/**
 * Copyright 2021 Jasem Mutlaq <mutlaqja@ikarustech.com>
 * Copyright (c) 2020 Philip Salmony
 * Copyright 2019 Bradley J. Snyder <snyder.bradleyj@gmail.com>
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */

#pragma once

class PIDImpl;
class PID
{
    public:
        // Kp -  proportional gain
        // Ki -  Integral gain
        // Kd -  derivative gain
        // dt -  loop interval time
        // max - maximum value of manipulated variable
        // min - minimum value of manipulated variable
        PID( double dt, double max, double min, double Kp, double Kd, double Ki );

        void setIntegratorLimits(double min, double max);
        void setTau(double value);

        // PID Gain Setters
        void setKp(double Kp);
        void setKi(double Ki);
        void setKd(double Kd);

        // PID Gain Getters
        void getGains(double &Kp, double &Ki, double &Kd) const;

        // Returns the manipulated variable given a setpoint and current process value
        double calculate( double setpoint, double pv );

        // Reset controller state (clears integral, previous error/measurement)
        void reset();

        // Individual term accessors
        double proportionalTerm() const;
        double integralTerm() const;
        double derivativeTerm() const;
        ~PID();

    private:
        PIDImpl *pimpl;
};
