blob: d31b6bc1ef76b7221dd5c91285617bccf04cf105 [file] [log] [blame]
/**
* 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 <map>
#include <nlohmann/json.hpp>
#include <tuple>
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");
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);
auto positiveHysteresis = p.find("positiveHysteresis");
if (positiveHysteresis == p.end())
{
c.pidInfo.positiveHysteresis = 0.0;
}
else
{
j.at("positiveHysteresis").get_to(c.pidInfo.positiveHysteresis);
}
auto negativeHysteresis = p.find("negativeHysteresis");
if (negativeHysteresis == p.end())
{
c.pidInfo.negativeHysteresis = 0.0;
}
else
{
j.at("negativeHysteresis").get_to(c.pidInfo.negativeHysteresis);
}
}
} // namespace conf
std::pair<std::map<int64_t, conf::PIDConf>,
std::map<int64_t, struct conf::ZoneConfig>>
buildPIDsFromJson(const json& data)
{
// zone -> pids
std::map<int64_t, conf::PIDConf> pidConfig;
// zone -> configs
std::map<int64_t, struct 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;
struct conf::ZoneConfig thisZoneConfig;
/* TODO: using at() throws a specific exception we can catch */
id = zone["id"];
thisZoneConfig.minThermalOutput = zone["minThermalOutput"];
thisZoneConfig.failsafePercent = zone["failsafePercent"];
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);
}