monitor pid change requests

Cargo.lock

@@ -2573,7 +2573,7 @@ dependencies = [
 
 [[package]]
 name = "tesla-charge-controller"
-version = "1.0.19"
+version = "1.0.20"
 dependencies = [
  "async-channel",
  "chrono",

Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "tesla-charge-controller"
-version = "1.0.19"
+version = "1.0.20"
 edition = "2021"
 license = "MITNFA"
 description = "Controls Tesla charge rate based on solar charge data"

src/tesla_charge_rate.rs

@@ -95,9 +95,34 @@ impl TeslaChargeRateController {
     }
 }
 
-#[derive(Default)]
 struct PidLoop {
     previous_error: f64,
+    proportional_gauge: Gauge,
+    derivative_gauge: Gauge,
+    change_request_gauge: Gauge,
+}
+
+impl Default for PidLoop {
+    fn default() -> Self {
+        describe_gauge!(
+            "tcrc_proportional",
+            "Proportional component of requested change to charge rate"
+        );
+        let proportional_gauge = gauge!("tcrc_proportional");
+        describe_gauge!(
+            "tcrc_proportional",
+            "Derivative component of requested change to charge rate"
+        );
+        let derivative_gauge = gauge!("tcrc_derivative");
+        describe_gauge!("tcrc_change_request", "Requested change to charge rate");
+        let change_request_gauge = gauge!("tcrc_change_request");
+        Self {
+            previous_error: 0.,
+            proportional_gauge,
+            derivative_gauge,
+            change_request_gauge,
+        }
+    }
 }
 
 impl PidLoop {
@@ -111,16 +136,22 @@ impl PidLoop {
         let derivative = (error - self.previous_error) / delta_time;
         let config = access_config();
 
+        let proportional_component = config.pid_controls.proportional_gain * error;
+        let derivative_component = config.pid_controls.derivative_gain * derivative;
+
         let extra_offsets = if pl_state.internal_load_current > 1. {
             1.
         } else {
             0.
         };
 
-        let new_target = ((config.pid_controls.proportional_gain * error)
+        let offset = proportional_component + derivative_component + extra_offsets;
-            + (config.pid_controls.derivative_gain * derivative))
+
-            + extra_offsets
+        self.proportional_gauge.set(proportional_component);
-            + (charge_state.charge_amps as f64);
+        self.derivative_gauge.set(derivative_component);
+        self.change_request_gauge.set(offset);
+
+        let new_target = offset + (charge_state.charge_amps as f64);
 
         self.previous_error = error;