Simpler temp and water controllers
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2 changed files with 88 additions and 144 deletions
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@ -6,94 +6,67 @@ import wash.control.WashingMessage.Order;
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public final class ControllerTemp extends ActorThread<WashingMessage> {
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private WashingIO io;
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private Heater heater;
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private WashingMessage m;
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private WashingMessage temp;
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private boolean ackSent = true;
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private Order heaterState = Order.TEMP_IDLE;
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public ControllerTemp(WashingIO io) {
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this.io = io;
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heater = new Heater(0);
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}
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protected void sendAck() {
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m.sendAck(this);
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ackSent = true;
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}
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@Override
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public void run() {
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heater.start();
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while (true) {
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try {
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m = take();
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} catch (Exception e) {
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System.exit(1);
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}
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temp = receiveWithTimeout(10000 / Settings.SPEEDUP);
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switch (m.order()) {
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case Order.TEMP_SET_40 -> heater.setTarget(40);
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case Order.TEMP_SET_60 -> heater.setTarget(60);
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case Order.TEMP_IDLE -> heater.setTarget(0); // TODO: Error
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default -> {
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continue;
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// If there is a new message, swap
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if (temp != null) {
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m = temp;
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ackSent = false; // We have a new order
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}
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}
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}
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}
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/**
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* Heater class that extends Thread and controls the temperature
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* of the washing machine.
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*
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* Note that the heater has access to local variables in the
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* TemperatureController class.
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*/
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class Heater extends Thread {
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double target;
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boolean hovering;
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// If this message is not the same as last time
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if (m != null && m.order() != heaterState) {
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heaterState = m.order();
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}
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Heater(double target) {
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this.target = target;
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this.hovering = true; // No acks before actual setpoint is acquired
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}
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synchronized public void setTarget(double target) {
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this.target = target;
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this.hovering = false;
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}
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@Override
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public void run() {
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double current;
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try {
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while (!isInterrupted()) {
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current = io.getTemperature();
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if (io.getWaterLevel() == 0) {
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io.heat(false);
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sleep(60000 / Settings.SPEEDUP);
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continue;
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}
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if (current < target) {
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io.heat(true);
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}
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else if (current >= target) {
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io.heat(false);
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if (!hovering) {
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sendAck();
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hovering = true;
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sleep(60000 / Settings.SPEEDUP);
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continue;
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switch (heaterState) {
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case Order.TEMP_SET_40 -> {
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if (io.getTemperature() <= 39) {
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io.heat(true);
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} else {
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io.heat(false);
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if (!ackSent)
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sendAck();
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}
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}
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sleep(60000 / Settings.SPEEDUP);
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case Order.TEMP_SET_60 -> {
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if (io.getTemperature() <= 59) {
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io.heat(true);
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} else {
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io.heat(false);
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if (!ackSent)
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sendAck();
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}
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}
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case Order.TEMP_IDLE -> {
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io.heat(false);
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if (!ackSent)
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sendAck();
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}
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default -> {
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continue;
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}
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}
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} catch (InterruptedException e) {
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io.heat(false);
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Thread.currentThread().interrupt();
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} catch (Exception e) {
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System.out.println("Exception: " + e);
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}
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}
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}
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@ -1,5 +1,7 @@
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package wash.control;
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import static wash.control.WashingMessage.Order.WATER_IDLE;
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import actor.ActorThread;
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import wash.control.WashingMessage.Order;
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import wash.io.WashingIO;
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@ -8,98 +10,67 @@ public class ControllerWater extends ActorThread<WashingMessage> {
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WashingMessage.Order o;
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WashingMessage m;
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WashingMessage temp;
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WashingIO io;
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WaterPid waterpid;
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Order waterState = WATER_IDLE;
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boolean ackSent = true;
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public ControllerWater(WashingIO io) {
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this.io = io;
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this.waterpid = new WaterPid(0, 1);
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}
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public void sendAck() {
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ackSent = true;
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m.sendAck(this);
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}
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@Override
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public void run() {
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waterpid.start();
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while (true) {
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// m = poll(60000 / Settings.SPEEDUP).orElse(new WashingMessage(this, Order.NOOP));
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try {
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m = take();
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temp = receiveWithTimeout(10000 / Settings.SPEEDUP);
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// If there is a new message, swap
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if (temp != null) {
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m = temp;
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ackSent = false; // We have a new order
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}
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// If this message is not the same as last time
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if (m != null && m.order() != waterState) {
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waterState = m.order();
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}
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switch (waterState) {
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case Order.WATER_DRAIN -> {
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io.drain(true);
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io.fill(false);
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if (io.getWaterLevel() == 0 && !ackSent)
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sendAck();
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}
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case Order.WATER_FILL -> {
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io.drain(false);
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if (io.getWaterLevel() < 19)
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io.fill(true);
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else {
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io.fill(false);
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if (!ackSent) {
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sendAck();
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}
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}
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}
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case Order.WATER_IDLE -> {
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io.drain(false);
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io.fill(false);
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}
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default -> {
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continue;
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}
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}
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} catch (Exception e) {
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System.exit(1);
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}
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switch (m.order()) {
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case Order.WATER_DRAIN -> waterpid.setTarget(0);
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case Order.WATER_FILL -> waterpid.setTarget(20);
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case Order.WATER_IDLE -> waterpid.setIdle();
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default -> {
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continue;
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}
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}
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}
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}
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/** A pid controller that is not actually a pid controller */
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public final class WaterPid extends Thread {
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private double target;
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private final double tolerance; // Acceptable range around target
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private boolean hover = false; // Indicates if we're close enough to the target
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private boolean hasAcknowledged = true; // Tracks if ack has been sent
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public WaterPid(double targetLiter, double tolerance) {
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this.target = targetLiter;
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this.tolerance = tolerance;
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}
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/** Set the target level */
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public synchronized void setTarget(double targetLiter) {
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this.target = targetLiter;
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this.hover = false;
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this.hasAcknowledged = false; // Reset ack when target changes
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}
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/** Just coast at current level */
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public synchronized void setIdle() {
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this.setTarget(io.getWaterLevel());
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}
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/** Main control loop */
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@Override
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public void run() {
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while (!isInterrupted()) {
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double currentLevel = io.getWaterLevel(); // Get current water level
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double error = target - currentLevel;
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hover = Math.abs(error) <= tolerance;
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// Open or close drain/fill based on current water level
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if (!hover) {
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if (error > 0) {
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io.fill(true); // Open tap to increase water level
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io.drain(false); // Ensure drain is closed
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} else {
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io.drain(true); // Open drain to decrease water level
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io.fill(false); // Ensure tap is closed
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}
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} else {
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// Stop adjustments if hovering near target
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io.fill(false);
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io.drain(false);
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// Send acknowledgment if target is reached for the first time
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if (!hasAcknowledged) {
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sendAck();
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hasAcknowledged = true;
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}
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}
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try {
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Thread.sleep(100);
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} catch (InterruptedException e) {
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Thread.currentThread().interrupt();
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}
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System.out.println("Exception: " + e);
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}
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}
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}
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