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):
		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
		# None until set_params() is called - mirrors Pid's own
		# params/set_params() (components/pid/pid.py), whose process()
		# already relies on the same "None means not configured yet".
		self.params = None
		self.thresholds = None
		self.y = -1
		self.state = States.INIT
		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 set_params(self, params):
		self.params = params
		self.thresholds = {**DEFAULT_THRESHOLDS, **params.get('Thresholds', {})}
		self.pid_hold.set_params(params['Hold'])
		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 is_configured(self):
		"""Whether set_params() has been called - lets a caller (e.g.
		TcTask's own process loop) check upfront and skip processing
		gracefully while not yet configured, rather than relying on
		process() raising. Overridden by TempController(Smith) to also
		require its internal model's plant params/ambient."""
		return self.params is not None

	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 get_theta_ist_set(self):
		"""The raw sensor reading, as last pushed via set_theta_ist() -
		unlike get_theta_ist() (self.theta_ist), this is updated the
		instant a reading comes in, regardless of whether process() has
		ever actually run (e.g. before set_params()/a model-based
		controller's plant params have been configured - see SudTask.
		send_forecast(), which needs a real "current temperature" at the
		moment a Sud is loaded, before this controller may have ticked
		even once)."""
		return self.theta_ist_set

	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
		# Recompute the FSM right away against the new target, rather than
		# waiting for the next process() tick - otherwise self.state can
		# still read HOLD from the previous target for up to one tick
		# after a much-further-away one is pushed, which would make
		# is_holding() report "reached" instantly instead of once the gap
		# has actually closed.
		self.process_fsm(self.theta_soll_set - self.theta_ist)

	def get_theta_soll(self):
		return self.theta_soll

	def get_theta_soll_set(self):
		return self.theta_soll_set

	def is_holding(self):
		"""Whether the FSM currently considers theta_ist close enough to
		theta_soll_set to no longer be actively heating/cooling toward
		it - the single source of truth for "is a ramp toward the
		current target done" (see tasks/sud.py's SudTask)."""
		return self.state == States.HOLD

	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