source: flair-src/trunk/lib/FlairFilter/src/Pid_impl.cpp@ 7

//  created:    2011/05/01

//  filename:   Pid_impl.cpp

//

//  author:     Guillaume Sanahuja

//              Copyright Heudiasyc UMR UTC/CNRS 7253

//

//  version:    $Id: $

//

//  purpose:    Class defining a PID

//

//

/*********************************************************************/

#include "Pid_impl.h"

#include "Pid.h"

#include <cvmatrix.h>

#include <Layout.h>

#include <GroupBox.h>

#include <DoubleSpinBox.h>

#include <DataPlot1D.h>



using std::string;

using namespace flair::core;

using namespace flair::gui;

using namespace flair::filter;



Pid_impl::Pid_impl(Pid* self,const LayoutPosition* position,string name) {

    i=0;

    first_update=true;

    this->self=self;



    //init matrix

    self->input=new cvmatrix(self,2,1,floatType,name);



    cvmatrix_descriptor* desc=new cvmatrix_descriptor(4,1);

    desc->SetElementName(0,0,"p");

    desc->SetElementName(1,0,"i");

    desc->SetElementName(2,0,"d");

    desc->SetElementName(3,0,"p+i+d");

    state=new cvmatrix(self,desc,floatType,name);



    GroupBox* reglages_groupbox=new GroupBox(position,name);

    T=new DoubleSpinBox(reglages_groupbox->NewRow(),"period, 0 for auto"," s",0,1,0.01);

    kp=new DoubleSpinBox(reglages_groupbox->NewRow(),"kp:",0,90000000,0.01,3);

    ki=new DoubleSpinBox(reglages_groupbox->NewRow(),"ki:",0,90000000,0.01,3);

    sati=new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),"sat i:",0,1,0.01);

    kd=new DoubleSpinBox(reglages_groupbox->NewRow(),"kd:",0,90000000,0.01,3);

    sat=new DoubleSpinBox(reglages_groupbox->NewRow(),"sat:",0,1,0.1);

}



Pid_impl::~Pid_impl(void) {

}



void Pid_impl::UseDefaultPlot(const LayoutPosition* position) {

    DataPlot1D *plot=new DataPlot1D(position,self->ObjectName(),-1,1);

    plot->AddCurve(state->Element(0));

    plot->AddCurve(state->Element(1),DataPlot::Green);

    plot->AddCurve(state->Element(2),DataPlot::Blue);

    plot->AddCurve(state->Element(3),DataPlot::Black);

}



void Pid_impl::UpdateFrom(const io_data *data) {

    float p,d,total;

    float delta_t;

    cvmatrix *input=(cvmatrix*)data;



    if(T->Value()==0) {

        delta_t=(float)(data->DataTime()-previous_time)/1000000000.;

    } else {

        delta_t=T->Value();

    }

    if(first_update==true) {

        delta_t=0;

        first_update=false;

    }



    input->GetMutex();

    p=kp->Value()*input->ValueNoMutex(0,0);

    i+=ki->Value()*input->ValueNoMutex(0,0)*delta_t;

    if(i>sati->Value()) i=sati->Value();

    if(i<-sati->Value()) i=-sati->Value();

    d=kd->Value()*input->ValueNoMutex(1,0);

    input->ReleaseMutex();



    total=p+i+d;

    if(total>sat->Value()) total=sat->Value();

    if(total<-sat->Value()) total=-sat->Value();



    state->GetMutex();

    state->SetValueNoMutex(0,0,p);

    state->SetValueNoMutex(1,0,i);

    state->SetValueNoMutex(2,0,d);

    state->SetValueNoMutex(3,0,total);

    state->ReleaseMutex();



    self->output->SetValue(0,0,total);

    self->output->SetDataTime(data->DataTime());



    previous_time=data->DataTime();

}