From bf7ec2beaf9ab633a67c99d0f660913a7b43ab81 Mon Sep 17 00:00:00 2001
From: jens <jens.ahrensfeld@gmx.de>
Date: Tue, 12 Oct 2021 16:47:05 +0200
Subject: [PATCH] - PID: introduced INIT State - refactored

---
 components/pid/tc_constants.py          |  9 +++++++++
 components/pid/temp_controller.py       | 17 ++++++-----------
 components/pid/temp_controller_smith.py | 19 +++++++------------
 3 files changed, 22 insertions(+), 23 deletions(-)

diff --git a/components/pid/tc_constants.py b/components/pid/tc_constants.py
index c534230..40aaf3a 100644
--- a/components/pid/tc_constants.py
+++ b/components/pid/tc_constants.py
@@ -1,3 +1,12 @@
+from enum import Enum
+
+
+class States(Enum):
+	INIT = -1,
+	IDLE = 0,
+	HEAT = 1,
+	HOLD = 2
+
 
 THRESH_HOLD_IDLE = 0.1
 THRESH_HOLD_HEAT = 1.0
diff --git a/components/pid/temp_controller.py b/components/pid/temp_controller.py
index 0543871..f99afb8 100644
--- a/components/pid/temp_controller.py
+++ b/components/pid/temp_controller.py
@@ -1,16 +1,9 @@
 from components.plant.pot import Pot
 from matplotlib.pyplot import plot, figure, subplot, grid, show, legend
-from components.pid import Pid, Kalman
 from components import APid
-import numpy as np
-from enum import Enum
+from components.pid import Pid, Kalman
 from components.pid.tc_constants import *
-
-
-class States(Enum):
-	IDLE = 0,
-	HEAT = 1,
-	HOLD = 2
+import numpy as np
 
 
 class TempController(APid):
@@ -28,7 +21,7 @@ class TempController(APid):
 		self.params = params
 		self.kalman = Kalman(dt, params['Kalman'])
 		self.y = -1
-		self.state = States.IDLE
+		self.state = States.INIT
 		self.use_kalman = True
 		self.pid_hold.set_params(params['Hold'])
 		self.pid_rate.set_params(params['Heat'])
@@ -93,7 +86,9 @@ class TempController(APid):
 	def process_fsm(self, diff):
 		# Process state
 		state_next = self.state
-		if self.state == States.IDLE:
+		if self.state == States.INIT:
+			state_next = States.IDLE
+		elif self.state == States.IDLE:
 			if diff >= THRESH_IDLE_HEAT:
 				state_next = States.HEAT
 				self.pid_rate.reset()
diff --git a/components/pid/temp_controller_smith.py b/components/pid/temp_controller_smith.py
index 59e0381..954dbee 100755
--- a/components/pid/temp_controller_smith.py
+++ b/components/pid/temp_controller_smith.py
@@ -1,16 +1,9 @@
-from components.plant.pot import Pot, HeatDiffusion
+from components.plant.pot import Pot
 from matplotlib.pyplot import plot, figure, subplot, grid, show, legend
-from components.pid import Pid, Kalman
 from components import APid
-import numpy as np
-from enum import Enum
+from components.pid import Pid, Kalman
 from components.pid.tc_constants import *
-
-
-class States(Enum):
-	IDLE = 0,
-	HEAT = 1,
-	HOLD = 2
+import numpy as np
 
 
 class TempController(APid):
@@ -31,7 +24,7 @@ class TempController(APid):
 		self.kalman_model_delay = Kalman(dt, params['Kalman'])
 		self.kalman_plant = Kalman(dt, params['Kalman'])
 		self.y = -1
-		self.state = States.IDLE
+		self.state = States.INIT
 		self.use_kalman = True
 		self.pid_hold.set_params(params['Hold'])
 		self.pid_rate.set_params(params['Heat'])
@@ -118,7 +111,9 @@ class TempController(APid):
 	def process_fsm(self, diff):
 		# Process state
 		state_next = self.state
-		if self.state == States.IDLE:
+		if self.state == States.INIT:
+			state_next = States.IDLE
+		elif self.state == States.IDLE:
 			if diff >= THRESH_IDLE_HEAT:
 				state_next = States.HEAT
 				self.pid_rate.reset()