moving pid sim

AutomaticControl/Simulator/MainWindow.xaml

@@ -9,6 +9,6 @@
         Height="450"
         mc:Ignorable="d">
     <Frame NavigationUIVisibility="Hidden"
-           Source="/Views/FixedSetpointPIDView.xaml">
+           Source="/Views/MovingSetpointPIDView.xaml">
     </Frame>
 </Window>

AutomaticControl/Simulator/Models/MovingPIDSetpointModel.cs

@@ -0,0 +1,16 @@
+using AutomaticController;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Simulator.Models
+{
+    internal class MovingPIDSetpointModel
+    {
+        public List<double> Setpoints { get; set; }
+
+        public PIDController Controller { get; set; }
+    }
+}

AutomaticControl/Simulator/ViewModels/FixedSetpointPIDViewModel.cs

@@ -55,12 +55,14 @@ namespace Simulator.ViewModels
                 new LineSeries()
                 {
                     Title = "Actual",
-                    Values = new ChartValues<double>()
+                    Values = new ChartValues<double>(),
+                    PointGeometrySize = 5
                 },
                 new LineSeries()
                 {
                     Title = "Setpoint",
-                    Values = new ChartValues<double>()
+                    Values = new ChartValues<double>(),
+                    PointGeometrySize = 5
                 },
             };
 #if DEBUG
@@ -97,7 +99,7 @@ namespace Simulator.ViewModels
             Series[1].Values.Add(setpoint);
             Series[0].Values.Add(actual);
 
-            SetpointHistory.Add(SetpointModel.Setpoint);
+            SetpointHistory.Add(setpoint);
             ProcessHistory.Add(actual);
         }
     }

AutomaticControl/Simulator/ViewModels/MovingSetpointPIDViewModel.cs

@@ -0,0 +1,115 @@
+using AutomaticController;
+using CommunityToolkit.Mvvm.ComponentModel;
+using CommunityToolkit.Mvvm.Input;
+using LiveCharts;
+using LiveCharts.Wpf;
+using Simulator.Models;
+using System;
+using System.Collections.Generic;
+using System.Collections.ObjectModel;
+using System.Linq;
+using System.Runtime.Intrinsics.X86;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace Simulator.ViewModels
+{
+    internal partial class MovingSetpointPIDViewModel : ObservableObject
+    {
+        [ObservableProperty]
+        private MovingPIDSetpointModel _setpointModel;
+
+        [ObservableProperty]
+        private ObservableCollection<double> _processHistory;
+        [ObservableProperty]
+        private ObservableCollection<double> _setpointHistory;
+
+        [ObservableProperty]
+        private SeriesCollection _series;
+
+
+        [ObservableProperty]
+        private double _kp;
+        [ObservableProperty]
+        private double _ki;
+        [ObservableProperty]
+        private double _kd;
+
+        private readonly int SIMULATION_COUNT = 200;
+
+
+        public MovingSetpointPIDViewModel()
+        {
+            Kp = 0.5;
+            Ki = 0.1;
+            Kd = 0.2;
+
+            SetpointModel = new MovingPIDSetpointModel()
+            {
+                Controller = new PIDController(Kp, Kd, Ki),
+                Setpoints = new List<double>()
+            };
+
+            // Generate setpoints
+            for (int i = 0; i < SIMULATION_COUNT; i++)
+            {
+                double cos = Math.Cos(0.5 / (2 * Math.PI) * i);
+                SetpointModel.Setpoints.Add(cos);
+            }
+
+            ProcessHistory = new ObservableCollection<double>();
+            SetpointHistory = new ObservableCollection<double>();
+            Series = new SeriesCollection()
+            {
+                new LineSeries()
+                {
+                    Title = "Actual",
+                    Values = new ChartValues<double>(),
+                    PointGeometrySize = 5
+                },
+                new LineSeries()
+                {
+                    Title = "Setpoint",
+                    Values = new ChartValues<double>(),
+                    PointGeometrySize = 5
+                },
+            };
+#if DEBUG
+            Simulate();
+#endif
+        }
+
+        [RelayCommand]
+        public void Simulate()
+        {
+            SetpointModel.Controller.Kp = Kp;
+            SetpointModel.Controller.Ki = Ki;
+            SetpointModel.Controller.Kd = Kd;
+
+            ProcessHistory.Clear();
+            SetpointHistory.Clear();
+            Series[0].Values.Clear();
+            Series[1].Values.Clear();
+
+            InsertData(SetpointModel.Setpoints[0], 0d);
+
+            for (int i = 1; i < SIMULATION_COUNT; i++)
+            {
+                double current = ProcessHistory.LastOrDefault();
+                double output = SetpointModel.Controller.Compute(SetpointModel.Setpoints[i], current);
+                double actual = current + output;
+
+                InsertData(SetpointModel.Setpoints[i], actual);
+            }
+        }
+
+        private void InsertData(double setpoint, double actual)
+        {
+            Series[1].Values.Add(setpoint);
+            Series[0].Values.Add(actual);
+
+            SetpointHistory.Add(setpoint);
+            ProcessHistory.Add(actual);
+        }
+    }
+}

AutomaticControl/Simulator/Views/MovingSetpointPIDView.xaml

@@ -0,0 +1,43 @@
+<Page x:Class="Simulator.Views.MovingSetpointPIDView"
+      xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+      xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+      xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
+      xmlns:local="clr-namespace:Simulator.Views"
+      xmlns:lvc="clr-namespace:LiveCharts.Wpf;assembly=LiveCharts.Wpf"
+      xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
+      xmlns:viewModels="clr-namespace:Simulator.ViewModels"
+      Title="MovingSetpointPIDView"
+      d:DesignHeight="450"
+      d:DesignWidth="800"
+      mc:Ignorable="d">
+    <Page.DataContext>
+        <viewModels:MovingSetpointPIDViewModel />
+    </Page.DataContext>
+
+    <Grid>
+        <Grid.RowDefinitions>
+            <RowDefinition Height="*" />
+            <RowDefinition Height="Auto" />
+        </Grid.RowDefinitions>
+        <lvc:CartesianChart LegendLocation="Bottom" Series="{Binding Series}"/>
+        <StackPanel Grid.Row="1" Orientation="Horizontal">
+            <Label Content="Kp" />
+            <TextBox Width="50"
+                     HorizontalContentAlignment="Center" VerticalContentAlignment="Center"
+                     Text="{Binding Kp}" />
+            <Label Content="Ki" />
+            <TextBox Width="50"
+                     HorizontalContentAlignment="Center" VerticalContentAlignment="Center"
+                     Text="{Binding Ki}" />
+
+            <Label Content="Kd" />
+            <TextBox Width="50"
+                     HorizontalContentAlignment="Center" VerticalContentAlignment="Center"
+                     Text="{Binding Kd}" />
+
+            <Button Margin="20,0,0,0"
+                    Command="{Binding SimulateCommand}"
+                    Content="Simulate" />
+        </StackPanel>
+    </Grid>
+</Page>

AutomaticControl/Simulator/Views/MovingSetpointPIDView.xaml.cs

@@ -0,0 +1,28 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Data;
+using System.Windows.Documents;
+using System.Windows.Input;
+using System.Windows.Media;
+using System.Windows.Media.Imaging;
+using System.Windows.Navigation;
+using System.Windows.Shapes;
+
+namespace Simulator.Views
+{
+    /// <summary>
+    /// MovingSetpointPIDView.xaml에 대한 상호 작용 논리
+    /// </summary>
+    public partial class MovingSetpointPIDView : Page
+    {
+        public MovingSetpointPIDView()
+        {
+            InitializeComponent();
+        }
+    }
+}