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(root)/trunk/PcSoftware/Atom1.5/script/interface/PID.js @ 2300 – Rev 2280 → 2300

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 PID_ActModuleNames  = [ "hwPWM", "softPWM", "SlowPWM", "PCAPWM" ];
+PID_Algos       = function() { return [ "ZIEGLER_NICHOLS_PI", "ZIEGLER_NICHOLS_PID", "TYREUS_LUYBEN_PI", "TYREUS_LUYBEN_PID", "CIANCONE_MARLIN_PI", "CIANCONE_MARLIN_PID", "AMIGOF_PI", "PESSEN_INTEGRAL_PID", "SOME_OVERSHOOT_PID", "NO_OVERSHOOT_PID" , "STOP"  ]; };
 PID_Intervals       = function() { return [ 1, 5, 10, 15, 20 ]; };
-//PID_Energy            = function() { return [ 0, 500, 1000, 5000, 10000 ]; };
+PID_Outputs         = function() { return [ 0, 500, 1000, 5000, 10000 ]; };
 PID_Temperatures    = function() { return [ 20, 25, 30, 35 ]; };
 PID_Constants       = function() { return [ 0, 0.1, 0.5, 1, 10, 100, 1000 ]; };
+PID_LookBackTimes   = function() { return [ 0, 1, 10, 100, 255 ]; };
 PID_TimeUnits       = function() { return [ "s", "ms"]; };
 PID_ControllerDirection = function() { return [ "direct", "reverse"]; };
 PID_Times       = function() { return [ 1, 5, 10, 15, 20, 40, 60]; };
 PID_Aliases         = function() { return Module_GetAliasNames(PID_ModuleNames); };
 PID_AvailableIds    = function() { return Module_GetAvailableIds(PID_ModuleNames); };
 PID_SensorAliases   = function() { return Module_GetAliasNames(PID_SensorModuleNames); };
-PID_ActAliases      = function() { return Module_GetAliasNames(PID_ActModuleNames); };
+PID_ActAliases  = function() { return Module_GetAliasNames(PID_ActModuleNames); };
 function PID_SetReportInterval(alias_name, interval)
 {
     if (arguments.length < 2)
     {
         Log("\033[31mNot enough parameters given.\033[0m\n");
         return false;
+    }
     var aliases_data = Module_ResolveAlias(alias_name, PID_ModuleNames);
     var found = false;
         var variables = {"Time"     : interval };
         if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "Report_Interval", variables))
+        {
             //Log("\033[32mCommand sent successfully to " + name + ".\033[0m\n");
         }
         else
         {
             Log("\033[31mFailed to send command to " + name + ".\033[0m\n");
+        }
         found = true;
+    }
+    }
     return true;
+}
 Console_RegisterCommand(PID_SetReportInterval, function(arg_index, args) { return Console_StandardAutocomplete(arg_index, args, PID_Aliases(), PID_Intervals()); });
 function PID_setValue(alias_name, temperature)
+{
     if (arguments.length < 2)
+    {
         Log("\033[31mNot enough parameters given.\033[0m\n");
     for (var name in aliases_data)
+    {
         var variables = {   "Value"     : temperature,
                     "SensorId"     : 0 };
         if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "Temperature_Celsius", variables))
         {
             Log("\033[32mCommand sent successfully to " + name + ".\033[0m\n");
         }
         else
         {
             Log("\033[31mFailed to send command to " + name + ".\033[0m\n");
         }
         found = true;
+    }
     if (!found)
+    {
         Log("\033[31mNo aliases by the name " + alias_name + " were applicable for this command.\033[0m\n");
         return false;
+    }
     return true;
+}
 Console_RegisterCommand(PID_setValue, function(arg_index, args) { return Console_StandardAutocomplete(arg_index, args, PID_Aliases(), PID_Temperatures());  });
+    {
         if (first == false)
+        {
             Log("\033[31mNo sensor by the name " + alias_sensor + " were applicable for this command, or alias was a group.\033[0m\n");
             return false;
         }
         Log ("Called Set Sensor:\n");
         Log ("sensorModuleType:   " + sensor_aliases_data[sensor]["module_name"]+"\n");
         Log ("sensorModuleId:     " + sensor_aliases_data[sensor]["module_id"]+"\n");
         Log ("SensorId:           " + sensor_aliases_data[sensor]["specific"]["SensorId"]+"\n");
         var id = 0;
         for (var name in aliases_data)
+        {
             var variables = {   "sensorModuleType"     : id,
                         "sensorModuleId"       : sensor_aliases_data[sensor]["module_id"],
                         "sensorId"     : sensor_aliases_data[sensor]["specific"]["SensorId"] };
             if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "CONFIG_SENSOR", variables))
             {
                 Log("\033[32mCommand sent successfully to " + name + ".\033[0m\n");
             }
             else
             {
                 Log("\033[31mFailed to send command to " + name + ".\033[0m\n");
             }
             found = true;
         }
         first = false;
         if (!found)
+        {
             Log("\033[31mNo aliases by the name " + alias_name + " were applicable for this command.\033[0m\n");
             return false;
+        }
     return true;
+}
 Console_RegisterCommand(PID_setSensor, function(arg_index, args) { return Console_StandardAutocomplete(arg_index, args, PID_Aliases(), PID_SensorAliases());  });
 function PID_setActuator(alias_name, alias_actuator)
 {
     if (arguments.length < 2)
+    {
         Log("\033[31mNot enough parameters given.\033[0m\n");
         return false;
+    }
             return; break;
+        }
         for (var name in aliases_data)
         {
             var variables = {   "actuatorModuleType"     : id,
                         "actuatorModuleId"       : act_aliases_data[act]["module_id"],
                         "actuatorId"             : act_aliases_data[act]["specific"]["Channel"] };
             if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "CONFIG_ACTUATOR", variables))
+            }
             found = true;
+        }
         first = false;
         if (!found)
         {
             Log("\033[31mNo aliases by the name " + alias_name + " were applicable for this command.\033[0m\n");
+            return false;
+        }
+    }
+    if (!found)
+    {
+        Log("\033[31mNo actuator aliases by the name " + alias_actuator + " were applicable for this command.\033[0m\n");
-            return false;
+        return false;
-        }
+    }
-    if (!found)
-    {
-        Log("\033[31mNo actuator aliases by the name " + alias_actuator + " were applicable for this command.\033[0m\n");
-        return false;
-    }
     return true;
 }
 Console_RegisterCommand(PID_setActuator, function(arg_index, args) { return Console_StandardAutocomplete(arg_index, args, PID_Aliases(), PID_ActAliases());  });
 function PID_setParameters(alias_name, KP,KI,KD,Time,Unit,ControllerDirection)
+{
     if (arguments.length < 6)
                     "TimeUnit"          : Unit };
         if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "CONFIG_PARAMETER", variables))
+        {
             Log("\033[32mCommand sent successfully to " + name + ".\033[0m");
             Log("\033[32mK_P = " + KP + "K_I = " + KI + "K_D = " + KD + "RegTime = " + Time + "Unit = " + Unit + ".\033[0m\n");
         }
         else
         {
             Log("\033[31mFailed to send command to " + name + ".\033[0m\n");
         }
         if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "CONFIG_PARAMETER_P_I", variables_P_I))
         {
             Log("\033[32mK_P = " + KP + "K_I = " + KI + ".\033[0m\n");
-        }
-        else
-        {
-            Log("\033[31mFailed to send command to " + name + ".\033[0m\n");
-        }
-        if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "CONFIG_PARAMETER_D_T", variables_D_T))
-        {
-            Log("\033[32mK_D = " + KD + " RegTime = " + Time + " Unit = " + Unit + " Direction = " + ControllerDirection +".\033[0m\n");
         }
         else
+        {
             Log("\033[31mFailed to send command to " + name + ".\033[0m\n");
+        }
-        found = true;
-    }
-    if (!found)
+        if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "CONFIG_PARAMETER_D_T", variables_D_T))
+        {
-        Log("\033[31mNo aliases by the name " + alias_name + " were applicable for this command.\033[0m\n");
+            Log("\033[32mK_D = " + KD + " RegTime = " + Time + " Unit = " + Unit + " Direction = " + ControllerDirection +".\033[0m\n");
-        return false;
+        }
+        else
+        {
+            Log("\033[31mFailed to send command to " + name + ".\033[0m\n");
+        }
+        found = true;
+    }
+    if (!found)
+    {
+        Log("\033[31mNo aliases by the name " + alias_name + " were applicable for this command.\033[0m\n");
+        return false;
+    }
     return true;
+}
 Console_RegisterCommand(PID_setParameters, function(arg_index, args) { return Console_StandardAutocomplete(arg_index, args, PID_Aliases(), PID_Constants(), PID_Constants(), PID_Constants(), PID_Times(), PID_TimeUnits(), PID_ControllerDirection()); });
 function PID_setOutputMaxMin(alias_name, Max,Min)
+{
     if (arguments.length < 3)
     {
         Log("\033[31mNot enough parameters given.\033[0m\n");
         return false;
     }
     var aliases_data = Module_ResolveAlias(alias_name, PID_ModuleNames);
     var found = false;
     for (var name in aliases_data)
     {
         var variables = {   "Min"     : Min,
                     "Max"     : Max };
         if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "OutMinMax", variables))
+        {
             Log("\033[32mMin = " + Min + "Max = " + Max + ".\033[0m\n");
+        }
         else
         {
             Log("\033[31mFailed to send command to " + name + ".\033[0m\n");
         }
         found = true;
     }
     if (!found)
+    {
         Log("\033[31mNo aliases by the name " + alias_name + " were applicable for this command.\033[0m\n");
         return false;
     }
     return true;
+}
-Console_RegisterCommand(PID_setOutputMaxMin, function(arg_index, args) { return Console_StandardAutocomplete(arg_index, args, PID_Aliases(), PID_Constants(), PID_Constants()); });
+Console_RegisterCommand(PID_setOutputMaxMin, function(arg_index, args) { return Console_StandardAutocomplete(arg_index, args, PID_Aliases(), PID_Outputs(), PID_Outputs()); });
 function PID_getConfiguration(alias_name)
 {
     if (arguments.length < 1)
+    {
         Log("\033[31mNot enough parameters given.\033[0m\n");
         return false;
+    }
         else
+        {
             Log("\033[31mFailed to send command 1 to " + name + ".\033[0m\n");
+        }
         if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "CONFIG_ACTUATOR", variables))
         {
             //Log("\033[32mCommand sent successfully to " + name + ".\033[0m\n");
         }
         else
         {
             Log("\033[31mFailed to send command 2 to " + name + ".\033[0m\n");
+        }
         if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "CONFIG_PARAMETER", variables))
+        {
             //Log("\033[32mCommand sent successfully to " + name + ".\033[0m\n");
+        }
         else
+        {
             Log("\033[31mFailed to send command 4 to " + name + ".\033[0m\n");
+        }
         if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "CONFIG_PARAMETER_P_I", variables))
         {
             //Log("\033[32mCommand sent successfully to " + name + ".\033[0m\n");
         }
         else
         {
             Log("\033[31mFailed to send command 5 to " + name + ".\033[0m\n");
+        }
         if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "CONFIG_PARAMETER_D_T", variables))
         {
             //Log("\033[32mCommand sent successfully to " + name + ".\033[0m\n");
         }
         else
         {
             Log("\033[31mFailed to send command 6 to " + name + ".\033[0m\n");
         }
         if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "OutMinMax", variables))
+        {
             //Log("\033[32mCommand sent successfully to " + name + ".\033[0m\n");
+        }
+        else
+        {
+            Log("\033[31mFailed to send command 7 to " + name + ".\033[0m\n");
+        }
+        if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "RUN_AUTOTUNE", variables))
+        {
+            //Log("\033[32mCommand sent successfully to " + name + ".\033[0m\n");
+        }
+        else
+        {
+            Log("\033[31mFailed to send command 8 to " + name + ".\033[0m\n");
+        }
+        if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "CONFIG_AUTOTUNE_NOISE_STEP", variables))
+        {
+            //Log("\033[32mCommand sent successfully to " + name + ".\033[0m\n");
+        }
+        else
+        {
+            Log("\033[31mFailed to send command 9 to " + name + ".\033[0m\n");
+        }
+        if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "CONFIG_PID_START_VALUE", variables))
+        {
+            //Log("\033[32mCommand sent successfully to " + name + ".\033[0m\n");
+        }
+        else
+        {
+            Log("\033[31mFailed to send command 9 to " + name + ".\033[0m\n");
+        }
+        if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "CONFIG_ONOFF_REGULATOR", variables))
+        {
+            //Log("\033[32mCommand sent successfully to " + name + ".\033[0m\n");
+        }
+        else
+        {
+            Log("\033[31mFailed to send command 9 to " + name + ".\033[0m\n");
+        }
+        found = true;
+    }
+    if (!found)
+    {
+        Log("\033[31mNo aliases by the name " + alias_name + " were applicable for this command.\033[0m\n");
+        return false;
+    }
+    return true;
+}
+Console_RegisterCommand(PID_getConfiguration, function(arg_index, args) { return Console_StandardAutocomplete(arg_index, args, PID_Aliases()); });
+function PID_startAutoTune(alias_name, Algo ,lookbacktime)
+{
+    if (arguments.length < 3)
+    {
+        Log("\033[31mNot enough parameters given.\033[0m\n");
+        return false;
+    }
+    var aliases_data = Module_ResolveAlias(alias_name, PID_ModuleNames);
+    var found = false;
+    for (var name in aliases_data)
+    {
+        var variables= {    "Method"            : Algo,
+                    "LookBackTime"          : lookbacktime };
+        if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "RUN_AUTOTUNE", variables))
+        {
+            Log("\033[32mCommand sent successfully to " + name + ".\033[0m");
+            Log("\033[32mMethod = " + Algo + "LookBackTime = " + lookbacktime + ".\033[0m\n");
+        }
+        else
+        {
+            Log("\033[31mFailed to send command to " + name + ".\033[0m\n");
+        }
+        found = true;
+    }
+    if (!found)
+    {
+        Log("\033[31mNo aliases by the name " + alias_name + " were applicable for this command.\033[0m\n");
+        return false;
+    }
+    return true;
+}
+Console_RegisterCommand(PID_startAutoTune, function(arg_index, args) { return Console_StandardAutocomplete(arg_index, args, PID_Aliases(), PID_Algos(), PID_LookBackTimes()); });
+function PID_AutoTuneNoiceStep(alias_name, NoiseBand ,OutputStep)
+{
+    if (arguments.length < 3)
+    {
+        Log("\033[31mNot enough parameters given.\033[0m\n");
+        return false;
+    }
+    var aliases_data = Module_ResolveAlias(alias_name, PID_ModuleNames);
+    var found = false;
+    for (var name in aliases_data)
+    {
+        var variables= {    "NoiseBand"             : NoiseBand,
+                    "OutputStep"            : OutputStep };
+        if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "CONFIG_AUTOTUNE_NOISE_STEP", variables))
+        {
+            Log("\033[32mCommand sent successfully to " + name + ".\033[0m");
+            Log("\033[32mNoiseBand = " + NoiseBand + "OutputStep = " + OutputStep + ".\033[0m\n");
+        }
+        else
+        {
+            Log("\033[31mFailed to send command to " + name + ".\033[0m\n");
+        }
+        found = true;
+    }
+    if (!found)
+    {
+        Log("\033[31mNo aliases by the name " + alias_name + " were applicable for this command.\033[0m\n");
+        return false;
+    }
+    return true;
+}
+Console_RegisterCommand(PID_AutoTuneNoiceStep, function(arg_index, args) { return Console_StandardAutocomplete(arg_index, args, PID_Aliases(), PID_Constants(), PID_Constants()); });
+function PID_ConfigStartValue(alias_name, Factor, Offset)
+{
+    if (arguments.length < 3)
+    {
+        Log("\033[31mNot enough parameters given.\033[0m\n");
+        return false;
+    }
+    var aliases_data = Module_ResolveAlias(alias_name, PID_ModuleNames);
+    var found = false;
+    for (var name in aliases_data)
+    {
+        var variables= {    "Factor"            : Factor,
+                    "Offset"            : Offset};
+        if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "CONFIG_PID_START_VALUE", variables))
+        {
+            Log("\033[32mCommand sent successfully to " + name + ".\033[0m");
+            Log("\033[32mFactor = " + Factor+ "Offset = " + Offset+ ".\033[0m\n");
+        }
+        else
+        {
+            Log("\033[31mFailed to send command to " + name + ".\033[0m\n");
         }
+        found = true;
+    }
+    if (!found)
+    {
+        Log("\033[31mNo aliases by the name " + alias_name + " were applicable for this command.\033[0m\n");
+        return false;
+    }
+    return true;
+}
+Console_RegisterCommand(PID_ConfigStartValue, function(arg_index, args) { return Console_StandardAutocomplete(arg_index, args, PID_Aliases(), PID_Constants(), PID_Constants()); });
+function PID_ConfigOnOff(alias_name, OnValue, OffValue, OuterRange, InnerRange)
+{
+    if (arguments.length < 5)
+    {
+        Log("\033[31mNot enough parameters given.\033[0m\n");
+        return false;
+    }
+    var aliases_data = Module_ResolveAlias(alias_name, PID_ModuleNames);
+    var found = false;
+    for (var name in aliases_data)
+    {
+        var variables= {    "OnValue"           : OnValue,
+                    "OffValue"          : OffValue,
+                    "OuterRange"            : OuterRange,
+                    "InnerRange"            : InnerRange};
+        if (Module_SendMessage(aliases_data[name]["module_name"], aliases_data[name]["module_id"], "CONFIG_ONOFF_REGULATOR", variables))
+        {
+            Log("\033[32mCommand sent successfully to " + name + ".\033[0m");
+            Log("\033[32mOnValue = " + OnValue+ "OffValue= " + OffValue+ "OuterRange= " + OuterRange+ "InnerRange= " + InnerRange+ ".\033[0m\n");
+        }
         else
+        {
-            Log("\033[31mFailed to send command 6 to " + name + ".\033[0m\n");
+            Log("\033[31mFailed to send command to " + name + ".\033[0m\n");
         }
         found = true;
+    }
     if (!found)
     {
         Log("\033[31mNo aliases by the name " + alias_name + " were applicable for this command.\033[0m\n");
         return false;
     }
     return true;
+}
-Console_RegisterCommand(PID_getConfiguration, function(arg_index, args) { return Console_StandardAutocomplete(arg_index, args, PID_Aliases()); });
+Console_RegisterCommand(PID_ConfigOnOff, function(arg_index, args) { return Console_StandardAutocomplete(arg_index, args, PID_Aliases(), PID_Temperatures(), PID_Temperatures(), PID_Outputs(), PID_Outputs()); });
 function PID_OnMessage(module_name, module_id, command, variables)
+{
     if (in_array(PID_ModuleNames, module_name))
+    {
         });
         switch (command)
+        {
             case "DEBUG":
                 for (var alias_name in aliases_data)
                 {
                     var last_value = {};
                     var last_value_string = Storage_GetParameter("LastValues", alias_name);
                     if (last_value_string)
+                    {
                         last_value = eval("(" + last_value_string + ")");
+                    }
                     last_value["Debug"] = { "value" : { "P_term" : variables["P_term"],"I_term" : variables["I_term"],"D_term" : variables["D_term"],"Sum" : variables["Sum"] }, "timestamp" : get_time() };
                     if (last_value_string)
+                    {
                         last_value = eval("(" + last_value_string + ")");
+                    }
-                    last_value["Parameters"] = { "value" : { "K_P" : variables["K_P"],"K_I" : variables["K_I"], "K_D" : last_value["Parameters"]["value"]["K_D"],"ControllerDirection" : last_value["Parameters"]["value"]["ControllerDirection"],"TimeUnit" : last_value["Parameters"]["value"]["TimeUnit"],"RegulatorTime" : last_value["Parameters"]["value"]["RegulatorTime"] }, "timestamp" : get_time() };
+                    last_value["Parameters"] = { "value" : {
+                        "K_P" : variables["K_P"],
+                        "K_I" : variables["K_I"],
+                        "K_D" : last_value["Parameters"]["value"]["K_D"],
+                        "ControllerDirection" : last_value["Parameters"]["value"]["ControllerDirection"],
+                        "TimeUnit" : last_value["Parameters"]["value"]["TimeUnit"],
+                        "RegulatorTime" : last_value["Parameters"]["value"]["RegulatorTime"],
+                        "OnValue" : last_value["Parameters"]["value"]["OnValue"],
+                        "OffValue" : last_value["Parameters"]["value"]["OffValue"] ,
+                        "OuterRange" : last_value["Parameters"]["value"]["OuterRange"] ,
+                        "InnerRange" : last_value["Parameters"]["value"]["InnerRange"] ,
+                        "Factor" : last_value["Parameters"]["value"]["Factor"] ,
+                        "Offset" : last_value["Parameters"]["value"]["Offset"]
+                        }, "timestamp" : get_time() };
                     Storage_SetParameter("LastValues", alias_name, JSON.stringify(last_value));
+                    //Log("Stored PI");
+                }
+                break;
             case "CONFIG_PARAMETER_D_T":
+                for (var alias_name in aliases_data)
+                {
+                    var last_value = {};
+                    var last_value_string = Storage_GetParameter("LastValues", alias_name);
+                    if (last_value_string)
+                    {
+                        last_value = eval("(" + last_value_string + ")");
+                    }
+                    last_value["Parameters"] = { "value" : {
+                        "K_P" : last_value["Parameters"]["value"]["K_P"],
+                        "K_I" : last_value["Parameters"]["value"]["K_I"],
+                        "K_D" : variables["K_D"],
+                        "ControllerDirection" : variables["ControllerDirection"],
+                        "TimeUnit" : variables["TimeUnit"],
+                        "RegulatorTime" : variables["RegulatorTime"],
+                        "OnValue" : last_value["Parameters"]["value"]["OnValue"],
+                        "OffValue" : last_value["Parameters"]["value"]["OffValue"] ,
+                        "OuterRange" : last_value["Parameters"]["value"]["OuterRange"] ,
+                        "InnerRange" : last_value["Parameters"]["value"]["InnerRange"] ,
+                        "Factor" : last_value["Parameters"]["value"]["Factor"] ,
+                        "Offset" : last_value["Parameters"]["value"]["Offset"]
+                        }, "timestamp" : get_time() };
+                    Storage_SetParameter("LastValues", alias_name, JSON.stringify(last_value));
+                    //Log("Stored DT for "+ alias_name);
+                }
+                break;
+            case "CONFIG_ONOFF_REGULATOR":
+                for (var alias_name in aliases_data)
+                {
+                    var last_value = {};
+                    var last_value_string = Storage_GetParameter("LastValues", alias_name);
+                    if (last_value_string)
+                    {
+                        last_value = eval("(" + last_value_string + ")");
+                    }
+                    last_value["Parameters"] = { "value" : {
+                        "K_P" : last_value["Parameters"]["value"]["K_P"],
+                        "K_I" : last_value["Parameters"]["value"]["K_I"],
+                        "K_D" : last_value["Parameters"]["value"]["K_D"],
+                        "ControllerDirection" : last_value["Parameters"]["value"]["ControllerDirection"],
+                        "TimeUnit" : last_value["Parameters"]["value"]["TimeUnit"],
+                        "RegulatorTime" : last_value["Parameters"]["value"]["RegulatorTime"],
+                        "OnValue" : variables["OnValue"],
+                        "OffValue" : variables["OffValue"] ,
+                        "OuterRange" : variables["OuterRange"] ,
+                        "InnerRange" : variables["InnerRange"] ,
+                        "Factor" : last_value["Parameters"]["value"]["Factor"] ,
+                        "Offset" : last_value["Parameters"]["value"]["Offset"]
+                        }, "timestamp" : get_time() };
+                    Storage_SetParameter("LastValues", alias_name, JSON.stringify(last_value));
+                    //Log("Stored DT for "+ alias_name);
+                }
+                break;
+            case "CONFIG_PID_START_VALUE":
                 for (var alias_name in aliases_data)
                 {
                     var last_value = {};
                     var last_value_string = Storage_GetParameter("LastValues", alias_name);
                     if (last_value_string)
                     {
                         last_value = eval("(" + last_value_string + ")");
                     }
-                    last_value["Parameters"] = { "value" : { "K_P" : last_value["Parameters"]["value"]["K_P"],"K_I" : last_value["Parameters"]["value"]["K_I"], "K_D" : variables["K_D"],"ControllerDirection" : variables["ControllerDirection"],"TimeUnit" : variables["TimeUnit"],"RegulatorTime" : variables["RegulatorTime"] }, "timestamp" : get_time() };
+                    last_value["Parameters"] = { "value" : {
+                        "K_P" : last_value["Parameters"]["value"]["K_P"],
+                        "K_I" : last_value["Parameters"]["value"]["K_I"],
+                        "K_D" : last_value["Parameters"]["value"]["K_D"],
+                        "ControllerDirection" : last_value["Parameters"]["value"]["ControllerDirection"],
+                        "TimeUnit" : last_value["Parameters"]["value"]["TimeUnit"],
+                        "RegulatorTime" : last_value["Parameters"]["value"]["RegulatorTime"],
+                        "OnValue" : last_value["Parameters"]["value"]["OnValue"],
+                        "OffValue" : last_value["Parameters"]["value"]["OffValue"] ,
+                        "OuterRange" : last_value["Parameters"]["value"]["OuterRange"] ,
+                        "InnerRange" : last_value["Parameters"]["value"]["InnerRange"] ,
+                        "Factor" : variables["Factor"] ,
+                        "Offset" : variables["Offset"]
+                        }, "timestamp" : get_time() };
                     Storage_SetParameter("LastValues", alias_name, JSON.stringify(last_value));
+                    //Log("Stored DT for "+ alias_name);
+                }
+                break;
             case "P_I_term":
                 for (var alias_name in aliases_data)
                 {
                     var last_value = {};
                     var last_value_string = Storage_GetParameter("LastValues", alias_name);
                     if (last_value_string)
                     {
                         last_value = eval("(" + last_value_string + ")");
+                    }
                     last_value["Debug"] = { "value" : { "P_term" : variables["P_term"],"I_term" : variables["I_term"],"D_term" : last_value["Debug"]["value"]["D_term"],"Output" : last_value["Debug"]["value"]["Output"],"Min" : last_value["Debug"]["value"]["Min"],"Max" : last_value["Debug"]["value"]["Max"] }, "timestamp" : get_time() };
                     Storage_SetParameter("LastValues", alias_name, JSON.stringify(last_value));
                     if (last_value_string)
+                    {
                         last_value = eval("(" + last_value_string + ")");
+                    }
-                    Log("Got message DEBUG");
+                    //Log("Got message DEBUG");
                     last_value["Debug"] = { "value" : { "P_term" : last_value["Debug"]["value"]["P_term"],"I_term" : last_value["Debug"]["value"]["I_term"],"D_term" : variables["D_term"],"Output" : variables["Output"],"Min" : last_value["Debug"]["value"]["Min"],"Max" : last_value["Debug"]["value"]["Max"] }, "timestamp" : get_time() };
                     Storage_SetParameter("LastValues", alias_name, JSON.stringify(last_value));
                     //Log("Got message DEBUG");
+                }
                     if (last_value_string)
+                    {
                         last_value = eval("(" + last_value_string + ")");
+                    }
-                    last_value["Debug"] = { "value" : { "P_term" : last_value["Debug"]["value"]["P_term"],"I_term" : last_value["Debug"]["value"]["I_term"],"D_term" : last_value["Debug"]["value"]["D_term"],"Output" : last_value["Debug"]["value"]["Output"], "Min" : variables["Min"],"Max" : variables["Max"] }, "timestamp" : get_time() };
+                    last_value["Debug"] = { "value" : {
+                        "P_term" : last_value["Debug"]["value"]["P_term"],
+                        "I_term" : last_value["Debug"]["value"]["I_term"],
+                        "D_term" : last_value["Debug"]["value"]["D_term"],
+                        "Output" : last_value["Debug"]["value"]["Output"],
+                        "Min" : variables["Min"],
+                        "Max" : variables["Max"]
+                        },"timestamp" : get_time() };
                     Storage_SetParameter("LastValues", alias_name, JSON.stringify(last_value));
                     //Log("Got message DEBUG");
+                }
             break;
+        }
+    }
+}
 Module_RegisterToOnMessage("all", PID_OnMessage);
+/*PID={"rrd":{"file":"/var/www/CANgraph/PID.rrd","Period_s":"10"}, "rrdNames":{"Pterm":{"Module":"PID","data":"Debug","value":"P_term"},"Iterm":{"Module":"PID","data":"Debug","value":"I_term"}."Dterm":{"Module":"PID","data":"Debug","value":"D_term"},"KP":{"Module":"PID","data":"Parameters","value":"K_P"},"KI":{"Module":"PID","data":"Parameters","value":"K_I"},"KD":{"Module":"PID","data":"Parameters","value":"K_D"},"out":{"Module":"PID","data":"Debug","value":"Output"},"ref":{"Module":"PID","data":"Reference","value":"value"},"in":{"Module":"PID","data":"PID_status","value":"Measurment"}}}*/