source: flair-src/trunk/lib/FlairFilter/src/Pid_impl.cpp @ 15

Last change on this file since 15 was 15, checked in by Bayard Gildas, 5 years ago

sources reformatted with flair-format-dir script

File size: 3.2 KB
Line 
1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5//  created:    2011/05/01
6//  filename:   Pid_impl.cpp
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    Class defining a PID
14//
15//
16/*********************************************************************/
17#include "Pid_impl.h"
18#include "Pid.h"
19#include <cvmatrix.h>
20#include <Layout.h>
21#include <GroupBox.h>
22#include <DoubleSpinBox.h>
23#include <DataPlot1D.h>
24
25using std::string;
26using namespace flair::core;
27using namespace flair::gui;
28using namespace flair::filter;
29
30Pid_impl::Pid_impl(Pid *self, const LayoutPosition *position, string name) {
31  i = 0;
32  first_update = true;
33  this->self = self;
34
35  // init matrix
36  self->input = new cvmatrix(self, 2, 1, floatType, name);
37
38  cvmatrix_descriptor *desc = new cvmatrix_descriptor(4, 1);
39  desc->SetElementName(0, 0, "p");
40  desc->SetElementName(1, 0, "i");
41  desc->SetElementName(2, 0, "d");
42  desc->SetElementName(3, 0, "p+i+d");
43  state = new cvmatrix(self, desc, floatType, name);
44
45  GroupBox *reglages_groupbox = new GroupBox(position, name);
46  T = new DoubleSpinBox(reglages_groupbox->NewRow(), "period, 0 for auto", " s",
47                        0, 1, 0.01);
48  kp = new DoubleSpinBox(reglages_groupbox->NewRow(), "kp:", 0, 90000000, 0.01,
49                         3);
50  ki = new DoubleSpinBox(reglages_groupbox->NewRow(), "ki:", 0, 90000000, 0.01,
51                         3);
52  sati = new DoubleSpinBox(reglages_groupbox->LastRowLastCol(), "sat i:", 0, 1,
53                           0.01);
54  kd = new DoubleSpinBox(reglages_groupbox->NewRow(), "kd:", 0, 90000000, 0.01,
55                         3);
56  sat = new DoubleSpinBox(reglages_groupbox->NewRow(), "sat:", 0, 1, 0.1);
57}
58
59Pid_impl::~Pid_impl(void) {}
60
61void Pid_impl::UseDefaultPlot(const LayoutPosition *position) {
62  DataPlot1D *plot = new DataPlot1D(position, self->ObjectName(), -1, 1);
63  plot->AddCurve(state->Element(0));
64  plot->AddCurve(state->Element(1), DataPlot::Green);
65  plot->AddCurve(state->Element(2), DataPlot::Blue);
66  plot->AddCurve(state->Element(3), DataPlot::Black);
67}
68
69void Pid_impl::UpdateFrom(const io_data *data) {
70  float p, d, total;
71  float delta_t;
72  cvmatrix *input = (cvmatrix *)data;
73
74  if (T->Value() == 0) {
75    delta_t = (float)(data->DataTime() - previous_time) / 1000000000.;
76  } else {
77    delta_t = T->Value();
78  }
79  if (first_update == true) {
80    delta_t = 0;
81    first_update = false;
82  }
83
84  input->GetMutex();
85  p = kp->Value() * input->ValueNoMutex(0, 0);
86  i += ki->Value() * input->ValueNoMutex(0, 0) * delta_t;
87  if (i > sati->Value())
88    i = sati->Value();
89  if (i < -sati->Value())
90    i = -sati->Value();
91  d = kd->Value() * input->ValueNoMutex(1, 0);
92  input->ReleaseMutex();
93
94  total = p + i + d;
95  if (total > sat->Value())
96    total = sat->Value();
97  if (total < -sat->Value())
98    total = -sat->Value();
99
100  state->GetMutex();
101  state->SetValueNoMutex(0, 0, p);
102  state->SetValueNoMutex(1, 0, i);
103  state->SetValueNoMutex(2, 0, d);
104  state->SetValueNoMutex(3, 0, total);
105  state->ReleaseMutex();
106
107  self->output->SetValue(0, 0, total);
108  self->output->SetDataTime(data->DataTime());
109
110  previous_time = data->DataTime();
111}
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