weather sensitive pid controller

.gitignore

@@ -32,3 +32,4 @@ bin/
 .DS_Store
 /.idea/misc.xml
 /userlist.txt
+/VFHeatControl.jar

.idea/artifacts/VFHeatControl_jar.xml

@@ -0,0 +1,11 @@
+<component name="ArtifactManager">
+  <artifact type="jar" name="VFHeatControl:jar">
+    <output-path>$PROJECT_DIR$</output-path>
+    <root id="archive" name="VFHeatControl.jar">
+      <element id="module-output" name="VFHeatControl" />
+      <element id="extracted-dir" path="$MAVEN_REPOSITORY$/org/json/json/20250107/json-20250107.jar" path-in-jar="/" />
+      <element id="extracted-dir" path="$MAVEN_REPOSITORY$/org/jetbrains/kotlin/kotlin-stdlib/2.1.0/kotlin-stdlib-2.1.0.jar" path-in-jar="/" />
+      <element id="extracted-dir" path="$MAVEN_REPOSITORY$/org/jetbrains/annotations/13.0/annotations-13.0.jar" path-in-jar="/" />
+    </root>
+  </artifact>
+</component>

src/main/kotlin/dev/asdf00/visionfive/hc/GlobalDataStore.kt

@@ -5,13 +5,16 @@ import java.util.*
 object GlobalDataStore {
     @Volatile var temperature = 0.0
     @Volatile var tempUpdated = Date()
-    @Volatile var isSunny = true
+
+    @Volatile var isSunny = false
+    @Volatile var lowerTime = Date()
     @Volatile var resetTime = Date()
 
     @Volatile var targetTemp = 22.5
+    @Volatile var reduction = 2.0
     @Volatile var pval = 0.0
     @Volatile var ival = 1.0
     @Volatile var dval = 2.0
 
-    const val API = "https://api.open-meteo.com/v1/forecast?latitude=47.6649&longitude=14.3401&daily=sunshine_duration,daylight_duration&hourly=temperature_2m&timezone=Europe%2FBerlin&forecast_days=1&format=json&timeformat=unixtime"
+    const val API = "https://api.open-meteo.com/v1/forecast?latitude=47.6649&longitude=14.3401&daily=sunshine_duration,daylight_duration,sunrise&hourly=temperature_2m&timezone=Europe/Berlin&forecast_days=1&format=json&timeformat=unixtime"
 }

src/main/kotlin/dev/asdf00/visionfive/hc/control/PidController.kt

@@ -1,4 +1,39 @@
 package dev.asdf00.visionfive.hc.control
 
-class PidController {
+import dev.asdf00.visionfive.hc.GlobalDataStore
+import dev.asdf00.visionfive.hc.gpio.Controller
+import java.util.*
+
+class PidController(vararg val controlUnits: Controller) {
+    init {
+        if (controlUnits.size < 1)
+            throw IllegalArgumentException("PID-Controller needs motor control units to act")
+    }
+
+    private var errorInt = 0.0
+    private var errorLast = 0.0
+
+    private fun step(actual: Double, desired: Double): Double {
+        val error = desired - actual
+        errorInt = Math.clamp(errorInt + error, 0.0, 1.0)
+        val rv = GlobalDataStore.pval * error +
+                GlobalDataStore.ival * errorInt +
+                GlobalDataStore.dval * (error - errorLast)
+        errorLast = error
+        return rv
+    }
+
+    fun tick() {
+        val now = Date()
+        val myTarget =
+            if (GlobalDataStore.isSunny && now.after(GlobalDataStore.lowerTime) && now.before(GlobalDataStore.resetTime))
+                GlobalDataStore.targetTemp - GlobalDataStore.reduction
+            else
+                GlobalDataStore.targetTemp
+        val newState = Math.clamp(step(GlobalDataStore.temperature, myTarget), 0.0, 1.0)
+
+        controlUnits.forEach {
+            it.state = newState
+        }
+    }
 }

src/main/kotlin/dev/asdf00/visionfive/hc/server/Main.kt

@@ -3,6 +3,9 @@ package dev.asdf00.visionfive.hc.server
 import com.sun.net.httpserver.HttpExchange
 
 import dev.asdf00.visionfive.hc.GlobalDataStore
+import dev.asdf00.visionfive.hc.control.PidController
+import dev.asdf00.visionfive.hc.gpio.Controller
+import dev.asdf00.visionfive.hc.gpio.usingPins
 
 import org.json.JSONArray
 import org.json.JSONException
@@ -17,6 +20,8 @@ import java.nio.charset.StandardCharsets
 import java.time.Duration
 import java.util.*
 
+const val DEBUG = true
+
 fun main() {
     // out-facing web page
     val server = buildWebServer(8030) {
@@ -167,7 +172,10 @@ fun main() {
                 // new values
                 try {
                     val data = JSONObject(exchange.requestBody.readAllBytes().utf8()).toMap()
-                    if (!data.containsKey("temp") || !data.containsKey("p") || !data.containsKey("i") || !data.containsKey("d")) {
+                    if (!data.containsKey("temp") || !data.containsKey("p") || !data.containsKey("i") || !data.containsKey(
+                            "d"
+                        )
+                    ) {
                         exchange.replyCat(400)
                     } else {
                         val temp = data["temp"].toString().toDouble()
@@ -239,29 +247,50 @@ fun main() {
                                 }
                             }
                             if (maxTempTime > 0) {
-                                val daylight = ((data["daily"] as? JSONObject)?.get("daylight_duration") as? JSONArray)?.let {
+                                val daylight =
-                                    if (it.length() == 1)
+                                    ((data["daily"] as? JSONObject)?.get("daylight_duration") as? JSONArray)?.let {
-                                        (it[0] as? BigDecimal)?.let { it.toDouble() }
-                                    else
-                                        null
-                                } ?: 0.0
-                                val sun = ((data["daily"] as? JSONObject)?.get("sunshine_duration") as? JSONArray)?.let {
                                         if (it.length() == 1)
                                             (it[0] as? BigDecimal)?.let { it.toDouble() }
                                         else
                                             null
                                     } ?: 0.0
 
+                                val sunlight =
+                                    ((data["daily"] as? JSONObject)?.get("sunshine_duration") as? JSONArray)?.let {
+                                        if (it.length() == 1)
+                                            (it[0] as? BigDecimal)?.let { it.toDouble() }
+                                        else
+                                            null
+                                    } ?: 0.0
+
+                                val sunrise = ((data["daily"] as? JSONObject)?.get("sunrise") as? JSONArray)?.let {
+                                    if (it.length() == 1)
+                                        (it[0] as? Number)?.let { unixTime ->
+                                            Calendar.getInstance().also {
+                                                it.time = Date(unixTime.toLong() * 1000)
+                                                it.add(Calendar.MINUTE, ((daylight / 12) / 60).toInt())
+                                            }.time
+                                        }
+                                    else
+                                        null
+                                }
+
+                                if (sunrise != null) {
+                                    GlobalDataStore.lowerTime = sunrise
                                     GlobalDataStore.resetTime = Calendar.getInstance().also {
                                         it.set(Calendar.HOUR_OF_DAY, maxTempTime)
-                                    it.set(Calendar.MINUTE, 30)
+                                        it.set(Calendar.MINUTE, 0)
                                         it.set(Calendar.SECOND, 0)
+                                        it.add(Calendar.MINUTE, ((sunlight / 12) / 60).toInt())
                                     }.time
-                                GlobalDataStore.isSunny = sun > daylight / 2
+                                    GlobalDataStore.isSunny = sunlight > daylight / 2
                                     success = true
                                 } else {
                                     println("error reading weather API response")
                                 }
+                            } else {
+                                println("error reading weather API response")
+                            }
                         } catch (e: JSONException) {
                             println("error parsing weather API response")
                         }
@@ -279,19 +308,60 @@ fun main() {
         }
     }
 
+    val controller = Thread {
+        usingPins(
+            55 to false, 42 to false, 43 to false, 47 to false, 38 to true, 54 to true, // motor 1
+            51 to false, 50 to false, 56 to false, 40 to false, 36 to true, 61 to true, // motor 2
+            45 to false, 37 to false, 39 to false, 63 to false, 60 to true, 44 to true, // motor 3
+        ) { pins ->
+            val c1 = Controller(pins[4], pins[5], pins[0], pins[1], pins[2], pins[3])
+            val c2 = Controller(pins[10], pins[11], pins[6], pins[7], pins[8], pins[9])
+            val c3 = Controller(pins[16], pins[17], pins[12], pins[13], pins[14], pins[15])
+            val pidController = PidController(c1, c2, c3)
+
+            var cycles = -1
+            while (!Thread.interrupted()) {
+                if (cycles < 0) {
+                    c1.runCalibrationSequence()
+                    c2.runCalibrationSequence()
+                    c3.runCalibrationSequence()
+                    cycles = 24 * 60 // run once per day
+                }
+                cycles--
+                pidController.tick()
+                // tick every minute
+                Thread.sleep(Duration.ofMinutes(1))
+            }
+        }
+    }
+
     forecastQuery.start()
     server.start()
     tempServer.start()
-    println("HttpServer is running, press CTRL+C to exit")
+    if (!DEBUG) {
+        // only start the controller on the real thing since GPIO pins are only available there
+        controller.start()
+    } else {
+        println("running in DEBUG MODE!")
+    }
+    println("HttpServer is running, press ENTER to exit")
     while (!Thread.interrupted()) {
         println()
         print("Username to add: ")
         val userName = readln()
+        if (userName == "")
+            break
         print("Password for '$userName': ")
         val pwd = readln()
         LoginBehavior.Users[userName] = pwd
     }
+    println("shutdown requested ...")
+    if (!DEBUG) {
+        controller.interrupt()
+    }
     forecastQuery.interrupt()
+    server.stop(1)
+    tempServer.stop(1)
 }
 
 fun String.uft8() = toByteArray(StandardCharsets.UTF_8)

src/main/resources/META-INF/MANIFEST.MF

@@ -0,0 +1,3 @@
+Manifest-Version: 1.0
+Main-Class: dev.asdf00.visionfive.hc.server.MainKt
+