Require TempController(Smith)'s model params/ambient via setters; add comprehensive process() checks

TempController(Smith).__init__ no longer takes model_params/theta_amb -
set_model_plant_params() and the existing set_ambient_temperature() must be
called instead (mirrors components/plant/pot.py's own Pot constructor
refactor). temp_controller.py's now-pointless model_params/theta_amb
constructor placeholders (kept only for "compatibility" with Smith) are
dropped too.

Both TempController variants now raise a clear RuntimeError from process()
itself if set_params() wasn't called, instead of letting it surface deep
inside Pid.process() as an opaque "'NoneType' object is not subscriptable".
Smith additionally checks its internal models via Pot.is_configured() (new)
and raises if set_model_plant_params()/set_ambient_temperature() weren't
called either.

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

components/pid/temp_controller.py

@@ -2,16 +2,15 @@ from components.pid.temp_controller_base import TempControllerBase
 
 
 class TempController(TempControllerBase):
-	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.
+	def __init__(self, dt):
 		TempControllerBase.__init__(self, dt)
 		self.dt = dt
 		self.last_theta_ist = 20
 		self.heatrate_ist = 0
 
 	def process(self):
+		self._require_params()
+
 		# Process Kalman
 		self.theta_ist = self.theta_ist_set
 		heatrate = (self.theta_ist - self.last_theta_ist)/self.dt*60

components/pid/temp_controller_base.py

@@ -65,6 +65,16 @@ class TempControllerBase(APid):
 		self.pid_heat.set_params(params['Heat'])
 		self.pid_cool.set_params(params['Cool'])
 
+	def _require_params(self):
+		"""Called by each subclass's process() before doing anything else -
+		without it, a missing set_params() call would otherwise only
+		surface as an unhelpful "'NoneType' object is not subscriptable"
+		buried inside Pid.process() (components/pid/pid.py), once
+		process_pid() below gets to it."""
+		if self.params is None:
+			raise RuntimeError(
+				"{}.process(): PID gains not set - call set_params() first".format(type(self).__name__))
+
 	def on_state_entered(self, state):
 		pass
 

components/pid/temp_controller_smith.py

@@ -3,7 +3,7 @@ from components.pid.temp_controller_base import TempControllerBase, States
 
 
 class TempController(TempControllerBase):
-	def __init__(self, dt, model_params, theta_amb=20):
+	def __init__(self, dt):
 		TempControllerBase.__init__(self, dt)
 		self.dt = dt
 		self.last_theta_ist = 20
@@ -12,18 +12,18 @@ class TempController(TempControllerBase):
 		# Fast model: same plant model but with zero transport delay, used
 		# to predict the current temperature without the dead time.
 		self.model = Pot(dt)
-		self.model.set_plant_params({**model_params, 'Td': 0})
-		self.model.set_ambient_temperature(theta_amb)
 		# Delayed model: keeps the plant's assumed transport delay, so it
 		# can be compared like-for-like against the real (delayed) measurement.
 		self.model_delay = Pot(dt)
-		self.model_delay.set_plant_params(model_params)
-		self.model_delay.set_ambient_temperature(theta_amb)
 
 		self.theta_ist_plant = 0
 		self.theta_ist_model = 0
 		self.theta_ist_model_delay = 0
 
+	def set_model_plant_params(self, model_params):
+		self.model.set_plant_params({**model_params, 'Td': 0})
+		self.model_delay.set_plant_params(model_params)
+
 	def set_model_power(self, power):
 		self.model.set_power(power)
 		self.model_delay.set_power(power)
@@ -46,6 +46,12 @@ class TempController(TempControllerBase):
 		self.model_delay.process()
 
 	def process(self):
+		self._require_params()
+		if not (self.model.is_configured() and self.model_delay.is_configured()):
+			raise RuntimeError(
+				"{}.process(): model plant params and/or ambient temperature not set - "
+				"call set_model_plant_params() and set_ambient_temperature() first".format(type(self).__name__))
+
 		self.theta_ist_plant = self.theta_ist_set
 		self.theta_ist_model = self.model.get_temperature()
 		self.theta_ist_model_delay = self.model_delay.get_temperature()