Move PID matplotlib demo harnesses out of production modules

temp_controller.py, temp_controller_smith.py, and kalman.py imported
matplotlib at module level just to support eyeballed-plot __main__
blocks, coupling the live server's import graph to a GUI plotting lib
it never uses at runtime. Relocate those demos (and kalman_eval.py) to
scripts/demos/pid/ and strip the now-unused imports/__main__ blocks
from the production files.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

components/pid/kalman.py

@@ -1,6 +1,5 @@
 import numpy as np
 from numpy.linalg import inv
-from matplotlib.pyplot import plot, figure, subplot, grid, show
 
 
 class Kalman:
@@ -76,57 +75,3 @@ class Kalman:
 		I = np.eye(self.N)
 		self.P = (I - K * self.H) * P
 		return self.X
-
-
-# Main
-if __name__ == '__main__':
-	dt = 1.0
-
-	params = {
-		'var_P'	: 1,
-		'var_Q'	: 0.0001,
-		'var_R'	: 0.5
-	}
-	k = Kalman(dt, params)
-
-	_x1 = np.empty(0)
-	_y1 = np.empty(0)
-	_x2 = np.empty(0)
-	_y2 = np.empty(0)
-
-	N = int(1000/dt)
-	seqn = range(0, N)
-
-	_seqn = range(0, 2*N)
-	X = np.array([dt, 0])
-	for n in seqn:
-		Z = k.process_measurement(X, 0.5)
-		# Kalman.print("Z:", Z)
-		Xp = k.process(Z)
-
-		_x1 = np.append(_x1, Z[0])
-		_x2 = np.append(_x2, Z[1])
-		_y1 = np.append(_y1, Xp[0])
-		_y2 = np.append(_y2, Xp[1])
-
-	for n in seqn:
-		X[0] = X[0] + dt
-		Z = k.process_measurement(X, 0.5)
-		# Kalman.print("Z:", Z)
-		Xp = k.process(Z)
-
-		_x1 = np.append(_x1, Z[0])
-		_x2 = np.append(_x2, Z[1])
-		_y1 = np.append(_y1, Xp[0])
-		_y2 = np.append(_y2, Xp[1])
-
-	figure(1)
-	subplot(2, 1, 1)
-	plot(_seqn, _x1, 'bx', _seqn, _y1, '-r', linewidth=1)
-	grid(True)
-	subplot(2, 1, 2)
-	plot(_seqn, _x2, 'bx', _seqn, _y2, '-r', linewidth=1)
-	grid(True)
-	show()
-
-	print("End of program")

components/pid/temp_controller.py

@@ -1,9 +1,5 @@
-from components.plant.pot import Pot
-from matplotlib.pyplot import plot, figure, subplot, grid, show, legend
 from components.pid import Kalman
 from components.pid.temp_controller_base import TempControllerBase
-from components.pid.tc_constants import *
-import numpy as np
 
 
 class TempController(TempControllerBase):
@@ -36,75 +32,3 @@ class TempController(TempControllerBase):
 		diff = self.theta_soll_set - self.theta_ist
 		self.process_fsm(diff)
 		self.process_pid(theta_err, heatrate_err)
-
-
-if __name__ == '__main__':
-	dt = 1.0
-
-	temp_ist = 0
-	temp_soll = 20
-	ctrl = TempController(dt, Test.tc_ctrl_params)
-	plant = Pot(dt, Test.tc_pot_params)
-	_temp_ist = np.empty(0)
-	_temp_soll = np.empty(0)
-	_y = np.empty(0)
-	_fb = np.empty(0)
-	_t = np.empty(0)
-	_heatrate_ist_kalman = np.empty(0)
-	_temp_ist_kalman = np.empty(0)
-	a = 0.5
-	fb = 0
-	rho = 0.02
-	temps = [{'Temp': 20, 'Duration': 1000}, {'Temp': 40, 'Duration': 1000}, {'Temp': 50, 'Duration': 1000}, {'Temp': 60, 'Duration': 1000}, {'Temp': 70, 'Duration': 1000}, {'Temp': 80, 'Duration': 1000}, {'Temp': 78, 'Duration': 1000}]
-
-	t = 0
-	for temp in temps:
-		temp_soll = temp['Temp']
-		hold_counter = temp['Duration']
-		hold = False
-		ctrl.set_theta_soll(temp_soll)
-		ctrl.set_heatrate_soll(1.0)
-
-		while True:
-			if hold:
-				if hold_counter == 0:
-					break
-				hold_counter -= 1
-			plant.process()
-			temp_ist = plant.get_temperature() + 0.0 * np.random.randn()
-			ctrl.set_theta_ist(temp_ist)
-			ctrl.process()
-
-			y = 3500*ctrl.get_power()
-			power = max(0, y)
-			plant.set_power(power)
-			fb = plant.get_power()
-			if abs(temp_ist - temp_soll) < 0.1:
-				hold = True
-
-			temp_ist -= rho
-			_temp_ist = np.append(_temp_ist, temp_ist)
-			_temp_soll = np.append(_temp_soll, temp_soll)
-			_y = np.append(_y, y)
-			_fb = np.append(_fb, fb)
-			_t = np.append(_t, t)
-			_heatrate_ist_kalman = np.append(_heatrate_ist_kalman, max(-1, min(3, ctrl.heatrate_ist)))
-			_temp_ist_kalman = np.append(_temp_ist, ctrl.theta_ist)
-			t += 1
-
-	figure(1)
-	subplot(3, 1, 1)
-	plot(_t, _temp_ist, _t, _temp_soll, 'r-', linewidth=1)
-	legend(["ist", "soll"])
-	grid(True)
-	subplot(3, 1, 2)
-	plot(_t, _y, '-b', _t, _fb, '-r', linewidth=1)
-	legend(["y", "pot"])
-	grid(True)
-	subplot(3, 1, 3)
-	plot(_t, _heatrate_ist_kalman, '-b', linewidth=1)
-	legend(["heatrate"])
-	grid(True)
-	show()
-
-	print("End of program")

components/pid/temp_controller_smith.py

@@ -1,9 +1,7 @@
 from components.plant.pot import Pot
-from matplotlib.pyplot import plot, figure, subplot, grid, show, legend
 from components.pid import Kalman
 from components.pid.temp_controller_base import TempControllerBase
 from components.pid.tc_constants import *
-import numpy as np
 
 
 class TempController(TempControllerBase):
@@ -82,88 +80,3 @@ class TempController(TempControllerBase):
 
 		self.process_fsm(diff)
 		self.process_pid(theta_err, heatrate_err)
-
-
-if __name__ == '__main__':
-	dt = 1.0
-
-	temp_soll = 20
-	ctrl = TempController(dt, Test.tc_ctrl_params, Test.tc_model_params)
-	plant = Pot(dt, Test.tc_pot_params)
-	_y = np.empty(0)
-	_fb = np.empty(0)
-	_t = np.empty(0)
-	_temp_soll = np.empty(0)
-	_temp_ist_kalman = np.empty(0)
-	_heatrate_ist_kalman = np.empty(0)
-	_temp_ist_kalman_plant = np.empty(0)
-	_heatrate_ist_kalman_plant = np.empty(0)
-	_temp_ist_kalman_model = np.empty(0)
-	_heatrate_ist_kalman_model = np.empty(0)
-	a = 0.5
-	fb = 0
-	rho = 0.02
-	temps = [{'Temp': 20, 'Duration': 1000}, {'Temp': 40, 'Duration': 1000}, {'Temp': 50, 'Duration': 1000}, {'Temp': 60, 'Duration': 1000}, {'Temp': 70, 'Duration': 1000}, {'Temp': 80, 'Duration': 1000}, {'Temp': 78, 'Duration': 1000}]
-
-	t = 0
-
-	for temp in temps:
-		temp_soll = temp['Temp']
-		hold_counter = temp['Duration']
-		hold = False
-		ctrl.set_theta_soll(temp_soll)
-		ctrl.set_heatrate_soll(1.0)
-
-		while True:
-			if hold:
-				if hold_counter == 0:
-					break
-				hold_counter -= 1
-			plant.process()
-			temp_ist = plant.get_temperature()
-			ctrl.set_theta_ist(temp_ist)
-			ctrl.process()
-
-			y = 3500*ctrl.get_power()
-			power = max(0, y)
-			plant.set_power(power)
-			fb = plant.get_power()
-			if abs(temp_ist - temp_soll) < 0.1:
-				hold = True
-
-			_y = np.append(_y, y)
-			_fb = np.append(_fb, fb)
-			_t = np.append(_t, t)
-			_temp_soll = np.append(_temp_soll, temp_soll)
-			_temp_ist_kalman_plant = np.append(_temp_ist_kalman_plant, ctrl.theta_ist_plant)
-			_heatrate_ist_kalman_plant = np.append(_heatrate_ist_kalman_plant, max(-1, min(3, ctrl.dtheta_ist_plant)))
-			_temp_ist_kalman_model = np.append(_temp_ist_kalman_model, ctrl.theta_ist_model_delay)
-			_heatrate_ist_kalman_model = np.append(_heatrate_ist_kalman_model, max(-1, min(3, ctrl.dtheta_ist_model_delay)))
-			t += 1
-
-	figure(1)
-	subplot(3, 1, 1)
-	plot(_t, _temp_ist_kalman_plant, _t, _temp_soll, 'r-', linewidth=1)
-	legend(["ist", "soll"])
-	grid(True)
-	subplot(3, 1, 2)
-	plot(_t, _y, '-b', _t, _fb, '-r', linewidth=1)
-	legend(["y", "pot"])
-	grid(True)
-	subplot(3, 1, 3)
-	plot(_t, _heatrate_ist_kalman_plant, '-b', linewidth=1)
-	legend(["heatrate"])
-	grid(True)
-
-	figure(2)
-	subplot(2, 1, 1)
-	plot(_t, _temp_ist_kalman_plant, '-b', _t, _temp_ist_kalman_model, 'r-', linewidth=1)
-	legend(["plant", "model"])
-	grid(True)
-	subplot(2, 1, 2)
-	plot(_t, _heatrate_ist_kalman_plant, '-b', _t, _heatrate_ist_kalman_model, '-r', linewidth=1)
-	legend(["plant", "model"])
-	grid(True)
-	show()
-
-	print("End of program")

scripts/demos/pid/demo_kalman.py

@@ -0,0 +1,56 @@
+import numpy as np
+from matplotlib.pyplot import plot, figure, subplot, grid, show
+from components.pid.kalman import Kalman
+
+
+if __name__ == '__main__':
+	dt = 1.0
+
+	params = {
+		'var_P'	: 1,
+		'var_Q'	: 0.0001,
+		'var_R'	: 0.5
+	}
+	k = Kalman(dt, params)
+
+	_x1 = np.empty(0)
+	_y1 = np.empty(0)
+	_x2 = np.empty(0)
+	_y2 = np.empty(0)
+
+	N = int(1000/dt)
+	seqn = range(0, N)
+
+	_seqn = range(0, 2*N)
+	X = np.array([dt, 0])
+	for n in seqn:
+		Z = k.process_measurement(X, 0.5)
+		# Kalman.print("Z:", Z)
+		Xp = k.process(Z)
+
+		_x1 = np.append(_x1, Z[0])
+		_x2 = np.append(_x2, Z[1])
+		_y1 = np.append(_y1, Xp[0])
+		_y2 = np.append(_y2, Xp[1])
+
+	for n in seqn:
+		X[0] = X[0] + dt
+		Z = k.process_measurement(X, 0.5)
+		# Kalman.print("Z:", Z)
+		Xp = k.process(Z)
+
+		_x1 = np.append(_x1, Z[0])
+		_x2 = np.append(_x2, Z[1])
+		_y1 = np.append(_y1, Xp[0])
+		_y2 = np.append(_y2, Xp[1])
+
+	figure(1)
+	subplot(2, 1, 1)
+	plot(_seqn, _x1, 'bx', _seqn, _y1, '-r', linewidth=1)
+	grid(True)
+	subplot(2, 1, 2)
+	plot(_seqn, _x2, 'bx', _seqn, _y2, '-r', linewidth=1)
+	grid(True)
+	show()
+
+	print("End of program")

scripts/demos/pid/demo_temp_controller.py

@@ -0,0 +1,77 @@
+import numpy as np
+from matplotlib.pyplot import plot, figure, subplot, grid, show, legend
+from components.plant.pot import Pot
+from components.pid.temp_controller import TempController
+from components.pid.tc_constants import Test
+
+
+if __name__ == '__main__':
+	dt = 1.0
+
+	temp_ist = 0
+	temp_soll = 20
+	ctrl = TempController(dt, Test.tc_ctrl_params)
+	plant = Pot(dt, Test.tc_pot_params)
+	_temp_ist = np.empty(0)
+	_temp_soll = np.empty(0)
+	_y = np.empty(0)
+	_fb = np.empty(0)
+	_t = np.empty(0)
+	_heatrate_ist_kalman = np.empty(0)
+	_temp_ist_kalman = np.empty(0)
+	a = 0.5
+	fb = 0
+	rho = 0.02
+	temps = [{'Temp': 20, 'Duration': 1000}, {'Temp': 40, 'Duration': 1000}, {'Temp': 50, 'Duration': 1000}, {'Temp': 60, 'Duration': 1000}, {'Temp': 70, 'Duration': 1000}, {'Temp': 80, 'Duration': 1000}, {'Temp': 78, 'Duration': 1000}]
+
+	t = 0
+	for temp in temps:
+		temp_soll = temp['Temp']
+		hold_counter = temp['Duration']
+		hold = False
+		ctrl.set_theta_soll(temp_soll)
+		ctrl.set_heatrate_soll(1.0)
+
+		while True:
+			if hold:
+				if hold_counter == 0:
+					break
+				hold_counter -= 1
+			plant.process()
+			temp_ist = plant.get_temperature() + 0.0 * np.random.randn()
+			ctrl.set_theta_ist(temp_ist)
+			ctrl.process()
+
+			y = 3500*ctrl.get_power()
+			power = max(0, y)
+			plant.set_power(power)
+			fb = plant.get_power()
+			if abs(temp_ist - temp_soll) < 0.1:
+				hold = True
+
+			temp_ist -= rho
+			_temp_ist = np.append(_temp_ist, temp_ist)
+			_temp_soll = np.append(_temp_soll, temp_soll)
+			_y = np.append(_y, y)
+			_fb = np.append(_fb, fb)
+			_t = np.append(_t, t)
+			_heatrate_ist_kalman = np.append(_heatrate_ist_kalman, max(-1, min(3, ctrl.heatrate_ist)))
+			_temp_ist_kalman = np.append(_temp_ist, ctrl.theta_ist)
+			t += 1
+
+	figure(1)
+	subplot(3, 1, 1)
+	plot(_t, _temp_ist, _t, _temp_soll, 'r-', linewidth=1)
+	legend(["ist", "soll"])
+	grid(True)
+	subplot(3, 1, 2)
+	plot(_t, _y, '-b', _t, _fb, '-r', linewidth=1)
+	legend(["y", "pot"])
+	grid(True)
+	subplot(3, 1, 3)
+	plot(_t, _heatrate_ist_kalman, '-b', linewidth=1)
+	legend(["heatrate"])
+	grid(True)
+	show()
+
+	print("End of program")

scripts/demos/pid/demo_temp_controller_smith.py

@@ -0,0 +1,90 @@
+import numpy as np
+from matplotlib.pyplot import plot, figure, subplot, grid, show, legend
+from components.plant.pot import Pot
+from components.pid.temp_controller_smith import TempController
+from components.pid.tc_constants import Test
+
+
+if __name__ == '__main__':
+	dt = 1.0
+
+	temp_soll = 20
+	ctrl = TempController(dt, Test.tc_ctrl_params, Test.tc_model_params)
+	plant = Pot(dt, Test.tc_pot_params)
+	_y = np.empty(0)
+	_fb = np.empty(0)
+	_t = np.empty(0)
+	_temp_soll = np.empty(0)
+	_temp_ist_kalman = np.empty(0)
+	_heatrate_ist_kalman = np.empty(0)
+	_temp_ist_kalman_plant = np.empty(0)
+	_heatrate_ist_kalman_plant = np.empty(0)
+	_temp_ist_kalman_model = np.empty(0)
+	_heatrate_ist_kalman_model = np.empty(0)
+	a = 0.5
+	fb = 0
+	rho = 0.02
+	temps = [{'Temp': 20, 'Duration': 1000}, {'Temp': 40, 'Duration': 1000}, {'Temp': 50, 'Duration': 1000}, {'Temp': 60, 'Duration': 1000}, {'Temp': 70, 'Duration': 1000}, {'Temp': 80, 'Duration': 1000}, {'Temp': 78, 'Duration': 1000}]
+
+	t = 0
+
+	for temp in temps:
+		temp_soll = temp['Temp']
+		hold_counter = temp['Duration']
+		hold = False
+		ctrl.set_theta_soll(temp_soll)
+		ctrl.set_heatrate_soll(1.0)
+
+		while True:
+			if hold:
+				if hold_counter == 0:
+					break
+				hold_counter -= 1
+			plant.process()
+			temp_ist = plant.get_temperature()
+			ctrl.set_theta_ist(temp_ist)
+			ctrl.process()
+
+			y = 3500*ctrl.get_power()
+			power = max(0, y)
+			plant.set_power(power)
+			fb = plant.get_power()
+			if abs(temp_ist - temp_soll) < 0.1:
+				hold = True
+
+			_y = np.append(_y, y)
+			_fb = np.append(_fb, fb)
+			_t = np.append(_t, t)
+			_temp_soll = np.append(_temp_soll, temp_soll)
+			_temp_ist_kalman_plant = np.append(_temp_ist_kalman_plant, ctrl.theta_ist_plant)
+			_heatrate_ist_kalman_plant = np.append(_heatrate_ist_kalman_plant, max(-1, min(3, ctrl.dtheta_ist_plant)))
+			_temp_ist_kalman_model = np.append(_temp_ist_kalman_model, ctrl.theta_ist_model_delay)
+			_heatrate_ist_kalman_model = np.append(_heatrate_ist_kalman_model, max(-1, min(3, ctrl.dtheta_ist_model_delay)))
+			t += 1
+
+	figure(1)
+	subplot(3, 1, 1)
+	plot(_t, _temp_ist_kalman_plant, _t, _temp_soll, 'r-', linewidth=1)
+	legend(["ist", "soll"])
+	grid(True)
+	subplot(3, 1, 2)
+	plot(_t, _y, '-b', _t, _fb, '-r', linewidth=1)
+	legend(["y", "pot"])
+	grid(True)
+	subplot(3, 1, 3)
+	plot(_t, _heatrate_ist_kalman_plant, '-b', linewidth=1)
+	legend(["heatrate"])
+	grid(True)
+
+	figure(2)
+	subplot(2, 1, 1)
+	plot(_t, _temp_ist_kalman_plant, '-b', _t, _temp_ist_kalman_model, 'r-', linewidth=1)
+	legend(["plant", "model"])
+	grid(True)
+	subplot(2, 1, 2)
+	plot(_t, _heatrate_ist_kalman_plant, '-b', _t, _heatrate_ist_kalman_model, '-r', linewidth=1)
+	legend(["plant", "model"])
+	grid(True)
+	show()
+
+	print("End of program")