Se agregó la opción de trabajo en lazo abierto independiente para cada controlador, uno puede estar ejecutando un controlador mientras otro puede estar en lazo abierto (es decir, en modo de solo captura de datos)....para entrar en modo openloop debe escribir openloop en el campo de Kp de cada controlador

LoadCode · LoadCode · commit a737ae165920 · 2017-04-26T19:34:55.000-05:00
diff --git a/ThreadServer.java b/ThreadServer.java
@@ -6,6 +6,7 @@
 import java.net.Socket;
 import javax.swing.JFileChooser;
 
+
 public class ThreadServer extends Thread
 {
 	private int usbPort;
@@ -20,8 +21,10 @@ public class ThreadServer extends Thread
 	private double kpF;
 	private double kiF;
 	private double kdF;
-	private int server_answer = 2958;
+	private int server_answer        = 2958;
 	private int valid_client_request = 45862;
+	private int openloopSignal       = 54378;
+	private int closedloopSignal     = 45876; 
 	private Window gui;
 	private ServerSocket server;
 	private Socket socket;
@@ -34,8 +37,6 @@ public class ThreadServer extends Thread
 	public ThreadServer(Window _gui)
 	{
 		this.gui = _gui;
-		this.usbPort = 16;
-		this.tsT = 0.1;
 		
 		// Create server
 		System.out.println("Starting Loggin thread");
@@ -150,40 +151,99 @@ public void terminate()
 	public void run()
 	{
 		// get user parameters
+		int signalSendPidI;
+		int signalSendPidII;
 		this.usbPort = Integer.parseInt(this.gui.txt_port.getText());
 		this.tsT = Double.parseDouble(this.gui.txt_sample_time_I.getText());
 		this.setpointT = Double.parseDouble(this.gui.txt_setpoint_I.getText());
-		this.kpT = Double.parseDouble(this.gui.txt_kp_T.getText());
 		this.kiT = Double.parseDouble(this.gui.txt_ki_T.getText());
 		this.kdT = Double.parseDouble(this.gui.txt_kd_T.getText());
 		this.tsF = Double.parseDouble(this.gui.txt_sample_time_II.getText());
 		this.setpointF = Double.parseDouble(this.gui.txt_setpoint_II.getText());
-		this.kpF = Double.parseDouble(this.gui.txt_kp_F.getText());
 		this.kiF = Double.parseDouble(this.gui.txt_ki_F.getText());
 		this.kdF = Double.parseDouble(this.gui.txt_kd_F.getText());
 		
-		// Send parámeters usbPort Ts, setpoint, & PID parameters
+		// enviar información del puerto usb asociado a la tarjeta de adquisición
 		try
 		{
 			out.writeInt(this.usbPort);
-			out.writeDouble(this.tsT);
-			out.writeDouble(this.setpointT);
-			out.writeDouble(this.kpT);
-			out.writeDouble(this.kiT);
-			out.writeDouble(this.kdT);
-			out.writeDouble(this.tsF);
-			out.writeDouble(this.setpointF);
-			out.writeDouble(this.kpF);
-			out.writeDouble(this.kiF);
-			out.writeDouble(this.kdF);
 		}
-		catch (IOException e) 
+		catch(IOException e)
+		{
+			System.out.println("No se pudo enviar información del puerto USB asociado");
+			e.printStackTrace();
+			return;
+		}
+		
+		if(this.gui.txt_kp_T.getText().equals("openloop"))
+		{
+			signalSendPidI = this.openloopSignal;
+		}
+		else
+		{
+			signalSendPidI = this.closedloopSignal;
+			this.kpT = Double.parseDouble(this.gui.txt_kp_T.getText());
+		}
+		
+		if(this.gui.txt_kp_F.getText().equals("openloop"))
+		{
+			signalSendPidII = this.openloopSignal;
+		}
+		else
+		{
+			signalSendPidII = this.closedloopSignal;
+			this.kpF = Double.parseDouble(this.gui.txt_kp_F.getText());
+		}
+		
+		// Envía la señal openloop o closedloop y los respectivos parámetros para el proceso I
+		try
+		{
+			out.writeInt(signalSendPidI);
+			if(signalSendPidI == this.openloopSignal)
+			{
+				out.writeDouble(this.tsT);
+				out.writeDouble(this.setpointT);
+			}
+			else
+			{
+				out.writeDouble(this.tsT);
+				out.writeDouble(this.setpointT);
+				out.writeDouble(this.kpT);
+				out.writeDouble(this.kiT);
+				out.writeDouble(this.kdT);
+			}
+		}catch (IOException e) 
 		{
 			System.out.println("Error al enviar parámetros usbPort, Ts");
 			e.printStackTrace();
 			return;
 		}
 		
+		// Envía la señal openloop o closedloop y los respectivos parámetros para el proceso II
+		try
+		{
+			out.writeInt(signalSendPidII);
+			if(signalSendPidII == this.openloopSignal)
+			{
+				out.writeDouble(this.tsF);
+				out.writeDouble(this.setpointF);
+			}
+			else
+			{
+				out.writeDouble(this.tsF);
+				out.writeDouble(this.setpointF);
+				out.writeDouble(this.kpF);
+				out.writeDouble(this.kiF);
+				out.writeDouble(this.kdF);
+			}
+		}catch (IOException e) 
+		{
+			System.out.println("Error al enviar parámetros usbPort, Ts");
+			e.printStackTrace();
+			return;
+		}
+		
+		
 		// crear un par de hilos por cada controlador
 		// Control temperatura
 		try
