fixed motor control unit

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

@@ -3,18 +3,18 @@ package dev.asdf00.visionfive.hc
 import java.util.*
 
 object GlobalDataStore {
-    @Volatile var temperature = 0.0
+    @Volatile var targetTemp: Double = 22.5
-    @Volatile var tempUpdated = Date()
+    @Volatile var reduction: Double = 2.0
+    @Volatile var pval: Double = 0.1
+    @Volatile var ival: Double = 1.0 / 60
+    @Volatile var dval: Double = 0.0
 
     @Volatile var isSunny = false
     @Volatile var lowerTime = Date()
     @Volatile var resetTime = Date()
 
-    @Volatile var targetTemp: Double = 22.5
+    @Volatile var temperature = targetTemp
-    @Volatile var reduction: Double = 2.0
+    @Volatile var tempUpdated = Date()
-    @Volatile var pval: Double = 0.1
-    @Volatile var ival: Double = 1.0 / 120
-    @Volatile var dval: Double = 0.0
 
     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

@@ -2,6 +2,7 @@ package dev.asdf00.visionfive.hc.control
 
 import dev.asdf00.visionfive.hc.GlobalDataStore
 import dev.asdf00.visionfive.hc.gpio.Controller
+import java.lang.Math.clamp
 import java.util.*
 
 class PidController(vararg val controlUnits: Controller) {
@@ -15,7 +16,7 @@ class PidController(vararg val controlUnits: Controller) {
 
     private fun step(actual: Double, desired: Double): Double {
         val error = desired - actual
-        errorInt = Math.clamp(errorInt + error, 0.0 / GlobalDataStore.ival, 1.0 / GlobalDataStore.ival)
+        errorInt = clamp(errorInt + error, 0.0 / GlobalDataStore.ival, 1.0 / GlobalDataStore.ival)
         val rv = GlobalDataStore.pval * error +
                 GlobalDataStore.ival * errorInt +
                 GlobalDataStore.dval * (error - errorLast)
@@ -30,7 +31,7 @@ class PidController(vararg val controlUnits: Controller) {
                 GlobalDataStore.targetTemp - GlobalDataStore.reduction
             else
                 GlobalDataStore.targetTemp
-        val newState = Math.clamp(step(GlobalDataStore.temperature, myTarget), 0.0, 1.0)
+        val newState = clamp(step(GlobalDataStore.temperature, myTarget), 0.0, 1.0)
 
         controlUnits.forEach {
             it.state = newState

src/main/kotlin/dev/asdf00/visionfive/hc/gpio/MotorControl.kt

@@ -33,7 +33,7 @@ class Controller(private val senseBot: GpioPin, private val senseTop: GpioPin, p
                 internalState = maxStep
             } else {
                 // normal case
-                val dif = (maxStep.toDouble() * target).toInt() - internalState
+                var dif = (maxStep.toDouble() * target).toInt() - internalState
                 if (dif > 0) {
                     val realDif = stepAnti(dif)
                     if (realDif != dif) {
@@ -58,6 +58,7 @@ class Controller(private val senseBot: GpioPin, private val senseTop: GpioPin, p
                         internalState += realDif
                     }
                 } else if (dif < 0) {
+                    dif = -dif
                     val realDif = stepClock(dif)
                     if (realDif != dif) {
                         // maybe log correction
@@ -148,7 +149,7 @@ class Controller(private val senseBot: GpioPin, private val senseTop: GpioPin, p
     }
 
     companion object {
-        private const val STEP_DELAY = 10L
+        private const val STEP_DELAY = 2L
         private const val INITIAL_STEP = 0b1001L
         private const val RECALIB_DATA = 0.01
 

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

@@ -20,9 +20,135 @@ import java.nio.charset.StandardCharsets
 import java.time.Duration
 import java.util.*
 
+import kotlin.math.max
+
 const val DEBUG = true
 
 fun main() {
+    val forecastQuery = Thread {
+        whileNotInterrupted {
+            var success = false
+            val request = HttpRequest.newBuilder(URI.create(GlobalDataStore.API)).GET().build()
+            HttpClient.newHttpClient()
+                .sendAsync(request, HttpResponse.BodyHandlers.ofString())
+                .thenApply { response ->
+                    if (response.statusCode() == 200 && response.headers().firstValue("Content-Type")
+                            .map { it.contains(ContentType.JSON.text) }.orElse(false)
+                    ) {
+                        try {
+                            val data = JSONObject(response.body())
+                            var maxTemp = Double.NEGATIVE_INFINITY
+                            var maxTempTime = -1
+                            ((data["hourly"] as? JSONObject)?.get("temperature_2m") as? JSONArray)?.forEachIndexed { h, t ->
+                                (t as? BigDecimal)?.let {
+                                    val temp = it.toDouble()
+                                    if (maxTemp < temp) {
+                                        maxTemp = temp
+                                        maxTempTime = h
+                                    }
+                                }
+                            }
+                            if (maxTempTime > 0) {
+                                val daylight =
+                                    ((data["daily"] as? JSONObject)?.get("daylight_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, 0)
+                                        it.set(Calendar.SECOND, 0)
+                                        it.add(Calendar.MINUTE, ((sunlight / 12) / 60).toInt())
+                                    }.time
+                                    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")
+                        }
+                    } else {
+                        println("error querying weather API response")
+                    }
+                }
+                .join()
+
+            if (success) {
+                Thread.sleep(Duration.ofHours(12))
+            } else {
+                Thread.sleep(Duration.ofMinutes(30))
+            }
+        }
+    }
+
+    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)
+
+            c1.runCalibrationSequence()
+            c2.runCalibrationSequence()
+            c3.runCalibrationSequence()
+            var cycles = 30 * 24 // recalibrate every day
+            whileNotInterrupted {
+                val timeBefore = System.currentTimeMillis()
+                pidController.tick()
+                if (cycles == 2) {
+                    c1.runCalibrationSequence()
+                } else if (cycles == 1) {
+                    c2.runCalibrationSequence()
+                } else if (cycles == 0) {
+                    c3.runCalibrationSequence()
+                } else if (cycles < 0) {
+                    cycles = 30 * 24 // recalibrate every day
+                }
+                cycles--
+                val timeTaken = System.currentTimeMillis() - timeBefore
+                // tick every 2 minutes due to slow motor speeds
+                val twoMin = 1000L * 60 * 2
+                if (timeTaken >= twoMin) {
+                    println("WARNING: missed next step time by ${timeTaken - twoMin} millis")
+                }
+                Thread.sleep(max(1L, twoMin - timeTaken))
+            }
+        }
+    }
+
     // out-facing web page
     val server = buildWebServer(8030) {
         // main landing page
@@ -42,6 +168,8 @@ fun main() {
                             <h1>Welcome to HeatControl</h1>
                             <p>You are logged in as ${uname}. To log out, click <a href="/login/out">here</a>.</p>
                             <p>
+                                ${if (!DEBUG && !controller.isAlive) "CONTROLLER THREAD HAS DIED!!!<br />" else ""}
+                                ${if (!forecastQuery.isAlive) "WEATHER QUERY THREAD HAS DIED!!!<br />" else ""}
                                 The current recorded temperature is currently ${String.format("%.1f", GlobalDataStore.temperature)} C<br />
                                 Last updated ${GlobalDataStore.tempUpdated}<br />
                                 Current forecast for today: ${if (GlobalDataStore.isSunny) "sunny" else "cloudy"}
@@ -223,118 +351,6 @@ fun main() {
         }
     }
 
-    val forecastQuery = Thread {
-        whileNotInterrupted {
-            var success = false
-            val request = HttpRequest.newBuilder(URI.create(GlobalDataStore.API)).GET().build()
-            HttpClient.newHttpClient()
-                .sendAsync(request, HttpResponse.BodyHandlers.ofString())
-                .thenApply { response ->
-                    if (response.statusCode() == 200 && response.headers().firstValue("Content-Type")
-                            .map { it.contains(ContentType.JSON.text) }.orElse(false)
-                    ) {
-                        try {
-                            val data = JSONObject(response.body())
-                            var maxTemp = Double.NEGATIVE_INFINITY
-                            var maxTempTime = -1
-                            ((data["hourly"] as? JSONObject)?.get("temperature_2m") as? JSONArray)?.forEachIndexed { h, t ->
-                                (t as? BigDecimal)?.let {
-                                    val temp = it.toDouble()
-                                    if (maxTemp < temp) {
-                                        maxTemp = temp
-                                        maxTempTime = h
-                                    }
-                                }
-                            }
-                            if (maxTempTime > 0) {
-                                val daylight =
-                                    ((data["daily"] as? JSONObject)?.get("daylight_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, 0)
-                                        it.set(Calendar.SECOND, 0)
-                                        it.add(Calendar.MINUTE, ((sunlight / 12) / 60).toInt())
-                                    }.time
-                                    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")
-                        }
-                    } else {
-                        println("error querying weather API response")
-                    }
-                }
-                .join()
-
-            if (success) {
-                Thread.sleep(Duration.ofHours(12))
-            } else {
-                Thread.sleep(Duration.ofMinutes(30))
-            }
-        }
-    }
-
-    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
-            whileNotInterrupted {
-                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()