Working implementation of python server with static gp

server/server.py

@@ -0,0 +1,130 @@
+import socket
+import struct
+from time import sleep
+from pathlib import Path
+import pickle
+
+import numpy as np
+
+from controllers import GP_MPCcontroller, TestController
+
+clients = ['measure', 'control', 'weather']
+
+N_horizon = 6
+
+HOST            = '127.0.0.1'
+PORT = {
+    'measure': 10000,
+    'control': 10001,
+    'weather': 10002
+        }
+
+print(f"[*] Server IP {HOST}")
+print(f"[*] Measuring on port {PORT['measure']}")
+print(f"[*] Controlling on port {PORT['control']}")
+print(f"[*] Weather on port {PORT['weather']}")
+
+sock = {}
+
+# Create a socket for each of the clients and start listening
+for client in clients:
+    sock[client] = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+    sock[client].bind((HOST, PORT[client]))
+    sock[client].listen()
+
+temps_list = []
+
+conn = {}
+
+# Initialize controller
+
+t_cols = []
+w_cols = ['SolRad', 'OutsideTemp']
+u_cols = ['SimulatedHeat']
+y_cols = ['SimulatedTemp']
+
+t_lags = 0
+w_lags = 1
+u_lags = 2
+y_lags = 3
+
+dict_cols = {
+    't': (t_lags, t_cols),
+    'w': (w_lags, w_cols),
+    'u': (u_lags, u_cols),
+    'y': (y_lags, y_cols)
+}
+
+controller = GP_MPCcontroller(dict_cols = dict_cols, N_horizon = N_horizon, recover_from_crash = False)
+
+# Enter TCP server loop
+while True:
+    # Connect to the clients
+    for client in clients:
+        print(f"[+] Waiting for a {client} connection...", end = ' ')
+        iter_conn,_  = sock[client].accept()
+        conn[client] = iter_conn
+        print("Done")
+    # Sending first control signal (initialization)
+    print("[*] Entering the control loop")
+
+    try:
+        while True:
+
+            ###
+            # Begin timestep
+            ###
+            print("---")
+            # Send control signal
+            print("[*] Sending control signal...", end = ' ')
+            u = controller.get_control_input()
+            print(f"Applying control signal {u}")
+            data = struct.pack(">d", u)
+            conn['control'].sendall(data)
+            print("Done")
+
+            # Read the inputs and update controller measures
+
+
+            # Read weather prediction
+            weather = []
+            print("[*] Reading weather measurement/prediction...", end = ' ')
+            for idx in range((N_horizon + 1) * 2):
+                weather_item = conn['weather'].recv(8)
+                if weather_item:
+                    weather_item = struct.unpack(">d", weather_item)
+                    weather.append(weather_item)
+                else:
+                    break
+            if len(weather) == ((N_horizon + 1) *2):
+                weather = np.array(weather).reshape((2, N_horizon + 1)).T
+                pass
+            else:
+                print("\nDid not get a complete weather prediction. Simulation ended?")
+                break
+            controller.add_disturbance_measurement(weather[0,:])
+            controller.set_weather_forecast(weather[1:, :])
+            print("Done")
+
+            # Read temperature measurement
+            print("Reading temperature measurement")
+            data = conn['measure'].recv(8)
+            if data:
+                t_iter = struct.unpack(">d", data)[0]
+                temps_list.append(t_iter)
+            else:
+                break
+            print(f"Read temperature measurement {t_iter}")
+            controller.add_output_measurement(t_iter)
+
+            # Update the model since all data has been read
+            controller.update_model()
+
+    finally:
+        print(f"[-] Closing connection to simulink")
+        for client in clients:
+            conn[client].close()
+        print(f"[i] Dumping controller data")
+        controller.save_data()
+
+