from components.pid import Pid
from components.pid import Kalman


class TempController:
	def __init__(self, params):
		self.dt = params['dt']
		self.pid_hold = Pid()
		self.pid_rate = Pid()
		self.theta_ist = 0
		self.theta_soll = 0
		self.heatrate_ist = 0
		self.heatrate_soll = 0
		self.params = params

	def set_theta_ist(self, value):
		self.theta_ist = value

	def set_heatrate_ist(self, value):
		self.heatrate_ist = value

	def set_theta_soll(self, value):
		self.theta_soll = value

	def set_heatrate_soll(self, value):
		self.heatrate_soll = value

	def process(self):
		theta_err = self.theta_soll - self.theta_ist
		heatrate_err = self.heatrate_soll - self.heatrate_ist

		self.pid_hold.process(self.dt, self.params['Hold']['Pid'], theta_err)
		self.pid_rate.process(self.dt, self.params['Heat']['Pid'], heatrate_err)

	def get_power_hold(self):
		power_hold = 200 + self.params['P_max'] * self.pid_hold.get_y()
		return max(self.params['P_min'], min(self.params['P_max'], power_hold))

	def get_power_heat(self):
		power_heat = 1500 + self.params['P_max'] * self.pid_rate.get_y()
		return max(self.params['P_min'], min(self.params['P_max'], power_heat))