From 3fa486d36f9e5252227e7785b475ffaceb81289f Mon Sep 17 00:00:00 2001
From: Amerik Singh <amerik.singh13@gmail.com>
Date: Mon, 16 Sep 2024 21:07:54 +0200
Subject: [PATCH] OA: RL PID Controller (SISO) #1050

---
 src/mlpro/oa/control/controllers/__init__.py  |  0
 .../control/controllers/oa_pid_controller.py  | 70 +++++++++++++++++++
 2 files changed, 70 insertions(+)
 create mode 100644 src/mlpro/oa/control/controllers/__init__.py
 create mode 100644 src/mlpro/oa/control/controllers/oa_pid_controller.py

diff --git a/src/mlpro/oa/control/controllers/__init__.py b/src/mlpro/oa/control/controllers/__init__.py
new file mode 100644
index 000000000..e69de29bb
diff --git a/src/mlpro/oa/control/controllers/oa_pid_controller.py b/src/mlpro/oa/control/controllers/oa_pid_controller.py
new file mode 100644
index 000000000..a0fd62af2
--- /dev/null
+++ b/src/mlpro/oa/control/controllers/oa_pid_controller.py
@@ -0,0 +1,70 @@
+from mlpro.bf.control.controllers.pid_controller import PIDController
+from mlpro.bf.streams import InstDict
+from mlpro.rl import Policy, FctReward
+from mlpro.oa.control.basics import OAController
+from mlpro.bf.math.basics import Log,Set,MSpace
+from mlpro.bf.mt import Log, Task
+from mlpro.bf.systems import Action
+from mlpro.bf.control.basics import CTRLError, ControlError, Controller
+from mlpro.bf.systems.basics import ActionElement
+from mlpro.bf.various import Log
+from mlpro.bf.streams import InstDict, Instance
+
+
+
+
+
+class RLController(OAController):
+
+    C_TYPE= 'RL PID-Controller'
+
+    def __init__(self, p_name: str = None, p_range_max=Task.C_RANGE_THREAD, p_duplicate_data: bool = False, p_visualize: bool = False, 
+                 p_logging=Log.C_LOG_ALL,p_error_id:int = 0,p_cls_policy:type = None, p_param_policy = None,p_fct_reward:FctReward = None ,**p_kwargs):
+        super().__init__(p_name, p_range_max, p_duplicate_data, p_visualize, p_logging, **p_kwargs)
+
+
+
+class RLPIDController(RLController):
+
+
+    def __init__(self, p_name: str = None, p_range_max=Task.C_RANGE_THREAD, p_duplicate_data: bool = False, p_visualize: bool = False,
+                  p_logging=Log.C_LOG_ALL, p_error_id: int = 0, p_cls_policy: type = None, p_param_policy=None, p_fct_reward: FctReward = None,pid_controller:PIDController = None,**p_kwargs):
+        super().__init__(p_name, p_range_max, p_duplicate_data, p_visualize, p_logging, p_error_id, p_cls_policy, p_param_policy, p_fct_reward,**p_kwargs)
+
+        self._policy = self._setup_policy(p_param_policy)
+        
+        self._pid_controller = pid_controller
+
+    def _setup_policy_action_space(self) -> MSpace:
+        pass
+
+
+    def _setup_policy(self,**kwags)-> Policy:
+        return Policy()
+
+
+
+    def _run(self, p_inst:InstDict):
+        self._adapt()
+        action = self.compute_action(p_inst.values()[0])
+        return action
+
+    def compute_action(self, p_ctrl_error: ControlError) -> Action:
+        return self._pid_controller.compute_action(p_ctrl_error)
+    
+    def _adapt(self):
+        pass
+        
+
+        
+
+
+
+    
+
+    
+
+    
+
+    
+