none;
38	43	}
39	44
40		#target_input {
	45	#target_input, .pid_param {
41	46	font-size: 18pt;
42	47	font-family: 'Source Code Pro', monospace;
43	48	width: 100pt;
44		display: inline;
	49	text-align: right;
45	50	}
46	51	</style>
47	52	<link href='http://fonts.googleapis.com/css?family=Source+Sans+Pro:400,700\|Source+Code+Pro' rel='stylesheet' type='text/css'>

51	56	</head>
52	57	<body>
53	58	<h1>sousvide control</h1>
54		<table>
55		<tr>
56		<td class="label temp_label">Current temperature:</td>
57		<td class="val"><span id="temp"></span>° C</td>
58		</tr>
59		<tr>
60		<td class="label target_label">Target temperature:</td>
61		<td class="val">
62		<span id="target_display">
63		<span id="target"></span>° C
64		</span>
65		<span id="target_change">
66		<form method="POST" action="/target">
67		<input type="text" id="target_input" name="target">
68		<input type="submit" style="display:none;">
69		</form>
70		</span>
71		</td>
72		</tr>
73		<tr>
74		<td class="label error_label">Error:</td>
75		<td class="val" id="err_td"><span id="abs_err"></span>° C</td>
76		</tr>
77		</table>
78		<img src="/plot" id="plot">
	59	<section>
	60	<h2>status</h2>
	61	<table>
	62	<tr>
	63	<td class="label temp_label">Current temperature:</td>
	64	<td class="val"><span id="temp"></span>° C</td>
	65	</tr>
	66	<tr>
	67	<td class="label target_label">Target temperature:</td>
	68	<td class="val">
	69	<span id="target_display">
	70	<span id="target"></span>° C
	71	</span>
	72	<span id="target_change">
	73	<form method="POST" action="/target">
	74	<input type="text" id="target_input" name="target">
	75	<input type="submit" style="display:none;">
	76	</form>
	77	</span>
	78	</td>
	79	</tr>
	80	<tr>
	81	<td class="label error_label">Error:</td>
	82	<td class="val" id="err_td"><span id="abs_err"></span>° C</td>
	83	</tr>
	84	</table>
	85	<img src="/plot" id="plot">
	86	</section>
	87	<section>
	88	<h2>controller</h2>
	89	<form method="POST" action="/pid">
	90	<table>
	91	<tr>
	92	<td>Proportional</td>
	93	<td class="val">
	94	<input type="text" class="pid_param" name="p" id="pid_p">
	95	</td>
	96	</tr>
	97	<tr>
	98	<td>Integral</td>
	99	<td class="val">
	100	<input type="text" class="pid_param" name="i" id="pid_i">
	101	</td>
	102	</tr>
	103	<tr>
	104	<td>Derivative</td>
	105	<td class="val">
	106	<input type="text" class="pid_param" name="d" id="pid_d">
	107	</td>
	108	</tr>
	109	<tr>
	110	<td></td>
	111	<td class="val">
	112	<input value="update" type="submit">
	113	</td>
	114	</tr>
	115	</table>
	116	</form>
	117	</section>
79	118	</body>
80	119	</html>

+12

-0

static/sousvide.js less more

0	0	var tempElem, absErrElem, targetElem, absErrTdElem, plotElem
1	1	var targetDisplayElem, targetChangeElem, targetInputElem
	2	var pInputElem, iInputElem, dInputElem
2	3
3	4	function getApiData() {
4	5	$.ajax({

13	14	}
14	15
15	16	function displayData(data) {
	17	console.log(data)
	18
16	19	var i = data.Temps.length - 1
17	20	var temp = data.Temps[i],
18	21	target = data.Targets[i],

21	24	$(tempElem).text(temp.toFixed(2));
22	25	$(targetElem).text(target.toFixed(2));
23	26	$(absErrElem).text((err >= 0 ? '+' : '') + err.toFixed(2));
	27
	28	pInputElem.setAttribute('value', data.PidParams.P)
	29	iInputElem.setAttribute('value', data.PidParams.I)
	30	dInputElem.setAttribute('value', data.PidParams.D)
24	31
25	32	if (err > 0) {
26	33	$(absErrTdElem).removeClass('cold')

40	47	targetElem = document.getElementById('target')
41	48	absErrTdElem = document.getElementById('err_td')
42	49	plotElem = document.getElementById('plot')
	50
43	51	targetChangeElem = document.getElementById('target_change')
44	52	targetDisplayElem = document.getElementById('target_display')
45	53	targetInputElem = document.getElementById('target_input')
	54
	55	pInputElem = document.getElementById('pid_p')
	56	iInputElem = document.getElementById('pid_i')
	57	dInputElem = document.getElementById('pid_d')
46	58
47	59	targetElem.onclick = function() {
48	60	$(targetDisplayElem).css('display', 'none')