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/*
// Copyright (c) 2018 Intel Corporation
//
// 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 "stepwisecontroller.hpp"
#include "ec/stepwise.hpp"
#include "errors/exception.hpp"
#include "tuning.hpp"
#include "util.hpp"
#include "zone.hpp"
#include <algorithm>
#include <chrono>
#include <cmath>
#include <iostream>
#include <map>
#include <memory>
#include <thread>
#include <vector>
namespace pid_control
{
void StepwiseController::process(void)
{
// Get input value
double input = inputProc();
ec::StepwiseInfo info = getStepwiseInfo();
double output = lastOutput;
// Calculate new output if hysteresis allows
if (std::isnan(output))
{
output = ec::stepwise(info, input);
lastInput = input;
}
else if ((input - lastInput) > info.positiveHysteresis)
{
output = ec::stepwise(info, input);
lastInput = input;
}
else if ((lastInput - input) > info.negativeHysteresis)
{
output = ec::stepwise(info, input);
lastInput = input;
}
lastOutput = output;
// Output new value
outputProc(output);
return;
}
std::unique_ptr<Controller> StepwiseController::createStepwiseController(
ZoneInterface* owner, const std::string& id,
const std::vector<std::string>& inputs, const ec::StepwiseInfo& initial)
{
// StepwiseController requires at least 1 input
if (inputs.empty())
{
throw ControllerBuildException("Stepwise controller missing inputs");
}
auto thermal = std::make_unique<StepwiseController>(id, inputs, owner);
thermal->setStepwiseInfo(initial);
return thermal;
}
double StepwiseController::inputProc(void)
{
double value = std::numeric_limits<double>::lowest();
for (const auto& in : _inputs)
{
value = std::max(value, _owner->getCachedValue(in));
}
if (debugEnabled)
{
std::cerr << getID()
<< " choose the maximum temperature value: " << value << "\n";
}
return value;
}
void StepwiseController::outputProc(double value)
{
if (getStepwiseInfo().isCeiling)
{
_owner->addRPMCeiling(value);
}
else
{
_owner->addSetPoint(value, _id);
if (debugEnabled)
{
std::cerr << getID() << " stepwise output pwm: " << value << "\n";
}
}
return;
}
} // namespace pid_control