tank_simulation.py

import threading
from time import sleep
from Controllers.BangBang import BangBang
from Controllers.PID import PID
import random
from GUI.ControllerGUI import ControllerGUI


def update_tank_level(controller:PID|BangBang) -> None:
    """
    @brief  The tank level is simulated by having a random flow in generated by a random number
            and the flow out is controlled by the controller (PID or Bang Bang) which is simulating
            a valve opening and closing.

            Tank-Level = (Flow-Rate-In - Flow-Rate-Out) * Time-Since-Last-Measurement 
                + Previous-Tank-Level-At-Last-Measurement
    @param controller   Used to bring the tank level to the proper setpoint. 
    """
    tank_level = 0
    MEASUREMENT_PERIOD = 0.1 # Seconds
    #print("Producing Simulated Tank Values...")
    while(True):
        input_flow = random.random() * 8 # 0-8 cm^3/sec, will be the same random input each time
        output_flow = controller.update_control_value(tank_level, MEASUREMENT_PERIOD)
        tank_level += (input_flow - output_flow) * MEASUREMENT_PERIOD
        
        #print(f"Flow In: {input_flow:.2f} |   Flow Out: {output_flow:.2f} | Tank level: {tank_level:.2f}")
        sleep(MEASUREMENT_PERIOD)


if __name__ == '__main__':
    tank_pid = PID(setpoint=25, control_low=0, control_high=8, P=1.5, I=1.2, D=0.0)
    tank_bang_bang = BangBang(setpoint=25, control_low=0, control_high=20)
    gui = ControllerGUI([tank_pid, tank_bang_bang])
    IS_RUNNING = [True]
    
    # Thread is daemon to exit when the gui exits
    simulator_pid_thread = threading.Thread(target=update_tank_level, args=[tank_pid], daemon=True)
    simulator_bang_bang_thread = threading.Thread(target=update_tank_level, args=[tank_bang_bang], daemon=True)

    simulator_pid_thread.start()
    simulator_bang_bang_thread.start()
    gui.start_gui()