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main.js
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main.js
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/**
*
* pid adapter,
* copyright McM1957 2023, MIT
*
*/
// @ts-nocheck
/* jshint -W097 */
/* jshint strict: false */
/* jslint node: true */
'use strict';
const utils = require('@iobroker/adapter-core');
const { iobInit, iobStates, iobTranslator } = require('@mcm1957/iobroker.library');
//const { iobInit, iobStates, iobTranslator } = require('e:/github/mcm1957/iobroker.library/library.js');
const PidCtrl = require('./lib/pid.js');
/* eslint-disable */
/* prettier-ignore */
const STATES_CFG = {
/* parameters */
cycle: { folder: 'cfg', type: 'number', name: 'cycle time', desc: 'descCycle', role: 'value',
unit: 'ms', acc: 'RO', init: null, warnAck: false },
useXp: { folder: 'cfg', type: 'boolean', name: 'use Xp mode', desc: 'descUseXp', role: 'value',
unit: '', acc: 'RO', init: false, warnAck: false },
dao: { folder: 'cfg', type: 'boolean', name: 'derivative act only', desc: 'descDao', role: 'value',
unit: '', acc: 'RO', init: false, warnAck: false },
inv: { folder: 'cfg', type: 'boolean', name: 'invert output', desc: 'descInv', role: 'value',
unit: '', acc: 'RO', init: false, warnAck: false },
/* changeable params */
xp: { folder: 'para', type: 'number', name: 'prop factor', desc: 'descXp', role: 'level',
unit: '', acc: 'RW', init: 50, warnAck: true },
kp: { folder: 'para', type: 'number', name: 'prop term', desc: 'descKp', role: 'level',
unit: '', acc: 'RW', init: 1, warnAck: true },
tn: { folder: 'para', type: 'number', name: 'reset time', desc: 'descKi', role: 'level',
unit: 's', acc: 'RW', init: 0, warnAck: true },
tv: { folder: 'para', type: 'number', name: 'derivative time', desc: 'descKd', role: 'level',
unit: 's', acc: 'RW', init: 0, warnAck: true },
min: { folder: 'para', type: 'number', name: 'minimum value', desc: 'descMin', role: 'level',
unit: '', acc: 'RW', init: 0, warnAck: true },
max: { folder: 'para', type: 'number', name: 'maximum value', desc: 'descMax', role: 'level',
unit: '', acc: 'RW', init: 100, warnAck: true },
off: { folder: 'para', type: 'number', name: 'offset value', desc: 'descOff', role: 'level',
unit: '', acc: 'RW', init: 0, warnAck: true },
sup: { folder: 'para', type: 'number', name: 'suppress value', desc: 'descSup', role: 'level',
unit: '', acc: 'RW', init: 0, warnAck: true },
/* input states */
act: { folder: 'in', type: 'number', name: 'actual value', desc: 'descAct', role: 'level',
unit: '', acc: 'RW', init: 0, warnAck: true },
set: { folder: 'in', type: 'number', name: 'set point', desc: 'descSet', role: 'level',
unit: '', acc: 'RW', init: 0, warnAck: true },
man_inp: { folder: 'in', type: 'number', name: 'manual input', desc: 'descManInp', role: 'level',
unit: '', acc: 'RW', init: 0, warnAck: true },
man: { folder: 'in', type: 'boolean', name: 'manual mode', desc: 'descMan', role: 'switch.enable',
unit: '', acc: 'RW', init: false, warnAck: true },
rst: { folder: 'in', type: 'boolean', name: 'reset controller', desc: 'descRst', role: 'button',
unit: '', acc: 'WO', init: false, warnAck: true },
hold: { folder: 'in', type: 'boolean', name: 'controller suspend', desc: 'descHold', role: 'switch.enable',
unit: '', acc: 'RW', init: false, warnAck: true },
/* output states */
y: { folder: 'out', type: 'number', name: 'output value', desc: 'descY', role: 'value',
unit: '', acc: 'RO', init: null, warnAck: false },
diff: { folder: 'out', type: 'number', name: 'error value', desc: 'descDiff', role: 'value',
unit: '', acc: 'RO', init: null, warnAck: false },
lim: { folder: 'out', type: 'boolean', name: 'controler limited', desc: 'descLim', role: 'indicator.alarm',
unit: '', acc: 'RO', init: null, warnAck: false },
supr: { folder: 'out', type: 'boolean', name: 'supression active', desc: 'descSupr', role: 'indicator.alarm',
unit: '', acc: 'RO', init: null, warnAck: false },
/* utility */
i_differr: { folder: 'xtra', type: 'number', name: 'int diff error', desc: 'descIDiffErr', role: 'value',
unit: '', acc: 'RO', init: null, warnAck: false },
i_sumerr: { folder: 'xtra', type: 'number', name: 'int sum error', desc: 'descISumErr', role: 'value',
unit: '', acc: 'RO', init: null, warnAck: false },
last_delta: { folder: 'xtra', type: 'number', name: 'last delta time', desc: 'descLastDelta', role: 'value',
unit: 'ms', acc: 'RO', init: null, warnAck: false },
last_upd: { folder: 'xtra', type: 'number', name: 'last update ts', desc: 'descLastUpd', role: 'date',
unit: '', acc: 'RO', init: null, warnAck: false },
run: { folder: 'xtra', type: 'boolean', name: 'controller running', desc: 'descRun', role: 'indicator.working',
unit: '', acc: 'RO', init: null, warnAck: false },
};
/* eslint-enable */
/**
* main adapter class
*/
class Pid extends utils.Adapter {
/**
* @param {Partial<utils.AdapterOptions>} [options={}]
*/
constructor(options) {
super({
...options,
name: 'pid',
});
this.on('ready', this.onReady.bind(this));
this.on('stateChange', this.onStateChange.bind(this));
// this.on('objectChange', this.onObjectChange.bind(this));
// this.on('message', this.onMessage.bind(this));
this.on('unload', this.onUnload.bind(this));
this.controllers = {};
this.stateMap = {};
/* prettier-ignore */
this.STATECHG_CFG = {
/* parameters */
xp: this.chgXp.bind(this),
kp: this.chgKp.bind(this),
useXp: null,
dao: null,
inv: null,
tn: this.chgTn.bind(this),
tv: this.chgTv.bind(this),
min: this.chgMin.bind(this),
max: this.chgMax.bind(this),
off: this.chgOff.bind(this),
sup: this.chgSup.bind(this),
cycle: null,
/* input states */
act: this.chgAct.bind(this),
set: this.chgSet.bind(this),
man_inp: this.chgManInp.bind(this),
man: this.chgMan.bind(this),
rst: this.chgRst.bind(this),
hold: this.chgHold.bind(this),
/* output states */
y: null,
diff: null,
lim: null,
supr: null,
/* utility */
i_differr: null,
i_sumerr: null,
last_delta: null,
last_upd: null,
run: this.chgRun.bind(this),
};
iobInit(this);
}
/**
* onReady - will be called as soon as adapter is ready
*
* @param
* @return
*
*/
async onReady() {
this.log.debug('onReady triggered');
await this.setStateAsync('info.connection', { val: false, ack: true, q: 0x00 });
/* set global config */
this.useFolders = !(this.config.optNoFolders || false);
// validate config
// TODO if (! await this.validateConfig()) ...Pid;
// reset and cleanup states
await this.resetStateObjects();
// init state objects
await this.initStateObjects();
// start scanning loop(s)
let instanceCnt = 0;
if (this.config.controllers) {
for (const controller of this.config.controllers) {
if (!controller.ctrlAct) continue;
this.log.info(`[start] start instance with id ${controller.ctrlId}`);
const ctrlIdTxt = `C-${controller.ctrlId}`.replace(this.FORBIDDEN_CHARS, '_');
let _KpXp;
let _tn;
let _min;
let _max;
let _tv;
let _off;
let _sup;
const useXp = this.config.ctrlMode === 1;
if (controller.ctrlUseStateCfg) {
_KpXp = useXp
? (await this.getStateAsync(this.getExtId(ctrlIdTxt, 'xp')))?.val
: (await this.getStateAsync(this.getExtId(ctrlIdTxt, 'kp')))?.val;
_tn = (await this.getStateAsync(this.getExtId(ctrlIdTxt, 'tn')))?.val;
_max = (await this.getStateAsync(this.getExtId(ctrlIdTxt, 'max')))?.val;
_min = (await this.getStateAsync(this.getExtId(ctrlIdTxt, 'min')))?.val;
_tv = (await this.getStateAsync(this.getExtId(ctrlIdTxt, 'tv')))?.val;
_off = (await this.getStateAsync(this.getExtId(ctrlIdTxt, 'off')))?.val;
_sup = (await this.getStateAsync(this.getExtId(ctrlIdTxt, 'sup')))?.val;
} else {
_KpXp = controller.ctrlKpXp;
_tn = controller.ctrlTn;
_min = controller.ctrlMin;
_max = controller.ctrlMax;
_tv = controller.ctrlTv;
_off = controller.ctrlOff;
_sup = controller.ctrlSup;
}
const KpXp = this.getNumParam(ctrlIdTxt, 'kpxp', _KpXp, 1);
const tn = this.getNumParam(ctrlIdTxt, 'tn', _tn, 0);
let min = this.getNumParam(ctrlIdTxt, 'min', _min, 0);
let max = this.getNumParam(ctrlIdTxt, 'max', _max, 100);
const tv = this.getNumParam(ctrlIdTxt, 'tv', _tv, 0);
const off = this.getNumParam(ctrlIdTxt, 'off', _off, 0);
const sup = this.getNumParam(ctrlIdTxt, 'sup', _sup, 0);
if (min >= max) {
this.log.warn(`[C-${controller.ctrlId}] - ${min} >= ${min}, using min=0, max=100 instead`);
min = 0;
max = 100;
}
const kp = useXp ? (max - min) / KpXp : KpXp;
let ctrlCycle = controller.ctrlCycle;
if (ctrlCycle < 100) {
ctrlCycle = 100;
this.log.warn(`[${ctrlIdTxt}] - invalid cycle time, set to 100ms`);
}
if (ctrlCycle > 3600 * 1000) {
ctrlCycle = 3600 * 1000;
this.log.warn(`[${ctrlIdTxt}] - invalid cycle time, set to 3600s`);
}
if (useXp) {
await this.extendObjectAsync(this.getExtId(ctrlIdTxt, 'kp'), { common: { write: false } });
} else {
await this.extendObjectAsync(this.getExtId(ctrlIdTxt, 'xp'), { common: { write: false } });
}
const pidCtrl = new PidCtrl(this, {
kp: kp,
tn: tn,
tv: tv,
min: min,
max: max,
off: off,
sup: sup,
dao: this.config.ctrlActDiff || false,
useXp: useXp,
inv: controller.ctrlInvert || false,
});
this.controllers[controller.ctrlId] = {
ctrlIdTxt: ctrlIdTxt,
pidCtrl: pidCtrl,
cycle: ctrlCycle,
man: false, // set below
hold: false, // set below
running: false,
timer: null,
};
const params = pidCtrl.getParams();
this.log.info(`[${ctrlIdTxt}] controller initialized (${JSON.stringify(params)})`);
await this.updParamStates(controller.ctrlId);
await this.setStateAsync(this.getExtId(ctrlIdTxt, 'cycle'), { val: ctrlCycle, ack: true, q: 0x00 });
const _act = (await this.getStateAsync(this.getExtId(ctrlIdTxt, 'act')))?.val;
const act = this.getNumParam(ctrlIdTxt, 'act', _act, 0);
this.controllers[controller.ctrlId].pidCtrl.setAct(act);
await this.setStateAsync(this.getExtId(ctrlIdTxt, 'act'), { val: act, ack: true, q: 0x00 });
const _set = (await this.getStateAsync(this.getExtId(ctrlIdTxt, 'set')))?.val;
const set = this.getNumParam(ctrlIdTxt, 'set', _set, 0);
this.controllers[controller.ctrlId].pidCtrl.setSet(set);
await this.setStateAsync(this.getExtId(ctrlIdTxt, 'set'), { val: set, ack: true, q: 0x00 });
this.controllers[controller.ctrlId].pidCtrl.reset();
await this.setStateAsync(this.getExtId(ctrlIdTxt, 'rst'), { val: false, ack: true, q: 0x00 });
const man = !!(await this.getStateAsync(this.getExtId(ctrlIdTxt, 'man'))?.val);
this.controllers[controller.ctrlId].man = man;
await this.setStateAsync(this.getExtId(ctrlIdTxt, 'man'), { val: man, ack: true, q: 0x00 });
const manInp = await this.getStateAsync(this.getExtId(ctrlIdTxt, 'man_inp'));
await this.setStateAsync(this.getExtId(ctrlIdTxt, 'man_inp'), { val: manInp?.val, ack: true, q: 0x00 });
if (man) {
await this.setStateAsync(this.getExtId(ctrlIdTxt, 'y'), { val: manInp?.val, ack: true, q: 0x00 });
this.log.debug(`[${ctrlIdTxt}] manual value ${manInp?.val} used to set output`);
this.controllers[controller.ctrlId].man = true;
} else {
this.controllers[controller.ctrlId].man = false;
}
const hold = !controller.ctrlAutoStart;
this.controllers[controller.ctrlId].hold = hold;
await this.setStateAsync(this.getExtId(ctrlIdTxt, 'hold'), { val: hold, ack: true, q: 0x00 });
const run = !(hold || man);
controller.running = run;
await this.setStateAsync(this.getExtId(ctrlIdTxt, 'run'), { val: run, ack: true, q: 0x00 });
if (controller.running && ctrlCycle) {
await pidCtrl.restart(); // reset dt
await this.doUpdate(controller.ctrlId);
this.controllers[controller.ctrlId].timer = setInterval(
this.doUpdate.bind(this),
ctrlCycle,
controller.ctrlId,
);
}
instanceCnt++;
}
}
if (instanceCnt) {
this.log.info(`processing started for ${instanceCnt} controller(s)`);
await this.setStateAsync('info.connection', { val: true, ack: true, q: 0x00 });
} else {
this.log.warn(`no active controllers(s) detected - check config`);
}
// subscribe to all states as most states are writeable anyway
this.subscribeStates('*');
return;
}
/**
* onUnload - called for adapter shuts down
*
* @param {callback} callback callback function
* @return
*
*/
onUnload(callback) {
this.log.debug('onUnload triggered');
this.setState('info.connection', { val: false, ack: true, q: 0x00 });
try {
for (const controller of this.controllers) {
if (controller.timeout) this.clearTimeout(controller.timeout);
controller.pidCtrl = null;
}
callback();
} catch (e) {
callback();
}
}
/**
* Is called if a subscribed state changes
* @param {string} id
* @param {ioBroker.State | null | undefined} state
*/
onStateChange(pId, pState) {
this.log.debug(`[statechange] ${pId} changed: ${pState?.val} (ack = ${pState?.ack})`);
if (!pState) return;
const stateMap = this.stateMap[pId];
if (stateMap) {
// well known own states
const ctrlId = stateMap.ctrlId;
const ctrlIdTxt = stateMap.ctrlIdTxt;
const key = stateMap.key;
// ignore write with ack=true
if (pState.ack) {
//if (STATES_CFG[key].warnAck)
if (pState.from !== `system.adapter.${this.name}.${this.instance}`)
this.log.warn(`[${ctrlIdTxt}] state ${key} changed with ack=true; ignoring change`);
return;
}
if (typeof this.STATECHG_CFG[key] !== 'function') return;
this.STATECHG_CFG[key](pId, ctrlId, pState.val);
} else {
// foreign states
}
}
/**
* getNumParam - ensure that a paramater is numeric and use default if not
*
* @return
*
*/
getNumParam(pId, pName, pVal, pDef) {
let ret = Number(pVal || pDef);
if (isNaN(ret)) {
this.log.warn(`[${pId}] - ${pVal} is invalid for parameter '${pName}'; set to ${pDef}`);
ret = pDef;
}
return ret;
}
/**
* resetStateObjects - reset existing state objects
*
* @return
*
*/
async resetStateObjects() {
this.log.debug(`resetStateobjects`);
if (this.useFolders) {
await this.delObjects('C-\\w+\\.\\w+', 'state');
} else {
await this.delObjects('C-\\w+\\.\\w+', 'folder');
}
await iobStates.setStatesAsync('*', { ack: true, q: 0x02 });
}
/**
* initStateObjects - initialize state objects
*
* @return
*
*/
async initStateObjects() {
this.log.debug(`initStateobjects`);
if (this.config.controllers) {
for (const controller of this.config.controllers) {
// if (!controller.ctrlAct) continue;
const ctrlIdTxt = `C-${controller.ctrlId}`.replace(this.FORBIDDEN_CHARS, '_');
await this.initObject({
_id: ctrlIdTxt,
type: 'device',
common: {
name: `controller ${controller.ctrlId}`,
statusStates: {
onlineId: `${this.name}.${this.instance}.${ctrlIdTxt}.run`,
},
},
native: {},
});
for (const key in STATES_CFG) {
if (this.useFolders) {
const folder = STATES_CFG[key].folder || '';
if (folder) {
await this.initObject({
_id: `${ctrlIdTxt}.${folder}`,
type: 'folder',
common: {
name: '',
},
native: {},
});
}
}
const extId = this.getExtId(ctrlIdTxt, key);
await this.initStateObject(extId, STATES_CFG[key]);
const fullId = `${this.name}.${this.instance}.${extId}`;
this.stateMap[fullId] = {
key: key,
ctrlId: `${controller.ctrlId}`,
ctrlIdTxt: ctrlIdTxt,
extId: extId,
};
}
}
}
}
/**
* initObject - create or reconfigure single object
*
* creates object if it does not exist
* overrides object data otherwise
*
* @param {obj} pObj objectstructure
* @return
*
*/
async initObject(pObj) {
this.log.debug(`initobject [${pObj._id}]`);
const exists = !!(await this.getObjectAsync(pObj._id));
if (!exists) {
this.log.debug('creating obj "' + pObj._id + '" with type ' + pObj.type);
await this.setObjectNotExistsAsync(pObj._id, pObj);
}
await this.extendObjectAsync(pObj._id, pObj);
return !exists;
}
/**
* initStateObject - create or reconfigure single state object
*
* creates object if it does not exist
* overrides object data otherwise
*
* @param {string} pId object id
* @param {obj} pObj configuration object
* @return {boolean} true if new object created
*
*/
async initStateObject(pId, pObj) {
this.log.debug(`initStateobject (${pId})`);
if (!pObj.type) return;
const newObj = await this.initObject({
_id: pId,
type: 'state',
common: {
name: pObj.name,
desc: iobTranslator.getTranslations(pObj.desc),
write: pObj.acc === 'RW' || pObj.acc === 'WO',
read: pObj.acc === 'RW' || pObj.acc === 'RO',
type: pObj.type,
role: pObj.role,
unit: pObj.unit,
},
native: {},
});
if (newObj) {
await this.setStateAsync(pId, { val: pObj.init, ack: pObj.acc !== 'WO', q: 0x00 });
}
}
/**
* getExtId - return real object id dependin g on useFolder and id values
*
* @param {string} pCtrlId id prefix based on controller
* @param {string} pStateId id part baded on state
*
* @return extended Id (folder.id or simply id)
*
*/
getExtId(pCtrlId, pStateId) {
this.log.debug(`getExtId (${pCtrlId}, ${pStateId})`);
let id = pStateId;
if (this.useFolders) {
const folder = STATES_CFG[pStateId].folder || '';
if (folder) id = `${folder}.${pStateId}`;
}
return `${pCtrlId}.${id}`;
}
/**
* delObjects - delete objects specified by pattern
*
* @param {string} pPattern pattern to select object for deletion
* @param {string} pType type oj obecjts to select for deletion
* @return nothing
*
*/
async delObjects(pPattern, pType) {
this.log.debug(`delObjects (${pPattern}, ${pType})`);
const re = new RegExp(`^${this.name}.${this.instance}.${pPattern}$`);
const objs = await this.getForeignObjectsAsync(`${this.name}.${this.instance}.*`, pType);
let logflag = false;
if (objs) {
for (const obj of Object.values(objs)) {
if (re.test(obj._id)) {
if (!logflag) this.log.info(`removing old states ...`);
logflag = true;
this.log.debug(`removing object ${obj._id}...`);
await this.delForeignObjectAsync(obj._id, { recursive: true });
}
}
}
}
/**
* doUpdate - update controller and states
*
* @return nothing
*
*/
async doUpdate(pCtrlId) {
this.log.debug(`doUpdate triggered (${pCtrlId})`);
const controller = this.controllers[pCtrlId];
const ctrlIdTxt = controller.ctrlIdTxt;
const ret = controller.pidCtrl.update();
this.log.debug(`[${ctrlIdTxt}] update() - ${JSON.stringify(ret)}`);
if (this.config.optLogCalc) this.log.info(`[${ctrlIdTxt}] update() - ${JSON.stringify(ret)}`);
if (!controller.man) {
await this.setStateAsync(this.getExtId(ctrlIdTxt, 'last_delta'), { val: ret.dt, ack: true, q: 0x00 });
await this.setStateAsync(this.getExtId(ctrlIdTxt, 'last_upd'), { val: ret.ts, ack: true, q: 0x00 });
await this.setStateAsync(this.getExtId(ctrlIdTxt, 'y'), { val: ret.y, ack: true, q: 0x00 });
await this.setStateAsync(this.getExtId(ctrlIdTxt, 'diff'), { val: ret.diff, ack: true, q: 0x00 });
await this.setStateAsync(this.getExtId(ctrlIdTxt, 'lim'), { val: ret.lim, ack: true, q: 0x00 });
await this.setStateAsync(this.getExtId(ctrlIdTxt, 'supr'), { val: ret.supr, ack: true, q: 0x00 });
await this.setStateAsync(this.getExtId(ctrlIdTxt, 'i_differr'), { val: ret.differr, ack: true, q: 0x00 });
await this.setStateAsync(this.getExtId(ctrlIdTxt, 'i_sumerr'), { val: ret.sumerr, ack: true, q: 0x00 });
}
}
/**
* updParamStates - update parameter states
*
* @return nothing
*
*/
async updParamStates(pCtrlId) {
this.log.debug(`updParamStates triggered (${pCtrlId})`);
const controller = this.controllers[pCtrlId];
const params = controller.pidCtrl.getParams();
const ctrlIdTxt = controller.ctrlIdTxt;
await this.setStateAsync(this.getExtId(ctrlIdTxt, 'kp'), { val: params.kp, ack: true, q: 0x00 });
await this.setStateAsync(this.getExtId(ctrlIdTxt, 'xp'), { val: params.xp, ack: true, q: 0x00 });
await this.setStateAsync(this.getExtId(ctrlIdTxt, 'useXp'), { val: params.useXp, ack: true, q: 0x00 });
await this.setStateAsync(this.getExtId(ctrlIdTxt, 'dao'), { val: params.dao, ack: true, q: 0x00 });
await this.setStateAsync(this.getExtId(ctrlIdTxt, 'inv'), { val: params.inv, ack: true, q: 0x00 });
await this.setStateAsync(this.getExtId(ctrlIdTxt, 'tn'), { val: params.tn, ack: true, q: 0x00 });
await this.setStateAsync(this.getExtId(ctrlIdTxt, 'tv'), { val: params.tv, ack: true, q: 0x00 });
await this.setStateAsync(this.getExtId(ctrlIdTxt, 'min'), { val: params.min, ack: true, q: 0x00 });
await this.setStateAsync(this.getExtId(ctrlIdTxt, 'max'), { val: params.max, ack: true, q: 0x00 });
await this.setStateAsync(this.getExtId(ctrlIdTxt, 'off'), { val: params.off, ack: true, q: 0x00 });
await this.setStateAsync(this.getExtId(ctrlIdTxt, 'sup'), { val: params.sup, ack: true, q: 0x00 });
}
/**
* chgXxx - callback called if state Xxx changes
*
* @return nothing
*
*/
async chgAct(pId, pCtrlId, pVal) {
this.log.debug(`chgAct called (${pCtrlId}, ${pVal})`);
const controller = this.controllers[pCtrlId];
await controller.pidCtrl.setAct(pVal);
await this.setStateAsync(pId, { val: pVal, ack: true, q: 0x00 });
//if (controller.running && !controller.cycle) await this.doUpdate(pCtrlId);
}
async chgMin(pId, pCtrlId, pVal) {
this.log.debug(`chgMin called (${pCtrlId}, ${pVal})`);
const controller = this.controllers[pCtrlId];
const params = await controller.pidCtrl.getParams();
if (typeof pVal !== 'number' || pVal >= params.max) {
this.log.warn(
`[${controller.ctrlIdTxt}] invalid value (${pVal}) for min ignored, must be less than ${params.max}`,
);
await this.setStateAsync(pId, { val: params.min, ack: true, q: 0x00 });
return;
}
await controller.pidCtrl.setMin(pVal);
await this.setStateAsync(pId, { val: pVal, ack: true, q: 0x00 });
await this.updParamStates(pCtrlId);
//if (controller.running && !controller.ctrlCycle) await this.doUpdate(pCtrlId);
}
async chgMax(pId, pCtrlId, pVal) {
this.log.debug(`chgMax called (${pCtrlId}, ${pVal})`);
const controller = this.controllers[pCtrlId];
const params = await controller.pidCtrl.getParams();
if (typeof pVal !== 'number' || pVal <= params.min) {
this.log.warn(
`[${controller.ctrlIdTxt}] invalid value (${pVal}) for max ignored, must be greater than ${params.min}`,
);
await this.setStateAsync(pId, { val: params.max, ack: true, q: 0x00 });
return;
}
await controller.pidCtrl.setMax(pVal);
await this.setStateAsync(pId, { val: pVal, ack: true, q: 0x00 });
await this.updParamStates(pCtrlId);
//if (controller.running && !controller.ctrlCycle) await this.doUpdate(pCtrlId);
}
async chgOff(pId, pCtrlId, pVal) {
this.log.debug(`chgOff called (${pCtrlId}, ${pVal})`);
const controller = this.controllers[pCtrlId];
await controller.pidCtrl.setOff(pVal);
await this.setStateAsync(pId, { val: pVal, ack: true, q: 0x00 });
await this.updParamStates(pCtrlId);
//if (controller.running && !controller.ctrlCycle) await this.doUpdate(pCtrlId);
}
async chgSet(pId, pCtrlId, pVal) {
this.log.debug(`chgSet called (${pCtrlId}, ${pVal})`);
const controller = this.controllers[pCtrlId];
await controller.pidCtrl.setSet(pVal);
await this.setStateAsync(pId, { val: pVal, ack: true, q: 0x00 });
//if (controller.running && !controller.ctrlCycle) await this.doUpdate(pCtrlId);
}
async chgSup(pId, pCtrlId, pVal) {
this.log.debug(`chgSup called (${pCtrlId}, ${pVal})`);
const controller = this.controllers[pCtrlId];
if (typeof pVal !== 'number' || pVal < 0) {
this.log.warn(`[${controller.ctrlIdTxt}] invalid value (${pVal}) for sup ignored`);
const params = await controller.pidCtrl.getParams();
await this.setStateAsync(pId, { val: params.sup, ack: true, q: 0x00 });
return;
}
await controller.pidCtrl.setSup(pVal);
await this.setStateAsync(pId, { val: pVal, ack: true, q: 0x00 });
}
async chgKp(pId, pCtrlId, pVal) {
this.log.debug(`chgKp called (${pCtrlId}, ${pVal})`);
if (this.config.ctrlMode === 1) return; // xp mode
const controller = this.controllers[pCtrlId];
if (typeof pVal !== 'number' || pVal <= 0) {
this.log.warn(`[${controller.ctrlIdTxt}] invalid value (${pVal}) for kp ignored`);
const params = await controller.pidCtrl.getParams();
await this.setStateAsync(pId, { val: params.kp, ack: true, q: 0x00 });
return;
}
await controller.pidCtrl.setKp(pVal);
await this.setStateAsync(pId, { val: pVal, ack: true, q: 0x00 });
await this.updParamStates(pCtrlId);
//if (controller.running && !controller.ctrlCycle) await this.doUpdate(pCtrlId);
}
async chgXp(pId, pCtrlId, pVal) {
this.log.debug(`chgXp called (${pCtrlId}, ${pVal})`);
if (this.config.ctrlMode !== 1) return; // kp mode
const controller = this.controllers[pCtrlId];
if (typeof pVal !== 'number' || pVal <= 0) {
this.log.warn(`[${controller.ctrlIdTxt}] invalid value (${pVal}) for xp ignored`);
const params = await controller.pidCtrl.getParams();
await this.setStateAsync(pId, { val: params.xp, ack: true, q: 0x00 });
return;
}
await controller.pidCtrl.setXp(pVal);
await this.setStateAsync(pId, { val: pVal, ack: true, q: 0x00 });
await this.updParamStates(pCtrlId);
//if (controller.running && !controller.ctrlCycle) await this.doUpdate(pCtrlId);
}
async chgTn(pId, pCtrlId, pVal) {
this.log.debug(`chgTn called (${pCtrlId}, ${pVal})`);
const controller = this.controllers[pCtrlId];
await controller.pidCtrl.setTn(pVal);
await this.setStateAsync(pId, { val: pVal, ack: true, q: 0x00 });
await this.updParamStates(pCtrlId);
//if (controller.running && !controller.ctrlCycle) await this.doUpdate(pCtrlId);
}
async chgTv(pId, pCtrlId, pVal) {
this.log.debug(`chgTv called (${pCtrlId}, ${pVal})`);
const controller = this.controllers[pCtrlId];
await controller.pidCtrl.setTv(pVal);
await this.setStateAsync(pId, { val: pVal, ack: true, q: 0x00 });
await this.updParamStates(pCtrlId);
//if (controller.running && !controller.ctrlCycle) await this.doUpdate(pCtrlId);
}
async chgHold(pId, pCtrlId, pVal) {
this.log.debug(`chgHold called (${pCtrlId}, ${pVal})`);
const controller = this.controllers[pCtrlId];
controller.hold = pVal;
await this.setStateAsync(pId, { val: pVal, ack: true, q: 0x00 });
const run = !(controller.hold || controller.man);
//await this.setStateAsync(this.getExtId(controller.ctrlIdTxt, 'run'), { val: run, ack: false, q: 0x00 }); //ack=false to trigger action
await this.chgRun(this.getExtId(controller.ctrlIdTxt, 'run'), pCtrlId, run);
}
async chgMan(pId, pCtrlId, pVal) {
this.log.debug(`chgMan called (${pCtrlId}, ${pVal})`);
const controller = this.controllers[pCtrlId];
controller.man = pVal;
await this.setStateAsync(pId, { val: pVal, ack: true, q: 0x00 });
if (controller.man) {
const ctrlIdTxt = controller.ctrlIdTxt;
const ts = Date.now();
const manInp = await this.getStateAsync(this.getExtId(ctrlIdTxt, 'man_inp'));
await this.setStateAsync(this.getExtId(ctrlIdTxt, 'last_delta'), { val: null, ack: true, q: 0x00 });
await this.setStateAsync(this.getExtId(ctrlIdTxt, 'last_upd'), { val: ts, ack: true, q: 0x00 });
await this.setStateAsync(this.getExtId(ctrlIdTxt, 'y'), { val: manInp?.val, ack: true, q: 0x00 });
await this.setStateAsync(this.getExtId(ctrlIdTxt, 'diff'), { val: null, ack: true, q: 0x00 });
await this.setStateAsync(this.getExtId(ctrlIdTxt, 'lim'), { val: null, ack: true, q: 0x00 });
await this.setStateAsync(this.getExtId(ctrlIdTxt, 'supr'), { val: null, ack: true, q: 0x00 });
await this.setStateAsync(this.getExtId(ctrlIdTxt, 'i_differr'), { val: null, ack: true, q: 0x00 });
await this.setStateAsync(this.getExtId(ctrlIdTxt, 'i_sumerr'), { val: null, ack: true, q: 0x00 });
}
const run = !(controller.hold || controller.man);
//await this.setStateAsync(this.getExtId(controller.ctrlIdTxt, 'run'), { val: run, ack: false, q: 0x00 }); //ack=false to trigger action
await this.chgRun(this.getExtId(controller.ctrlIdTxt, 'run'), pCtrlId, run);
}
async chgManInp(pId, pCtrlId, pVal) {
this.log.debug(`chgManInp called (${pCtrlId}, ${pVal})`);
const controller = this.controllers[pCtrlId];
const ctrlIdTxt = controller.ctrlIdTxt;
if (controller.man) {
const ts = Date.now();
await this.setStateAsync(this.getExtId(ctrlIdTxt, 'last_delta'), { val: null, ack: true, q: 0x00 });
await this.setStateAsync(this.getExtId(ctrlIdTxt, 'last_upd'), { val: ts, ack: true, q: 0x00 });
await this.setStateAsync(this.getExtId(ctrlIdTxt, 'y'), { val: pVal, ack: true, q: 0x00 });
await this.setStateAsync(this.getExtId(ctrlIdTxt, 'diff'), { val: null, ack: true, q: 0x00 });
await this.setStateAsync(this.getExtId(ctrlIdTxt, 'lim'), { val: null, ack: true, q: 0x00 });
await this.setStateAsync(this.getExtId(ctrlIdTxt, 'supr'), { val: null, ack: true, q: 0x00 });
await this.setStateAsync(this.getExtId(ctrlIdTxt, 'i_differr'), { val: null, ack: true, q: 0x00 });
await this.setStateAsync(this.getExtId(ctrlIdTxt, 'i_sumerr'), { val: null, ack: true, q: 0x00 });
}
await this.setStateAsync(pId, { val: pVal, ack: true, q: 0x00 });
}
async chgRst(pId, pCtrlId, pVal) {
this.log.debug(`chgRst called (${pCtrlId}, ${pVal})`);
await this.setStateAsync(pId, { val: false, ack: true, q: 0x00 });
const controller = this.controllers[pCtrlId];
if (pVal) await controller.pidCtrl.reset();
//if (controller.running && !controller.ctrlCycle) await this.doUpdate(pCtrlId);
}
async chgRun(pId, pCtrlId, pVal) {
this.log.debug(`chgHold called (${pCtrlId}, ${pVal})`);
const controller = this.controllers[pCtrlId];
const ctrlIdTxt = controller.ctrlIdTxt;
const isRunning = controller.running;
controller.running = pVal;
if (controller.running) {
if (!isRunning) {
// (re)start only if not already running
if (controller.timer) this.clearInterval(controller.timer);
if (this.config.optLogCalc) this.log.info(`[${ctrlIdTxt}] controller starting`);
await controller.pidCtrl.restart(); // reset dt
await this.doUpdate(pCtrlId);
controller.timer = setInterval(this.doUpdate.bind(this), controller.cycle, pCtrlId);
}
} else {
if (controller.timer) {
this.clearInterval(controller.timer);
controller.timer = null;
if (this.config.optLogCalc) this.log.info(`[${ctrlIdTxt}] controller stopped`);
}
}
await this.setStateAsync(pId, { val: pVal, ack: true, q: 0x00 });
}
}
if (require.main !== module) {
// Export the constructor in compact mode
/**
* @param {Partial<utils.AdapterOptions>} [options={}]
*/
module.exports = (options) => new Pid(options);
} else {
// otherwise start the instance directly
new Pid();
}