private void PidControllerStateRequestOccured(ComponentStateRequest <PidControllerRequestState> pidControllerStateRequest)
{
if (pidControllerStateRequest.Id == Id)
{
Logger.LogInformation($"Pid Request Received: {Id} {pidControllerStateRequest.RequestState.SetPoint} {pidControllerStateRequest.RequestState.IsEngaged}");
if (!CurrentState.IsEngaged &&
pidControllerStateRequest.RequestState.IsEngaged.HasValue &&
pidControllerStateRequest.RequestState.IsEngaged.Value)
{
// PID is getting engaged, disengage the others.
var pidsToDisengage = ComponentHelper.PidComponentIds.Where(p => p != CurrentState.Id).ToList();
foreach (var pidToDisengage in pidsToDisengage)
{
_eventHandler.ComponentStateRequestFiring(new ComponentStateRequest <PidControllerRequestState> {
RequestState = new PidControllerRequestState {
Id = pidToDisengage,
IsEngaged = false
}
});
}
}
PriorState = CurrentState;
CurrentState = CurrentState.Update(pidControllerStateRequest.RequestState);
_eventHandler.ComponentStateChangeFiring(new ComponentStateChange <PidControllerState> {
PriorState = PriorState.Clone(),
CurrentState = CurrentState.Clone()
});
Process();
}
}
public void StartFakeness()
{
// Set HLT Pid to 90 degrees
_eventHandler.ComponentStateRequestFiring(new ComponentStateRequest <PidControllerRequestState> {
RequestState = new PidControllerRequestState {
Id = ComponentId.HLT,
IsEngaged = true,
SetPoint = 90,
GainProportional = 18,
GainIntegral = 1.5,
GainDerivative = 22.5
}
});
_eventHandler.ComponentStateRequestFiring <PumpRequestState>(new ComponentStateRequest <PumpRequestState> {
RequestState = new PumpRequestState {
Id = ComponentId.HLT,
IsEngaged = true
}
});
}
