Added backend for PID parameters, sending and storage in file, too the GUI has support for PID input parameters and Plot

LoadCode · LoadCode · commit 61930d6c7ab7 · 2017-04-17T21:13:12.000-05:00
diff --git a/ThreadServer.java b/ThreadServer.java
@@ -10,8 +10,10 @@ public class ThreadServer extends Thread
 {
 	private int usbPort;
 	private double ts;
-	private double step_time;
 	private double setpoint;
+	private double Kp;
+	private double Ki;
+	private double Kd;
 	private int server_answer = 2958;
 	private int valid_client_request = 45862;
 	private int finish = 0;
@@ -105,6 +107,7 @@ public void terminate()
 		// option to save the captured data
 		double[][] logged_signal = this.gui.process_output.toArray();
 		double[][] control_signal = this.gui.process_input.toArray();
+		double[][] setpoint_signal = this.gui.process_setpoint.toArray();
 		
 		// Dialogo para seleccionar donde almacenar el archivo
 		JFileChooser fileChooser = new JFileChooser();
@@ -114,9 +117,8 @@ public void terminate()
 		if (userSelection == JFileChooser.APPROVE_OPTION) 
 		{
 		    File fileToSave = fileChooser.getSelectedFile();
-		    System.out.println("Save as file: " + fileToSave.getAbsolutePath());
 		    FileManager fileSaving = new FileManager(fileToSave.getAbsolutePath());
-			fileSaving.save_array(logged_signal, control_signal);
+			fileSaving.save_pid_signals(setpoint_signal, logged_signal, control_signal);
 			System.out.println("Archivo guardado");
 		}
 		else
@@ -129,22 +131,26 @@ public void terminate()
 	public void run()
 	{
 		double output_process_val = 0.0;
-		double input_process_val  = 0.0;
+		double input_process_val  = 0.0; //PID computed values
 		double time_value = 0.0;
 		
 		// get user parameters
 		this.usbPort = Integer.parseInt(this.gui.txt_port.getText());
 		this.ts = Double.parseDouble(this.gui.txt_sample_time.getText());
 		this.setpoint = Double.parseDouble(this.gui.txt_setpoint.getText());
-		this.step_time = Double.parseDouble(this.gui.txt_step_time.getText());
+		this.Kp = Double.parseDouble(this.gui.txt_kp.getText());
+		this.Ki = Double.parseDouble(this.gui.txt_ki.getText());
+		this.Kd = Double.parseDouble(this.gui.txt_kd.getText());
 		
 		// Send parámeters
 		try
 		{
 			out.writeInt(this.usbPort);
 			out.writeDouble(this.ts);
 			out.writeDouble(this.setpoint);
-			out.writeDouble(this.step_time);
+			out.writeDouble(this.Kp);
+			out.writeDouble(this.Ki);
+			out.writeDouble(this.Kd);
 		}
 		catch (IOException e) 
 		{
@@ -162,13 +168,14 @@ public void run()
 				input_process_val  = this.in.readDouble();
 				time_value = this.in.readDouble();
 				out.writeInt(this.finish);
-			} catch (IOException e) 
+			} catch (IOException e)
 			{
 				System.out.println("No se pudo hacer la lectura de la señal o la transferencia del finish");
 				e.printStackTrace();
 			}
 			this.gui.process_output.add(time_value, output_process_val);
 			this.gui.process_input.add(time_value, input_process_val);
+			this.gui.process_setpoint.add(time_value, this.setpoint);
 		}
 		try 
 		{
