--- /dev/null
+package IrrigationController;
+// Standard Java Packages
+import java.util.Date;
+import java.util.Iterator;
+import java.util.List;
+import java.util.ArrayList;
+import java.util.HashSet;
+import java.util.concurrent.atomic.AtomicBoolean;
+
+
+// RMI packages
+import java.rmi.RemoteException;
+import java.rmi.server.UnicastRemoteObject;
+
+// IoT Runtime Packages
+import iotruntime.slave.IoTSet;
+import iotruntime.slave.IoTRelation;
+import iotruntime.slave.IoTAddress;
+//import iotcode.annotation.*;
+
+// IoT Driver Packages
+import iotcode.interfaces.*;
+import iotcode.WeatherPhoneGateway.*;
+
+// Checker annotations
+import iotchecker.qual.*;
+
+public class IrrigationController extends UnicastRemoteObject implements WeatherGatewayCallback {
+
+
+ /*******************************************************************************************************************************************
+ **
+ ** Constants
+ **
+ *******************************************************************************************************************************************/
+ // private static final int NUMBER_OF_TIMES_PER_WEEK_TO_WATER = 2;
+ //TODO: Change these back to normal - this is just for testing to make it awake all the time
+// private static final int TIME_HOURS_TO_WATER_GRASS = 7; // 7 am
+ private static final int TIME_HOURS_TO_WATER_GRASS = 3;
+// private static final int TIME_MINUTES_TO_WATER_GRASS = 30; // 30 minutes
+ private static final int TIME_MINUTES_TO_WATER_GRASS = 30;
+// private static final int TIME_TO_RECOVER_GRASS_FOR = 8 * 24 * 60 * 60; // 8 days
+ private static final int TIME_TO_RECOVER_GRASS_FOR = 10;
+// private static final int TIME_TO_HIBERNATE_GRASS_FOR = 30 * 24 * 60 * 60; // 30 days
+ private static final int TIME_TO_HIBERNATE_GRASS_FOR = 10;
+ public static final int CAMERA_FPS = 15; // In frames per second
+
+
+ /*******************************************************************************************************************************************
+ **
+ ** Variables
+ **
+ *******************************************************************************************************************************************/
+ private int dayOfLastCheck = -1;
+ private int monthOfLastCheck = -1;
+ private boolean isInHibernationRecoveryMode = false;
+ private Date hibernationRecoveryModeStartDate = null;
+ private boolean isHibernationMode = false;
+ private Date hibernationModeStartDate = null;
+ private List<@LocalRemote LawnState> lawns = new ArrayList<@LocalRemote LawnState>();
+ private WeatherGrabber weatherGrabber = null;
+
+ // used to block until gui is done and the settings are ready to be polled
+ private AtomicBoolean waitingForInterface = new AtomicBoolean(true);
+
+ // the settings from the interface, used to setup the system
+ private double inchesPerWeek = 0;
+ private int weatherZipCode = 0;
+ private int daysToWaterOn = 0;
+ private List<Double> inchesPerMinute;
+
+
+ /*******************************************************************************************************************************************
+ **
+ ** IoT Sets and Relations
+ **
+ *******************************************************************************************************************************************/
+ @config private IoTSet<IoTAddress> weatherDataAddresses;
+ @config private IoTSet<IoTAddress> weatherDataAddressMain;
+ @config private IoTSet<@NonLocalRemote WeatherGateway> gwSet;
+ @config private IoTSet<@NonLocalRemote Lawn> lawnSet;
+ @config private IoTSet<@NonLocalRemote MoistureSensor> moistureSensorsSet;
+ @config private IoTSet<@NonLocalRemote Camera> cameraSet;
+ @config private IoTRelation<@NonLocalRemote Lawn, @NonLocalRemote Camera> lawnCameraRelation;
+ @config private IoTRelation<@NonLocalRemote Lawn, @NonLocalRemote Sprinkler> lawnSprinklerRelation;
+ @config private IoTRelation<@NonLocalRemote Lawn, @NonLocalRemote MoistureSensor> lawnMoistureSensorRelation;
+
+
+ public IrrigationController() throws RemoteException {
+
+ }
+
+ /*******************************************************************************************************************************************
+ **
+ ** Public Methods
+ **
+ *******************************************************************************************************************************************/
+
+
+ /** Method to set whether the controller should maintain the lawns in hibernation mode
+ * or in normal mode. Lawns should be put in hibernation mode in drought conditions
+ *
+ * @param _hibMode [boolean] set the hibernation mode for this lawn controllers (true = hibernation)
+ *
+ * @return [void] None.
+ */
+ public void setHibernationMode(boolean _hibMode) {
+
+ // change hibernation mode status
+ isHibernationMode = _hibMode;
+
+ // set the start date for when we started this hibernation mode
+ if (_hibMode) {
+
+ // make sure we dont reset this cycle
+ if (!isHibernationMode) {
+ hibernationModeStartDate = new Date();
+ }
+ } else {
+ // reset all hibernation stuff
+ hibernationModeStartDate = null;
+ isInHibernationRecoveryMode = false;
+ hibernationRecoveryModeStartDate = null;
+ }
+ }
+
+ /** Method to start the controller and run the main control loop
+ *
+ * @return [void] None.
+ */
+ public void init() throws RemoteException {
+
+ // initialize the controller
+ initController();
+ System.out.println("Initialized controller!");
+
+ // Main Loop
+ while (true) {
+
+ // get the current time of day (date and time)
+ Date currentDate = new Date();
+
+ // get the epoch time till the beginning of the day
+ Date beginingOfToday = new Date(currentDate.getYear(), currentDate.getMonth(), currentDate.getDate());
+
+ // calculate the seconds since the start of the day.
+ long secondsSinceStartOfDay = (currentDate.getTime() - beginingOfToday.getTime()) / 1000;
+
+ // Seconds since the start of the day to start the watering
+ long secondsForWateringStart = (TIME_HOURS_TO_WATER_GRASS * 3600) + (TIME_MINUTES_TO_WATER_GRASS * 60);
+
+// System.out.println("beginingOfToday " + beginingOfToday);
+// System.out.println("secondsSinceStartOfDay " + secondsSinceStartOfDay);
+// System.out.println("secondsForWateringStart " + secondsForWateringStart);
+
+ // check if the current time is within the start watering interval
+ /*if ((secondsSinceStartOfDay < secondsForWateringStart) || (secondsSinceStartOfDay > (secondsForWateringStart + (60 * 60)))) {
+ System.out.println("Sleep for 10 minutes.. ");
+ try {
+ //Thread.sleep(10 * 60 * 1000); // sleep for 10 minutes
+ Thread.sleep(10); // sleep for 10 seconds
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+
+ continue;
+ }*/
+
+ // check if we already checked if we should water today
+ // we only need to do this once per day
+ /*if ((dayOfLastCheck == currentDate.getDate()) && (monthOfLastCheck == currentDate.getMonth())) {
+ System.out.println("Sleep for 1 hour...");
+ try {
+ Thread.sleep(60 * 60 * 1000); // sleep for an hour
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+
+ continue;
+ }*/
+
+ // we decided to check if we should water today so save the fact that we chose to water on this day
+ dayOfLastCheck = currentDate.getDate();
+ monthOfLastCheck = currentDate.getMonth();
+
+ // update the lawn states everyday
+ for (@LocalRemote LawnState ls : lawns) {
+ ls.updateLawn(currentDate);
+ }
+ // check if we are in hibernation mode and do the correct loop action
+ if (isHibernationMode) {
+// System.out.println("Hibernation mode!");
+ // If we are in hibernation mode then use the hibernation loop code
+ wateringHibernationLoop(currentDate);
+ } else {
+// System.out.println("Normal mode!");
+ // Using the normal watering loop code
+ wateringNormalLoop(currentDate);
+ }
+ }
+ }
+
+
+ /** Callback method for when the information is retrieved.
+ *
+ * @param _wgw [WeatherGateway].
+ * @return [void] None.
+ */
+ public void informationRetrieved(@NonLocalRemote WeatherGateway _wgw) {
+
+// System.out.println("DEBUG: Information is retrieved from phone!!!");
+ try {
+ // get the parameters that the interface (phone app) reads from the user
+ inchesPerWeek = _wgw.getInchesPerWeek();
+ weatherZipCode = _wgw.getWeatherZipCode();
+ daysToWaterOn = _wgw.getDaysToWaterOn();
+ inchesPerMinute.add(_wgw.getInchesPerMinute());
+ } catch(RemoteException ex) {
+ ex.printStackTrace();
+ }
+
+ // the gui is done so release the spin wait that was waiting for the gui
+ waitingForInterface.set(false);
+ }
+
+ /*******************************************************************************************************************************************
+ **
+ ** Helper Methods
+ **
+ *******************************************************************************************************************************************/
+
+
+ /** Method to initialize the controller variables and all the drivers and such
+ *
+ * @return [void] None.
+ */
+ private void initController() throws RemoteException {
+
+ // Setup the weather grabber object with the correct address of the weather api
+ Iterator it = weatherDataAddresses.iterator();
+ weatherGrabber = new WeatherGrabber((IoTAddress)it.next());
+
+ // Initialize inchesPerMinute
+ inchesPerMinute = new ArrayList<Double>();
+
+ // We setup a Gateway object to get information from the phone app
+ for (@NonLocalRemote WeatherGateway gw : gwSet.values()) {
+ gw.init();
+ gw.registerCallback(this);
+ gw.start();
+ }
+
+ System.out.println("DEBUG: Waiting for phone to send weather information");
+ while (waitingForInterface.get()) {
+ try {
+ Thread.sleep(1000);
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+ // TODO: Use a phone input interface later
+ //inchesPerWeek = 20.00;
+ //weatherZipCode = 92612;
+ //daysToWaterOn = 255;
+ //inchesPerMinute.add(1.50);
+
+ System.out.println("DEBUG: inchesPerWeek: " + inchesPerWeek);
+ System.out.println("DEBUG: weatherZipCode: " + weatherZipCode);
+ System.out.println("DEBUG: daysToWaterOn: " + daysToWaterOn);
+ System.out.println("DEBUG: inchesPerMinute: " + inchesPerMinute.get(0));
+
+ // set the zip code and the the number of days of the weather grabber
+ // here the number of days is set to the max that the grabber supports
+ weatherGrabber.setZipcode(weatherZipCode);
+ weatherGrabber.setNumberOfDays(16);
+
+ // Setup the cameras, start them all and assign each one a motion detector
+ for (@NonLocalRemote Camera cam : cameraSet.values()) {
+ try {
+ // initialize the camera, might need to setup some stuff internally
+ cam.init();
+
+ // set the camera parameters.
+ cam.setFPS(CAMERA_FPS);
+ cam.setResolution(Camera.Resolution.RES_VGA);
+
+ // Start the camera (example is start the HTTP stream if it is a network camera)
+ cam.start();
+ System.out.println("DEBUG: Init camera! " + cam.toString());
+ } catch (RemoteException e) {
+ e.printStackTrace();
+ }
+
+ }
+
+ // counter so that we can match the lawn inches per min data with the specific lawn
+ int counter = 0;
+ for (@NonLocalRemote Lawn l : lawnSet.values()) {
+ // create a motionDetector for each lawn object
+ @LocalRemote MotionDetection mo = new @LocalRemote MotionDetection(12, 0.5f, 10, 10);
+
+ // for 1 camera, if there are any then register the camera for that lawn
+ HashSet<@NonLocalRemote Camera> cameras = lawnCameraRelation.get(l);
+ System.out.println("DEBUG: Camera.size(): " + cameras.size());
+ if (cameras.size() >= 1) {
+
+ // we only need 1 camera per lawn so get the first one in the list
+ Iterator camIt = cameras.iterator();
+ @NonLocalRemote Camera cam = (@NonLocalRemote Camera)camIt.next();
+ System.out.println("DEBUG: Registering callback to camera: " + cam.toString());
+ try {
+ // setup the callback
+ cam.registerCallback(mo);
+ } catch (RemoteException e) {
+ e.printStackTrace();
+ }
+ }
+
+ // we also only need 1 sprinkler controller per lawn so grab the first one
+ HashSet<@NonLocalRemote Sprinkler> sprinklers = lawnSprinklerRelation.get(l);
+ Iterator sprinklersIt = sprinklers.iterator();
+ @NonLocalRemote Sprinkler spr = (@NonLocalRemote Sprinkler)sprinklersIt.next();
+
+ // init the sprinkler controller, do it here since it only needs to be done once per controller
+ try {
+ spr.init();
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ System.out.println("DEBUG: Init sprinkler: " + spr.toString());
+
+ // get and init the moisture sensors for this specific lawn
+ HashSet<@NonLocalRemote MoistureSensor> sensors = lawnMoistureSensorRelation.get(l);
+ for (@NonLocalRemote MoistureSensor sen : sensors) {
+ System.out.println("DEBUG: Init sensors: " + sen.toString());
+ try {
+ sen.init();
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+
+ // create the lawn objects
+ System.out.println("DEBUG: Creating a LawnState object");
+ @LocalRemote LawnState ls =
+ new @LocalRemote LawnState(l, daysToWaterOn, mo, inchesPerMinute.get(counter), inchesPerWeek, spr, counter, sensors);
+ lawns.add(ls);
+
+ // dont forget to increment the counter
+ counter++;
+ }
+ }
+
+ /** Main loop for when the controller is watering the lawns under normal conditions, not in hibernation mode
+ *
+ * @param _currentDate [Date] current date
+ *
+ * @return [void] None.
+ */
+ private void wateringNormalLoop(Date _currentDate) {
+
+ // get the weather data for the next little bit
+ List<DayWeather> weatherData = weatherGrabber.getWeatherData();
+ // TODO: Replace this with the WeatherGrabber.getWeatherData() above
+// List<DayWeather> weatherData = new ArrayList<DayWeather>();
+
+ // Go through each lawn and check if we should water it and if we should, water it
+ for (@LocalRemote LawnState ls : lawns) {
+
+ // water for specific lawn
+ waterLawn(ls, _currentDate, weatherData);
+ }
+ }
+
+ /** Main loop for when the controller is watering the lawns in hibernation mode
+ *
+ * @param _currentDate [Date] current date
+ *
+ * @return [void] None.
+ */
+ private void wateringHibernationLoop(Date _currentDate) {
+
+ // if we are in recovery mode then run the recovery action
+ // we are still in hibernation mode but we need to recover the grass
+ if (isInHibernationRecoveryMode) {
+// System.out.println("DEBUG: Recovery mode!");
+ hibernationRecoveryLoop(_currentDate);
+ return;
+ }
+
+ // check if we should enter recovery mode
+ long elapsedTime = (_currentDate.getTime() - hibernationModeStartDate.getTime()) / 1000;
+ if (elapsedTime >= TIME_TO_HIBERNATE_GRASS_FOR) {
+
+ // start recovery mode
+ isInHibernationRecoveryMode = true;
+ hibernationRecoveryModeStartDate = null;
+// System.out.println("DEBUG: We enter recovery mode for the first time!");
+ // first cycle of recovery
+ hibernationRecoveryLoop(_currentDate);
+ return;
+ }
+
+ // get the weather data for the next little bit
+ List<DayWeather> weatherData = weatherGrabber.getWeatherData();
+
+ // Go through each lawn and check if we should water it and if we should, water it
+ for (@LocalRemote LawnState ls : lawns) {
+
+ boolean lawnHasMotion = ls.lawnHasSufficientMotion();
+
+ // there is no motion on the lawn so no need to water it
+ if (!lawnHasMotion) {
+ continue;
+ }
+// System.out.println("DEBUG: We water the lawn! (wateringHibernationLoop)");
+ // water specific lawn since it has motion
+ waterLawn(ls, _currentDate, weatherData);
+ }
+ }
+
+
+ /** Main loop for when the controller is watering the lawns in hibernation mode
+ *
+ * @param _currentDate [Date] current date
+ *
+ * @return [void] None.
+ */
+ private void hibernationRecoveryLoop(Date _currentDate) {
+
+ // start recovery mode if it wasnt started yet
+ if (hibernationRecoveryModeStartDate == null) {
+ hibernationRecoveryModeStartDate = _currentDate;
+ }
+
+ // time since this mode was started
+ long elapsedTime = (_currentDate.getTime() - hibernationRecoveryModeStartDate.getTime()) / 1000;
+
+ // we have been in recovery mode long enough
+ if (elapsedTime >= TIME_TO_RECOVER_GRASS_FOR) {
+
+// System.out.println("DEBUG: We have been in recovery mode long enough!");
+ // reset the recovery mode
+ isInHibernationRecoveryMode = false;
+ hibernationRecoveryModeStartDate = null;
+
+ // revived grass so restart the grass hibernation cycle
+ hibernationModeStartDate = _currentDate;
+
+ // do the hibernation loop since we are no longer in recovery mode
+ wateringHibernationLoop(_currentDate);
+ return;
+ }
+
+
+ // if we got here then we are trying to recover the grass
+
+ // get the weather data for the next little bit
+ List<DayWeather> weatherData = weatherGrabber.getWeatherData();
+
+ // Go through each lawn and check if we should water it and if we should, water it
+ for (@LocalRemote LawnState ls : lawns) {
+
+// System.out.println("DEBUG: We water the lawn! (hibernationRecoveryLoop)");
+ // water specific lawn since it has motion
+ waterLawn(ls, _currentDate, weatherData);
+ }
+
+ }
+
+
+ /** Method for watering a specific lawn if it needs to be watered
+ *
+ * @param _ls [LawnState] lawn to water
+ * @param _currentDate [Date] current date
+ * @param _weatherData [List<DayWeather>] latest weather data
+ *
+ * @return [void] None.
+ */
+ private void waterLawn(@LocalRemote LawnState _ls, Date _currentDate, List<DayWeather> _weatherData) {
+
+ // check if today or tomorrow is a wet day
+ boolean todayIsWetDay = _weatherData.get(0).getIsWetDay();
+ boolean tomorrowIsWetDay = _weatherData.get(1).getIsWetDay();
+ // TODO: Remove this later - hack the values for now!!!
+// boolean todayIsWetDay = false;
+// boolean tomorrowIsWetDay = false;
+
+ // lawn cannot wait anymore for water so water not
+ boolean lawnNeedsWaterNow = _ls.needsWateringUrgently(_currentDate);
+ if (lawnNeedsWaterNow) {
+ System.out.println("DEBUG: Need water now!!!");
+ System.out.println("DEBUG: Is wet day? " + todayIsWetDay);
+ System.out.println("DEBUG: Tomorrow is wet day? " + tomorrowIsWetDay);
+ // if it is not going to rain today then water the lawn
+ // TODO: Put this back to uncommented!!! Only for testing!!!
+// if (!todayIsWetDay) {
+ _ls.waterLawn(_currentDate);
+// }
+ return;
+ }
+
+ // check if this lawn needs watering based on watering algoritm/sensors/ext
+ boolean shouldWaterLawn = _ls.needsWatering(_currentDate);
+
+ // should not water this lawn then just skip to the next lawn
+ if (!shouldWaterLawn) {
+ return;
+ }
+
+ // it is going to rain soon so wait it out.
+ // Grass is not in critical condition so it can wait a bit.
+ if (todayIsWetDay || tomorrowIsWetDay) {
+ return;
+ }
+
+ // if we got here then we need to water the lawn
+ _ls.waterLawn(_currentDate);
+ }
+}
+
projects / iot2.git / blobdiff