diff --git a/doc/rtd/content/99_appendices/appendix2/sub/core/mlpro_bf/layer3_application_support/images/MLPro-BF-Control_class_diagram.drawio b/doc/rtd/content/99_appendices/appendix2/sub/core/mlpro_bf/layer3_application_support/images/MLPro-BF-Control_class_diagram.drawio index 68274d0ab..cf359d944 100644 --- a/doc/rtd/content/99_appendices/appendix2/sub/core/mlpro_bf/layer3_application_support/images/MLPro-BF-Control_class_diagram.drawio +++ b/doc/rtd/content/99_appendices/appendix2/sub/core/mlpro_bf/layer3_application_support/images/MLPro-BF-Control_class_diagram.drawio @@ -1 +1 @@ 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\ No newline at end of file diff --git a/doc/rtd/content/99_appendices/appendix2/sub/core/mlpro_bf/layer3_application_support/images/MLPro-BF-Control_class_diagram.drawio.png b/doc/rtd/content/99_appendices/appendix2/sub/core/mlpro_bf/layer3_application_support/images/MLPro-BF-Control_class_diagram.drawio.png index 83b092cd4..82373cc38 100644 Binary files a/doc/rtd/content/99_appendices/appendix2/sub/core/mlpro_bf/layer3_application_support/images/MLPro-BF-Control_class_diagram.drawio.png and b/doc/rtd/content/99_appendices/appendix2/sub/core/mlpro_bf/layer3_application_support/images/MLPro-BF-Control_class_diagram.drawio.png differ diff --git a/src/mlpro/bf/control/__init__.py b/src/mlpro/bf/control/__init__.py index 97d3cbcfc..98bcfd07a 100644 --- a/src/mlpro/bf/control/__init__.py +++ b/src/mlpro/bf/control/__init__.py @@ -1 +1 @@ -from mlpro.bf.control.basics import SetPoint, CTRLError, Controller, MultiController, ControlSystem +from mlpro.bf.control.basics import SetPoint, ControlError, Controller, MultiController, ControlSystem, ControlCycle, ControlScenario diff --git a/src/mlpro/bf/control/basics.py b/src/mlpro/bf/control/basics.py index 53f362bb8..97d0c8086 100644 --- a/src/mlpro/bf/control/basics.py +++ b/src/mlpro/bf/control/basics.py @@ -8,18 +8,21 @@ ## -- 2024-08-31 0.0.0 DA Creation ## -- 2024-09-04 0.1.0 DA Updates on class design ## -- 2024-09-07 0.2.0 DA Classes CTRLError, Controller: design updates +## -- 2024-09-11 0.3.0 DA - class CTRLError renamed ControlError +## -- - new class ControlPanel ## ------------------------------------------------------------------------------------------------- """ -Ver. 0.2.0 (2024-09-07) +Ver. 0.3.0 (2024-09-11) This module provides basic classes around the topic closed-loop control. """ -from mlpro.bf.various import Log +from mlpro.bf.math.basics import Element +from mlpro.bf.various import Log, TStampType from mlpro.bf.mt import Task, Workflow -from mlpro.bf.math import Function +from mlpro.bf.math import Element, Function from mlpro.bf.streams import InstDict, Instance, StreamTask, StreamWorkflow, StreamShared, StreamScenario from mlpro.bf.systems import ActionElement, Action, System from mlpro.bf.various import Log @@ -33,6 +36,18 @@ class SetPoint (Instance): """ """ +## ------------------------------------------------------------------------------------------------- + def __init__( self, + p_setpoint_data: Element, + p_tstamp: TStampType = None, + **p_kwargs ): + + super().__init__( p_feature_data = p_setpoint_data, + p_label_data = None, + p_tstamp = p_tstamp, + **p_kwargs ) + + ## ------------------------------------------------------------------------------------------------- def _get_values(self): return self.get_feature_data().get_values() @@ -52,7 +67,7 @@ def _set_values(self, p_values): ## ------------------------------------------------------------------------------------------------- ## ------------------------------------------------------------------------------------------------- -class CTRLError (Instance): +class ControlError (Instance): """ """ @@ -96,7 +111,7 @@ def _run(self, p_inst: InstDict): ## ------------------------------------------------------------------------------------------------- - def compute_action(self, p_ctrl_error: CTRLError) -> Action: + def compute_action(self, p_ctrl_error: ControlError) -> Action: """ Custom method to compute and return an action based on an incoming control error. @@ -116,7 +131,7 @@ def compute_action(self, p_ctrl_error: CTRLError) -> Action: ## ------------------------------------------------------------------------------------------------- def _compute_action( self, - p_ctrl_error : CTRLError, + p_ctrl_error : ControlError, p_action_element : ActionElement, p_ctrl_id : int = 0, p_ae_id : int = 0 ): @@ -198,7 +213,7 @@ def set_parameter(self, **p_param): ## ------------------------------------------------------------------------------------------------- - def compute_action(self, p_ctrl_error: CTRLError) -> Action: + def compute_action(self, p_ctrl_error: ControlError) -> Action: raise NotImplementedError @@ -254,11 +269,98 @@ def __init__( self, ## ------------------------------------------------------------------------------------------------- ## ------------------------------------------------------------------------------------------------- -class ControlShared (StreamShared): +class ControlPanel (Log): + """ + Enables external control of a closed-loop control. + """ + + C_TYPE = 'Control Panel' + C_NAME = '????' + +## ------------------------------------------------------------------------------------------------- + def start(self): + """ + (Re-)starts a closed-loop control. + """ + + self.log(Log.C_LOG_TYPE_S, 'Control process started') + self._start() + + +## ------------------------------------------------------------------------------------------------- + def _start(self): + """ + Custom method to (re-)start a closed-loop control. + """ + + raise NotImplementedError + + +## ------------------------------------------------------------------------------------------------- + def stop(self): + """ + Ends a closed-loop control. + """ + + self.log(Log.C_LOG_TYPE_S, 'Control process stopped') + self._stop() + + +## ------------------------------------------------------------------------------------------------- + def _stop(self): + """ + Custom method to end a closed-loop control. + """ + + raise NotImplementedError + + +## ------------------------------------------------------------------------------------------------- + def change_setpoint( self, p_setpoint : SetPoint ): + """ + Changes the setpoint values of a closed-loop control. + + Parameters + ---------- + p_setpoint: SetPoint + New setpoint values. + """ + + self.log(Log.C_LOG_TYPE_S, 'Setpoint values changed to', p_setpoint.values) + self._change_setpoint( p_setpoint = p_setpoint ) + + +## ------------------------------------------------------------------------------------------------- + def _change_setpoint( self, p_setpoint : SetPoint ): + """ + Custom method to change setpoint values. + """ + + raise NotImplementedError + + + + + +## ------------------------------------------------------------------------------------------------- +## ------------------------------------------------------------------------------------------------- +class ControlShared (StreamShared, ControlPanel): + +## ------------------------------------------------------------------------------------------------- + def _start(self): + + raise NotImplementedError + ## ------------------------------------------------------------------------------------------------- - def change_setpoint( p_setpoint : SetPoint ): + def _stop(self): + + raise NotImplementedError + +## ------------------------------------------------------------------------------------------------- + def _change_setpoint(self, p_setpoint: SetPoint): + raise NotImplementedError @@ -303,6 +405,27 @@ class ControlScenario ( StreamScenario ): """ ## ------------------------------------------------------------------------------------------------- - def get_control_board(self) -> ControlShared: + def __init__( self, + p_mode, + p_cycle_limit=0, + p_visualize:bool=False, + p_logging=Log.C_LOG_ALL ): + + self._control_cycle : ControlCycle = None + + super.__init__( p_mode, + p_cycle_limit=p_cycle_limit, + p_auto_setup=True, + p_visualize=p_visualize, + p_logging=p_logging ) + - raise NotImplementedError +## ------------------------------------------------------------------------------------------------- + def get_control_panel(self) -> ControlPanel: + """ + Returns + ------- + panel : ControlPanel + Object that enables the external control of a closed-loop control process. + """ + return self._control_cycle.get_so() diff --git a/test/howtos/bf/control/.gitkeep b/test/howtos/bf/control/.gitkeep deleted file mode 100644 index e69de29bb..000000000 diff --git a/test/howtos/bf/control/howto_bf_control_001_basic_control_loop.py b/test/howtos/bf/control/howto_bf_control_001_basic_control_loop.py new file mode 100644 index 000000000..e6487b7ef --- /dev/null +++ b/test/howtos/bf/control/howto_bf_control_001_basic_control_loop.py @@ -0,0 +1,91 @@ +## ------------------------------------------------------------------------------------------------- +## -- Project : MLPro - The integrative middleware framework for standardized machine learning +## -- Package : mlpro.bf.control +## -- Module : howto_bf_control_001_basic_control_loop.py +## ------------------------------------------------------------------------------------------------- +## -- History : +## -- yyyy-mm-dd Ver. Auth. Description +## -- 2024-09-11 0.0.0 DA Creation +## ------------------------------------------------------------------------------------------------- + +""" +Ver. 0.0.0 (2024-09-11) + +This module demonstrates ... + +You will learn: + +1) How to ... + +2) How to ... + +3) How to ... + +""" + +from time import sleep + +from mlpro.bf.control import Controller, ControlSystem, ControlCycle, ControlScenario + + + + +## ------------------------------------------------------------------------------------------------- +## ------------------------------------------------------------------------------------------------- +class MyController (Controller): + pass + + + +## ------------------------------------------------------------------------------------------------- +## ------------------------------------------------------------------------------------------------- +class MyControlSystem (ControlSystem): + pass + + + +## ------------------------------------------------------------------------------------------------- +## ------------------------------------------------------------------------------------------------- +class MyControlScenario (ControlScenario): + pass + + + + +# 1 Preparation of demo/unit test mode +if __name__ == '__main__': + # 1.1 Parameters for demo mode + cycle_limit = 200 + logging = Log.C_LOG_ALL + visualize = True + +else: + # 1.2 Parameters for internal unit test + cycle_limit = 2 + logging = Log.C_LOG_NOTHING + visualize = False + + + +# 2 Init control scenario +myscenario = MyControlScenario() +panel = myscenario.get_control_panel() + + + +# 3 Start the control process asynchronously +myscenario.run() +panel.start() + + + +# 4 Change setpoint value in a loop +for i in range(10): + sleep(1) + panel.change_setpoint() + + + +# 5 Stop control process +panel.stop() +