Updated license headers

Signed-off-by: Kai Kreuzer <kai@openhab.org>

bundles/org.openhab.automation.groovyscripting/src/main/java/org/openhab/automation/groovyscripting/internal/GroovyScriptEngineFactory.java

@@ -1,5 +1,5 @@
 /**
- * Copyright (c) 2010-2020 Contributors to the openHAB project
+ * Copyright (c) 2010-2021 Contributors to the openHAB project
  *
  * See the NOTICE file(s) distributed with this work for additional
  * information.

bundles/org.openhab.automation.groovyscripting/src/main/java/org/openhab/automation/groovyscripting/internal/package-info.java

@@ -1,5 +1,5 @@
 /**
- * Copyright (c) 2010-2020 Contributors to the openHAB project
+ * Copyright (c) 2010-2021 Contributors to the openHAB project
  *
  * See the NOTICE file(s) distributed with this work for additional
  * information.
@@ -10,7 +10,6 @@
  *
  * SPDX-License-Identifier: EPL-2.0
  */
-
 @org.osgi.annotation.bundle.Header(name = org.osgi.framework.Constants.DYNAMICIMPORT_PACKAGE, value = "*")
 package org.openhab.automation.groovyscripting.internal;
 

bundles/org.openhab.automation.jythonscripting/src/main/java/org/openhab/automation/jythonscripting/JythonScriptEngineFactory.java

@@ -1,5 +1,5 @@
 /**
- * Copyright (c) 2010-2020 Contributors to the openHAB project
+ * Copyright (c) 2010-2021 Contributors to the openHAB project
  *
  * See the NOTICE file(s) distributed with this work for additional
  * information.

bundles/org.openhab.automation.jythonscripting/src/main/java/org/openhab/automation/jythonscripting/package-info.java

@@ -1,5 +1,5 @@
 /**
- * Copyright (c) 2010-2020 Contributors to the openHAB project
+ * Copyright (c) 2010-2021 Contributors to the openHAB project
  *
  * See the NOTICE file(s) distributed with this work for additional
  * information.
@@ -10,7 +10,6 @@
  *
  * SPDX-License-Identifier: EPL-2.0
  */
-
 @org.osgi.annotation.bundle.Header(name = org.osgi.framework.Constants.DYNAMICIMPORT_PACKAGE, value = "*")
 package org.openhab.automation.jythonscripting;
 

bundles/org.openhab.automation.pidcontroller/src/main/java/org/openhab/automation/pidcontroller/internal/LowpassFilter.java

@@ -0,0 +1,44 @@
+/**
+ * Copyright (c) 2010-2021 Contributors to the openHAB project
+ *
+ * See the NOTICE file(s) distributed with this work for additional
+ * information.
+ *
+ * This program and the accompanying materials are made available under the
+ * terms of the Eclipse Public License 2.0 which is available at
+ * http://www.eclipse.org/legal/epl-2.0
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ */
+package org.openhab.automation.pidcontroller.internal;
+
+import org.eclipse.jdt.annotation.NonNullByDefault;
+
+/**
+ * Realizes an first-order FIR low pass filter. To keep code complexity low, it is implemented as moving average (all
+ * FIR coefficients are set to normalized ones).
+ *
+ * The exponential decaying function is used for the calculation (see https://en.wikipedia.org/wiki/Time_constant). That
+ * means the output value is approx. 63% of the input value after one time constant and approx. 99% after 5 time
+ * constants.
+ *
+ * @author Fabian Wolter - Initial contribution
+ *
+ */
+@NonNullByDefault
+public class LowpassFilter {
+ /**
+ * Executes one low pass filter step.
+ *
+ * @param lastOutput the current filter value (result of the last invocation)
+ * @param newValue the just sampled value
+ * @param timeQuotient quotient of the current time and the time constant
+ * @return the new filter value
+ */
+ public static double calculate(double lastOutput, double newValue, double timeQuotient) {
+ double output = lastOutput * Math.exp(-timeQuotient);
+ output += newValue * (1 - Math.exp(-timeQuotient));
+
+ return output;
+ }
+}

bundles/org.openhab.automation.pidcontroller/src/main/java/org/openhab/automation/pidcontroller/internal/PIDControllerConstants.java

@@ -0,0 +1,41 @@
+/**
+ * Copyright (c) 2010-2021 Contributors to the openHAB project
+ *
+ * See the NOTICE file(s) distributed with this work for additional
+ * information.
+ *
+ * This program and the accompanying materials are made available under the
+ * terms of the Eclipse Public License 2.0 which is available at
+ * http://www.eclipse.org/legal/epl-2.0
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ */
+package org.openhab.automation.pidcontroller.internal;
+
+import org.eclipse.jdt.annotation.NonNullByDefault;
+
+/**
+ *
+ * Constants for PID controller.
+ *
+ * @author Fabian Wolter - Initial contribution
+ *
+ */
+@NonNullByDefault
+public class PIDControllerConstants {
+ public static final String AUTOMATION_NAME = "pidcontroller";
+ public static final String CONFIG_INPUT_ITEM = "input";
+ public static final String CONFIG_SETPOINT_ITEM = "setpoint";
+ public static final String CONFIG_OUTPUT_LOWER_LIMIT = "outputLowerLimit";
+ public static final String CONFIG_OUTPUT_UPPER_LIMIT = "outputUpperLimit";
+ public static final String CONFIG_LOOP_TIME = "loopTime";
+ public static final String CONFIG_KP_GAIN = "kp";
+ public static final String CONFIG_KI_GAIN = "ki";
+ public static final String CONFIG_KD_GAIN = "kd";
+ public static final String CONFIG_KD_TIMECONSTANT = "kdTimeConstant";
+ public static final String P_INSPECTOR = "pInspector";
+ public static final String I_INSPECTOR = "iInspector";
+ public static final String D_INSPECTOR = "dInspector";
+ public static final String E_INSPECTOR = "eInspector";
+ public static final String OUTPUT = "output";
+}

bundles/org.openhab.automation.pidcontroller/src/main/java/org/openhab/automation/pidcontroller/internal/PIDException.java

@@ -0,0 +1,31 @@
+/**
+ * Copyright (c) 2010-2021 Contributors to the openHAB project
+ *
+ * See the NOTICE file(s) distributed with this work for additional
+ * information.
+ *
+ * This program and the accompanying materials are made available under the
+ * terms of the Eclipse Public License 2.0 which is available at
+ * http://www.eclipse.org/legal/epl-2.0
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ */
+package org.openhab.automation.pidcontroller.internal;
+
+import org.eclipse.jdt.annotation.NonNullByDefault;
+
+/**
+ *
+ * Common Exception for PID controller.
+ *
+ * @author Fabian Wolter - Initial contribution
+ *
+ */
+@NonNullByDefault
+public class PIDException extends Exception {
+ private static final long serialVersionUID = -3029834022610530982L;
+
+ public PIDException(String message) {
+ super(message);
+ }
+}

bundles/org.openhab.automation.pidcontroller/src/main/java/org/openhab/automation/pidcontroller/internal/factory/PIDControllerModuleHandlerFactory.java

@@ -0,0 +1,72 @@
+/**
+ * Copyright (c) 2010-2021 Contributors to the openHAB project
+ *
+ * See the NOTICE file(s) distributed with this work for additional
+ * information.
+ *
+ * This program and the accompanying materials are made available under the
+ * terms of the Eclipse Public License 2.0 which is available at
+ * http://www.eclipse.org/legal/epl-2.0
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ */
+package org.openhab.automation.pidcontroller.internal.factory;
+
+import java.util.Collection;
+import java.util.Set;
+
+import org.eclipse.jdt.annotation.NonNullByDefault;
+import org.eclipse.jdt.annotation.Nullable;
+import org.openhab.automation.pidcontroller.internal.handler.PIDControllerActionHandler;
+import org.openhab.automation.pidcontroller.internal.handler.PIDControllerTriggerHandler;
+import org.openhab.core.automation.Action;
+import org.openhab.core.automation.Module;
+import org.openhab.core.automation.Trigger;
+import org.openhab.core.automation.handler.BaseModuleHandlerFactory;
+import org.openhab.core.automation.handler.ModuleHandler;
+import org.openhab.core.automation.handler.ModuleHandlerFactory;
+import org.openhab.core.events.EventPublisher;
+import org.openhab.core.items.ItemRegistry;
+import org.osgi.framework.BundleContext;
+import org.osgi.service.component.annotations.Activate;
+import org.osgi.service.component.annotations.Component;
+import org.osgi.service.component.annotations.Reference;
+
+/**
+ *
+ * @author Hilbrand Bouwkamp - Initial Contribution
+ */
+@Component(service = ModuleHandlerFactory.class, configurationPid = "action.pidcontroller")
+@NonNullByDefault
+public class PIDControllerModuleHandlerFactory extends BaseModuleHandlerFactory {
+ private static final Collection<String> TYPES = Set.of(PIDControllerTriggerHandler.MODULE_TYPE_ID,
+ PIDControllerActionHandler.MODULE_TYPE_ID);
+ private ItemRegistry itemRegistry;
+ private EventPublisher eventPublisher;
+ private BundleContext bundleContext;
+
+ @Activate
+ public PIDControllerModuleHandlerFactory(@Reference ItemRegistry itemRegistry,
+ @Reference EventPublisher eventPublisher, BundleContext bundleContext) {
+ this.itemRegistry = itemRegistry;
+ this.eventPublisher = eventPublisher;
+ this.bundleContext = bundleContext;
+ }
+
+ @Override
+ public Collection<String> getTypes() {
+ return TYPES;
+ }
+
+ @Override
+ protected @Nullable ModuleHandler internalCreate(Module module, String ruleUID) {
+ switch (module.getTypeUID()) {
+ case PIDControllerTriggerHandler.MODULE_TYPE_ID:
+ return new PIDControllerTriggerHandler((Trigger) module, itemRegistry, eventPublisher, bundleContext);
+ case PIDControllerActionHandler.MODULE_TYPE_ID:
+ return new PIDControllerActionHandler((Action) module, itemRegistry, eventPublisher);
+ }
+
+ return null;
+ }
+}

bundles/org.openhab.automation.pidcontroller/src/main/java/org/openhab/automation/pidcontroller/internal/handler/PIDController.java

@@ -0,0 +1,82 @@
+/**
+ * Copyright (c) 2010-2021 Contributors to the openHAB project
+ *
+ * See the NOTICE file(s) distributed with this work for additional
+ * information.
+ *
+ * This program and the accompanying materials are made available under the
+ * terms of the Eclipse Public License 2.0 which is available at
+ * http://www.eclipse.org/legal/epl-2.0
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ */
+package org.openhab.automation.pidcontroller.internal.handler;
+
+import org.eclipse.jdt.annotation.NonNullByDefault;
+import org.openhab.automation.pidcontroller.internal.LowpassFilter;
+
+/**
+ * The {@link PIDController} provides the necessary methods for retrieving part(s) of the PID calculations
+ * and it provides the method for the overall PID calculations. It also resets the PID controller
+ *
+ * @author George Erhan - Initial contribution
+ * @author Hilbrand Bouwkamp - Adapted for new rule engine
+ * @author Fabian Wolter - Add T1 to D part, add debugging ability for PID values
+ */
+@NonNullByDefault
+class PIDController {
+ private final double outputLowerLimit;
+ private final double outputUpperLimit;
+
+ private double integralResult;
+ private double derivativeResult;
+ private double previousError;
+ private double output;
+
+ private double kp;
+ private double ki;
+ private double kd;
+ private double derivativeTimeConstantSec;
+
+ public PIDController(double outputLowerLimit, double outputUpperLimit, double kpAdjuster, double kiAdjuster,
+ double kdAdjuster, double derivativeTimeConstantSec) {
+ this.outputLowerLimit = outputLowerLimit;
+ this.outputUpperLimit = outputUpperLimit;
+ this.kp = kpAdjuster;
+ this.ki = kiAdjuster;
+ this.kd = kdAdjuster;
+ this.derivativeTimeConstantSec = derivativeTimeConstantSec;
+ }
+
+ public PIDOutputDTO calculate(double input, double setpoint, long lastInvocationMs) {
+ final double lastInvocationSec = lastInvocationMs / 1000d;
+ final double error = setpoint - input;
+
+ // derivative T1 calculation
+ final double timeQuotient = lastInvocationSec / derivativeTimeConstantSec;
+ if (derivativeTimeConstantSec != 0) {
+ derivativeResult = LowpassFilter.calculate(derivativeResult, error - previousError, timeQuotient);
+ previousError = error;
+ }
+
+ // integral calculation
+ integralResult += error * lastInvocationSec;
+ // limit to output limits
+ if (ki != 0) {
+ final double maxIntegral = outputUpperLimit / ki;
+ final double minIntegral = outputLowerLimit / ki;
+ integralResult = Math.min(maxIntegral, Math.max(minIntegral, integralResult));
+ }
+
+ // calculate parts
+ final double proportionalPart = kp * error;
+ final double integralPart = ki * integralResult;
+ final double derivativePart = kd * derivativeResult;
+ output = proportionalPart + integralPart + derivativePart;
+
+ // limit output value
+ output = Math.min(outputUpperLimit, Math.max(outputLowerLimit, output));
+
+ return new PIDOutputDTO(output, proportionalPart, integralPart, derivativePart, error);
+ }
+}

bundles/org.openhab.automation.pidcontroller/src/main/java/org/openhab/automation/pidcontroller/internal/handler/PIDControllerActionHandler.java

@@ -0,0 +1,78 @@
+/**
+ * Copyright (c) 2010-2021 Contributors to the openHAB project
+ *
+ * See the NOTICE file(s) distributed with this work for additional
+ * information.
+ *
+ * This program and the accompanying materials are made available under the
+ * terms of the Eclipse Public License 2.0 which is available at
+ * http://www.eclipse.org/legal/epl-2.0
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ */
+package org.openhab.automation.pidcontroller.internal.handler;
+
+import static org.openhab.automation.pidcontroller.internal.PIDControllerConstants.*;
+
+import java.math.BigDecimal;
+import java.util.Map;
+import java.util.stream.Stream;
+
+import org.eclipse.jdt.annotation.NonNullByDefault;
+import org.eclipse.jdt.annotation.Nullable;
+import org.openhab.core.automation.Action;
+import org.openhab.core.automation.handler.ActionHandler;
+import org.openhab.core.automation.handler.BaseModuleHandler;
+import org.openhab.core.events.EventPublisher;
+import org.openhab.core.items.ItemRegistry;
+import org.openhab.core.items.events.ItemCommandEvent;
+import org.openhab.core.items.events.ItemEventFactory;
+import org.openhab.core.library.types.DecimalType;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+/**
+ *
+ * @author Hilbrand Bouwkamp - Initial Contribution
+ * @author Fabian Wolter - Add PID debugging items
+ */
+@NonNullByDefault
+public class PIDControllerActionHandler extends BaseModuleHandler<Action> implements ActionHandler {
+ public static final String MODULE_TYPE_ID = AUTOMATION_NAME + ".action";
+
+ private final Logger logger = LoggerFactory.getLogger(PIDControllerActionHandler.class);
+
+ private ItemRegistry itemRegistry;
+ private EventPublisher eventPublisher;
+
+ public PIDControllerActionHandler(Action module, ItemRegistry itemRegistry, EventPublisher eventPublisher) {
+ super(module);
+ this.itemRegistry = itemRegistry;
+ this.eventPublisher = eventPublisher;
+ }
+
+ @Override
+ public @Nullable Map<String, Object> execute(Map<String, Object> context) {
+ Stream.of(OUTPUT, P_INSPECTOR, I_INSPECTOR, D_INSPECTOR, E_INSPECTOR).forEach(arg -> {
+ final String itemName = (String) module.getConfiguration().get(arg);
+
+ if (itemName == null || itemName.isBlank()) {
+ return;
+ }
+
+ final BigDecimal command = (BigDecimal) context.get("1." + arg);
+
+ if (command != null) {
+ final DecimalType outputValue = new DecimalType(command);
+ final ItemCommandEvent itemCommandEvent = ItemEventFactory.createCommandEvent(itemName, outputValue);
+
+ eventPublisher.post(itemCommandEvent);
+ } else {
+ logger.warn(
+ "Command was not posted because either the configuration was not correct or a service was missing: ItemName: {}, Command: {}, eventPublisher: {}, ItemRegistry: {}",
+ itemName, command, eventPublisher, itemRegistry);
+ }
+ });
+ return null;
+ }
+}