public static PidControllerState Update(this PidControllerState pidControllerState, ComponentStateChange <ThermometerState> thermometerStateChange)
{
if (pidControllerState == null)
{
return(null);
}
var clone = pidControllerState.Clone();
clone.Temperature = thermometerStateChange.CurrentState.Temperature;
return(clone);
}
public static PidControllerState Clone(this PidControllerState pidControllerState)
{
if (pidControllerState == null)
{
return(null);
}
return(new PidControllerState {
Id = pidControllerState.Id,
IsEngaged = pidControllerState.IsEngaged,
PidMode = pidControllerState.PidMode,
SetPoint = pidControllerState.SetPoint,
Temperature = pidControllerState.Temperature,
GainProportional = pidControllerState.GainProportional,
GainIntegral = pidControllerState.GainIntegral,
GainDerivative = pidControllerState.GainDerivative,
Timestamp = pidControllerState.Timestamp
});
}
public static PidControllerState Update(this PidControllerState pidControllerState, PidControllerRequestState requestPidControllerState)
{
if (pidControllerState == null)
{
return(null);
}
var clone = pidControllerState.Clone();
if (requestPidControllerState.IsEngaged.HasValue)
{
clone.IsEngaged = requestPidControllerState.IsEngaged.Value;
}
if (requestPidControllerState.PidMode.HasValue)
{
clone.PidMode = requestPidControllerState.PidMode.Value;
}
if (requestPidControllerState.SetPoint.HasValue)
{
clone.SetPoint = requestPidControllerState.SetPoint.Value;
}
// NOTE: Temperature can't be set, dawg.
if (requestPidControllerState.GainDerivative.HasValue)
{
clone.GainDerivative = requestPidControllerState.GainDerivative.Value;
}
if (requestPidControllerState.GainIntegral.HasValue)
{
clone.GainIntegral = requestPidControllerState.GainIntegral.Value;
}
if (requestPidControllerState.GainIntegral.HasValue)
{
clone.GainProportional = requestPidControllerState.GainProportional.Value;
}
clone.Timestamp = DateTime.Now;
return(clone);
}
