@strato-automation/node-red-contrib-strato-automation/pid-node/pid.js

Strato Automation Official Node Red Library

function a24_0x5028(_0x45df57,_0x1b9525){_0x45df57=_0x45df57-0x13d;const _0x151bd4=a24_0x151b();let _0x502899=_0x151bd4[_0x45df57];return _0x502899;}const a24_0x2cdca8=a24_0x5028;function a24_0x151b(){const _0x482f60=['context','prop_band','in1','strato-pid','reset','exports','8797220WonKdP','abs','/strato-pid/runtime/:id','integral_gain','integral_default','blue','deadband','registerType','1004MOeKFl','now','__lastAvgPv','203716HqITDX','__srcid','pid_state','output','setpoint','getNode','8715YbjvMC','isFinite','isArray','true','\x20OUT:\x20','set','trig','Disabled','disabled_output','min_output','derivative_time','post','hasOwnProperty','Please\x20deploy','last_error','5129208FXoNFv','proportional_band','bias','green','json','637917YMTAQZ','/strato-pid/reset/:id','assign','disabled_op','status','type','dot','integral_time','payload','proportional_gain','send','length','enable','derivative','__destructor','t_derivative','max_output','\x20SP:\x20','__pvBuffer','toFixed','__lastTrig','toLowerCase','params','httpAdmin','topic','PV:\x20','i_state','t_integral','createNode','State\x20Reset','__lastPayloadSent','enabled','derivative_gain','9EOLuoq','__forceOutput','exec_time','close','get','reduce','reverse_action','integral','2RGzVJx','node\x20not\x20found','343496yLvnPS','nodes','2722454FrCsmI','yellow'];a24_0x151b=function(){return _0x482f60;};return a24_0x151b();}(function(_0x507fd6,_0x25ef1e){const _0x288c89=a24_0x5028,_0x37f6e7=_0x507fd6();while(!![]){try{const _0xfba1f1=-parseInt(_0x288c89(0x146))/0x1*(parseInt(_0x288c89(0x15d))/0x2)+-parseInt(_0x288c89(0x177))/0x3+parseInt(_0x288c89(0x15a))/0x4*(-parseInt(_0x288c89(0x163))/0x5)+parseInt(_0x288c89(0x172))/0x6+-parseInt(_0x288c89(0x14a))/0x7+parseInt(_0x288c89(0x148))/0x8+parseInt(_0x288c89(0x13e))/0x9*(parseInt(_0x288c89(0x152))/0xa);if(_0xfba1f1===_0x25ef1e)break;else _0x37f6e7['push'](_0x37f6e7['shift']());}catch(_0xa1e3b6){_0x37f6e7['push'](_0x37f6e7['shift']());}}}(a24_0x151b,0x828e5),module[a24_0x2cdca8(0x151)]=function(_0xb88883){'use strict';const _0x5ac4c8=a24_0x2cdca8;function _0x1ac764(_0x3eb233){const _0x334be5=a24_0x5028;_0xb88883[_0x334be5(0x149)][_0x334be5(0x193)](this,_0x3eb233);var _0x1136a1=this;_0x1136a1[_0x334be5(0x161)]=Number(_0x3eb233['setpoint'])||0x0,_0x1136a1[_0x334be5(0x183)]=Number(_0x3eb233[_0x334be5(0x183)])||0x0,_0x1136a1['prop_band']=Number(_0x3eb233['pb'])||0x0,_0x1136a1[_0x334be5(0x192)]=Number(_0x3eb233['ti'])||0x0,_0x1136a1[_0x334be5(0x186)]=Number(_0x3eb233['td'])||0x0,_0x1136a1['kp']=Number(_0x3eb233['kp']),_0x1136a1['ki']=Number(_0x3eb233['ki']),_0x1136a1['kd']=Number(_0x3eb233['kd']);if(_0x1136a1['prop_band']===0x1)_0x1136a1[_0x334be5(0x14d)]=0x64;if(_0x1136a1[_0x334be5(0x14d)]>0x0)_0x1136a1['kp']=0x64/_0x1136a1[_0x334be5(0x14d)];else(!Number[_0x334be5(0x164)](_0x1136a1['kp'])||_0x1136a1['kp']<=0x0)&&(_0x1136a1['kp']=0x1);(!Number[_0x334be5(0x164)](_0x1136a1['kd'])||_0x1136a1['kd']<0x0)&&(_0x1136a1['kd']=_0x1136a1['kp']>0x0&&_0x1136a1[_0x334be5(0x186)]>=0x0?_0x1136a1['kp']*_0x1136a1[_0x334be5(0x186)]:0x0);if(_0x1136a1['t_integral']===0x0)_0x1136a1['ki']=0x0;else(!Number[_0x334be5(0x164)](_0x1136a1['ki'])||_0x1136a1['ki']<=0x0)&&(_0x1136a1['ki']=_0x1136a1['kp']>0x0&&_0x1136a1[_0x334be5(0x192)]>0x0?_0x1136a1['kp']/_0x1136a1['t_integral']:0x0);_0x1136a1['bias']=Number(_0x3eb233[_0x334be5(0x174)])||0x0,_0x1136a1[_0x334be5(0x17a)]=Number(_0x3eb233['disabled_op']);if(!Number[_0x334be5(0x164)](_0x1136a1[_0x334be5(0x17a)]))_0x1136a1[_0x334be5(0x17a)]=0x0;_0x1136a1[_0x334be5(0x16c)]=Number(_0x3eb233[_0x334be5(0x16c)]),_0x1136a1[_0x334be5(0x187)]=Number(_0x3eb233['max_output']);if(!Number['isFinite'](_0x1136a1[_0x334be5(0x16c)]))_0x1136a1[_0x334be5(0x16c)]=0x0;if(!Number[_0x334be5(0x164)](_0x1136a1[_0x334be5(0x187)]))_0x1136a1[_0x334be5(0x187)]=0x64;_0x1136a1[_0x334be5(0x158)]=Number(_0x3eb233[_0x334be5(0x158)]);if(!Number[_0x334be5(0x164)](_0x1136a1['deadband'])||_0x1136a1[_0x334be5(0x158)]<0x0)_0x1136a1[_0x334be5(0x158)]=0x0;_0x1136a1[_0x334be5(0x144)]=_0x3eb233[_0x334be5(0x144)]===!![]||_0x3eb233[_0x334be5(0x144)]==='true',_0x1136a1['pv']=NaN,_0x1136a1[_0x334be5(0x160)]=Number['isFinite'](Number(_0x3eb233[_0x334be5(0x160)]))?Number(_0x3eb233[_0x334be5(0x160)]):0x0,_0x1136a1[_0x334be5(0x171)]=0x0,_0x1136a1[_0x334be5(0x191)]=0x0,_0x1136a1[_0x334be5(0x156)]=Number(_0x3eb233[_0x334be5(0x156)]);if(!Number[_0x334be5(0x164)](_0x1136a1[_0x334be5(0x156)]))_0x1136a1[_0x334be5(0x156)]=NaN;_0x1136a1[_0x334be5(0x145)]=0x0,_0x1136a1[_0x334be5(0x184)]=0x0,_0x1136a1['__lastPayloadSent']=NaN,_0x1136a1[_0x334be5(0x13f)]=![],_0x1136a1['__lastTrig']=undefined;const _0xfcef4b=_0x1136a1['context'](),_0x6e0c7e=_0xfcef4b[_0x334be5(0x142)](_0x334be5(0x15f));if(_0x6e0c7e&&typeof _0x6e0c7e==='object'){if(Number['isFinite'](_0x6e0c7e[_0x334be5(0x160)]))_0x1136a1['output']=_0x6e0c7e[_0x334be5(0x160)];if(Number[_0x334be5(0x164)](_0x6e0c7e[_0x334be5(0x171)]))_0x1136a1['last_error']=_0x6e0c7e[_0x334be5(0x171)];if(Number['isFinite'](_0x6e0c7e['i_state']))_0x1136a1[_0x334be5(0x191)]=_0x6e0c7e[_0x334be5(0x191)];if(Number['isFinite'](_0x6e0c7e['pv']))_0x1136a1['pv']=_0x6e0c7e['pv'];if(Number[_0x334be5(0x164)](_0x6e0c7e[_0x334be5(0x161)]))_0x1136a1[_0x334be5(0x161)]=_0x6e0c7e[_0x334be5(0x161)];if(Number['isFinite'](_0x6e0c7e[_0x334be5(0x183)]))_0x1136a1[_0x334be5(0x183)]=_0x6e0c7e[_0x334be5(0x183)];if(Number[_0x334be5(0x164)](_0x6e0c7e['prop_band'])&&_0x6e0c7e[_0x334be5(0x14d)]>0x0)_0x1136a1[_0x334be5(0x14d)]=_0x6e0c7e['prop_band'];if(Number[_0x334be5(0x164)](_0x6e0c7e['t_integral'])&&_0x6e0c7e[_0x334be5(0x192)]>=0x0)_0x1136a1['t_integral']=_0x6e0c7e[_0x334be5(0x192)];if(Number['isFinite'](_0x6e0c7e['t_derivative'])&&_0x6e0c7e[_0x334be5(0x186)]>=0x0)_0x1136a1[_0x334be5(0x186)]=_0x6e0c7e[_0x334be5(0x186)];if(Number[_0x334be5(0x164)](_0x6e0c7e['kp'])&&_0x6e0c7e['kp']>0x0)_0x1136a1['kp']=_0x6e0c7e['kp'];if(Number['isFinite'](_0x6e0c7e['ki'])&&_0x6e0c7e['ki']>=0x0)_0x1136a1['ki']=_0x6e0c7e['ki'];if(Number[_0x334be5(0x164)](_0x6e0c7e['kd'])&&_0x6e0c7e['kd']>=0x0)_0x1136a1['kd']=_0x6e0c7e['kd'];if(Number[_0x334be5(0x164)](_0x6e0c7e['bias']))_0x1136a1[_0x334be5(0x174)]=_0x6e0c7e[_0x334be5(0x174)];if(Number[_0x334be5(0x164)](_0x6e0c7e[_0x334be5(0x17a)]))_0x1136a1['disabled_op']=_0x6e0c7e[_0x334be5(0x17a)];if(Number[_0x334be5(0x164)](_0x6e0c7e[_0x334be5(0x16c)]))_0x1136a1[_0x334be5(0x16c)]=_0x6e0c7e[_0x334be5(0x16c)];if(Number[_0x334be5(0x164)](_0x6e0c7e['max_output']))_0x1136a1[_0x334be5(0x187)]=_0x6e0c7e[_0x334be5(0x187)];if(typeof _0x6e0c7e[_0x334be5(0x144)]==='boolean')_0x1136a1[_0x334be5(0x144)]=_0x6e0c7e[_0x334be5(0x144)];if(Number[_0x334be5(0x164)](_0x6e0c7e[_0x334be5(0x156)]))_0x1136a1['integral_default']=_0x6e0c7e[_0x334be5(0x156)];if(Number[_0x334be5(0x164)](_0x6e0c7e[_0x334be5(0x18b)]))_0x1136a1[_0x334be5(0x18b)]=_0x6e0c7e['__lastTrig'];}function _0x1a8ddf(){const _0x3671fb=_0x334be5;_0xfcef4b[_0x3671fb(0x168)](_0x3671fb(0x15f),{'output':_0x1136a1[_0x3671fb(0x160)],'last_error':_0x1136a1[_0x3671fb(0x171)],'i_state':_0x1136a1[_0x3671fb(0x191)],'pv':_0x1136a1['pv'],'setpoint':_0x1136a1[_0x3671fb(0x161)],'enable':_0x1136a1[_0x3671fb(0x183)],'prop_band':_0x1136a1[_0x3671fb(0x14d)],'t_integral':_0x1136a1[_0x3671fb(0x192)],'t_derivative':_0x1136a1[_0x3671fb(0x186)],'kp':_0x1136a1['kp'],'ki':_0x1136a1['ki'],'kd':_0x1136a1['kd'],'bias':_0x1136a1[_0x3671fb(0x174)],'disabled_op':_0x1136a1['disabled_op'],'min_output':_0x1136a1[_0x3671fb(0x16c)],'max_output':_0x1136a1[_0x3671fb(0x187)],'deadband':_0x1136a1['deadband'],'reverse_action':_0x1136a1['reverse_action'],'integral_default':_0x1136a1['integral_default'],'__lastTrig':_0x1136a1[_0x3671fb(0x18b)]});}function _0x56bedc(_0x216832){const _0x526958=_0x334be5,_0x4d40f6=Number(_0x216832);if(!Number[_0x526958(0x164)](_0x4d40f6))return;const _0x2194a4=_0x1136a1[_0x526958(0x18b)],_0x52b730=_0x2194a4!==undefined&&Number[_0x526958(0x164)](_0x2194a4)?Math['max'](0.1,Math['min'](0xe10,_0x4d40f6-_0x2194a4)):0xa;_0x1136a1['__lastTrig']=_0x4d40f6,_0x1136a1[_0x526958(0x140)]=_0x52b730;const _0x5559fe=_0x471a05();_0x5559fe&&(_0x1136a1['send'](_0x5559fe),_0x1136a1[_0x526958(0x195)]=_0x5559fe['payload'],_0x1136a1[_0x526958(0x13f)]=![]),_0x1a8ddf();}this['on']('input',function(_0x3e48d){const _0x31a819=_0x334be5,_0x440d18=(typeof _0x3e48d[_0x31a819(0x18f)]==='string'?_0x3e48d[_0x31a819(0x18f)]['trim']():'')||'',_0xd6748a=_0x440d18[_0x31a819(0x18c)]();function _0x1ea315(){const _0x22a477=_0x31a819;for(let _0x477b44=0x0;_0x477b44<arguments['length'];_0x477b44++){if(_0xd6748a===String(arguments[_0x477b44])[_0x22a477(0x18c)]())return!![];}return![];}function _0x5396f8(_0x1a09d2,_0xff4d4f){const _0x4dc1a1=_0x31a819,_0x5476a1=Array[_0x4dc1a1(0x165)](_0x1a09d2)?_0x1a09d2:[_0x1a09d2];if(_0x5476a1['some'](function(_0x9e79fc){const _0x3786b3=_0x4dc1a1;return _0xd6748a===String(_0x9e79fc)[_0x3786b3(0x18c)]();}))return _0x3e48d['payload'];const _0x52e85f=Array[_0x4dc1a1(0x165)](_0xff4d4f)?_0xff4d4f:[_0xff4d4f];for(let _0x369b47=0x0;_0x369b47<_0x52e85f[_0x4dc1a1(0x182)];_0x369b47++){if(_0x3e48d['hasOwnProperty'](_0x52e85f[_0x369b47])&&_0x3e48d[_0x52e85f[_0x369b47]]!==undefined)return _0x3e48d[_0x52e85f[_0x369b47]];}return undefined;}if(_0x3e48d['hasOwnProperty']('enabled')){var _0x4df920=!!_0x1136a1[_0x31a819(0x183)];_0x1136a1[_0x31a819(0x183)]=_0x3e48d[_0x31a819(0x196)]===!![]||_0x3e48d[_0x31a819(0x196)]===0x1||_0x3e48d[_0x31a819(0x196)]===_0x31a819(0x166)||_0x3e48d[_0x31a819(0x196)]==='1'?0x1:0x0,_0x1136a1[_0x31a819(0x13f)]=!![];if(_0x1136a1['enable']&&!_0x4df920)Number[_0x31a819(0x164)](_0x1136a1['integral_default'])&&_0x1136a1['ki']!==0x0&&(_0x1136a1[_0x31a819(0x191)]=_0x1136a1[_0x31a819(0x156)]/_0x1136a1['ki']),_0x1136a1['status']({});else{if(_0x4df920&&!_0x1136a1['enable']){_0x1136a1[_0x31a819(0x160)]=_0x1136a1[_0x31a819(0x17a)],_0x1136a1[_0x31a819(0x17b)]({'fill':'yellow','shape':_0x31a819(0x17d),'text':_0x31a819(0x16a)});const _0x4bcd95=_0x2c8ba4({'payload':_0x1136a1['disabled_op'],'pv':_0x1136a1['pv'],'integral':_0x1136a1['integral'],'derivative':_0x1136a1['derivative']});_0x1136a1[_0x31a819(0x181)](_0x4bcd95),_0x1136a1[_0x31a819(0x195)]=_0x4bcd95[_0x31a819(0x17f)],_0x1a8ddf();}}_0x1a8ddf();}var _0x29df4a;if((_0x29df4a=_0x5396f8([_0x31a819(0x161),'sp',_0x31a819(0x14e)],['sp',_0x31a819(0x161)]))!==undefined){_0x1136a1['setpoint']=Number(_0x29df4a);if(!Number[_0x31a819(0x164)](_0x1136a1['setpoint']))_0x1136a1['setpoint']=0x0;_0x1136a1[_0x31a819(0x13f)]=!![];}if((_0x29df4a=_0x5396f8([_0x31a819(0x183)],[_0x31a819(0x183)]))!==undefined){var _0x4df920=!!_0x1136a1[_0x31a819(0x183)];_0x1136a1[_0x31a819(0x183)]=_0x29df4a===!![]||_0x29df4a===0x1||_0x29df4a===_0x31a819(0x166)||_0x29df4a==='1'?0x1:0x0,_0x1136a1[_0x31a819(0x13f)]=!![];if(_0x1136a1[_0x31a819(0x183)]&&!_0x4df920)Number[_0x31a819(0x164)](_0x1136a1[_0x31a819(0x156)])&&_0x1136a1['ki']!==0x0&&(_0x1136a1[_0x31a819(0x191)]=_0x1136a1[_0x31a819(0x156)]/_0x1136a1['ki']),_0x1136a1[_0x31a819(0x17b)]({});else{if(_0x4df920&&!_0x1136a1[_0x31a819(0x183)]){_0x1136a1[_0x31a819(0x160)]=_0x1136a1[_0x31a819(0x17a)],_0x1136a1[_0x31a819(0x17b)]({'fill':_0x31a819(0x14b),'shape':_0x31a819(0x17d),'text':'Disabled'});const _0x45e04a=_0x2c8ba4({'payload':_0x1136a1['disabled_op'],'pv':_0x1136a1['pv'],'integral':_0x1136a1['integral'],'derivative':_0x1136a1[_0x31a819(0x184)]});_0x1136a1[_0x31a819(0x181)](_0x45e04a),_0x1136a1[_0x31a819(0x195)]=_0x45e04a[_0x31a819(0x17f)],_0x1a8ddf();}}}if((_0x29df4a=_0x5396f8([_0x31a819(0x173),'pb',_0x31a819(0x14d)],['pb',_0x31a819(0x14d),_0x31a819(0x173)]))!==undefined&&_0x3e48d['__srcid']!==_0x1136a1['id']){const _0xf617d7=Number(_0x29df4a);if(Number[_0x31a819(0x164)](_0xf617d7)&&_0xf617d7>0x0){_0x1136a1[_0x31a819(0x14d)]=_0xf617d7,_0x1136a1['kp']=0x64/_0x1136a1[_0x31a819(0x14d)];if(_0x1136a1[_0x31a819(0x192)]>0x0)_0x1136a1['ki']=_0x1136a1['kp']/_0x1136a1['t_integral'];if(_0x1136a1[_0x31a819(0x186)]>=0x0)_0x1136a1['kd']=_0x1136a1['kp']*_0x1136a1[_0x31a819(0x186)];if(_0x1136a1[_0x31a819(0x183)])_0x1136a1[_0x31a819(0x13f)]=!![];}}if((_0x29df4a=_0x5396f8([_0x31a819(0x17e),'it','t_integral','ti'],['ti','it',_0x31a819(0x192),_0x31a819(0x17e)]))!==undefined){_0x1136a1[_0x31a819(0x192)]=Number(_0x29df4a);if(!Number[_0x31a819(0x164)](_0x1136a1['t_integral']))_0x1136a1[_0x31a819(0x192)]=0x0;_0x1136a1['ki']=_0x1136a1['t_integral']===0x0?0x0:_0x1136a1['kp']/_0x1136a1[_0x31a819(0x192)];if(_0x1136a1[_0x31a819(0x183)])_0x1136a1[_0x31a819(0x13f)]=!![];}if((_0x29df4a=_0x5396f8([_0x31a819(0x16d),'dt',_0x31a819(0x186),'td'],['td','dt','t_derivative','derivative_time']))!==undefined){_0x1136a1[_0x31a819(0x186)]=Number(_0x29df4a);if(!Number[_0x31a819(0x164)](_0x1136a1[_0x31a819(0x186)]))_0x1136a1['t_derivative']=0x0;_0x1136a1['kd']=_0x1136a1['kp']>0x0&&_0x1136a1[_0x31a819(0x186)]>=0x0?_0x1136a1['kp']*_0x1136a1[_0x31a819(0x186)]:0x0;if(_0x1136a1[_0x31a819(0x183)])_0x1136a1[_0x31a819(0x13f)]=!![];}if((_0x29df4a=_0x5396f8([_0x31a819(0x180),'kp'],['kp',_0x31a819(0x180)]))!==undefined&&_0x3e48d[_0x31a819(0x15e)]!==_0x1136a1['id']){const _0x537e17=Number(_0x29df4a);if(Number[_0x31a819(0x164)](_0x537e17)&&_0x537e17>0x0){_0x1136a1['kp']=_0x537e17,_0x1136a1[_0x31a819(0x14d)]=0x64/_0x1136a1['kp'];if(_0x1136a1[_0x31a819(0x192)]>0x0)_0x1136a1['ki']=_0x1136a1['kp']/_0x1136a1[_0x31a819(0x192)];if(_0x1136a1[_0x31a819(0x186)]>=0x0)_0x1136a1['kd']=_0x1136a1['kp']*_0x1136a1[_0x31a819(0x186)];if(_0x1136a1[_0x31a819(0x183)])_0x1136a1[_0x31a819(0x13f)]=!![];}}if((_0x29df4a=_0x5396f8([_0x31a819(0x155),'ki'],['ki',_0x31a819(0x155)]))!==undefined){_0x1136a1['ki']=Number(_0x29df4a);if(!Number[_0x31a819(0x164)](_0x1136a1['ki']))_0x1136a1['ki']=0x0;_0x1136a1[_0x31a819(0x192)]=_0x1136a1['ki']===0x0?0x0:_0x1136a1['kp']/_0x1136a1['ki'];if(_0x1136a1[_0x31a819(0x183)])_0x1136a1[_0x31a819(0x13f)]=!![];}if((_0x29df4a=_0x5396f8(['derivative_gain','kd'],['kd',_0x31a819(0x13d)]))!==undefined){_0x1136a1['kd']=Number(_0x29df4a);if(!Number['isFinite'](_0x1136a1['kd']))_0x1136a1['kd']=0x0;_0x1136a1[_0x31a819(0x186)]=_0x1136a1['kp']>0x0&&_0x1136a1['kd']>=0x0?_0x1136a1['kd']/_0x1136a1['kp']:0x0;if(_0x1136a1[_0x31a819(0x183)])_0x1136a1[_0x31a819(0x13f)]=!![];}if((_0x29df4a=_0x5396f8(['bias'],[_0x31a819(0x174)]))!==undefined){_0x1136a1[_0x31a819(0x174)]=Number(_0x29df4a);if(!Number[_0x31a819(0x164)](_0x1136a1[_0x31a819(0x174)]))_0x1136a1['bias']=0x0;_0x1136a1['__forceOutput']=!![];}if((_0x29df4a=_0x5396f8(['disabled_output',_0x31a819(0x17a)],[_0x31a819(0x17a),'disabled_output']))!==undefined){_0x1136a1['disabled_op']=Number(_0x29df4a);if(!Number['isFinite'](_0x1136a1[_0x31a819(0x17a)]))_0x1136a1[_0x31a819(0x17a)]=0x0;_0x1136a1['__forceOutput']=!![];}if((_0x29df4a=_0x5396f8([_0x31a819(0x16c)],[_0x31a819(0x16c)]))!==undefined){_0x1136a1[_0x31a819(0x16c)]=Number(_0x29df4a);if(!Number[_0x31a819(0x164)](_0x1136a1[_0x31a819(0x16c)]))_0x1136a1[_0x31a819(0x16c)]=0x0;_0x1136a1[_0x31a819(0x13f)]=!![];}if((_0x29df4a=_0x5396f8([_0x31a819(0x187)],['max_output']))!==undefined){_0x1136a1[_0x31a819(0x187)]=Number(_0x29df4a);if(!Number[_0x31a819(0x164)](_0x1136a1[_0x31a819(0x187)]))_0x1136a1[_0x31a819(0x187)]=0x64;_0x1136a1['__forceOutput']=!![];}if((_0x29df4a=_0x5396f8([_0x31a819(0x158)],[_0x31a819(0x158)]))!==undefined){_0x1136a1['deadband']=Number(_0x29df4a);if(!Number[_0x31a819(0x164)](_0x1136a1[_0x31a819(0x158)])||_0x1136a1[_0x31a819(0x158)]<0x0)_0x1136a1['deadband']=0x0;_0x1136a1[_0x31a819(0x13f)]=!![];}if((_0x29df4a=_0x5396f8([_0x31a819(0x144)],['reverse_action']))!==undefined){_0x1136a1[_0x31a819(0x144)]=_0x29df4a===!![]||_0x29df4a==='true'||_0x29df4a===0x1||_0x29df4a==='1';if(_0x1136a1['enable'])_0x1136a1[_0x31a819(0x13f)]=!![];}if((_0x29df4a=_0x5396f8([_0x31a819(0x156)],[_0x31a819(0x156)]))!==undefined){_0x1136a1[_0x31a819(0x156)]=Number(_0x29df4a);if(!Number['isFinite'](_0x1136a1[_0x31a819(0x156)]))_0x1136a1[_0x31a819(0x156)]=NaN;_0x1136a1['__forceOutput']=!![];}if(_0x1ea315(_0x31a819(0x150))||_0x3e48d[_0x31a819(0x16f)]('reset')&&_0x3e48d['reset']){_0x1136a1[_0x31a819(0x191)]=0x0,_0x1136a1[_0x31a819(0x171)]=0x0,_0x1136a1['integral']=0x0,_0x1136a1['derivative']=0x0,_0x1136a1['__pvBuffer']=[],_0x1136a1['__lastAvgPv']=undefined,_0x1136a1[_0x31a819(0x18b)]=undefined;_0x1136a1[_0x31a819(0x183)]?_0x1136a1['output']=_0x5cea1d(_0x1136a1[_0x31a819(0x174)],_0x1136a1['min_output'],_0x1136a1[_0x31a819(0x187)]):_0x1136a1[_0x31a819(0x160)]=_0x1136a1[_0x31a819(0x17a)];const _0x478767=_0x1136a1[_0x31a819(0x14c)]();_0x478767[_0x31a819(0x168)]('pid_state',null),_0x1136a1[_0x31a819(0x17b)]({'fill':_0x31a819(0x175),'shape':_0x31a819(0x17d),'text':_0x31a819(0x194)});const _0xbaf827=_0x2c8ba4({'payload':_0x1136a1[_0x31a819(0x160)],'pv':_0x1136a1['pv'],'integral':0x0,'derivative':0x0,'reset':!![],'sign':_0x1136a1[_0x31a819(0x144)]?-0x1:0x1,'i_state':0x0});_0x1136a1[_0x31a819(0x181)](_0xbaf827),_0x1136a1['__lastPayloadSent']=_0xbaf827[_0x31a819(0x17f)],_0x1a8ddf();return;}var _0x139973=[_0x31a819(0x161),'sp',_0x31a819(0x14e),'enable',_0x31a819(0x173),'pb',_0x31a819(0x14d),'integral_time','it',_0x31a819(0x192),'ti',_0x31a819(0x16d),'dt',_0x31a819(0x186),'td','proportional_gain','kp',_0x31a819(0x155),'ki',_0x31a819(0x13d),'kd',_0x31a819(0x174),_0x31a819(0x16b),_0x31a819(0x17a),_0x31a819(0x16c),_0x31a819(0x187),_0x31a819(0x158),_0x31a819(0x144),_0x31a819(0x156),'trig_output_interval','trig','reset'],_0x4f26c7=![];if(_0x3e48d[_0x31a819(0x16f)]('pv'))_0x1136a1['pv']=Number(_0x3e48d['pv']),_0x4f26c7=!![];else _0x3e48d[_0x31a819(0x16f)](_0x31a819(0x17f))&&!_0x139973['some'](function(_0x28f374){const _0x130e35=_0x31a819;return _0xd6748a===_0x28f374[_0x130e35(0x18c)]();})&&(_0x1136a1['pv']=Number(_0x3e48d[_0x31a819(0x17f)]),_0x4f26c7=!![]);if(_0x4f26c7){var _0x30e2ad=_0x3e48d[_0x31a819(0x16f)](_0x31a819(0x169))&&Number['isFinite'](Number(_0x3e48d[_0x31a819(0x169)]))?Number(_0x3e48d['trig']):Date[_0x31a819(0x15b)]()/0x3e8;_0x56bedc(_0x30e2ad);}else _0x1a8ddf();}),_0x1136a1[_0x334be5(0x185)]=function(){_0x1a8ddf();},_0x1136a1['on'](_0x334be5(0x141),_0x1136a1['__destructor']);function _0x5cea1d(_0x2b4e3d,_0x5d7878,_0x2236cf){if(_0x2b4e3d>_0x2236cf)return _0x2236cf;if(_0x2b4e3d<_0x5d7878)return _0x5d7878;return _0x2b4e3d;}function _0x2c8ba4(_0x55b1c3){const _0x3749a4=_0x334be5,_0x5726a8={'setpoint':_0x1136a1[_0x3749a4(0x161)],'bias':_0x1136a1[_0x3749a4(0x174)],'proportional_gain':_0x1136a1['kp'],'integral_gain':_0x1136a1['ki'],'derivative_gain':_0x1136a1['kd'],'proportional_band':_0x1136a1[_0x3749a4(0x14d)],'integral_time':_0x1136a1[_0x3749a4(0x192)],'derivative_time':_0x1136a1[_0x3749a4(0x186)],'min_output':_0x1136a1['min_output'],'max_output':_0x1136a1[_0x3749a4(0x187)],'deadband':_0x1136a1[_0x3749a4(0x158)],'enable':_0x1136a1[_0x3749a4(0x183)],'disabled_output':_0x1136a1[_0x3749a4(0x17a)],'reverse_action':_0x1136a1[_0x3749a4(0x144)],'integral_default':_0x1136a1[_0x3749a4(0x156)],'execution_time':Number[_0x3749a4(0x164)](_0x1136a1[_0x3749a4(0x140)])&&_0x1136a1[_0x3749a4(0x140)]>=0.1?_0x1136a1[_0x3749a4(0x140)]:0xa,'__srcid':_0x1136a1['id']};return _0x55b1c3?Object[_0x3749a4(0x179)](_0x5726a8,_0x55b1c3):_0x5726a8;}function _0x471a05(){const _0x4dc7e2=_0x334be5;if(!Number['isFinite'](_0x1136a1[_0x4dc7e2(0x140)])||_0x1136a1[_0x4dc7e2(0x140)]<0.1)_0x1136a1[_0x4dc7e2(0x140)]=0xa;if(!Number[_0x4dc7e2(0x164)](_0x1136a1[_0x4dc7e2(0x187)]))_0x1136a1[_0x4dc7e2(0x187)]=0x64;if(!Number['isFinite'](_0x1136a1[_0x4dc7e2(0x16c)]))_0x1136a1[_0x4dc7e2(0x16c)]=0x0;if(!Number[_0x4dc7e2(0x164)](_0x1136a1[_0x4dc7e2(0x158)])||_0x1136a1['deadband']<0x0)_0x1136a1[_0x4dc7e2(0x158)]=0x0;if(!Number['isFinite'](_0x1136a1[_0x4dc7e2(0x174)]))_0x1136a1['bias']=0x0;if(!Number['isFinite'](_0x1136a1['kp']))_0x1136a1['kp']=0x1;if(!Number[_0x4dc7e2(0x164)](_0x1136a1['kd']))_0x1136a1['kd']=0x0;if(!Number[_0x4dc7e2(0x164)](_0x1136a1[_0x4dc7e2(0x192)]))_0x1136a1['t_integral']=0x0;if(!Number['isFinite'](_0x1136a1[_0x4dc7e2(0x186)]))_0x1136a1[_0x4dc7e2(0x186)]=0x0;if(_0x1136a1[_0x4dc7e2(0x192)]===0x0)_0x1136a1['ki']=0x0;else{if(!Number[_0x4dc7e2(0x164)](_0x1136a1['ki'])||_0x1136a1['ki']<=0x0)_0x1136a1['ki']=_0x1136a1['kp']/_0x1136a1[_0x4dc7e2(0x192)];}if(!Number[_0x4dc7e2(0x164)](_0x1136a1['kd'])||_0x1136a1['kd']<0x0)_0x1136a1['kd']=_0x1136a1['kp']>0x0&&_0x1136a1[_0x4dc7e2(0x186)]>=0x0?_0x1136a1['kp']*_0x1136a1[_0x4dc7e2(0x186)]:0x0;if(!Number['isFinite'](_0x1136a1['pv'])||!isFinite(_0x1136a1['pv']))return null;const _0x101430=_0x1136a1[_0x4dc7e2(0x140)];let _0x384637=_0x1136a1[_0x4dc7e2(0x161)]-_0x1136a1['pv'];if(!_0x1136a1[_0x4dc7e2(0x144)])_0x384637=-_0x384637;const _0x1f380d=_0x1136a1[_0x4dc7e2(0x158)]>0x0?_0x1136a1['deadband']/0x2:0x0,_0x423263=_0x1f380d>0x0&&Math[_0x4dc7e2(0x153)](_0x384637)<_0x1f380d,_0xf08853=_0x1136a1['ki']!==0x0;if(!_0x1136a1[_0x4dc7e2(0x183)])return _0x1136a1[_0x4dc7e2(0x17b)]({'fill':'yellow','shape':_0x4dc7e2(0x17d),'text':_0x4dc7e2(0x16a)}),_0x1136a1['output']=_0x1136a1['disabled_op'],_0x1a8ddf(),_0x2c8ba4({'payload':_0x1136a1[_0x4dc7e2(0x17a)],'pv':_0x1136a1['pv'],'integral':_0x1136a1[_0x4dc7e2(0x145)],'derivative':_0x1136a1[_0x4dc7e2(0x184)]});if(!Number[_0x4dc7e2(0x164)](_0x1136a1[_0x4dc7e2(0x160)]))_0x1136a1[_0x4dc7e2(0x160)]=_0x5cea1d(_0x1136a1[_0x4dc7e2(0x174)],_0x1136a1[_0x4dc7e2(0x16c)],_0x1136a1[_0x4dc7e2(0x187)]);if(!Number['isFinite'](_0x1136a1[_0x4dc7e2(0x171)]))_0x1136a1[_0x4dc7e2(0x171)]=0x0;if(!Number[_0x4dc7e2(0x164)](_0x1136a1[_0x4dc7e2(0x191)]))_0x1136a1[_0x4dc7e2(0x191)]=0x0;_0x1136a1[_0x4dc7e2(0x189)]=_0x1136a1['__pvBuffer']||[],_0x1136a1[_0x4dc7e2(0x189)]['push'](_0x1136a1['pv']);if(_0x1136a1['__pvBuffer'][_0x4dc7e2(0x182)]>0xa)_0x1136a1['__pvBuffer']['shift']();const _0x5dd122=_0x1136a1['__pvBuffer']['length']>0x0?_0x1136a1[_0x4dc7e2(0x189)][_0x4dc7e2(0x143)]((_0x43cf36,_0x51b701)=>_0x43cf36+_0x51b701,0x0)/_0x1136a1[_0x4dc7e2(0x189)][_0x4dc7e2(0x182)]:_0x1136a1['pv'],_0x2b3050=_0x1136a1[_0x4dc7e2(0x15c)];_0x1136a1[_0x4dc7e2(0x15c)]=_0x5dd122;let _0x1c8f11=_0x101430>0x0&&_0x2b3050!==undefined?-(_0x5dd122-_0x2b3050)/_0x101430:0x0;_0x1c8f11=_0x5cea1d(_0x1c8f11,-0x2,0x2);if(!_0x423263){const _0x3d484f=_0x1136a1['kp']*_0x384637,_0x57fee1=_0x1136a1['kd']*_0x1c8f11;let _0xabc6da=0x0;if(_0xf08853)_0xabc6da=_0x1136a1['ki']*_0x1136a1['i_state'];let _0x163517=_0x1136a1[_0x4dc7e2(0x174)]+_0x3d484f+_0xabc6da+_0x57fee1,_0x48b14c=_0x5cea1d(_0x163517,_0x1136a1[_0x4dc7e2(0x16c)],_0x1136a1[_0x4dc7e2(0x187)]);const _0x8ff690=_0x163517>_0x1136a1[_0x4dc7e2(0x187)],_0x115cb8=_0x163517<_0x1136a1[_0x4dc7e2(0x16c)];if(_0xf08853){const _0x1f11ca=_0x384637>0x0,_0x49b4b4=_0x384637<0x0,_0x27e249=_0x8ff690&&_0xabc6da<0x0||_0x115cb8&&_0xabc6da>0x0,_0x1590e4=Math[_0x4dc7e2(0x153)](_0xabc6da)>Math[_0x4dc7e2(0x153)](_0x3d484f)*0.5,_0x40d5c7=_0x27e249||_0x1590e4&&(_0x8ff690&&_0x384637<0x0||_0x115cb8&&_0x384637>0x0),_0x17b5df=!_0x8ff690&&!_0x115cb8||_0x8ff690&&_0x49b4b4||_0x115cb8&&_0x1f11ca||_0x40d5c7;_0x17b5df&&(_0x1136a1['i_state']+=_0x384637*_0x101430,_0xabc6da=_0x1136a1['ki']*_0x1136a1[_0x4dc7e2(0x191)],_0x163517=_0x1136a1[_0x4dc7e2(0x174)]+_0x3d484f+_0xabc6da+_0x57fee1,_0x48b14c=_0x5cea1d(_0x163517,_0x1136a1[_0x4dc7e2(0x16c)],_0x1136a1[_0x4dc7e2(0x187)]));}_0x1136a1[_0x4dc7e2(0x160)]=_0x48b14c,_0x1136a1['integral']=_0xf08853?_0x1136a1['ki']*_0x1136a1[_0x4dc7e2(0x191)]:0x0,_0x1136a1[_0x4dc7e2(0x184)]=_0x1136a1['kd']*_0x1c8f11,_0xf08853&&Math[_0x4dc7e2(0x153)](_0x1136a1[_0x4dc7e2(0x145)])>0xc8&&(_0x1136a1[_0x4dc7e2(0x191)]/=0x2,_0x1136a1[_0x4dc7e2(0x145)]=_0x1136a1['ki']*_0x1136a1[_0x4dc7e2(0x191)]);}else _0x1136a1[_0x4dc7e2(0x145)]=_0xf08853?_0x1136a1['ki']*_0x1136a1[_0x4dc7e2(0x191)]:0x0,_0x1136a1[_0x4dc7e2(0x184)]=_0x1136a1['kd']*_0x1c8f11;_0x1136a1[_0x4dc7e2(0x171)]=_0x384637;let _0xbc2afe=_0x4dc7e2(0x190)+Number(_0x1136a1['pv'])[_0x4dc7e2(0x18a)](0x2)+_0x4dc7e2(0x188)+Number(_0x1136a1[_0x4dc7e2(0x161)])['toFixed'](0x2)+_0x4dc7e2(0x167)+Number(_0x1136a1[_0x4dc7e2(0x160)])[_0x4dc7e2(0x18a)](0x2);_0x1136a1[_0x4dc7e2(0x17b)]({'fill':_0x423263?_0x4dc7e2(0x157):_0x4dc7e2(0x175),'shape':_0x4dc7e2(0x17d),'text':_0xbc2afe}),_0x1a8ddf();let _0x550cc7=0x0;if(!_0x423263){const _0x12be6c=_0x1136a1['kp']*_0x384637,_0x3f23c8=_0x1136a1['kd']*_0x1c8f11,_0x36fe19=_0xf08853?_0x1136a1['ki']*_0x1136a1[_0x4dc7e2(0x191)]:0x0;_0x550cc7=_0x1136a1['bias']+_0x12be6c+_0x36fe19+_0x3f23c8;}return _0x2c8ba4({'payload':_0x1136a1['output'],'pv':_0x1136a1['pv'],'integral':_0x1136a1[_0x4dc7e2(0x145)],'derivative':_0x1136a1[_0x4dc7e2(0x184)],'error':_0x384637,'accumulated_integral':_0xf08853?_0x1136a1[_0x4dc7e2(0x191)]:0x0,'u_unclamped':_0x550cc7,'p_term':!_0x423263?_0x1136a1['kp']*_0x384637:0x0});}}_0xb88883[_0x5ac4c8(0x149)][_0x5ac4c8(0x159)](_0x5ac4c8(0x14f),_0x1ac764),_0xb88883[_0x5ac4c8(0x18e)][_0x5ac4c8(0x16e)](_0x5ac4c8(0x178),function(_0x3f80ce,_0x3fd0ab){const _0x3f6cfe=_0x5ac4c8,_0x1d263f=_0xb88883[_0x3f6cfe(0x149)][_0x3f6cfe(0x162)]?_0xb88883[_0x3f6cfe(0x149)][_0x3f6cfe(0x162)](_0x3f80ce[_0x3f6cfe(0x18d)]['id']):null;if(!_0x1d263f||_0x1d263f[_0x3f6cfe(0x17c)]!==_0x3f6cfe(0x14f)){_0x3fd0ab[_0x3f6cfe(0x17b)](0x194)[_0x3f6cfe(0x176)]({'error':_0x3f6cfe(0x170)});return;}_0x1d263f['receive']({'topic':_0x3f6cfe(0x150),'payload':!![]}),_0x3fd0ab[_0x3f6cfe(0x176)]({'ok':!![]});}),_0xb88883[_0x5ac4c8(0x18e)]['get'](_0x5ac4c8(0x154),function(_0x379d1c,_0x3884c3){const _0x4f2f21=_0x5ac4c8,_0x982879=_0xb88883['nodes'][_0x4f2f21(0x162)]?_0xb88883['nodes'][_0x4f2f21(0x162)](_0x379d1c[_0x4f2f21(0x18d)]['id']):null;if(!_0x982879||_0x982879[_0x4f2f21(0x17c)]!==_0x4f2f21(0x14f)){_0x3884c3[_0x4f2f21(0x17b)](0x194)[_0x4f2f21(0x176)]({'error':_0x4f2f21(0x147)});return;}_0x3884c3[_0x4f2f21(0x176)]({'setpoint':_0x982879[_0x4f2f21(0x161)],'bias':_0x982879['bias'],'kp':_0x982879['kp'],'ki':_0x982879['ki'],'kd':_0x982879['kd'],'pb':_0x982879['prop_band'],'ti':_0x982879[_0x4f2f21(0x192)],'td':_0x982879[_0x4f2f21(0x186)],'min_output':_0x982879['min_output'],'max_output':_0x982879[_0x4f2f21(0x187)],'deadband':_0x982879['deadband'],'enable':_0x982879[_0x4f2f21(0x183)],'disabled_op':_0x982879['disabled_op'],'reverse_action':_0x982879[_0x4f2f21(0x144)],'integral_default':_0x982879[_0x4f2f21(0x156)],'name':_0x982879['name']||''});});});