Reduce number of wiper inputs

CMakeLists.txt

@@ -15,6 +15,9 @@ add_executable(hybridapi
     src/labsland/simulations/watertanksimulation.cpp
     src/deusto/door.cpp
     src/deusto/watertankDeusto.cpp
+    src/deusto/watertankDeustoTemperature.cpp
+    src/deusto/wiperDeusto.cpp
+    src/deusto/wiper2BitDeusto.cpp
     src/rhlab/butterfly.cpp
     src/rhlab/matrix.cpp
     src/rhlab/morse.cpp

server/hybridapi/static/simulations/watertankDeustoTemperature/TemplateData/style.css

@@ -0,0 +1,16 @@
+body { padding: 0; margin: 0 }
+#unity-container { position: absolute }
+#unity-container.unity-desktop { left: 50%; top: 50%; transform: translate(-50%, -50%) }
+#unity-container.unity-mobile { width: 100%; height: 100% }
+#unity-canvas { background: #231F20 }
+.unity-mobile #unity-canvas { width: 100%; height: 100% }
+#unity-loading-bar { position: absolute; left: 50%; top: 50%; transform: translate(-50%, -50%); display: none }
+#unity-logo { width: 154px; height: 130px; background: url('unity-logo-dark.png') no-repeat center }
+#unity-progress-bar-empty { width: 141px; height: 18px; margin-top: 10px; margin-left: 6.5px; background: url('progress-bar-empty-dark.png') no-repeat center }
+#unity-progress-bar-full { width: 0%; height: 18px; margin-top: 10px; background: url('progress-bar-full-dark.png') no-repeat center }
+#unity-footer { position: relative }
+.unity-mobile #unity-footer { display: none }
+#unity-webgl-logo { float:left; width: 204px; height: 38px; background: url('webgl-logo.png') no-repeat center }
+#unity-build-title { float: right; margin-right: 10px; line-height: 38px; font-family: arial; font-size: 18px }
+#unity-fullscreen-button { float: right; width: 38px; height: 38px; background: url('fullscreen-button.png') no-repeat center }
+#unity-warning { position: absolute; left: 50%; top: 5%; transform: translate(-50%); background: white; padding: 10px; display: none }

server/hybridapi/static/simulations/wiper2BitDeusto/TemplateData/style.css

@@ -0,0 +1,16 @@
+body { padding: 0; margin: 0 }
+#unity-container { position: absolute }
+#unity-container.unity-desktop { left: 50%; top: 50%; transform: translate(-50%, -50%) }
+#unity-container.unity-mobile { width: 100%; height: 100% }
+#unity-canvas { background: #231F20 }
+.unity-mobile #unity-canvas { width: 100%; height: 100% }
+#unity-loading-bar { position: absolute; left: 50%; top: 50%; transform: translate(-50%, -50%); display: none }
+#unity-logo { width: 154px; height: 130px; background: url('unity-logo-dark.png') no-repeat center }
+#unity-progress-bar-empty { width: 141px; height: 18px; margin-top: 10px; margin-left: 6.5px; background: url('progress-bar-empty-dark.png') no-repeat center }
+#unity-progress-bar-full { width: 0%; height: 18px; margin-top: 10px; background: url('progress-bar-full-dark.png') no-repeat center }
+#unity-footer { position: relative }
+.unity-mobile #unity-footer { display: none }
+#unity-webgl-logo { float:left; width: 204px; height: 38px; background: url('webgl-logo.png') no-repeat center }
+#unity-build-title { float: right; margin-right: 10px; line-height: 38px; font-family: arial; font-size: 18px }
+#unity-fullscreen-button { float: right; width: 38px; height: 38px; background: url('fullscreen-button.png') no-repeat center }
+#unity-warning { position: absolute; left: 50%; top: 5%; transform: translate(-50%); background: white; padding: 10px; display: none }

server/hybridapi/static/simulations/wiperDeusto/TemplateData/style.css

@@ -0,0 +1,16 @@
+body { padding: 0; margin: 0 }
+#unity-container { position: absolute }
+#unity-container.unity-desktop { left: 50%; top: 50%; transform: translate(-50%, -50%) }
+#unity-container.unity-mobile { width: 100%; height: 100% }
+#unity-canvas { background: #231F20 }
+.unity-mobile #unity-canvas { width: 100%; height: 100% }
+#unity-loading-bar { position: absolute; left: 50%; top: 50%; transform: translate(-50%, -50%); display: none }
+#unity-logo { width: 154px; height: 130px; background: url('unity-logo-dark.png') no-repeat center }
+#unity-progress-bar-empty { width: 141px; height: 18px; margin-top: 10px; margin-left: 6.5px; background: url('progress-bar-empty-dark.png') no-repeat center }
+#unity-progress-bar-full { width: 0%; height: 18px; margin-top: 10px; background: url('progress-bar-full-dark.png') no-repeat center }
+#unity-footer { position: relative }
+.unity-mobile #unity-footer { display: none }
+#unity-webgl-logo { float:left; width: 204px; height: 38px; background: url('webgl-logo.png') no-repeat center }
+#unity-build-title { float: right; margin-right: 10px; line-height: 38px; font-family: arial; font-size: 18px }
+#unity-fullscreen-button { float: right; width: 38px; height: 38px; background: url('fullscreen-button.png') no-repeat center }
+#unity-warning { position: absolute; left: 50%; top: 5%; transform: translate(-50%); background: white; padding: 10px; display: none }

server/simulations/watertankDeusto.yml

@@ -5,6 +5,6 @@ iframe:
   height: 700
 gpios:
   sim2dut:
-    labels: [ lowSensor, midSensor, highSensor, pump1Hot, pump2Hot ]
+    labels: [ lowSensor, midSensor, highSensor ]
   dut2sim:
     labels: [ pump1Bit0, pump1Bit1, pump2Bit0, pump2Bit1 ]

server/simulations/watertankDeustoTemperature.yml

@@ -0,0 +1,10 @@
+name: Watertank
+description: This is a watertank simulation
+iframe:
+  url: watertankDeustoTemperature/index.html
+  height: 700
+gpios:
+  sim2dut:
+    labels: [ lowSensor, midSensor, highSensor, pump1Hot, pump2Hot ]
+  dut2sim:
+    labels: [ pump1Bit0, pump1Bit1, pump2Bit0, pump2Bit1 ]

server/simulations/wiper2BitDeusto.yml

@@ -0,0 +1,10 @@
+name: Wiper
+description: This is a wiper simulation
+iframe:
+  url: wiper2BitDeusto/index.html
+  height: 700
+gpios:
+  sim2dut:
+    labels: [ rainSensor, rightSenson,  leftSensor, mButton, pButton]
+  dut2sim:
+    labels: [ move1, move2 ]

server/simulations/wiperDeusto.yml

@@ -0,0 +1,10 @@
+name: Wiper
+description: This is a wiper simulation
+iframe:
+  url: wiperDeusto/index.html
+  height: 700
+gpios:
+  sim2dut:
+    labels: [ rainSensor, rightSenson,  leftSensor, mButton, pButton ]
+  dut2sim:
+    labels: [ move ]

src-stdcpp/main.cpp

@@ -14,6 +14,9 @@
 #include "rhlab/morse.h"
 #include "deusto/door.h"
 #include "deusto/watertankDeusto.h"
+#include "deusto/watertankDeustoTemperature.h"
+#include "deusto/wiperDeusto.h"
+#include "deusto/wiper2BitDeusto.h"
 #include "labsland/simulations/utils/communicatorfiles.h"
 #include "labsland/simulations/targetdevicefiles.h"
 #include "labsland/utils/timemanagerstd.h"
@@ -116,6 +119,12 @@ int main(int argc, char * argv[]) {
         runner = new ConcreteSimulationRunner<DoorSimulation, DoorData, DoorRequest>(configuration, mode);
     } else if (simulation == "watertankDeusto") {
         runner = new ConcreteSimulationRunner<WatertankDeustoSimulation, WatertankDeustoData, WatertankDeustoRequest>(configuration, mode);
+    } else if (simulation == "watertankDeustoTemperature") {
+        runner = new ConcreteSimulationRunner<WatertankDeustoTemperatureSimulation, WatertankDeustoTemperatureData, WatertankDeustoTemperatureRequest>(configuration, mode);
+    }else if (simulation == "wiperDeusto") {
+        runner = new ConcreteSimulationRunner<WiperDeustoSimulation, WiperDeustoData, WiperDeustoRequest>(configuration, mode);
+    }else if (simulation == "wiper2BitDeusto") {
+        runner = new ConcreteSimulationRunner<Wiper2BitDeustoSimulation, Wiper2BitDeustoData, Wiper2BitDeustoRequest>(configuration, mode);
     } else if (simulation == "morse") {
         runner = new ConcreteSimulationRunner< RHLab::Morse::MorseSimulation, RHLab::Morse::MorseData, RHLab::Morse::MorseRequest>(configuration, mode);
     }

src/deusto/watertankDeusto.cpp

@@ -7,7 +7,7 @@
  void WatertankDeustoSimulation::initialize() {
 
      this->targetDevice->initializeSimulation(
-             {"lowSensorActive", "midSensorActive", "highSensorActive", "pump1Hot", "pump2Hot"},
+             {"lowSensorActive", "midSensorActive", "highSensorActive"},
              {"pump1Bit0","pump1Bit1", "pump2Bit0", "pump2Bit1"}
      );
 
@@ -25,7 +25,6 @@
      setReportWhenMarked(true);
  }
 
- int error[4][3] = {{ 0, 1, 0 },{ 1, 0, 0 },{ 1, 0, 1 },{ 1, 1, 0 }};
   void WatertankDeustoSimulation::update(double delta) {
 
      this->log() << "Updating simulation. Delta: " << delta << std::endl;
@@ -40,16 +39,6 @@
 
      double addedWater = 0;
 
-     if (mState.pump1Temperature>=85) mState.pump1Hot = true;
-     else mState.pump1Hot = false;
-     if (mState.pump2Temperature>=85) mState.pump2Hot = true;
-     else mState.pump2Hot = false;
-
-     if (mState.pump1Temperature>=100) mState.pump1Broken = true;
-     else mState.pump1Broken = false;
-     if (mState.pump2Temperature>=100) mState.pump2Broken = true;
-     else mState.pump2Broken = false;
-
      mState.pump1ActiveBit0 = this->targetDevice->getGpio("pump1Bit0");
      mState.pump1ActiveBit1 = this->targetDevice->getGpio("pump1Bit1");
 
@@ -58,37 +47,19 @@
 
      this->log() << "Pumps: pump1: " << mState.pump1ActiveBit0 << mState.pump1ActiveBit1 << "; pump2: " << mState.pump2ActiveBit0 << mState.pump2ActiveBit1 << std::endl;
 
-     if(mState.pump1ActiveBit0 || mState.pump1ActiveBit1) {
-        if(mState.pump1Temperature<100) mState.pump1Temperature += 3 * delta;
-        else mState.pump1Temperature = 100;
-
-        if (!mState.pump1Broken) {
-            if (mState.pump1ActiveBit0 == 1 && mState.pump1ActiveBit1 == 1) {
-               addedWater += 2 * PUMP1_FLOWRATE * delta;
-            } else {
-               addedWater += PUMP1_FLOWRATE * delta;
-            }
-         }
-     }else{
-        if(mState.pump1Temperature>0) mState.pump1Temperature -= 6 * delta;
-        else mState.pump1Temperature = 0;
+
+     if (mState.pump1ActiveBit0 == 1 && mState.pump1ActiveBit1 == 1) {
+        addedWater += 2 * PUMP1_FLOWRATE * delta;
+     } else if(mState.pump1ActiveBit0 == 0 && mState.pump1ActiveBit1 == 1){
+        addedWater += PUMP1_FLOWRATE * delta;
      }
-
-     if(mState.pump2ActiveBit0 || mState.pump2ActiveBit1) {
-        if(mState.pump2Temperature<100) mState.pump2Temperature += 3 * delta;
-        else mState.pump2Temperature = 100;
-
-        if (!mState.pump2Broken) {
-            if (mState.pump2ActiveBit0 == 1 && mState.pump2ActiveBit1 == 1) {
-               addedWater += 2 * PUMP2_FLOWRATE * delta;
-            } else {
-               addedWater += PUMP2_FLOWRATE * delta;
-            }
-         }
-     }else{
-        if(mState.pump2Temperature>0) mState.pump2Temperature -= 6 * delta;
-        else mState.pump2Temperature = 0;
+
+     if (mState.pump2ActiveBit0 == 1 && mState.pump2ActiveBit1 == 1) {
+        addedWater += 2 * PUMP2_FLOWRATE * delta;
+     } else if(mState.pump2ActiveBit0 == 0 && mState.pump2ActiveBit1 == 1){
+        addedWater += PUMP2_FLOWRATE * delta;
      }
+
 
      float removedWater = 0;
      removedWater = mCurrentDemandFlowrate * delta;
@@ -130,8 +101,6 @@
      this->targetDevice->setGpio("lowSensorActive", mState.lowSensorActive);
      this->targetDevice->setGpio("midSensorActive", mState.midSensorActive);
      this->targetDevice->setGpio("highSensorActive", mState.highSensorActive);
-     this->targetDevice->setGpio("pump1Hot", mState.pump1Hot);
-     this->targetDevice->setGpio("pump2Hot", mState.pump2Hot);
 
      this->log() << "of: " << request.outputFlow << "; err: " << request.makeError << "; res: " << request.resetError << std::endl;
 

src/deusto/watertankDeusto.h

@@ -22,17 +22,12 @@
      bool lowSensorActive;
      bool midSensorActive;
      bool highSensorActive;
-     bool pump1Hot;
-     bool pump2Hot;
-     bool pump1Broken;
-     bool pump2Broken;
 
      std::string serialize() const {
          std::stringstream stream;
-         stream << level << "&" << totalVolume << "&" << volume << "&" << pump1ActiveBit0 << pump1ActiveBit1 << "&" << pump2ActiveBit0 << pump2ActiveBit1 << "&" <<
-             pump1Temperature << "&" << pump2Temperature << "&" << currentLoad << "&" << lowSensorActive << "&" <<
-             midSensorActive << "&" << highSensorActive << "&"<< pump1Hot << "&" << pump2Hot << "&" <<
-             pump1Broken << "&" << pump2Broken << "&";
+         stream << level << "&" << pump1ActiveBit0 << pump1ActiveBit1 << "&" << pump2ActiveBit0 << pump2ActiveBit1 << "&" <<
+             pump1Temperature << "&" << pump2Temperature << "&" << lowSensorActive << "&" <<
+             midSensorActive << "&" << highSensorActive << "&";
          return stream.str();
      }
  };
@@ -68,7 +63,8 @@
      const float PUMP2_FLOWRATE = 2000;
 
      float mCurrentDemandFlowrate = 0;
-
+
+     int error[4][3] = {{ 0, 1, 0 },{ 1, 0, 0 },{ 1, 0, 1 },{ 1, 1, 0 }};
      bool makeError = false;
      bool resetError = false;
      bool isBroken = false;

src/deusto/watertankDeustoTemperature.cpp

@@ -0,0 +1,142 @@
+ #include <string>
+ #include <iostream>
+ #include <cmath>
+ #include "watertankDeustoTemperature.h"
+
+
+ void WatertankDeustoTemperatureSimulation::initialize() {
+
+     this->targetDevice->initializeSimulation(
+             {"lowSensorActive", "midSensorActive", "highSensorActive", "pump1Hot", "pump2Hot"},
+             {"pump1Bit0","pump1Bit1", "pump2Bit0", "pump2Bit1"}
+     );
+
+     float radius = WATERTANK_DIAMETER / 2;
+     mState.totalVolume = M_PI * radius * radius * WATERTANK_HEIGHT * 1000;
+
+     mState.volume = mState.totalVolume / 2;
+     mState.level = 0.9;
+
+     mState.pump1ActiveBit0 = false;
+     mState.pump1ActiveBit1 = false;
+     mState.pump2ActiveBit0 = false;
+     mState.pump2ActiveBit1 = false;
+
+     setReportWhenMarked(true);
+ }
+
+  void WatertankDeustoTemperatureSimulation::update(double delta) {
+
+     this->log() << "Updating simulation. Delta: " << delta << std::endl;
+
+     WatertankDeustoTemperatureRequest request;
+     bool requestWasRead = readRequest(request);
+     if (requestWasRead) {
+          mCurrentDemandFlowrate = request.outputFlow;
+          makeError = request.makeError;
+          resetError = request.resetError;
+     }
+
+     double addedWater = 0;
+
+     if (mState.pump1Temperature>=90) mState.pump1Hot = true;
+     else if (mState.pump1Hot && mState.pump1Temperature<=30)mState.pump1Hot = false;
+     if (mState.pump2Temperature>=90) mState.pump2Hot = true;
+     else if(mState.pump2Hot && mState.pump2Temperature<=30) mState.pump2Hot = false;
+
+     if (mState.pump1Temperature>=100) mState.pump1Broken = true;
+     else mState.pump1Broken = false;
+     if (mState.pump2Temperature>=100) mState.pump2Broken = true;
+     else mState.pump2Broken = false;
+
+     mState.pump1ActiveBit0 = this->targetDevice->getGpio("pump1Bit0");
+     mState.pump1ActiveBit1 = this->targetDevice->getGpio("pump1Bit1");
+
+     mState.pump2ActiveBit0 = this->targetDevice->getGpio("pump2Bit0");
+     mState.pump2ActiveBit1 = this->targetDevice->getGpio("pump2Bit1");
+
+     this->log() << "Pumps: pump1: " << mState.pump1ActiveBit0 << mState.pump1ActiveBit1 << "; pump2: " << mState.pump2ActiveBit0 << mState.pump2ActiveBit1 << std::endl;
+
+     if(mState.pump1ActiveBit0 || mState.pump1ActiveBit1) {
+        if(mState.pump1Temperature<100) mState.pump1Temperature += 3 * delta;
+        else mState.pump1Temperature = 100;
+
+        if (!mState.pump1Broken) {
+            if (mState.pump1ActiveBit0 == 1 && mState.pump1ActiveBit1 == 1) {
+               addedWater += 2 * PUMP1_FLOWRATE * delta;
+            } else if(mState.pump1ActiveBit0 == 0 && mState.pump1ActiveBit1 == 1){
+               addedWater += PUMP1_FLOWRATE * delta;
+            }
+         }
+     }else{
+        if(mState.pump1Temperature>0) mState.pump1Temperature -= 6 * delta;
+        else mState.pump1Temperature = 0;
+     }
+
+     if(mState.pump2ActiveBit0 || mState.pump2ActiveBit1) {
+        if(mState.pump2Temperature<100) mState.pump2Temperature += 3 * delta;
+        else mState.pump2Temperature = 100;
+
+        if (!mState.pump2Broken) {
+            if (mState.pump2ActiveBit0 == 1 && mState.pump2ActiveBit1 == 1) {
+               addedWater += 2 * PUMP2_FLOWRATE * delta;
+            } else if(mState.pump2ActiveBit0 == 0 && mState.pump2ActiveBit1 == 1){
+               addedWater += PUMP2_FLOWRATE * delta;
+            }
+         }
+     }else{
+        if(mState.pump2Temperature>0) mState.pump2Temperature -= 6 * delta;
+        else mState.pump2Temperature = 0;
+     }
+
+     float removedWater = 0;
+     removedWater = mCurrentDemandFlowrate * delta;
+
+     this->log() << "Old volume: " << mState.volume << "; adding: " << addedWater << "; removing (flow rate=" << mCurrentDemandFlowrate << "): " << removedWater << std::endl;
+
+     mState.volume = mState.volume + addedWater - removedWater;
+     if (mState.volume < 0) {
+         mState.volume = 0;
+     }
+     if (mState.volume > mState.totalVolume) {
+         mState.volume = mState.totalVolume;
+     }
+
+     mState.level = mState.volume / mState.totalVolume;
+
+     if(resetError && isBroken){
+            isBroken = false;
+      }
+      if(makeError && !isBroken){
+
+            isBroken = true;
+            int randomError = rand() % 4;
+
+            mState.lowSensorActive = error[randomError][2];
+            mState.midSensorActive = error[randomError][1];
+            mState.highSensorActive = error[randomError][0];
+      }
+
+     this->log() << "New volume: " << mState.volume << "; which is level=" << mState.level << std::endl;
+     if(!isBroken)
+     {
+        mState.lowSensorActive = mState.level >= 0.20;
+        mState.midSensorActive = mState.level >= 0.50;
+        mState.highSensorActive = mState.level >= 0.80;
+     }
+     this->log() << "Sensors: Low (0.2): " << mState.lowSensorActive << "; Mid (0.5): " << mState.midSensorActive << "; High (0.8): " << mState.highSensorActive << std::endl;
+
+     this->targetDevice->setGpio("lowSensorActive", mState.lowSensorActive);
+     this->targetDevice->setGpio("midSensorActive", mState.midSensorActive);
+     this->targetDevice->setGpio("highSensorActive", mState.highSensorActive);
+     this->targetDevice->setGpio("pump1Hot", mState.pump1Hot);
+     this->targetDevice->setGpio("pump2Hot", mState.pump2Hot);
+
+     this->log() << "of: " << request.outputFlow << "; err: " << request.makeError << "; res: " << request.resetError << std::endl;
+
+     requestReportState();
+ }
+
+
+
+