initial commit

src/multi-pid.ts

@@ -0,0 +1,61 @@
+import { PID, PIDCallback, PIDParameters, PIDReport } from "./pid";
+
+export type MultiPIDCallback = (channel: number, report: PIDReport) => any;
+
+export class MultiPID {
+  private pids: PID[];
+  private channels: number;
+
+  public constructor(channels: number, params: PIDParameters) {
+    this.channels = channels;
+    this.pids = Array(channels)
+      .fill(0)
+      .map((_) => new PID(params));
+  }
+
+  public setSetpoint(channel: number, setpoint: number) {
+    if (channel > this.channels - 1)
+      throw new Error("Channel index out of range: " + channel);
+    this.pids[channel].setSetpoint(setpoint);
+  }
+
+  public setSetpoints(setpoints: (number | null)[]) {
+    if (setpoints.length != this.channels)
+      throw new Error("Setpoint length mismatch: " + setpoints.length);
+    setpoints
+      .filter((x) => x != null)
+      .forEach((x, i) => this.pids[i].setSetpoint(x));
+  }
+
+  public setParameter(channel: number, params: PIDParameters) {
+    if (channel > this.channels - 1)
+      throw new Error("Channel index out of range: " + channel);
+    this.pids[channel].setParameters(params);
+  }
+
+  public setParameters(params: (PIDParameters | null)[]) {
+    if (params.length != this.channels)
+      throw new Error("Setpoint length mismatch: " + params.length);
+    params
+      .filter((x) => x != null)
+      .forEach((x, i) => this.pids[i].setParameters(x));
+  }
+
+  public updateOne(channel: number, measuredValue: number) {
+    if (channel > this.channels - 1)
+      throw new Error("Channel index out of range: " + channel);
+    return this.pids[channel].update(measuredValue);
+  }
+
+  public updateAll(measuredValues: (number | null)[]) {
+    if (measuredValues.length != this.channels)
+      throw new Error("Values length mismatch: " + measuredValues.length);
+    return measuredValues
+      .filter((x) => x != null)
+      .map((x, i) => this.pids[i].update(x));
+  }
+
+  public setCallback(cb: MultiPIDCallback) {
+    this.pids.forEach((p, i) => p.setCallback((report) => cb(i, report)));
+  }
+}