OA: RL PID Controller (SISO) #1050

fhswf · Oct 14, 2024 · de7c6e3 · de7c6e3
1 parent b7621c3
commit de7c6e3
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Showing 3 changed files with 8 additions and 6 deletions.
diff --git a/src/mlpro/oa/control/controllers/oa_pid_controller.py b/src/mlpro/oa/control/controllers/oa_pid_controller.py
@@ -1,7 +1,7 @@
 from mlpro.bf.control.controllers.pid_controller import PIDController
 from mlpro.bf.ml.basics import *
 from mlpro.rl import Policy,SARSElement
-from mlpro.bf.systems import ControlVariable, ControlledVariable
+from mlpro.bf.control import ControlVariable, ControlledVariable
 
 
 class RLPID(Policy):

diff --git a/src/mlpro/oa/control/controllers/wrapper_rl.py b/src/mlpro/oa/control/controllers/wrapper_rl.py
@@ -107,6 +107,7 @@ def compute_output( self, p_ctrl_error: ControlError ) -> ControlVariable:
 
 
 ## -------------------------------------------------------------------------------------------------
+
     def _adapt(self, p_ctrl_error: ControlError, p_ctrl_var: ControlVariable) -> bool:
 
         # 0 Intro

diff --git a/test/test_oa_pid_controller.py b/test/test_oa_pid_controller.py
@@ -8,7 +8,7 @@
 from mlpro.rl.models import *
 from mlpro.rl.models_env import Reward
 import datetime
-from mlpro.bf.systems import ControlVariable, ControlledVariable
+from mlpro.bf.control import ControlVariable, ControlledVariable
 
 import math
 matplotlib.use('TkAgg')
@@ -31,7 +31,7 @@ def __init__(self, p_logging=Log.C_LOG_ALL):
 
 
 
-    def _compute_reward(self, p_state_old: wrapper_rl.ControlledVariable = None, p_state_new: wrapper_rl.ControlledVariable = None) -> Reward:
+    def _compute_reward(self, p_state_old: ControlledVariable = None, p_state_new: ControlledVariable= None) -> Reward:
 
         #get old error
         error_old = p_state_old.get_feature_data().get_values()[0]
@@ -121,13 +121,13 @@ def _compute_reward(self, p_state_old: wrapper_rl.ControlledVariable = None, p_s
 
 setpoint_space = Set()
 setpoint_space.add_dim(p_dim=setpoint_dim)
-setpoint = SetPoint(p_setpoint_data=Element(p_set=setpoint_space),p_tstamp=datetime.datetime.now())
-setpoint.get_feature_data().set_value(setpoint_space.get_dim_ids()[0],0)
+setpoint = SetPoint(p_id=0,p_value_space=setpoint_space,p_values=[0],p_tstamp=datetime.datetime.now())
+
 
 
 error_space = Set()
 error_space.add_dim(p_dim=error_dim)
-control_error = ControlError(p_error_data=Element(error_space),p_tstamp=datetime.datetime.now())
+control_error = ControlError(p_id=0,p_value_space=error_space,p_values=[0],p_tstamp=datetime.datetime.now())
 oa_controller=wrapper_rl.OAControllerRL(p_input_space=MSpace(),p_output_space=MSpace(),p_rl_policy=rl_pid_policy,p_rl_fct_reward=MyReward())
 
 
@@ -160,6 +160,7 @@ def _compute_reward(self, p_state_old: wrapper_rl.ControlledVariable = None, p_s
         control_error.get_feature_data().set_value(error_space.get_dim_ids()[0],actual_angle-setpoint.get_feature_data().get_values()[0])
         control_error.set_tstamp(datetime.datetime.now())
 
+
         oa_controller._adapt(p_ctrl_error=control_error,p_ctrl_var=ControlVariable())