pid_climate.h

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#pragma once
 
#include "esphome/core/automation.h"
#include "esphome/core/component.h"
#include "esphome/core/helpers.h"
#include "esphome/components/climate/climate.h"
#include "esphome/components/sensor/sensor.h"
#include "esphome/components/output/float_output.h"
#include "pid_controller.h"
#include "pid_autotuner.h"
 
namespace esphome::pid {
 
class PIDClimate final : public climate::Climate, public Component {
 public:
  PIDClimate() = default;
  void setup() override;
  void dump_config() override;
 
  void set_sensor(sensor::Sensor *sensor) { sensor_ = sensor; }
  void set_humidity_sensor(sensor::Sensor *sensor) { humidity_sensor_ = sensor; }
  void set_cool_output(output::FloatOutput *cool_output) { cool_output_ = cool_output; }
  void set_heat_output(output::FloatOutput *heat_output) { heat_output_ = heat_output; }
  void set_kp(float kp) { controller_.kp_ = kp; }
  void set_ki(float ki) { controller_.ki_ = ki; }
  void set_kd(float kd) { controller_.kd_ = kd; }
  void set_min_integral(float min_integral) { controller_.min_integral_ = min_integral; }
  void set_max_integral(float max_integral) { controller_.max_integral_ = max_integral; }
  bool set_deadband_thresholds(float threshold_low, float threshold_high);
  void set_output_samples(int in) { controller_.output_samples_ = in; }
  void set_derivative_samples(int in) {
    controller_.derivative_samples_ = in;
    if (in > 1)  // No allocation needed when samples=1 (ring_buffer_average_ short-circuits)
      controller_.derivative_window_.init(in);
  }
 
  void set_threshold_low(float in) { controller_.threshold_low_ = in; }
  void set_threshold_high(float in) { controller_.threshold_high_ = in; }
  void set_kp_multiplier(float in) { controller_.kp_multiplier_ = in; }
  void set_ki_multiplier(float in) { controller_.ki_multiplier_ = in; }
  void set_kd_multiplier(float in) { controller_.kd_multiplier_ = in; }
  void set_starting_integral_term(float in) { controller_.set_starting_integral_term(in); }
 
  void set_deadband_output_samples(int in) { controller_.deadband_output_samples_ = in; }
  void init_output_buffer(int size) {
    if (size > 1)  // No allocation needed when samples=1 (ring_buffer_average_ short-circuits)
      controller_.output_window_.init(size);
  }
 
  float get_output_value() const { return output_value_; }
  float get_error_value() const { return controller_.error_; }
  float get_kp() { return controller_.kp_; }
  float get_ki() { return controller_.ki_; }
  float get_kd() { return controller_.kd_; }
  float get_min_integral() { return controller_.min_integral_; }
  float get_max_integral() { return controller_.max_integral_; }
  float get_proportional_term() const { return controller_.proportional_term_; }
  float get_integral_term() const { return controller_.integral_term_; }
  float get_derivative_term() const { return controller_.derivative_term_; }
  int get_output_samples() { return controller_.output_samples_; }
  int get_derivative_samples() { return controller_.derivative_samples_; }
 
  float get_threshold_low() { return controller_.threshold_low_; }
  float get_threshold_high() { return controller_.threshold_high_; }
  float get_kp_multiplier() { return controller_.kp_multiplier_; }
  float get_ki_multiplier() { return controller_.ki_multiplier_; }
  float get_kd_multiplier() { return controller_.kd_multiplier_; }
  int get_deadband_output_samples() { return controller_.deadband_output_samples_; }
  bool in_deadband() { return controller_.in_deadband(); }
 
  // int get_derivative_samples() const { return controller_.derivative_samples; }
  // float get_deadband() const { return controller_.deadband; }
  // float get_proportional_deadband_multiplier() const { return controller_.proportional_deadband_multiplier; }
 
  template<typename F> void add_on_pid_computed_callback(F &&callback) {
    this->pid_computed_callback_.add(std::forward<F>(callback));
  }
  void set_default_target_temperature(float default_target_temperature) {
    default_target_temperature_ = default_target_temperature;
  }
  void start_autotune(std::unique_ptr<PIDAutotuner> &&autotune);
  void start_autotune(float noiseband, float positive_output, float negative_output);
  void reset_integral_term();
 
 protected:
  void control(const climate::ClimateCall &call) override;
  climate::ClimateTraits traits() override;
 
  void update_pid_();
 
  bool supports_cool_() const { return this->cool_output_ != nullptr; }
  bool supports_heat_() const { return this->heat_output_ != nullptr; }
 
  void write_output_(float value);
 
  sensor::Sensor *sensor_;
  sensor::Sensor *humidity_sensor_{nullptr};
  output::FloatOutput *cool_output_{nullptr};
  output::FloatOutput *heat_output_{nullptr};
  PIDController controller_;
  float output_value_;
  CallbackManager<void()> pid_computed_callback_;
  float default_target_temperature_;
  std::unique_ptr<PIDAutotuner> autotuner_;
  bool do_publish_ = false;
};
 
}  // namespace esphome::pid