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130 lines
4.4 KiB
C++
130 lines
4.4 KiB
C++
#pragma once
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#include "esphome/core/component.h"
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#include "esphome/core/helpers.h"
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#include "esphome/core/automation.h"
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#include "esphome/components/climate/climate.h"
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#include "esphome/components/sensor/sensor.h"
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#include "esphome/components/output/float_output.h"
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#include "pid_controller.h"
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#include "pid_autotuner.h"
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namespace esphome {
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namespace pid {
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class PIDClimate : public climate::Climate, public Component {
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public:
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PIDClimate() = default;
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void setup() override;
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void dump_config() override;
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void set_sensor(sensor::Sensor *sensor) { sensor_ = sensor; }
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void set_cool_output(output::FloatOutput *cool_output) { cool_output_ = cool_output; }
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void set_heat_output(output::FloatOutput *heat_output) { heat_output_ = heat_output; }
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void set_kp(float kp) { controller_.kp = kp; }
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void set_ki(float ki) { controller_.ki = ki; }
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void set_kd(float kd) { controller_.kd = kd; }
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void set_min_integral(float min_integral) { controller_.min_integral = min_integral; }
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void set_max_integral(float max_integral) { controller_.max_integral = max_integral; }
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float get_output_value() const { return output_value_; }
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float get_error_value() const { return controller_.error; }
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float get_kp() { return controller_.kp; }
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float get_ki() { return controller_.ki; }
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float get_kd() { return controller_.kd; }
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float get_proportional_term() const { return controller_.proportional_term; }
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float get_integral_term() const { return controller_.integral_term; }
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float get_derivative_term() const { return controller_.derivative_term; }
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void add_on_pid_computed_callback(std::function<void()> &&callback) {
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pid_computed_callback_.add(std::move(callback));
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}
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void set_default_target_temperature(float default_target_temperature) {
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default_target_temperature_ = default_target_temperature;
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}
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void start_autotune(std::unique_ptr<PIDAutotuner> &&autotune);
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void reset_integral_term();
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protected:
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/// Override control to change settings of the climate device.
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void control(const climate::ClimateCall &call) override;
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/// Return the traits of this controller.
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climate::ClimateTraits traits() override;
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void update_pid_();
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bool supports_cool_() const { return this->cool_output_ != nullptr; }
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bool supports_heat_() const { return this->heat_output_ != nullptr; }
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void write_output_(float value);
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void handle_non_auto_mode_();
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/// The sensor used for getting the current temperature
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sensor::Sensor *sensor_;
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output::FloatOutput *cool_output_ = nullptr;
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output::FloatOutput *heat_output_ = nullptr;
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PIDController controller_;
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/// Output value as reported by the PID controller, for PIDClimateSensor
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float output_value_;
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CallbackManager<void()> pid_computed_callback_;
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float default_target_temperature_;
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std::unique_ptr<PIDAutotuner> autotuner_;
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bool do_publish_ = false;
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};
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template<typename... Ts> class PIDAutotuneAction : public Action<Ts...> {
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public:
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PIDAutotuneAction(PIDClimate *parent) : parent_(parent) {}
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void set_noiseband(float noiseband) { noiseband_ = noiseband; }
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void set_positive_output(float positive_output) { positive_output_ = positive_output; }
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void set_negative_output(float negative_output) { negative_output_ = negative_output; }
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void play(Ts... x) {
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auto tuner = make_unique<PIDAutotuner>();
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tuner->set_noiseband(this->noiseband_);
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tuner->set_output_negative(this->negative_output_);
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tuner->set_output_positive(this->positive_output_);
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this->parent_->start_autotune(std::move(tuner));
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}
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protected:
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float noiseband_;
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float positive_output_;
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float negative_output_;
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PIDClimate *parent_;
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};
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template<typename... Ts> class PIDResetIntegralTermAction : public Action<Ts...> {
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public:
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PIDResetIntegralTermAction(PIDClimate *parent) : parent_(parent) {}
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void play(Ts... x) { this->parent_->reset_integral_term(); }
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protected:
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PIDClimate *parent_;
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};
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template<typename... Ts> class PIDSetControlParametersAction : public Action<Ts...> {
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public:
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PIDSetControlParametersAction(PIDClimate *parent) : parent_(parent) {}
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void play(Ts... x) {
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auto kp = this->kp_.value(x...);
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auto ki = this->ki_.value(x...);
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auto kd = this->kd_.value(x...);
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this->parent_->set_kp(kp);
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this->parent_->set_ki(ki);
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this->parent_->set_kd(kd);
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}
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protected:
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TEMPLATABLE_VALUE(float, kp)
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TEMPLATABLE_VALUE(float, ki)
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TEMPLATABLE_VALUE(float, kd)
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PIDClimate *parent_;
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};
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} // namespace pid
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} // namespace esphome
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