TempControllerBase: require PID gains via set_params(), not the constructor

Mirrors components/pid/pid.py's own Pid.set_params() pattern: params/
thresholds start out None, and set_params() configures pid_hold/pid_heat/
pid_cool from them. process()/process_fsm() fail naturally (TypeError on
None) if called before set_params() - same as Pid.process() already does -
rather than a new bespoke check. Updates all callers (server/brewpi.py,
SudForecastEstimator, and the pid/sud demo scripts) to call set_params()
right after construction.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01DkkuG48uHFCGKe6dPSERFk

components/pid/temp_controller.py

@@ -2,11 +2,11 @@ from components.pid.temp_controller_base import TempControllerBase
 
 
 class TempController(TempControllerBase):
-	def __init__(self, dt, params, model_params=None, theta_amb=20):
+	def __init__(self, dt, model_params=None, theta_amb=20):
 		# model_params/theta_amb are accepted (but unused) for constructor
 		# compatibility with TempControllerSmith - PidFactory.create() calls
 		# either with the same arguments; "Normal" has no internal model.
-		TempControllerBase.__init__(self, dt, params)
+		TempControllerBase.__init__(self, dt)
 		self.dt = dt
 		self.last_theta_ist = 20
 		self.heatrate_ist = 0

components/pid/temp_controller_base.py

@@ -27,7 +27,7 @@ class States(enum.Enum):
 
 class TempControllerBase(APid):
 
-	def __init__(self, dt, params):
+	def __init__(self, dt):
 		APid.__init__(self)
 		self.pid_hold = Pid(dt)
 		self.pid_heat = Pid(dt)
@@ -44,13 +44,13 @@ class TempControllerBase(APid):
 		self.heatrate_soll = 1.0
 		self.theta_ist = 0
 		self.heatrate_ist = 0
-		self.params = params
+		# None until set_params() is called - mirrors Pid's own
-		self.thresholds = {**DEFAULT_THRESHOLDS, **params.get('Thresholds', {})}
+		# params/set_params() (components/pid/pid.py), whose process()
+		# already relies on the same "None means not configured yet".
+		self.params = None
+		self.thresholds = None
 		self.y = -1
 		self.state = States.INIT
-		self.pid_hold.set_params(params['Hold'])
-		self.pid_heat.set_params(params['Heat'])
-		self.pid_cool.set_params(params['Cool'])
 		self.is_startup = True
 		# Master on/off switch: while disabled, the FSM is held in IDLE and
 		# the controller tries not to drive the heater at all (output
@@ -58,6 +58,13 @@ class TempControllerBase(APid):
 		# (manual mode) or by SudTask for the duration of a run.
 		self.enabled = False
 
+	def set_params(self, params):
+		self.params = params
+		self.thresholds = {**DEFAULT_THRESHOLDS, **params.get('Thresholds', {})}
+		self.pid_hold.set_params(params['Hold'])
+		self.pid_heat.set_params(params['Heat'])
+		self.pid_cool.set_params(params['Cool'])
+
 	def on_state_entered(self, state):
 		pass
 

components/pid/temp_controller_smith.py

@@ -3,8 +3,8 @@ from components.pid.temp_controller_base import TempControllerBase, States
 
 
 class TempController(TempControllerBase):
-	def __init__(self, dt, params, model_params, theta_amb=20):
+	def __init__(self, dt, model_params, theta_amb=20):
-		TempControllerBase.__init__(self, dt, params)
+		TempControllerBase.__init__(self, dt)
 		self.dt = dt
 		self.last_theta_ist = 20
 		self.heatrate_ist = 0

components/sud_forecast.py

@@ -65,7 +65,8 @@ class SudForecastEstimator:
 		pot.set_plant_params(self.plant_params)
 		pot.set_ambient_temperature(self.theta_amb)
 		pot.initial(start_theta)
-		tc = PidFactory.create(self.pid_type, self.dt, self.tempctrl_params, self.plant_params, theta_amb=self.theta_amb)
+		tc = PidFactory.create(self.pid_type, self.dt, self.plant_params, theta_amb=self.theta_amb)
+		tc.set_params(self.tempctrl_params)
 		tc.set_enabled(True)
 		tc.set_theta_ist(pot.get_temperature())
 		# Seed the target at start_theta - this tc is a fresh, throwaway

scripts/demos/pid/demo_temp_controller.py

@@ -43,7 +43,8 @@ if __name__ == '__main__':
 	temp_ist = 0
 	temp_soll = 20
 	heatrate_soll = 1.25
-	ctrl = TempController(dt, ctrl_params)
+	ctrl = TempController(dt)
+	ctrl.set_params(ctrl_params)
 	ctrl.set_enabled(True)
 	plant = Pot(dt)
 	plant.set_plant_params(plant_params)

scripts/demos/pid/demo_temp_controller_smith.py

@@ -43,7 +43,8 @@ if __name__ == '__main__':
 	temp_ist = 0
 	temp_soll = 20
 	heatrate_soll = 1.25
-	ctrl = TempController(dt, ctrl_params, plant_params, theta_amb)
+	ctrl = TempController(dt, plant_params, theta_amb)
+	ctrl.set_params(ctrl_params)
 	ctrl.set_enabled(True)
 	plant = Pot(dt)
 	plant.set_plant_params(plant_params)

scripts/demos/sud/demo_sud.py

@@ -48,7 +48,8 @@ if __name__ == '__main__':
 		"Td"		: 60
 	}
 
-	ctrl = TempController(dt, ctrl_params, plant_params, theta_amb)
+	ctrl = TempController(dt, plant_params, theta_amb)
+	ctrl.set_params(ctrl_params)
 	plant = Pot(dt)
 	plant.set_plant_params(plant_params)
 	plant.set_ambient_temperature(theta_amb)

server/brewpi.py

@@ -88,7 +88,8 @@ if __name__ == '__main__':
 	taskmgr.add(heater_task)
 
 	# Temperature Controller
-	tc = PidFactory.create(config['Controller']['pid_type'], DT, config['TempCtrl'], DEFAULT_PLANT_PARAMS, theta_amb=theta_amb)
+	tc = PidFactory.create(config['Controller']['pid_type'], DT, DEFAULT_PLANT_PARAMS, theta_amb=theta_amb)
+	tc.set_params(config['TempCtrl'])
 	tc_task = TcTask(tc, DT_TASK, dispatcher.msgio_get("TempCtrl"))
 	taskmgr.add(tc_task)