brewpi/components/pid/temp_controller_base.py

from components import APid
from components.pid.pid import Pid
import enum

DEFAULT_THRESHOLDS = {
	"HoldHeat": 1.0,
	# HoldCool used to be 0.1 ("eagerly give up and coast" made sense back
	# when COOL meant nothing more than going idle - it's an active state
	# with its own PID now, so a threshold this tight relative to a real
	# heater's discrete power steps/sensor noise causes the system to
	# chatter in and out of it every tick, resetting both pid_hold's and
	# pid_cool's integrators each time and never letting either actually
	# converge. Symmetric with the others instead.
	"HoldCool": 1.0,
	"HeatHold": 1.0,
	"HeatCool": 1.0,
	"CoolHold": 1.0,
	"CoolHeat": 1.0,
}

class States(enum.Enum):
	INIT = -1,
	IDLE = 0,
	HEAT = 1,
	HOLD = 2,
	COOL = 3

class TempControllerBase(APid):

	def __init__(self, dt, params):
		APid.__init__(self)
		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.theta_ist_set = 0
		self.theta_soll_set = 0
		self.heatrate_ist_set = 0
		self.heatrate_soll_set = 1.0
		self.heatrate_soll = 1.0
		self.theta_ist = 0
		self.heatrate_ist = 0
		self.params = params
		self.thresholds = {**DEFAULT_THRESHOLDS, **params.get('Thresholds', {})}
		self.y = -1
		self.state = States.INIT
		self.pid_hold.set_params(params['Hold'])
		self.pid_heat.set_params(params['Heat'])
		self.pid_cool.set_params(params['Cool'])
		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 post_pid(self):
		pass

	def set_theta_ist(self, value):
		self.theta_ist_set = value
		if self.is_startup:
			self.is_startup = False

	def get_theta_ist(self):
		return self.theta_ist

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

	def get_heatrate_ist(self):
		return self.heatrate_ist

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

	def get_theta_soll(self):
		return self.theta_soll

	def get_theta_soll_set(self):
		return self.theta_soll_set

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

	def set_enabled(self, value):
		self.enabled = value

	def get_heatrate_soll(self):
		return self.heatrate_soll

	def get_heatrate_soll_set(self):
		return self.heatrate_soll_set

	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 - land in HOLD; the very next tick's
			# threshold check (below) moves it on to HEAT/COOL if the gap
			# actually warrants it. pid_heat was frozen (see process_pid())
			# and possibly stale for as long as we were disabled - start it
			# clean rather than resuming wherever it last left off.
			state_next = States.HOLD
			self.pid_hold.reset()
			self.pid_heat.reset()
		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)

	def process_pid(self, theta_err, heatrate_err, hold_scale=1.0):
		self.pid_hold.process(theta_err, -self.theta_ist, hold_scale)

		# Only the PID actually driving y is advanced - otherwise the
		# inactive one (e.g. pid_heat while COOL has pid_cool driving)
		# would keep silently integrating against a heatrate_err that
		# isn't actually under its control, building a stale windup that
		# causes a discontinuity in y the moment it takes back over.
		if self.state == States.IDLE:
			self.y = 0
		elif self.state == States.COOL:
			self.pid_cool.process(heatrate_err, -self.heatrate_ist)
			self.y = self.pid_cool.get_y()
		else:
			self.pid_heat.process(heatrate_err, -self.heatrate_ist)
			self.y = self.pid_heat.get_y()

		self.post_pid()

	def get_power(self):
		return self.y