mirror of
https://github.com/anklimov/lighthub
synced 2025-12-06 11:49:51 +03:00
386 lines
11 KiB
C++
386 lines
11 KiB
C++
#ifndef PID_DISABLE
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#include "modules/out_pid.h"
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#include "Arduino.h"
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#include "options.h"
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#include "utils.h"
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#include "Streaming.h"
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#include "item.h"
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#include "main.h"
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bool out_pid::getConfig()
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{
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double kP=0.0;
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double kI=0.0;
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double kD=0.0;
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int direction = DIRECT;
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bool limits = false;
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// Retrieve and store
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if (!store || !item || !item->itemArg || (item->itemArg->type != aJson_Array) || aJson.getArraySize(item->itemArg)<1)
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{
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errorSerial<<F("PID: config failed:")<<(bool)store<<F(",")<<(bool)item<<F(",")<<(bool)item->itemArg<<F(",")<<(item->itemArg->type != aJson_Array)<<F(",")<< (aJson.getArraySize(item->itemArg)<2)<<endl;
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return false;
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}
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aJsonObject * kPIDObj = aJson.getArrayItem(item->itemArg, 0);
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if (!kPIDObj || kPIDObj->type != aJson_Array)
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{
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errorSerial<<F("PID: Invalid param array.")<<endl;
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return false;
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}
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double outMin=0.;
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double outMax=255.;
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float dT=5.;
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uint32_t alarmTO=PERIOD_THERMOSTAT_FAILED;
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aJsonObject * param;
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switch (aJson.getArraySize(kPIDObj))
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{ case 8: //kP,kI,kD,dT, alarmTO, alarmVal, outMin, outMax
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param = aJson.getArrayItem(kPIDObj, 7);
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if (param->type == aJson_Float) {outMax=param->valuefloat;limits=true;}
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else if (param->type == aJson_Int) {outMax=param->valueint;limits=true;}
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case 7: //kP,kI,kD,dT alarmTO, alarmVal, outMin
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param = aJson.getArrayItem(kPIDObj, 6);
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if (param->type == aJson_Float) {outMin=param->valuefloat;limits=true;}
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else if (param->type == aJson_Int) {outMin=param->valueint;limits=true;}
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case 6: //kP,kI,kD,dT, alarmTO, alarmVal
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case 5: //kP,kI,kD,dT, alarmTO
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param = aJson.getArrayItem(kPIDObj, 4);
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if (param->type == aJson_Float) alarmTO=param->valuefloat;
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else if (param->type == aJson_Int) alarmTO=param->valueint;
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case 4: //kP,kI,kD,dT
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param = aJson.getArrayItem(kPIDObj, 3);
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if (param->type == aJson_Float) dT=param->valuefloat;
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else if (param->type == aJson_Int) dT=param->valueint;
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case 3: //kP,kI,kD
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param = aJson.getArrayItem(kPIDObj, 2);
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if (param->type == aJson_Float) kD=param->valuefloat;
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else if (param->type == aJson_Int) kD=param->valueint;
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case 2: //kP,kI
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param = aJson.getArrayItem(kPIDObj, 1);
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if (param->type == aJson_Float) kI=param->valuefloat;
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else if (param->type == aJson_Int) kI=param->valueint;
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case 1: //kP
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param = aJson.getArrayItem(kPIDObj, 0);
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if (param->type == aJson_Float) kP=param->valuefloat;
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else if (param->type == aJson_Int) kP=param->valueint;
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if (kP<0)
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{
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kP=-kP;
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direction=REVERSE;
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}
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}
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switch (item->itemVal->type)
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{
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case aJson_Int:
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store->setpoint = item->itemVal->valueint;
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break;
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case aJson_Float:
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store->setpoint = item->itemVal->valuefloat;
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break;
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default:
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store->setpoint = 20.;
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}
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store->input=0.0;
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store->output=0.0;
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store->alarmTimer=millis();
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store->alarmArmed=true;
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store->alarmTimeout=alarmTO; //in sec
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alarm(true);
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if (!store->pid)
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{store->pid= new PID (&store->input, &store->output, &store->setpoint, kP, kI, kD, direction);
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if (!store->pid) return false;
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store->pid->SetMode(AUTOMATIC);
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if (limits) store->pid->SetOutputLimits(outMin,outMax);
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store->pid->SetSampleTime(dT*1000.0);
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return true;}
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else errorSerial<<F("PID: already initialized")<<endl;
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return false;
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}
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int out_pid::Setup()
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{
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abstractOut::Setup();
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if (!store) store= (pidPersistent *)item->setPersistent(new pidPersistent);
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if (!store)
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{ errorSerial<<F("PID: Out of memory")<<endl;
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return 0;}
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store->pid=NULL;
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//store->timestamp=millis();
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if (getConfig())
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{
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infoSerial<<F("PID: config loaded ")<< item->itemArr->name<<endl;
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//item->On(); // Turn ON pid by default
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// if (item->getCmd()) item->setFlag(FLAG_COMMAND);
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// if (item->itemVal) item->setFlag(FLAG_PARAMETERS);
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store->prevOut = -2.0;
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setStatus(CST_INITIALIZED);
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return 1;
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}
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else
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{ errorSerial<<F("PID: config error")<<endl;
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setStatus(CST_FAILED);
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return 0;
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}
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}
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int out_pid::Stop()
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{
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debugSerial.print(F("PID: De-Init "));
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debugSerial.println(item->itemArr->name);
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if (store) delete (store->pid);
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delete store;
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item->setPersistent(NULL);
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store = NULL;
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return 1;
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}
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int out_pid::isActive()
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{
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return (item->getCmd()!=CMD_OFF);
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}
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int out_pid::Poll(short cause)
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{
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if (cause==POLLING_SLOW) return 0;
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if (store && store->pid && (Status() == CST_INITIALIZED) && item && (item->getCmd()!=CMD_OFF))
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{
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if (item->getCmd() != CMD_OFF && ! item->getFlag(FLAG_DISABLED))
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{
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if(store->pid->Compute() )
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{
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float alarmVal;
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if (store->alarmArmed && ((alarmVal=getAlarmVal())>=0.)) store->output=alarmVal;
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debugSerial<<F("PID: ")<<item->itemArr->name<<F(" set:")<<store->setpoint<<F(" in:")<<store->input<<(" out:") << store->output <<F(" P:")<<store->pid->GetKp() <<F(" I:")<<store->pid->GetKi() <<F(" D:")<<store->pid->GetKd();
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//if (item->getFlag(FLAG_DISABLED)) debugSerial << F(" <DIS>");
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if (store->alarmArmed) debugSerial << F(" <ALM>");
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debugSerial<<endl;
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if (((abs(store->output-store->prevOut)>OUTPUT_TRESHOLD) || (item->getFlag(FLAG_ACTION_NEEDED))) && !store->alarmArmed)
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{
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aJsonObject * oCmd = aJson.getArrayItem(item->itemArg, 1);
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if (((store->prevOut == 0.) && (store->output>0)) || item->getFlag(FLAG_ACTION_NEEDED))
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// if ((item->getFlag(FLAG_ACTION_NEEDED)) && (store->output>0.))
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{
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executeCommand(oCmd,-1,itemCmd().Cmd(CMD_ON));
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// item->clearFlag(FLAG_ACTION_NEEDED);
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}
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item->clearFlag(FLAG_ACTION_NEEDED);
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itemCmd value((float) (store->output));
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value.setSuffix(S_SET);
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executeCommand(oCmd,-1,value);
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store->prevOut=store->output;
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}
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}
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if(!store->alarmArmed && store->alarmTimeout && isTimeOver(store->alarmTimer,millis(),store->alarmTimeout*1000) )
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{
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store->alarmArmed=true;
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alarm(true);
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}
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}
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}
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return 1;//store->pollingInterval;
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};
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float out_pid::getAlarmVal()
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{
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aJsonObject * kPIDObj = aJson.getArrayItem(item->itemArg, 0);
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if (!kPIDObj || kPIDObj->type != aJson_Array)
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{
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errorSerial<<F("PID: Invalid param array.")<<endl;
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return -1.;
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}
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float outAlarm=0.;
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double kP=0.;
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bool alarmValDefined = false;
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aJsonObject * param;
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switch (aJson.getArraySize(kPIDObj))
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{
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case 8: //kP,kI,kD,dT, alarmTO, alarmVal, outMin, outMax
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case 7: //kP,kI,kD,dT, alarmTO, alarmVal, outMin
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case 6: //kP,kI,kD,dT,alarmTO, alarmVal
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param = aJson.getArrayItem(kPIDObj, 5);
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alarmValDefined=true;
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if (param->type == aJson_Float) outAlarm=param->valuefloat;
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else if (param->type == aJson_Int) outAlarm=param->valueint;
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else alarmValDefined=false;
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case 5: //kP,kI,kD,dT, alarmTO
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case 4: //kP,kI,kD,dT
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case 3: //kP,kI,kD
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case 2: //kP,kI
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case 1: //kP
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param = aJson.getArrayItem(kPIDObj, 0);
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if (param->type == aJson_Float) kP=param->valuefloat;
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else if (param->type == aJson_Int) kP=param->valueint;
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{
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if (kP<0.)
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{
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if (!alarmValDefined) outAlarm = 0.;
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}
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else if (!alarmValDefined) outAlarm = 255.;
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}
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}
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// debugSerial<<F("Alarm value: ")<<outAlarm<< " ";
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return outAlarm;
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}
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void out_pid::alarm(bool state)
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{
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if (!item || !item->itemArg) return;
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if (state)
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{
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float outAlarm=getAlarmVal();
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errorSerial<<item->itemArr->name<<F(" PID alarm. ")<<endl;
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if (outAlarm>=0.)
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{
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errorSerial<<F("Set out to ")<<outAlarm<<endl;
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aJsonObject * oCmd = aJson.getArrayItem(item->itemArg, 1);
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itemCmd value ((float)outAlarm);// * (100./255.)));
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executeCommand(oCmd,-1,value);
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}
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}
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else
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{
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infoSerial<<item->itemArr->name<<F(" PID alarm: closed")<<endl;
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}
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}
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int out_pid::getChanType()
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{
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return CH_THERMO;
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}
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//!Control unified PID controller item
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// /set suffix - to setup setpoint
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// /val suffix - to put value into controller
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// accept ON and OFF commands
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int out_pid::Ctrl(itemCmd cmd, char* subItem, bool toExecute, bool authorized)
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{
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if (!store || !store->pid || (Status() != CST_INITIALIZED)) return 0;
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int suffixCode = cmd.getSuffix();
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if (cmd.isCommand() && !suffixCode) suffixCode=S_CMD; //if some known command find, but w/o correct suffix - got it
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switch(suffixCode)
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{
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case S_VAL:
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// Input value for PID
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if (!cmd.isValue()) return 0;
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store->input=cmd.getFloat();
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debugSerial<<F("PID: ")<< item->itemArr->name <<F(" Input value:")<<store->input<<endl;
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store->alarmTimer=millis();
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if (store->alarmArmed)
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{
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store->alarmArmed=false;
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alarm(false);
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store->prevOut=-2.0;
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}
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return 1;
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//break;
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case S_NOTFOUND:
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case S_SET:
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// Setpoint for PID
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if (!cmd.isValue()) return 0;
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store->setpoint=cmd.getFloat();
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debugSerial<<F("PID: ")<< item->itemArr->name <<F(" Setpoint:")<<store->setpoint<<endl;
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{
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aJsonObject * itemCascadeObj = aJson.getArrayItem(item->itemArg, 2);
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if (itemCascadeObj) executeCommand(itemCascadeObj,-1,cmd);
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}
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//cmd.saveItem(item);
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//item->SendStatus(FLAG_PARAMETERS);
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return 1;
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//break;
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case S_CMD:
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case S_CTRL:
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{
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aJsonObject * oCmd = aJson.getArrayItem(item->itemArg, 1);
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short command = cmd.getCmd();
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itemCmd value(ST_VOID,command);
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value.setSuffix(S_CMD);
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switch (command)
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{
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case CMD_OFF:
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//value.Percents255(0);
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case CMD_ON:
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case CMD_HEAT:
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case CMD_COOL:
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case CMD_AUTO:
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case CMD_FAN:
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case CMD_DRY:
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executeCommand(oCmd,-1,value);
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executeCommand(oCmd,-1,itemCmd().Cmd((item->getFlag(FLAG_DISABLED))?CMD_DISABLE:CMD_ENABLE));
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item->SendStatus(FLAG_FLAGS);
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return 1;
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case CMD_ENABLE:
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//item->setCmd(CMD_ENABLE);
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//item->SendStatus(FLAG_COMMAND);
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item->setFlag(FLAG_ACTION_NEEDED);
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executeCommand(oCmd,-1,value);
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store->prevOut=-2.0;
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return 1;
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case CMD_DISABLE:
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//item->setCmd(CMD_DISABLE);
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//item->SendStatus(FLAG_COMMAND);
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executeCommand(oCmd,-1,value);
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return 1;
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/*
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case CMD_OFF:
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{
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aJsonObject * oCmd = aJson.getArrayItem(item->itemArg, 1);
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itemCmd value((float) 0.);// * (100./255.)));
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value.setSuffix(S_SET);
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executeCommand(oCmd,-1,value);
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return 1;
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} */
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default:
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debugSerial<<F("PID: Unknown cmd ")<<cmd.getCmd()<<endl;
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} //switch cmd
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}
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default:
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debugSerial<<F("PID: Unknown suffix ")<<suffixCode<<endl;
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} //switch suffix
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return 0;
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}
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#endif
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