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  1.  
  2. PID_ModuleNames     = [ "PID" ];
  3. PID_SensorModuleNames   = [ "DS18x20", "FOST02", "DHT11", "NTC", "TC1047A", "LM335", "TCN75A" ];
  4. PID_ActModuleNames  = [ "hwPWM", "softPWM", "SlowPWM", "PCAPWM" ];
  5.  
  6. PID_Intervals       = function() { return [ 1, 5, 10, 15, 20 ]; };
  7. //PID_Energy            = function() { return [ 0, 500, 1000, 5000, 10000 ]; };
  8. PID_Temperatures    = function() { return [ 20, 25, 30, 35 ]; };
  9. PID_Constants       = function() { return [ 0, 0.1, 0.5, 1, 10, 100, 1000 ]; };
  10. PID_TimeUnits       = function() { return [ "s", "ms"]; };
  11. PID_Times       = function() { return [ 1, 5, 10, 15, 20, 40, 60]; };
  12. PID_Aliases         = function() { return Module_GetAliasNames(PID_ModuleNames); };
  13. PID_AvailableIds    = function() { return Module_GetAvailableIds(PID_ModuleNames); };
  14. PID_SensorAliases   = function() { return Module_GetAliasNames(PID_SensorModuleNames); };
  15. PID_ActAliases      = function() { return Module_GetAliasNames(PID_ActModuleNames); };
  16.  
  17. function PID_SetReportInterval(alias_name, interval)
  18. {
  19.     if (arguments.length < 2)
  20.     {
  21.         Log("\033[31mNot enough parameters given.\033[0m\n");
  22.         return false;
  23.     }
  24.    
  25.     var aliases_data = Module_ResolveAlias(alias_name, PID_ModuleNames);
  26.     var found = false;
  27.    
  28.     for (var name in aliases_data)
  29.     {
  30.         var variables = {"Time"     : interval };
  31.        
  32.         if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "Report_Interval", variables))
  33.         {
  34.             //Log("\033[32mCommand sent successfully to " + name + ".\033[0m\n");
  35.         }
  36.         else
  37.         {
  38.             Log("\033[31mFailed to send command to " + name + ".\033[0m\n");
  39.         }
  40.        
  41.         found = true;
  42.     }
  43.    
  44.     if (!found)
  45.     {
  46.         Log("\033[31mNo aliases by the name " + alias_name + " were applicable for this command.\033[0m\n");
  47.         return false;
  48.     }
  49.    
  50.     return true;
  51. }
  52. Console_RegisterCommand(PID_SetReportInterval, function(arg_index, args) { return Console_StandardAutocomplete(arg_index, args, PID_Aliases(), PID_Intervals()); });
  53.  
  54.  
  55. function PID_setValue(alias_name, temperature)
  56. {
  57.     if (arguments.length < 2)
  58.     {
  59.         Log("\033[31mNot enough parameters given.\033[0m\n");
  60.         return false;
  61.     }
  62.     var aliases_data = Module_ResolveAlias(alias_name, PID_ModuleNames);
  63.     var found = false;
  64.    
  65.     Log ("Called SetValue: "+temperature+"\n");
  66.  
  67.     for (var name in aliases_data)
  68.     {
  69.         var variables = {   "Value"     : temperature,
  70.                     "SensorId"     : 0 };
  71.        
  72.         if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "Temperature_Celsius", variables))
  73.         {
  74.             Log("\033[32mCommand sent successfully to " + name + ".\033[0m\n");
  75.         }
  76.         else
  77.         {
  78.             Log("\033[31mFailed to send command to " + name + ".\033[0m\n");
  79.         }
  80.        
  81.         found = true;
  82.     }
  83.  
  84.     if (!found)
  85.     {
  86.         Log("\033[31mNo aliases by the name " + alias_name + " were applicable for this command.\033[0m\n");
  87.         return false;
  88.     }
  89.  
  90.     return true;
  91. }
  92. Console_RegisterCommand(PID_setValue, function(arg_index, args) { return Console_StandardAutocomplete(arg_index, args, PID_Aliases(), PID_Temperatures());  });
  93.  
  94. function PID_setSensor(alias_name, alias_sensor)
  95. {
  96.     if (arguments.length < 2)
  97.     {
  98.         Log("\033[31mNot enough parameters given.\033[0m\n");
  99.         return false;
  100.     }
  101.     var aliases_data = Module_ResolveAlias(alias_name, PID_ModuleNames);
  102.     var found = false;
  103.    
  104.     var sensor_aliases_data = Module_ResolveAlias(alias_sensor, PID_SensorModuleNames);
  105.     var first = true;
  106.     for (var sensor in sensor_aliases_data)
  107.     {
  108.         if (first == false)
  109.         {
  110.             Log("\033[31mNo sensor by the name " + alias_sensor + " were applicable for this command, or alias was a group.\033[0m\n");
  111.             return false;
  112.         }
  113.         Log ("Called Set Sensor:\n");
  114.         Log ("sensorModuleType:   " + sensor_aliases_data[sensor]["module_name"]+"\n");
  115.         Log ("sensorModuleId:     " + sensor_aliases_data[sensor]["module_id"]+"\n");
  116.         Log ("SensorId:           " + sensor_aliases_data[sensor]["specific"]["SensorId"]+"\n");
  117.         var id = 0;
  118.         switch (sensor_aliases_data[sensor]["module_name"])
  119.         {
  120.           case "DS18x20": id = 3; break;
  121.           case "FOST02": id = 5; break;
  122.           case "TC1047A": id = 17; break;
  123.           case "TCN75A": id = 46; break;
  124.           case "LM335": id = 51; break;
  125.           case "NTC": id = 55; break;
  126.           case "DHT11": id = 61; break;
  127.           default:
  128.             Log("\033[31mCould not resolve sensor module type.\033[0m\n");
  129.             return; break;
  130.         }
  131.        
  132.        
  133.         for (var name in aliases_data)
  134.         {
  135.             var variables = {   "sensorModuleType"     : id,
  136.                         "sensorModuleId"       : sensor_aliases_data[sensor]["module_id"],
  137.                         "sensorId"     : sensor_aliases_data[sensor]["specific"]["SensorId"] };
  138.  
  139.             if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "CONFIG_SENSOR", variables))
  140.             {
  141.                 Log("\033[32mCommand sent successfully to " + name + ".\033[0m\n");
  142.             }
  143.             else
  144.             {
  145.                 Log("\033[31mFailed to send command to " + name + ".\033[0m\n");
  146.             }
  147.            
  148.             found = true;
  149.         }
  150.         first = false;
  151.         if (!found)
  152.         {
  153.             Log("\033[31mNo aliases by the name " + alias_name + " were applicable for this command.\033[0m\n");
  154.             return false;
  155.         }
  156.     }
  157.  
  158.     if (!found)
  159.     {
  160.         Log("\033[31mNo sensor aliases by the name " + alias_sensor + " were applicable for this command.\033[0m\n");
  161.         return false;
  162.     }
  163.  
  164.     return true;
  165. }
  166. Console_RegisterCommand(PID_setSensor, function(arg_index, args) { return Console_StandardAutocomplete(arg_index, args, PID_Aliases(), PID_SensorAliases());  });
  167.  
  168. function PID_setActuator(alias_name, alias_actuator)
  169. {
  170.     if (arguments.length < 2)
  171.     {
  172.         Log("\033[31mNot enough parameters given.\033[0m\n");
  173.         return false;
  174.     }
  175.     var aliases_data = Module_ResolveAlias(alias_name, PID_ModuleNames);
  176.     var found = false;
  177.    
  178.     var act_aliases_data = Module_ResolveAlias(alias_actuator, PID_ActModuleNames);
  179.     var first = true;
  180.     for (var act in act_aliases_data)
  181.     {
  182.         if (first == false)
  183.         {
  184.             Log("\033[31mNo actuator by the name " + alias_actuator + " were applicable for this command, or alias was a group.\033[0m\n");
  185.             return false;
  186.         }
  187.         Log ("Called Set Actuator:\n");
  188.         Log ("actModuleType:   " + act_aliases_data[act]["module_name"]+"\n");
  189.         Log ("actModuleId:     " + act_aliases_data[act]["module_id"]+"\n");
  190.         Log ("actId:           " + act_aliases_data[act]["specific"]["Channel"]+"\n");
  191.         var id = 0;
  192.         switch (act_aliases_data[act]["module_name"])
  193.         {
  194.           case "hwPWM": id = 13; break;
  195.           case "softPWM": id = 21; break;
  196.           case "SlowPWM": id = 19; break;
  197.           case "PCAPWM": id = 29; break;
  198.           default:
  199.             Log("\033[31mCould not resolve actuator module type.\033[0m\n");
  200.             return; break;
  201.         }
  202.        
  203.        
  204.         for (var name in aliases_data)
  205.         {
  206.             var variables = {   "actuatorModuleType"     : id,
  207.                         "actuatorModuleId"       : act_aliases_data[act]["module_id"],
  208.                         "actuatorId"             : act_aliases_data[act]["specific"]["Channel"] };
  209.  
  210.             if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "CONFIG_ACTUATOR", variables))
  211.             {
  212.                 Log("\033[32mCommand sent successfully to " + name + ".\033[0m\n");
  213.             }
  214.             else
  215.             {
  216.                 Log("\033[31mFailed to send command to " + name + ".\033[0m\n");
  217.             }
  218.            
  219.             found = true;
  220.         }
  221.         first = false;
  222.         if (!found)
  223.         {
  224.             Log("\033[31mNo aliases by the name " + alias_name + " were applicable for this command.\033[0m\n");
  225.             return false;
  226.         }
  227.     }
  228.  
  229.     if (!found)
  230.     {
  231.         Log("\033[31mNo actuator aliases by the name " + alias_actuator + " were applicable for this command.\033[0m\n");
  232.         return false;
  233.     }
  234.  
  235.     return true;
  236. }
  237. Console_RegisterCommand(PID_setActuator, function(arg_index, args) { return Console_StandardAutocomplete(arg_index, args, PID_Aliases(), PID_ActAliases());  });
  238.  
  239.  
  240. function PID_setParameters(alias_name, KP,KI,KD,Time,Unit)
  241. {
  242.     if (arguments.length < 6)
  243.     {
  244.         Log("\033[31mNot enough parameters given.\033[0m\n");
  245.         return false;
  246.     }
  247.     var aliases_data = Module_ResolveAlias(alias_name, PID_ModuleNames);
  248.     var found = false;
  249.  
  250.     for (var name in aliases_data)
  251.     {
  252.         var variables = {   "K_P"     : KP,
  253.                     "K_I"     : KI,
  254.                     "K_D"     : KD,
  255.                     "RegulatorTime"     : Time,
  256.                     "TimeUnit"     : Unit };
  257.         var variables_P_I = {   "K_P"     : KP,
  258.                     "K_I"     : KI };
  259.         var variables_D_T = {   "K_D"     : KD,
  260.                     "RegulatorTime"     : Time,
  261.                     "TimeUnit"     : Unit };
  262.         if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "CONFIG_PARAMETER", variables))
  263.         {
  264.             Log("\033[32mCommand sent successfully to " + name + ".\033[0m");
  265.             Log("\033[32mK_P = " + KP + "K_I = " + KI + "K_D = " + KD + "RegTime = " + Time + "Unit = " + Unit + ".\033[0m\n");
  266.         }
  267.         else
  268.         {
  269.             Log("\033[31mFailed to send command to " + name + ".\033[0m\n");
  270.         }
  271.        
  272.         if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "CONFIG_PARAMETER_P_I", variables_P_I))
  273.         {
  274.             Log("\033[32mK_P = " + KP + "K_I = " + KI + ".\033[0m\n");
  275.         }
  276.         else
  277.         {
  278.             Log("\033[31mFailed to send command to " + name + ".\033[0m\n");
  279.         }
  280.        
  281.         if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "CONFIG_PARAMETER_D_T", variables_D_T))
  282.         {
  283.             Log("\033[32mK_D = " + KD + "RegTime = " + Time + "Unit = " + Unit + ".\033[0m\n");
  284.         }
  285.         else
  286.         {
  287.             Log("\033[31mFailed to send command to " + name + ".\033[0m\n");
  288.         }
  289.        
  290.         found = true;
  291.     }
  292.  
  293.     if (!found)
  294.     {
  295.         Log("\033[31mNo aliases by the name " + alias_name + " were applicable for this command.\033[0m\n");
  296.         return false;
  297.     }
  298.  
  299.     return true;
  300. }
  301. Console_RegisterCommand(PID_setParameters, function(arg_index, args) { return Console_StandardAutocomplete(arg_index, args, PID_Aliases(), PID_Constants(), PID_Constants(), PID_Constants(), PID_Times(), PID_TimeUnits()); });
  302.  
  303.  
  304. function PID_setOutputMaxMin(alias_name, Max,Min)
  305. {
  306.     if (arguments.length < 3)
  307.     {
  308.         Log("\033[31mNot enough parameters given.\033[0m\n");
  309.         return false;
  310.     }
  311.     var aliases_data = Module_ResolveAlias(alias_name, PID_ModuleNames);
  312.     var found = false;
  313.  
  314.     for (var name in aliases_data)
  315.     {
  316.         var variables = {   "Min"     : Min,
  317.                     "Max"     : Max };
  318.        
  319.         if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "OutMinMax", variables))
  320.         {
  321.             Log("\033[32mMin = " + Min + "Max = " + Max + ".\033[0m\n");
  322.         }
  323.         else
  324.         {
  325.             Log("\033[31mFailed to send command to " + name + ".\033[0m\n");
  326.         }
  327.        
  328.         found = true;
  329.     }
  330.  
  331.     if (!found)
  332.     {
  333.         Log("\033[31mNo aliases by the name " + alias_name + " were applicable for this command.\033[0m\n");
  334.         return false;
  335.     }
  336.  
  337.     return true;
  338. }
  339. Console_RegisterCommand(PID_setOutputMaxMin, function(arg_index, args) { return Console_StandardAutocomplete(arg_index, args, PID_Aliases(), PID_Constants(), PID_Constants()); });
  340.  
  341. function PID_getConfiguration(alias_name)
  342. {
  343.     if (arguments.length < 1)
  344.     {
  345.         Log("\033[31mNot enough parameters given.\033[0m\n");
  346.         return false;
  347.     }
  348.     var aliases_data = Module_ResolveAlias(alias_name, PID_ModuleNames);
  349.     var found = false;
  350.  
  351.     for (var name in aliases_data)
  352.     {
  353.         var variables = {};
  354.        
  355.         if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "CONFIG_SENSOR", variables))
  356.         {
  357.             //Log("\033[32mCommand sent successfully to " + name + ".\033[0m\n");
  358.         }
  359.         else
  360.         {
  361.             Log("\033[31mFailed to send command 1 to " + name + ".\033[0m\n");
  362.         }
  363.         if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "CONFIG_ACTUATOR", variables))
  364.         {
  365.             //Log("\033[32mCommand sent successfully to " + name + ".\033[0m\n");
  366.         }
  367.         else
  368.         {
  369.             Log("\033[31mFailed to send command 2 to " + name + ".\033[0m\n");
  370.         }
  371.         if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "CONFIG_PARAMETER", variables))
  372.         {
  373.             //Log("\033[32mCommand sent successfully to " + name + ".\033[0m\n");
  374.         }
  375.         else
  376.         {
  377.             Log("\033[31mFailed to send command 3 to " + name + ".\033[0m\n");
  378.         }
  379.         if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "Report_Interval", variables))
  380.         {
  381.             //Log("\033[32mCommand sent successfully to " + name + ".\033[0m\n");
  382.         }
  383.         else
  384.         {
  385.             Log("\033[31mFailed to send command 4 to " + name + ".\033[0m\n");
  386.         }
  387.         if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "CONFIG_PARAMETER_P_I", variables))
  388.         {
  389.             //Log("\033[32mCommand sent successfully to " + name + ".\033[0m\n");
  390.         }
  391.         else
  392.         {
  393.             Log("\033[31mFailed to send command 5 to " + name + ".\033[0m\n");
  394.         }
  395.         if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "CONFIG_PARAMETER_D_T", variables))
  396.         {
  397.             //Log("\033[32mCommand sent successfully to " + name + ".\033[0m\n");
  398.         }
  399.         else
  400.         {
  401.             Log("\033[31mFailed to send command 6 to " + name + ".\033[0m\n");
  402.         }
  403.         if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "OutMinMax", variables))
  404.         {
  405.             //Log("\033[32mCommand sent successfully to " + name + ".\033[0m\n");
  406.         }
  407.         else
  408.         {
  409.             Log("\033[31mFailed to send command 6 to " + name + ".\033[0m\n");
  410.         }
  411.         found = true;
  412.     }
  413.  
  414.     if (!found)
  415.     {
  416.         Log("\033[31mNo aliases by the name " + alias_name + " were applicable for this command.\033[0m\n");
  417.         return false;
  418.     }
  419.  
  420.     return true;
  421. }
  422. Console_RegisterCommand(PID_getConfiguration, function(arg_index, args) { return Console_StandardAutocomplete(arg_index, args, PID_Aliases()); });
  423.  
  424. function PID_OnMessage(module_name, module_id, command, variables)
  425. {
  426.     if (in_array(PID_ModuleNames, module_name))
  427.     {
  428.         var aliases_data = Module_LookupAliases({
  429.             "module_name" : module_name,
  430.             "module_id"   : module_id,
  431.             "group"       : false
  432.         });
  433.        
  434.         switch (command)
  435.         {
  436.             case "DEBUG":
  437.                 for (var alias_name in aliases_data)
  438.                 {
  439.                     var last_value = {};
  440.                     var last_value_string = Storage_GetParameter("LastValues", alias_name);
  441.  
  442.                     if (last_value_string)
  443.                     {
  444.                         last_value = eval("(" + last_value_string + ")");
  445.                     }
  446.                    
  447.                     last_value["Debug"] = { "value" : { "P_term" : variables["P_term"],"I_term" : variables["I_term"],"D_term" : variables["D_term"],"Sum" : variables["Sum"] }, "timestamp" : get_time() };
  448.                     Storage_SetParameter("LastValues", alias_name, JSON.stringify(last_value));
  449.                     //Log("Got message DEBUG");
  450.                 }
  451.             break;
  452.             case "CONFIG_SENSOR":
  453.                 for (var alias_name in aliases_data)
  454.                 {
  455.                     var last_value = {};
  456.                     var last_value_string = Storage_GetParameter("LastValues", alias_name);
  457.  
  458.                     if (last_value_string)
  459.                     {
  460.                         last_value = eval("(" + last_value_string + ")");
  461.                     }
  462.                    
  463.                     last_value["Sensor"] = { "value" : { "sensorModuleType" : variables["sensorModuleType"],"sensorModuleId" : variables["sensorModuleId"],"sensorId" : variables["sensorId"] }, "timestamp" : get_time() };
  464.                     Storage_SetParameter("LastValues", alias_name, JSON.stringify(last_value));
  465.                 }
  466.             break;
  467.             case "CONFIG_ACTUATOR":
  468.                 for (var alias_name in aliases_data)
  469.                 {
  470.                     var last_value = {};
  471.                     var last_value_string = Storage_GetParameter("LastValues", alias_name);
  472.  
  473.                     if (last_value_string)
  474.                     {
  475.                         last_value = eval("(" + last_value_string + ")");
  476.                     }
  477.                    
  478.                     last_value["Actuator"] = { "value" : { "actuatorModuleType" : variables["actuatorModuleType"],"actuatorModuleId" : variables["actuatorModuleId"],"actuatorId" : variables["actuatorId"] }, "timestamp" : get_time() };
  479.                     Storage_SetParameter("LastValues", alias_name, JSON.stringify(last_value));
  480.                 }
  481.             break;
  482.             case "CONFIG_PARAMETER":
  483.                 for (var alias_name in aliases_data)
  484.                 {
  485.                     var last_value = {};
  486.                     var last_value_string = Storage_GetParameter("LastValues", alias_name);
  487.  
  488.                     if (last_value_string)
  489.                     {
  490.                         last_value = eval("(" + last_value_string + ")");
  491.                     }
  492.                    
  493.                     last_value["Parameters"] = { "value" : { "K_P" : variables["K_P"],"K_I" : variables["K_I"],"K_D" : variables["K_D"],"TimeUnit" : variables["TimeUnit"],"RegulatorTime" : variables["RegulatorTime"] }, "timestamp" : get_time() };
  494.                     Storage_SetParameter("LastValues", alias_name, JSON.stringify(last_value));
  495.                 }
  496.             break;
  497.             case "PID_STATUS":
  498.                 for (var alias_name in aliases_data)
  499.                 {
  500.                     var last_value = {};
  501.                     var last_value_string = Storage_GetParameter("LastValues", alias_name);
  502.  
  503.                     if (last_value_string)
  504.                     {
  505.                         last_value = eval("(" + last_value_string + ")");
  506.                     }
  507.                    
  508.                     last_value["PID_status"] = { "value" : { "Measurment" : variables["Measurment"],"Reference" : variables["Reference"],"PWM" : variables["PWM"],"Sum" : variables["Sum"] }, "timestamp" : get_time() };
  509.                     Storage_SetParameter("LastValues", alias_name, JSON.stringify(last_value));
  510.                 }
  511.     //log("PID status: mea:" + this.Measurment + " ref:" + this.Reference + " pwm:" + this.PWM/100 + " sum:" + this.Sum + "\n");
  512.                 //this.callEvent("newValue", canMessage.getData("Id"));
  513.  
  514.     //var self = this;
  515.     //  this.myHTTP.request(function(result, header, content) { self.httpCallback(result, header, content); }, "linuxz.mine.nu/canlogg/add.php?measurment="+ this.Measurment + "&reference="+this.Reference+"&pwm="+this.PWM/100+"&sum="+this.Sum+"&p="+this.K_P+"&i="+this.K_I+"&d="+this.K_D+"&timeunit="+this.TimeUnit+"&pidtime="+this.RegulatorTime+"");
  516.             break;
  517.             case "Temperature_Celsius":
  518.                 for (var alias_name in aliases_data)
  519.                 {
  520.                     var last_value = {};
  521.                     var last_value_string = Storage_GetParameter("LastValues", alias_name);
  522.  
  523.                     if (last_value_string)
  524.                     {
  525.                         last_value = eval("(" + last_value_string + ")");
  526.                     }
  527.                    
  528.                     last_value["Reference"] = { "value" : variables["Value"], "timestamp" : get_time() };
  529.                     Storage_SetParameter("LastValues", alias_name, JSON.stringify(last_value));
  530.                 }  
  531.                 break;
  532.             case "Report_Interval":
  533.                 this.myReportInterval = canMessage.getData("Time");
  534.                 break;
  535.         }
  536.     }
  537. }
  538. Module_RegisterToOnMessage("all", PID_OnMessage);
  539.