1 #pragma once 2 3 #include "controller.hpp" 4 #include "ec/pid.hpp" 5 #include "fan.hpp" 6 7 #include <limits> 8 #include <memory> 9 #include <vector> 10 11 class ZoneInterface; 12 13 /* 14 * Base class for PID controllers. Each PID that implements this needs to 15 * provide an inputProc, setptProc, and outputProc. 16 */ 17 class PIDController : public Controller 18 { 19 public: 20 PIDController(const std::string& id, ZoneInterface* owner) : 21 Controller(), _owner(owner), _setpoint(0), _id(id) 22 {} 23 24 virtual ~PIDController() 25 {} 26 27 virtual double inputProc(void) override = 0; 28 virtual double setptProc(void) = 0; 29 virtual void outputProc(double value) override = 0; 30 31 void process(void) override; 32 33 std::string getID(void) override 34 { 35 return _id; 36 } 37 double getSetpoint(void) 38 { 39 return _setpoint; 40 } 41 void setSetpoint(double setpoint) 42 { 43 _setpoint = setpoint; 44 } 45 46 ec::pid_info_t* getPIDInfo(void) 47 { 48 return &_pid_info; 49 } 50 51 double getLastInput(void) 52 { 53 return lastInput; 54 } 55 56 protected: 57 ZoneInterface* _owner; 58 59 private: 60 // parameters 61 ec::pid_info_t _pid_info; 62 double _setpoint; 63 std::string _id; 64 double lastInput = std::numeric_limits<double>::quiet_NaN(); 65 }; 66