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 namespace pid_control
12 {
13 
14 class ZoneInterface;
15 
16 /*
17  * Base class for PID controllers.  Each PID that implements this needs to
18  * provide an inputProc, setptProc, and outputProc.
19  */
20 class PIDController : public Controller
21 {
22   public:
23     PIDController(const std::string& id, ZoneInterface* owner) :
24         Controller(), _owner(owner), _setpoint(0), _id(id)
25     {}
26 
27     virtual ~PIDController()
28     {}
29 
30     virtual double inputProc(void) override = 0;
31     virtual double setptProc(void) = 0;
32     virtual void outputProc(double value) override = 0;
33 
34     void process(void) override;
35 
36     std::string getID(void) override
37     {
38         return _id;
39     }
40     double getSetpoint(void)
41     {
42         return _setpoint;
43     }
44     void setSetpoint(double setpoint)
45     {
46         _setpoint = setpoint;
47     }
48 
49     ec::pid_info_t* getPIDInfo(void)
50     {
51         return &_pid_info;
52     }
53 
54     double getLastInput(void)
55     {
56         return lastInput;
57     }
58 
59   protected:
60     ZoneInterface* _owner;
61 
62   private:
63     // parameters
64     ec::pid_info_t _pid_info;
65     double _setpoint;
66     std::string _id;
67     double lastInput = std::numeric_limits<double>::quiet_NaN();
68 };
69 
70 } // namespace pid_control
71