Extract FSM logic from TempControllerBase into TempControllerFsm
States, DEFAULT_THRESHOLDS, the three PIDs, FSM state vars, process_fsm(), on_state_entered(), set_enabled(), and is_holding() move to a new TempControllerFsm class in temp_controller_fsm.py. TempControllerBase inherits from both APid and TempControllerFsm; States is re-exported so existing imports in temp_controller_smith.py are unaffected. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01Tqxrk8uj4M3w3d3eXm3xK8
This commit is contained in:
Claude Sonnet 4.6
@@ -1,245 +1,130 @@
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from components import APid
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from components import APid
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from components.pid.pid import Pid
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from components.pid.temp_controller_fsm import TempControllerFsm, States, DEFAULT_THRESHOLDS
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import enum
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DEFAULT_THRESHOLDS = {
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"HoldHeat": 1.0,
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# HoldCool used to be 0.1 ("eagerly give up and coast" made sense back
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# when COOL meant nothing more than going idle - it's an active state
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# with its own PID now, so a threshold this tight relative to a real
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# heater's discrete power steps/sensor noise causes the system to
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# chatter in and out of it every tick, resetting both pid_hold's and
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# pid_cool's integrators each time and never letting either actually
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# converge. Symmetric with the others instead.
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"HoldCool": 1.0,
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"HeatHold": 1.0,
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"HeatCool": 1.0,
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"CoolHold": 1.0,
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"CoolHeat": 1.0,
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}
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class States(enum.Enum):
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class TempControllerBase(APid, TempControllerFsm):
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INIT = -1,
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IDLE = 0,
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HEAT = 1,
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HOLD = 2,
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COOL = 3
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class TempControllerBase(APid):
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def __init__(self, dt):
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APid.__init__(self)
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TempControllerFsm.__init__(self, dt)
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self.theta_ist_set = 0
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self.theta_soll_set = 0
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self.heatrate_ist_set = 0
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self.heatrate_soll_set = 1.0
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self.heatrate_soll = 1.0
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self.theta_ist = 0
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self.heatrate_ist = 0
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# None until set_params() is called - mirrors Pid's own
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# params/set_params() (components/pid/pid.py), whose process()
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# already relies on the same "None means not configured yet".
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self.params = None
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self.y = -1
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def __init__(self, dt):
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def set_params(self, params):
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APid.__init__(self)
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self.params = params
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self.pid_hold = Pid(dt)
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self.thresholds = {**DEFAULT_THRESHOLDS, **params.get('Thresholds', {})}
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self.pid_heat = Pid(dt)
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self.pid_hold.set_params(params['Hold'])
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# Separate gains for ramping down (negative diff) - the actuator
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self.pid_heat.set_params(params['Heat'])
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# (e.g. a heat-only Pot/heater) is responsible for clamping the
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self.pid_cool.set_params(params['Cool'])
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# resulting negative power to whatever it's actually capable of;
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# the controller itself no longer assumes "can't cool" == "must go
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# idle".
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self.pid_cool = Pid(dt)
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self.theta_ist_set = 0
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self.theta_soll_set = 0
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self.heatrate_ist_set = 0
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self.heatrate_soll_set = 1.0
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self.heatrate_soll = 1.0
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self.theta_ist = 0
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self.heatrate_ist = 0
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# None until set_params() is called - mirrors Pid's own
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# params/set_params() (components/pid/pid.py), whose process()
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# already relies on the same "None means not configured yet".
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self.params = None
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self.thresholds = None
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self.y = -1
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self.state = States.INIT
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self.is_startup = True
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# Master on/off switch: while disabled, the FSM is held in IDLE and
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# the controller tries not to drive the heater at all (output
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# forced to 0) - off by default, enabled either by the user
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# (manual mode) or by SudTask for the duration of a run.
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self.enabled = False
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def set_params(self, params):
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def _require_params(self):
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self.params = params
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"""Called by each subclass's process() before doing anything else -
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self.thresholds = {**DEFAULT_THRESHOLDS, **params.get('Thresholds', {})}
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without it, a missing set_params() call would otherwise only
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self.pid_hold.set_params(params['Hold'])
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surface as an unhelpful "'NoneType' object is not subscriptable"
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self.pid_heat.set_params(params['Heat'])
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buried inside Pid.process() (components/pid/pid.py), once
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self.pid_cool.set_params(params['Cool'])
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process_pid() below gets to it."""
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if self.params is None:
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raise RuntimeError(
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"{}.process(): PID gains not set - call set_params() first".format(type(self).__name__))
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def _require_params(self):
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def is_configured(self):
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"""Called by each subclass's process() before doing anything else -
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"""Whether set_params() has been called - lets a caller (e.g.
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without it, a missing set_params() call would otherwise only
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TcTask's own process loop) check upfront and skip processing
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surface as an unhelpful "'NoneType' object is not subscriptable"
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gracefully while not yet configured, rather than relying on
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buried inside Pid.process() (components/pid/pid.py), once
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process() raising. Overridden by TempController(Smith) to also
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process_pid() below gets to it."""
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require its internal model's plant params/ambient."""
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if self.params is None:
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return self.params is not None
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raise RuntimeError(
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"{}.process(): PID gains not set - call set_params() first".format(type(self).__name__))
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def is_configured(self):
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def post_pid(self):
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"""Whether set_params() has been called - lets a caller (e.g.
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pass
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TcTask's own process loop) check upfront and skip processing
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gracefully while not yet configured, rather than relying on
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process() raising. Overridden by TempController(Smith) to also
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require its internal model's plant params/ambient."""
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return self.params is not None
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def on_state_entered(self, state):
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def set_ambient_temperature(self, theta_amb):
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pass
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pass
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def post_pid(self):
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def set_model_plant_params(self, model_params):
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pass
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pass
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def set_ambient_temperature(self, theta_amb):
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def set_model_power(self, power):
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pass
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pass
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def set_model_plant_params(self, model_params):
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def set_theta_ist(self, value):
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pass
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self.theta_ist_set = value
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if self.is_startup:
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self.is_startup = False
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def set_model_power(self, power):
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def get_theta_ist(self):
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pass
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return self.theta_ist
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def set_theta_ist(self, value):
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def get_theta_ist_set(self):
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self.theta_ist_set = value
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"""The raw sensor reading, as last pushed via set_theta_ist() -
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if self.is_startup:
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unlike get_theta_ist() (self.theta_ist), this is updated the
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self.is_startup = False
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instant a reading comes in, regardless of whether process() has
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ever actually run (e.g. before set_params()/a model-based
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controller's plant params have been configured - see SudTask.
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send_forecast(), which needs a real "current temperature" at the
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moment a Sud is loaded, before this controller may have ticked
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even once)."""
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return self.theta_ist_set
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def get_theta_ist(self):
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def set_heatrate_ist(self, value):
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return self.theta_ist
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self.heatrate_ist_set = value
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def get_theta_ist_set(self):
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def get_heatrate_ist(self):
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"""The raw sensor reading, as last pushed via set_theta_ist() -
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return self.heatrate_ist
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unlike get_theta_ist() (self.theta_ist), this is updated the
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instant a reading comes in, regardless of whether process() has
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ever actually run (e.g. before set_params()/a model-based
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controller's plant params have been configured - see SudTask.
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send_forecast(), which needs a real "current temperature" at the
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moment a Sud is loaded, before this controller may have ticked
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even once)."""
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return self.theta_ist_set
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def set_heatrate_ist(self, value):
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def set_theta_soll(self, value):
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self.heatrate_ist_set = value
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self.theta_soll_set = value
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# Recompute the FSM right away against the new target, rather than
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# waiting for the next process() tick - otherwise self.state can
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# still read HOLD from the previous target for up to one tick
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# after a much-further-away one is pushed, which would make
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# is_holding() report "reached" instantly instead of once the gap
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# has actually closed.
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self.process_fsm(self.theta_soll_set - self.theta_ist)
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def get_heatrate_ist(self):
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def get_theta_soll(self):
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return self.heatrate_ist
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return self.theta_soll
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def set_theta_soll(self, value):
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def get_theta_soll_set(self):
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self.theta_soll_set = value
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return self.theta_soll_set
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# Recompute the FSM right away against the new target, rather than
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# waiting for the next process() tick - otherwise self.state can
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# still read HOLD from the previous target for up to one tick
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# after a much-further-away one is pushed, which would make
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# is_holding() report "reached" instantly instead of once the gap
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# has actually closed.
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self.process_fsm(self.theta_soll_set - self.theta_ist)
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def get_theta_soll(self):
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def set_heatrate_soll(self, value):
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return self.theta_soll
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self.heatrate_soll_set = value
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def get_theta_soll_set(self):
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def get_heatrate_soll(self):
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return self.theta_soll_set
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return self.heatrate_soll
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def is_holding(self):
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def get_heatrate_soll_set(self):
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"""Whether the FSM currently considers theta_ist close enough to
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return self.heatrate_soll_set
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theta_soll_set to no longer be actively heating/cooling toward
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it - the single source of truth for "is a ramp toward the
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current target done" (see tasks/sud.py's SudTask)."""
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return self.state == States.HOLD
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def set_heatrate_soll(self, value):
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def process_pid(self, theta_err, heatrate_err, hold_scale=1.0):
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self.heatrate_soll_set = value
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self.pid_hold.process(theta_err, -self.theta_ist, hold_scale)
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def set_enabled(self, value):
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# Only the PID actually driving y is advanced - otherwise the
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self.enabled = value
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# inactive one (e.g. pid_heat while COOL has pid_cool driving)
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# would keep silently integrating against a heatrate_err that
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# isn't actually under its control, building a stale windup that
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# causes a discontinuity in y the moment it takes back over.
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if self.state == States.IDLE:
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self.y = 0
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elif self.state == States.COOL:
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self.pid_cool.process(heatrate_err, -self.heatrate_ist)
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self.y = self.pid_cool.get_y()
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else:
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self.pid_heat.process(heatrate_err, -self.heatrate_ist)
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self.y = self.pid_heat.get_y()
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def get_heatrate_soll(self):
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self.post_pid()
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return self.heatrate_soll
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def get_heatrate_soll_set(self):
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def get_power(self):
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return self.heatrate_soll_set
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return self.y
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def process_fsm(self, diff):
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state_next = self.state
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if self.state == States.INIT:
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# Wait for a real sensor reading before acting on anything,
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# regardless of enabled - avoids reacting to the bogus
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# theta_ist=0 default.
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if not self.is_startup:
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state_next = States.IDLE
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elif not self.enabled:
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state_next = States.IDLE
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elif self.state == States.IDLE:
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# Just (re-)enabled - resolve straight to HEAT/COOL/HOLD against
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# the real gap, the same threshold check the HOLD branch below
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# uses, rather than landing in HOLD and waiting for the next
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# tick to correct it: is_holding() is read synchronously within
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# this very same call chain (tasks/sud.py's SudTask.on_step_
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# changed() pushes the new step's setpoint via set_theta_soll(),
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# which calls this method directly), so an unconditional HOLD
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# here gets mistaken for "ramp already reached" and can finish
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# a freshly (re-)started step instantly - see SudTask.
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# on_process()'s is_holding() check. pid_heat/pid_cool were
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# frozen (see process_pid()) and possibly stale for as long as
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# we were disabled - start whichever one matters clean rather
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# than resuming wherever it last left off.
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self.pid_hold.reset()
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self.pid_heat.reset()
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self.pid_cool.reset()
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if diff >= self.thresholds['HoldHeat']:
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state_next = States.HEAT
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elif diff <= -self.thresholds['HoldCool']:
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state_next = States.COOL
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else:
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state_next = States.HOLD
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elif self.state == States.HOLD:
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if diff >= self.thresholds['HoldHeat']:
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state_next = States.HEAT
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self.pid_heat.reset()
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elif diff <= -self.thresholds['HoldCool']:
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state_next = States.COOL
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self.pid_cool.reset()
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elif self.state == States.HEAT:
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if diff <= -self.thresholds['HeatCool']:
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state_next = States.COOL
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self.pid_cool.reset()
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elif diff <= self.thresholds['HeatHold']:
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state_next = States.HOLD
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self.pid_hold.reset()
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elif self.state == States.COOL:
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if diff >= self.thresholds['CoolHeat']:
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state_next = States.HEAT
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self.pid_heat.reset()
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elif diff >= -self.thresholds['CoolHold']:
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state_next = States.HOLD
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self.pid_hold.reset()
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# pid_heat was frozen during COOL (see process_pid()) -
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# resume it clean rather than from whatever it last held
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# before COOL took over, which by now may be a stale fit
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# for a completely different part of the curve.
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self.pid_heat.reset()
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if state_next != self.state:
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self.state = state_next
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self.on_state_entered(state_next)
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def process_pid(self, theta_err, heatrate_err, hold_scale=1.0):
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self.pid_hold.process(theta_err, -self.theta_ist, hold_scale)
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# Only the PID actually driving y is advanced - otherwise the
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# inactive one (e.g. pid_heat while COOL has pid_cool driving)
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# would keep silently integrating against a heatrate_err that
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# isn't actually under its control, building a stale windup that
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# causes a discontinuity in y the moment it takes back over.
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if self.state == States.IDLE:
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self.y = 0
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elif self.state == States.COOL:
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self.pid_cool.process(heatrate_err, -self.heatrate_ist)
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self.y = self.pid_cool.get_y()
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else:
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self.pid_heat.process(heatrate_err, -self.heatrate_ist)
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self.y = self.pid_heat.get_y()
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self.post_pid()
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def get_power(self):
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return self.y
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@@ -0,0 +1,125 @@
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import enum
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from components.pid.pid import Pid
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DEFAULT_THRESHOLDS = {
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"HoldHeat": 1.0,
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# HoldCool used to be 0.1 ("eagerly give up and coast" made sense back
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# when COOL meant nothing more than going idle - it's an active state
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# with its own PID now, so a threshold this tight relative to a real
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# heater's discrete power steps/sensor noise causes the system to
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# chatter in and out of it every tick, resetting both pid_hold's and
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# pid_cool's integrators each time and never letting either actually
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# converge. Symmetric with the others instead.
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"HoldCool": 1.0,
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"HeatHold": 1.0,
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"HeatCool": 1.0,
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"CoolHold": 1.0,
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"CoolHeat": 1.0,
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}
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class States(enum.Enum):
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INIT = -1,
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IDLE = 0,
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HEAT = 1,
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HOLD = 2,
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COOL = 3
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class TempControllerFsm:
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||||||
|
def __init__(self, dt):
|
||||||
|
self.pid_hold = Pid(dt)
|
||||||
|
self.pid_heat = Pid(dt)
|
||||||
|
# Separate gains for ramping down (negative diff) - the actuator
|
||||||
|
# (e.g. a heat-only Pot/heater) is responsible for clamping the
|
||||||
|
# resulting negative power to whatever it's actually capable of;
|
||||||
|
# the controller itself no longer assumes "can't cool" == "must go
|
||||||
|
# idle".
|
||||||
|
self.pid_cool = Pid(dt)
|
||||||
|
self.thresholds = None
|
||||||
|
self.state = States.INIT
|
||||||
|
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
|
||||||
|
# forced to 0) - off by default, enabled either by the user
|
||||||
|
# (manual mode) or by SudTask for the duration of a run.
|
||||||
|
self.enabled = False
|
||||||
|
|
||||||
|
def on_state_entered(self, state):
|
||||||
|
pass
|
||||||
|
|
||||||
|
def set_enabled(self, value):
|
||||||
|
self.enabled = value
|
||||||
|
|
||||||
|
def is_holding(self):
|
||||||
|
"""Whether the FSM currently considers theta_ist close enough to
|
||||||
|
theta_soll_set to no longer be actively heating/cooling toward
|
||||||
|
it - the single source of truth for "is a ramp toward the
|
||||||
|
current target done" (see tasks/sud.py's SudTask)."""
|
||||||
|
return self.state == States.HOLD
|
||||||
|
|
||||||
|
def process_fsm(self, diff):
|
||||||
|
state_next = self.state
|
||||||
|
if self.state == States.INIT:
|
||||||
|
# Wait for a real sensor reading before acting on anything,
|
||||||
|
# regardless of enabled - avoids reacting to the bogus
|
||||||
|
# theta_ist=0 default.
|
||||||
|
if not self.is_startup:
|
||||||
|
state_next = States.IDLE
|
||||||
|
elif not self.enabled:
|
||||||
|
state_next = States.IDLE
|
||||||
|
elif self.state == States.IDLE:
|
||||||
|
# Just (re-)enabled - resolve straight to HEAT/COOL/HOLD against
|
||||||
|
# the real gap, the same threshold check the HOLD branch below
|
||||||
|
# uses, rather than landing in HOLD and waiting for the next
|
||||||
|
# tick to correct it: is_holding() is read synchronously within
|
||||||
|
# this very same call chain (tasks/sud.py's SudTask.on_step_
|
||||||
|
# changed() pushes the new step's setpoint via set_theta_soll(),
|
||||||
|
# which calls this method directly), so an unconditional HOLD
|
||||||
|
# here gets mistaken for "ramp already reached" and can finish
|
||||||
|
# a freshly (re-)started step instantly - see SudTask.
|
||||||
|
# on_process()'s is_holding() check. pid_heat/pid_cool were
|
||||||
|
# frozen (see process_pid()) and possibly stale for as long as
|
||||||
|
# we were disabled - start whichever one matters clean rather
|
||||||
|
# than resuming wherever it last left off.
|
||||||
|
self.pid_hold.reset()
|
||||||
|
self.pid_heat.reset()
|
||||||
|
self.pid_cool.reset()
|
||||||
|
if diff >= self.thresholds['HoldHeat']:
|
||||||
|
state_next = States.HEAT
|
||||||
|
elif diff <= -self.thresholds['HoldCool']:
|
||||||
|
state_next = States.COOL
|
||||||
|
else:
|
||||||
|
state_next = States.HOLD
|
||||||
|
elif self.state == States.HOLD:
|
||||||
|
if diff >= self.thresholds['HoldHeat']:
|
||||||
|
state_next = States.HEAT
|
||||||
|
self.pid_heat.reset()
|
||||||
|
elif diff <= -self.thresholds['HoldCool']:
|
||||||
|
state_next = States.COOL
|
||||||
|
self.pid_cool.reset()
|
||||||
|
elif self.state == States.HEAT:
|
||||||
|
if diff <= -self.thresholds['HeatCool']:
|
||||||
|
state_next = States.COOL
|
||||||
|
self.pid_cool.reset()
|
||||||
|
elif diff <= self.thresholds['HeatHold']:
|
||||||
|
state_next = States.HOLD
|
||||||
|
self.pid_hold.reset()
|
||||||
|
elif self.state == States.COOL:
|
||||||
|
if diff >= self.thresholds['CoolHeat']:
|
||||||
|
state_next = States.HEAT
|
||||||
|
self.pid_heat.reset()
|
||||||
|
elif diff >= -self.thresholds['CoolHold']:
|
||||||
|
state_next = States.HOLD
|
||||||
|
self.pid_hold.reset()
|
||||||
|
# pid_heat was frozen during COOL (see process_pid()) -
|
||||||
|
# resume it clean rather than from whatever it last held
|
||||||
|
# before COOL took over, which by now may be a stale fit
|
||||||
|
# for a completely different part of the curve.
|
||||||
|
self.pid_heat.reset()
|
||||||
|
|
||||||
|
if state_next != self.state:
|
||||||
|
self.state = state_next
|
||||||
|
self.on_state_entered(state_next)
|
||||||
Reference in New Issue
Block a user