Subversion Repositories HomeAutomation

function PID(type, name, id)

{

    this.CanService(type, name, id);

    this.myLastValue = new Array();

    this.registerEventCallback("online", function(args) { _PID_Online(args); });

}

function _PID_Online(data) {

    var canMessage = new CanMessage("act", "To_Owner", this.myName, this.myId, "CONFIG_SENSOR");

    sendMessage(canMessage);

    canMessage = new CanMessage("act", "To_Owner", this.myName, this.myId, "CONFIG_ACTUATOR");

    sendMessage(canMessage);

    canMessage = new CanMessage("act", "To_Owner", this.myName, this.myId, "CONFIG_PARAMETER");

    sendMessage(canMessage);

    canMessage = new CanMessage("act", "To_Owner", this.myName, this.myId, "Report_Interval");

    sendMessage(canMessage);

}

extend(PID, CanService);

PID.prototype.myReportInterval = null;

PID.prototype.sensorModuleType = null;

PID.prototype.sensorModuleId = null;

PID.prototype.sensorId = null;

PID.prototype.actuatorModuleType = null;

PID.prototype.actuatorModuleId = null;

PID.prototype.actuatorId = null;

PID.prototype.K_P= null;

PID.prototype.K_I= null;

PID.prototype.K_D= null;

PID.prototype.TimeUnit= null;

PID.prototype.RegulatorTime = null;

PID.prototype.Measurment = null;

PID.prototype.Reference = null;

PID.prototype.PWM = null;

PID.prototype.Sum = null;

PID.prototype.canMessageHandler = function(canMessage)

{

    if (canMessage.getDirectionFlag() == "From_Owner")

    {

        switch (canMessage.getCommandName())

        {

        case "DEBUG":

            //<variable name="P_term" type="uint" start_bit="0" bit_length="16" unit="" description=""/>

            //<variable name="I_term" type="uint" start_bit="16" bit_length="16" unit="" description=""/>

            //<variable name="D_term" type="uint" start_bit="32" bit_length="16" unit="" description=""/>

            //<variable name="Sum" type="uint" start_bit="48" bit_length="16" unit="" description=""/>

            //this.myLastValue[canMessage.getData("Id")] = canMessage.getData("Value");

            //this.callEvent("newValue", canMessage.getData("Id"));

        break;

        case "CONFIG_SENSOR":

            this.sensorModuleType= canMessage.getData("sensorModuleType");

            this.sensorModuleId= canMessage.getData("sensorModuleId");

            this.sensorId= canMessage.getData("sensorId");

              log("conf_sensor: " + this.sensorModuleType + " " + this.sensorModuleId + " " + this.sensorId + "\n");

            //this.callEvent("newValue", canMessage.getData("Id"));

        break;

        case "CONFIG_ACTUATOR":

            this.actuatorModuleType= canMessage.getData("actuatorModuleType");

            this.actuatorModuleId= canMessage.getData("actuatorModuleId");

            this.actuatorId= canMessage.getData("actuatorId");

            //this.callEvent("newValue", canMessage.getData("Id"));

log("conf_act: " + this.actuatorModuleType + " " + this.actuatorModuleId + " " + this.actuatorId + "\n");

        break;

        case "CONFIG_PARAMETER":

            this.K_P= canMessage.getData("K_P");

            this.K_I= canMessage.getData("K_I");

            this.K_D= canMessage.getData("K_D");

            this.TimeUnit= canMessage.getData("TimeUnit");

            this.RegulatorTime= canMessage.getData("RegulatorTime");

log("conf_param: " + this.K_P + " " + this.K_I + " " + this.K_D + " " + this.RegulatorTime +  " " + this.TimeUnit + "\n");

            //this.callEvent("newValue", canMessage.getData("Id"));

        break;

        case "PID_STATUS":

            this.Measurment= canMessage.getData("Measurment");

            this.Reference= canMessage.getData("Reference");

            this.PWM= canMessage.getData("PWM");

            this.Sum= canMessage.getData("Sum");

log("PID status: mea:" + this.Measurment + " ref:" + this.Reference + " pwm:" + this.PWM/100 + " sum:" + this.Sum + "\n");

            //this.callEvent("newValue", canMessage.getData("Id"));

        break;

        case "Temperature_Celsius":

            this.Reference= canMessage.getData("Value");

log("PID status: ref:" + this.Reference + "\n");

            //this.callEvent("newValue", canMessage.getData("Id"));

        break;

        case "Report_Interval":

            this.myReportInterval = canMessage.getData("Time");

        break;

        }

    }

    this.CanService.prototype.canMessageHandler.call(this, canMessage);

}

PID.prototype.setValue = function(temperature)

{

log ("Called SetValue: "+temperature+"\n");

    var canMessage = new CanMessage("act", "To_Owner", this.myName, this.myId, "Temperature_Celsius");

    canMessage.setData("Value", ""+temperature);

    canMessage.setData("SensorId", 0);

log ("> "+canMessage.toString()+"\n");

    sendMessage(canMessage);

}

PID.prototype.getConfiguration = function()

{

    var canMessage = new CanMessage("act", "To_Owner", this.myName, this.myId, "CONFIG_SENSOR");

    sendMessage(canMessage);

    var canMessage = new CanMessage("act", "To_Owner", this.myName, this.myId, "CONFIG_ACTUATOR");

    sendMessage(canMessage);

    var canMessage = new CanMessage("act", "To_Owner", this.myName, this.myId, "CONFIG_PARAMETER");

    sendMessage(canMessage);

    var canMessage = new CanMessage("act", "To_Owner", this.myName, this.myId, "Report_Interval");

    sendMessage(canMessage);

}

PID.prototype.setParameters = function(KP,KI,KD,Time,Unit)

{

    var canMessage = new CanMessage("act", "To_Owner", this.myName, this.myId, "CONFIG_PARAMETER");

    canMessage.setData("K_P", ""+KP);

    canMessage.setData("K_I", ""+KI);

    canMessage.setData("K_D", ""+KD);

    canMessage.setData("RegulatorTime", ""+Time);

    canMessage.setData("TimeUnit", ""+Unit);

//log ("> "+canMessage.toString()+"\n");

    sendMessage(canMessage);

}

PID.prototype.setReportInterval = function(time)

{

    var canMessage = new CanMessage("act", "To_Owner", this.myName, this.myId, "Report_Interval");

    canMessage.setData("Time", time);

    sendMessage(canMessage);

}

PID.prototype.getReportInterval = function(time)

{

}