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/**
* Copyright 2019 Google Inc.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "pid/buildjson.hpp"
#include "conf.hpp"
#include <nlohmann/json.hpp>
#include <iostream>
#include <map>
#include <tuple>
namespace pid_control
{
using json = nlohmann::json;
namespace conf
{
void from_json(const json& j, conf::ControllerInfo& c)
{
j.at("type").get_to(c.type);
j.at("inputs").get_to(c.inputs);
j.at("setpoint").get_to(c.setpoint);
/* TODO: We need to handle parsing other PID controller configurations.
* We can do that by checking for different keys and making the decision
* accordingly.
*/
auto p = j.at("pid");
auto positiveHysteresis = p.find("positiveHysteresis");
auto negativeHysteresis = p.find("negativeHysteresis");
auto derivativeCoeff = p.find("derivativeCoeff");
auto positiveHysteresisValue = 0.0;
auto negativeHysteresisValue = 0.0;
auto derivativeCoeffValue = 0.0;
if (positiveHysteresis != p.end())
{
positiveHysteresis->get_to(positiveHysteresisValue);
}
if (negativeHysteresis != p.end())
{
negativeHysteresis->get_to(negativeHysteresisValue);
}
if (derivativeCoeff != p.end())
{
derivativeCoeff->get_to(derivativeCoeffValue);
}
if (c.type != "stepwise")
{
p.at("samplePeriod").get_to(c.pidInfo.ts);
p.at("proportionalCoeff").get_to(c.pidInfo.proportionalCoeff);
p.at("integralCoeff").get_to(c.pidInfo.integralCoeff);
p.at("feedFwdOffsetCoeff").get_to(c.pidInfo.feedFwdOffset);
p.at("feedFwdGainCoeff").get_to(c.pidInfo.feedFwdGain);
p.at("integralLimit_min").get_to(c.pidInfo.integralLimit.min);
p.at("integralLimit_max").get_to(c.pidInfo.integralLimit.max);
p.at("outLim_min").get_to(c.pidInfo.outLim.min);
p.at("outLim_max").get_to(c.pidInfo.outLim.max);
p.at("slewNeg").get_to(c.pidInfo.slewNeg);
p.at("slewPos").get_to(c.pidInfo.slewPos);
// Unlike other coefficients, treat derivativeCoeff as an optional
// parameter, as support for it is fairly new, to avoid breaking
// existing configurations in the field that predate it.
c.pidInfo.positiveHysteresis = positiveHysteresisValue;
c.pidInfo.negativeHysteresis = negativeHysteresisValue;
c.pidInfo.derivativeCoeff = derivativeCoeffValue;
}
else
{
p.at("samplePeriod").get_to(c.stepwiseInfo.ts);
p.at("isCeiling").get_to(c.stepwiseInfo.isCeiling);
for (size_t i = 0; i < ec::maxStepwisePoints; i++)
{
c.stepwiseInfo.reading[i] =
std::numeric_limits<double>::quiet_NaN();
c.stepwiseInfo.output[i] = std::numeric_limits<double>::quiet_NaN();
}
auto reading = p.find("reading");
if (reading != p.end())
{
auto r = p.at("reading");
for (size_t i = 0; i < ec::maxStepwisePoints; i++)
{
auto n = r.find(std::to_string(i));
if (n != r.end())
{
r.at(std::to_string(i)).get_to(c.stepwiseInfo.reading[i]);
}
}
}
auto output = p.find("output");
if (output != p.end())
{
auto o = p.at("output");
for (size_t i = 0; i < ec::maxStepwisePoints; i++)
{
auto n = o.find(std::to_string(i));
if (n != o.end())
{
o.at(std::to_string(i)).get_to(c.stepwiseInfo.output[i]);
}
}
}
c.stepwiseInfo.positiveHysteresis = positiveHysteresisValue;
c.stepwiseInfo.negativeHysteresis = negativeHysteresisValue;
}
}
} // namespace conf
inline void getCycleTimeSetting(const auto& zone, const int id,
const std::string& attributeName,
uint64_t& value)
{
auto findAttributeName = zone.find(attributeName);
if (findAttributeName != zone.end())
{
uint64_t tmpAttributeValue = 0;
findAttributeName->get_to(tmpAttributeValue);
if (tmpAttributeValue >= 1)
{
value = tmpAttributeValue;
}
else
{
std::cerr << "Zone " << id << ": " << attributeName
<< " is invalid. Use default " << value << " ms\n";
}
}
else
{
std::cerr << "Zone " << id << ": " << attributeName
<< " cannot find setting. Use default " << value << " ms\n";
}
}
std::pair<std::map<int64_t, conf::PIDConf>, std::map<int64_t, conf::ZoneConfig>>
buildPIDsFromJson(const json& data)
{
// zone -> pids
std::map<int64_t, conf::PIDConf> pidConfig;
// zone -> configs
std::map<int64_t, conf::ZoneConfig> zoneConfig;
/* TODO: if zones is empty, that's invalid. */
auto zones = data["zones"];
for (const auto& zone : zones)
{
int64_t id;
conf::PIDConf thisZone;
conf::ZoneConfig thisZoneConfig;
/* TODO: using at() throws a specific exception we can catch */
id = zone["id"];
thisZoneConfig.minThermalOutput = zone["minThermalOutput"];
thisZoneConfig.failsafePercent = zone["failsafePercent"];
getCycleTimeSetting(zone, id, "cycleIntervalTimeMS",
thisZoneConfig.cycleTime.cycleIntervalTimeMS);
getCycleTimeSetting(zone, id, "updateThermalsTimeMS",
thisZoneConfig.cycleTime.updateThermalsTimeMS);
auto pids = zone["pids"];
for (const auto& pid : pids)
{
auto name = pid["name"];
auto item = pid.get<conf::ControllerInfo>();
thisZone[name] = item;
}
pidConfig[id] = thisZone;
zoneConfig[id] = thisZoneConfig;
}
return std::make_pair(pidConfig, zoneConfig);
}
} // namespace pid_control