nexosim/asynchronix/examples/espresso_machine.rs

//! Example: espresso coffee machine.
//!
//! This example demonstrates in particular:
//!
//! * non-trivial state machines,
//! * cancellation of events,
//! * model initialization,
//! * simulation monitoring with event slots.
//!
//! ```text
//!                                                   flow rate
//!                                ┌─────────────────────────────────────────────┐
//!                                │                     (≥0)                    │
//!                                │    ┌────────────┐                           │
//!                                └───▶│            │                           │
//!                   added volume      │ Water tank ├────┐                      │
//!     Water fill ●───────────────────▶│            │    │                      │
//!                      (>0)           └────────────┘    │                      │
//!                                                       │                      │
//!                                      water sense      │                      │
//!                                ┌──────────────────────┘                      │
//!                                │  (empty|not empty)                          │
//!                                │                                             │
//!                                │    ┌────────────┐          ┌────────────┐   │
//!                    brew time   └───▶│            │ command  │            │   │
//! Brew time dial ●───────────────────▶│ Controller ├─────────▶│ Water pump ├───┘
//!                      (>0)      ┌───▶│            │ (on|off) │            │
//!                                │    └────────────┘          └────────────┘
//!                    trigger     │
//!   Brew command ●───────────────┘
//!                      (-)
//! ```

use std::future::Future;
use std::pin::Pin;
use std::time::Duration;

use asynchronix::model::{InitializedModel, Model, Output};
use asynchronix::simulation::{Mailbox, SimInit};
use asynchronix::time::{EventKey, MonotonicTime, Scheduler};

/// Water pump.
pub struct Pump {
    /// Actual volumetric flow rate [m³·s⁻¹] -- output port.
    pub flow_rate: Output<f64>,

    /// Nominal volumetric flow rate in operation [m³·s⁻¹]  -- constant.
    nominal_flow_rate: f64,
}

impl Pump {
    /// Creates a pump with the specified nominal flow rate [m³·s⁻¹].
    pub fn new(nominal_flow_rate: f64) -> Self {
        Self {
            nominal_flow_rate,
            flow_rate: Output::default(),
        }
    }

    /// Main ON/OFF command -- input port.
    pub async fn command(&mut self, cmd: PumpCommand) {
        let flow_rate = match cmd {
            PumpCommand::On => self.nominal_flow_rate,
            PumpCommand::Off => 0.0,
        };

        self.flow_rate.send(flow_rate).await;
    }
}

impl Model for Pump {}

/// Espresso machine controller.
pub struct Controller {
    /// Pump command -- output port.
    pub pump_cmd: Output<PumpCommand>,

    /// Brew time setting [s] -- internal state.
    brew_time: Duration,
    /// Current water sense state.
    water_sense: WaterSenseState,
    /// Event key, which if present indicates that the machine is currently
    /// brewing -- internal state.
    stop_brew_key: Option<EventKey>,
}

impl Controller {
    /// Default brew time [s].
    const DEFAULT_BREW_TIME: Duration = Duration::new(25, 0);

    /// Creates an espresso machine controller.
    pub fn new() -> Self {
        Self {
            brew_time: Self::DEFAULT_BREW_TIME,
            pump_cmd: Output::default(),
            stop_brew_key: None,
            water_sense: WaterSenseState::Empty, // will be overridden during init
        }
    }

    /// Signals a change in the water sensing state -- input port.
    pub async fn water_sense(&mut self, state: WaterSenseState) {
        // Check if the tank just got empty.
        if state == WaterSenseState::Empty && self.water_sense == WaterSenseState::NotEmpty {
            // If a brew was ongoing, we must cancel it.
            if let Some(key) = self.stop_brew_key.take() {
                key.cancel();
                self.pump_cmd.send(PumpCommand::Off).await;
            }
        }

        self.water_sense = state;
    }

    /// Sets the timing for the next brews [s] -- input port.
    pub async fn brew_time(&mut self, brew_time: Duration) {
        // Panic if the duration is null.
        assert!(!brew_time.is_zero());

        self.brew_time = brew_time;
    }

    /// Starts brewing or cancels the current brew -- input port.
    pub async fn brew_cmd(&mut self, _: (), scheduler: &Scheduler<Self>) {
        // If a brew was ongoing, sending the brew command is interpreted as a
        // request to cancel it.
        if let Some(key) = self.stop_brew_key.take() {
            self.pump_cmd.send(PumpCommand::Off).await;

            // Abort the scheduled call to `stop_brew()`.
            key.cancel();

            return;
        }

        // If there is no water, do nothing.
        if self.water_sense == WaterSenseState::Empty {
            return;
        }

        // Schedule the `stop_brew()` method and turn on the pump.
        self.stop_brew_key = Some(
            scheduler
                .schedule_keyed_event(self.brew_time, Self::stop_brew, ())
                .unwrap(),
        );
        self.pump_cmd.send(PumpCommand::On).await;
    }

    /// Stops brewing.
    async fn stop_brew(&mut self) {
        if self.stop_brew_key.take().is_some() {
            self.pump_cmd.send(PumpCommand::Off).await;
        }
    }
}

impl Model for Controller {}

/// ON/OFF pump command.
#[derive(Copy, Clone, Eq, PartialEq)]
pub enum PumpCommand {
    On,
    Off,
}

/// Water tank.
pub struct Tank {
    /// Water sensor -- output port.
    pub water_sense: Output<WaterSenseState>,

    /// Volume of water [m³] -- internal state.
    volume: f64,
    /// State that exists when the mass flow rate is non-zero -- internal state.
    dynamic_state: Option<TankDynamicState>,
}
impl Tank {
    /// Creates a new tank with the specified amount of water [m³].
    ///
    /// The initial flow rate is assumed to be zero.
    pub fn new(water_volume: f64) -> Self {
        assert!(water_volume >= 0.0);

        Self {
            volume: water_volume,
            dynamic_state: None,
            water_sense: Output::default(),
        }
    }

    /// Water volume added [m³] -- input port.
    pub async fn fill(&mut self, added_volume: f64, scheduler: &Scheduler<Self>) {
        // Ignore zero and negative values. We could also impose a maximum based
        // on tank capacity.
        if added_volume <= 0.0 {
            return;
        }
        let was_empty = self.volume == 0.0;

        // Account for the added water.
        self.volume += added_volume;

        // If the current flow rate is non-zero, compute the current volume and
        // schedule a new update.
        if let Some(state) = self.dynamic_state.take() {
            // Abort the scheduled call to `set_empty()`.
            state.set_empty_key.cancel();

            // Update the volume, saturating at 0 in case of rounding errors.
            let time = scheduler.time();
            let elapsed_time = time.duration_since(state.last_volume_update).as_secs_f64();
            self.volume = (self.volume - state.flow_rate * elapsed_time).max(0.0);

            self.schedule_empty(state.flow_rate, time, scheduler).await;

            // There is no need to broadcast the state of the water sense since
            // it could not be previously `Empty` (otherwise the dynamic state
            // would not exist).
            return;
        }

        if was_empty {
            self.water_sense.send(WaterSenseState::NotEmpty).await;
        }
    }

    /// Flow rate [m³·s⁻¹] -- input port.
    ///
    /// # Panics
    ///
    /// This method will panic if the flow rate is negative.
    pub async fn set_flow_rate(&mut self, flow_rate: f64, scheduler: &Scheduler<Self>) {
        assert!(flow_rate >= 0.0);

        let time = scheduler.time();

        // If the flow rate was non-zero up to now, update the volume.
        if let Some(state) = self.dynamic_state.take() {
            // Abort the scheduled call to `set_empty()`.
            state.set_empty_key.cancel();

            // Update the volume, saturating at 0 in case of rounding errors.
            let elapsed_time = time.duration_since(state.last_volume_update).as_secs_f64();
            self.volume = (self.volume - state.flow_rate * elapsed_time).max(0.0);
        }

        self.schedule_empty(flow_rate, time, scheduler).await;
    }

    /// Schedules a callback for when the tank becomes empty.
    ///
    /// Pre-conditions:
    /// - `flow_rate` cannot be negative.
    /// - `self.volume` should be up to date,
    /// - `self.dynamic_state` should be `None`.
    async fn schedule_empty(
        &mut self,
        flow_rate: f64,
        time: MonotonicTime,
        scheduler: &Scheduler<Self>,
    ) {
        // Determine when the tank will be empty at the current flow rate.
        let duration_until_empty = if self.volume == 0.0 {
            0.0
        } else {
            self.volume / flow_rate
        };
        if duration_until_empty.is_infinite() {
            // The flow rate is zero or very close to zero, so there is not
            // need to plan an update since the tank will never become
            // empty.
            return;
        }
        let duration_until_empty = Duration::from_secs_f64(duration_until_empty);

        // Schedule the next update.
        match scheduler.schedule_keyed_event(duration_until_empty, Self::set_empty, ()) {
            Ok(set_empty_key) => {
                let state = TankDynamicState {
                    last_volume_update: time,
                    set_empty_key,
                    flow_rate,
                };
                self.dynamic_state = Some(state);
            }
            Err(_) => {
                // The duration was null so the tank is already empty.
                self.volume = 0.0;
                self.water_sense.send(WaterSenseState::Empty).await;
            }
        }
    }

    /// Updates the state of the tank to indicate that there is no more water.
    async fn set_empty(&mut self) {
        self.volume = 0.0;
        self.dynamic_state = None;
        self.water_sense.send(WaterSenseState::Empty).await;
    }
}

impl Model for Tank {
    /// Broadcasts the initial state of the water sense.
    fn init(
        mut self,
        _scheduler: &Scheduler<Self>,
    ) -> Pin<Box<dyn Future<Output = InitializedModel<Self>> + Send + '_>> {
        Box::pin(async move {
            self.water_sense
                .send(if self.volume == 0.0 {
                    WaterSenseState::Empty
                } else {
                    WaterSenseState::NotEmpty
                })
                .await;

            self.into()
        })
    }
}

/// Dynamic state of the tank that exists when and only when the mass flow rate
/// is non-zero.
struct TankDynamicState {
    last_volume_update: MonotonicTime,
    set_empty_key: EventKey,
    flow_rate: f64,
}

/// Water level in the tank.
#[derive(Copy, Clone, Eq, PartialEq)]
pub enum WaterSenseState {
    Empty,
    NotEmpty,
}

fn main() {
    // ---------------
    // Bench assembly.
    // ---------------

    // Models.

    // The constant mass flow rate assumption is of course a gross
    // simplification, so the flow rate is set to an expected average over the
    // whole extraction [m³·s⁻¹].
    let pump_flow_rate = 4.5e-6;
    // Start with 1.5l in the tank [m³].
    let init_tank_volume = 1.5e-3;

    let mut pump = Pump::new(pump_flow_rate);
    let mut controller = Controller::new();
    let mut tank = Tank::new(init_tank_volume);

    // Mailboxes.
    let pump_mbox = Mailbox::new();
    let controller_mbox = Mailbox::new();
    let tank_mbox = Mailbox::new();

    // Connections.
    controller.pump_cmd.connect(Pump::command, &pump_mbox);
    tank.water_sense
        .connect(Controller::water_sense, &controller_mbox);
    pump.flow_rate.connect(Tank::set_flow_rate, &tank_mbox);

    // Model handles for simulation.
    let mut flow_rate = pump.flow_rate.connect_slot().0;
    let controller_addr = controller_mbox.address();
    let tank_addr = tank_mbox.address();

    // Start time (arbitrary since models do not depend on absolute time).
    let t0 = MonotonicTime::EPOCH;

    // Assembly and initialization.
    let mut simu = SimInit::new()
        .add_model(controller, controller_mbox)
        .add_model(pump, pump_mbox)
        .add_model(tank, tank_mbox)
        .init(t0);

    // ----------
    // Simulation.
    // ----------

    // Check initial conditions.
    let mut t = t0;
    assert_eq!(simu.time(), t);

    // Brew one espresso shot with the default brew time.
    simu.send_event(Controller::brew_cmd, (), &controller_addr);
    assert_eq!(flow_rate.take(), Some(pump_flow_rate));

    simu.step();
    t += Controller::DEFAULT_BREW_TIME;
    assert_eq!(simu.time(), t);
    assert_eq!(flow_rate.take(), Some(0.0));

    // Drink too much coffee.
    let volume_per_shot = pump_flow_rate * Controller::DEFAULT_BREW_TIME.as_secs_f64();
    let shots_per_tank = (init_tank_volume / volume_per_shot) as u64; // YOLO--who cares about floating-point rounding errors?
    for _ in 0..(shots_per_tank - 1) {
        simu.send_event(Controller::brew_cmd, (), &controller_addr);
        assert_eq!(flow_rate.take(), Some(pump_flow_rate));
        simu.step();
        t += Controller::DEFAULT_BREW_TIME;
        assert_eq!(simu.time(), t);
        assert_eq!(flow_rate.take(), Some(0.0));
    }

    // Check that the tank becomes empty before the completion of the next shot.
    simu.send_event(Controller::brew_cmd, (), &controller_addr);
    simu.step();
    assert!(simu.time() < t + Controller::DEFAULT_BREW_TIME);
    t = simu.time();
    assert_eq!(flow_rate.take(), Some(0.0));

    // Try to brew another shot while the tank is still empty.
    simu.send_event(Controller::brew_cmd, (), &controller_addr);
    assert!(flow_rate.take().is_none());

    // Change the brew time and fill up the tank.
    let brew_time = Duration::new(30, 0);
    simu.send_event(Controller::brew_time, brew_time, &controller_addr);
    simu.send_event(Tank::fill, 1.0e-3, tank_addr);
    simu.send_event(Controller::brew_cmd, (), &controller_addr);
    assert_eq!(flow_rate.take(), Some(pump_flow_rate));

    simu.step();
    t += brew_time;
    assert_eq!(simu.time(), t);
    assert_eq!(flow_rate.take(), Some(0.0));

    // Interrupt the brew after 15s by pressing again the brew button.
    simu.schedule_event(
        Duration::from_secs(15),
        Controller::brew_cmd,
        (),
        &controller_addr,
    )
    .unwrap();
    simu.send_event(Controller::brew_cmd, (), &controller_addr);
    assert_eq!(flow_rate.take(), Some(pump_flow_rate));

    simu.step();
    t += Duration::from_secs(15);
    assert_eq!(simu.time(), t);
    assert_eq!(flow_rate.take(), Some(0.0));
}