Patrick Venture | d149172 | 2019-02-08 14:37:45 -0800 | [diff] [blame] | 1 | /** |
| 2 | * Copyright 2019 Google Inc. |
| 3 | * |
| 4 | * Licensed under the Apache License, Version 2.0 (the "License"); |
| 5 | * you may not use this file except in compliance with the License. |
| 6 | * You may obtain a copy of the License at |
| 7 | * |
| 8 | * http://www.apache.org/licenses/LICENSE-2.0 |
| 9 | * |
| 10 | * Unless required by applicable law or agreed to in writing, software |
| 11 | * distributed under the License is distributed on an "AS IS" BASIS, |
| 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| 13 | * See the License for the specific language governing permissions and |
| 14 | * limitations under the License. |
| 15 | */ |
| 16 | |
| 17 | #include "pid/buildjson.hpp" |
| 18 | |
| 19 | #include "conf.hpp" |
Josh Lehan | 31058fd | 2023-01-13 11:06:16 -0800 | [diff] [blame] | 20 | #include "util.hpp" |
Patrick Venture | d149172 | 2019-02-08 14:37:45 -0800 | [diff] [blame] | 21 | |
Patrick Venture | d149172 | 2019-02-08 14:37:45 -0800 | [diff] [blame] | 22 | #include <nlohmann/json.hpp> |
Patrick Venture | a83a3ec | 2020-08-04 09:52:05 -0700 | [diff] [blame] | 23 | |
Bonnie Lo | 0e8fc39 | 2022-10-05 10:20:55 +0800 | [diff] [blame] | 24 | #include <iostream> |
Josh Lehan | 31058fd | 2023-01-13 11:06:16 -0800 | [diff] [blame] | 25 | #include <limits> |
Patrick Venture | a83a3ec | 2020-08-04 09:52:05 -0700 | [diff] [blame] | 26 | #include <map> |
Patrick Venture | d149172 | 2019-02-08 14:37:45 -0800 | [diff] [blame] | 27 | #include <tuple> |
| 28 | |
Patrick Venture | a076487 | 2020-08-08 07:48:43 -0700 | [diff] [blame] | 29 | namespace pid_control |
| 30 | { |
| 31 | |
Patrick Venture | d149172 | 2019-02-08 14:37:45 -0800 | [diff] [blame] | 32 | using json = nlohmann::json; |
| 33 | |
James Feist | f81f288 | 2019-02-26 11:26:36 -0800 | [diff] [blame] | 34 | namespace conf |
| 35 | { |
Josh Lehan | 31058fd | 2023-01-13 11:06:16 -0800 | [diff] [blame] | 36 | |
James Feist | f81f288 | 2019-02-26 11:26:36 -0800 | [diff] [blame] | 37 | void from_json(const json& j, conf::ControllerInfo& c) |
Patrick Venture | d149172 | 2019-02-08 14:37:45 -0800 | [diff] [blame] | 38 | { |
Josh Lehan | 31058fd | 2023-01-13 11:06:16 -0800 | [diff] [blame] | 39 | std::vector<std::string> inputNames; |
Josh Lehan | 3f0f7bc | 2023-02-13 01:45:29 -0800 | [diff] [blame] | 40 | std::vector<std::string> missingAcceptableNames; |
Josh Lehan | 31058fd | 2023-01-13 11:06:16 -0800 | [diff] [blame] | 41 | |
Patrick Venture | d149172 | 2019-02-08 14:37:45 -0800 | [diff] [blame] | 42 | j.at("type").get_to(c.type); |
Josh Lehan | 31058fd | 2023-01-13 11:06:16 -0800 | [diff] [blame] | 43 | j.at("inputs").get_to(inputNames); |
Patrick Venture | d149172 | 2019-02-08 14:37:45 -0800 | [diff] [blame] | 44 | j.at("setpoint").get_to(c.setpoint); |
| 45 | |
Josh Lehan | 31058fd | 2023-01-13 11:06:16 -0800 | [diff] [blame] | 46 | std::vector<double> inputTempToMargin; |
| 47 | |
| 48 | auto findTempToMargin = j.find("tempToMargin"); |
| 49 | if (findTempToMargin != j.end()) |
| 50 | { |
| 51 | findTempToMargin->get_to(inputTempToMargin); |
| 52 | } |
| 53 | |
Josh Lehan | 3f0f7bc | 2023-02-13 01:45:29 -0800 | [diff] [blame] | 54 | auto findMissingAcceptable = j.find("missingIsAcceptable"); |
| 55 | if (findMissingAcceptable != j.end()) |
| 56 | { |
| 57 | findMissingAcceptable->get_to(missingAcceptableNames); |
| 58 | } |
| 59 | |
| 60 | c.inputs = spliceInputs(inputNames, inputTempToMargin, |
| 61 | missingAcceptableNames); |
Josh Lehan | 31058fd | 2023-01-13 11:06:16 -0800 | [diff] [blame] | 62 | |
Patrick Venture | d149172 | 2019-02-08 14:37:45 -0800 | [diff] [blame] | 63 | /* TODO: We need to handle parsing other PID controller configurations. |
| 64 | * We can do that by checking for different keys and making the decision |
| 65 | * accordingly. |
| 66 | */ |
| 67 | auto p = j.at("pid"); |
Patrick Venture | d149172 | 2019-02-08 14:37:45 -0800 | [diff] [blame] | 68 | |
| 69 | auto positiveHysteresis = p.find("positiveHysteresis"); |
Hank Liou | 375f709 | 2019-03-29 20:15:42 +0800 | [diff] [blame] | 70 | auto negativeHysteresis = p.find("negativeHysteresis"); |
Josh Lehan | c612c05 | 2022-12-12 09:56:47 -0800 | [diff] [blame] | 71 | auto derivativeCoeff = p.find("derivativeCoeff"); |
Hank Liou | 375f709 | 2019-03-29 20:15:42 +0800 | [diff] [blame] | 72 | auto positiveHysteresisValue = 0.0; |
| 73 | auto negativeHysteresisValue = 0.0; |
Josh Lehan | c612c05 | 2022-12-12 09:56:47 -0800 | [diff] [blame] | 74 | auto derivativeCoeffValue = 0.0; |
Hank Liou | 375f709 | 2019-03-29 20:15:42 +0800 | [diff] [blame] | 75 | if (positiveHysteresis != p.end()) |
Patrick Venture | d149172 | 2019-02-08 14:37:45 -0800 | [diff] [blame] | 76 | { |
Josh Lehan | c612c05 | 2022-12-12 09:56:47 -0800 | [diff] [blame] | 77 | positiveHysteresis->get_to(positiveHysteresisValue); |
Patrick Venture | d149172 | 2019-02-08 14:37:45 -0800 | [diff] [blame] | 78 | } |
Hank Liou | 375f709 | 2019-03-29 20:15:42 +0800 | [diff] [blame] | 79 | if (negativeHysteresis != p.end()) |
Patrick Venture | d149172 | 2019-02-08 14:37:45 -0800 | [diff] [blame] | 80 | { |
Josh Lehan | c612c05 | 2022-12-12 09:56:47 -0800 | [diff] [blame] | 81 | negativeHysteresis->get_to(negativeHysteresisValue); |
| 82 | } |
| 83 | if (derivativeCoeff != p.end()) |
| 84 | { |
| 85 | derivativeCoeff->get_to(derivativeCoeffValue); |
Patrick Venture | d149172 | 2019-02-08 14:37:45 -0800 | [diff] [blame] | 86 | } |
| 87 | |
ykchiu | 9fe3a3c | 2023-05-11 13:43:54 +0800 | [diff] [blame] | 88 | auto failSafePercent = j.find("FailSafePercent"); |
| 89 | auto failSafePercentValue = 0; |
| 90 | if (failSafePercent != j.end()) |
| 91 | { |
| 92 | failSafePercent->get_to(failSafePercentValue); |
| 93 | } |
| 94 | c.failSafePercent = failSafePercentValue; |
| 95 | |
Hank Liou | 375f709 | 2019-03-29 20:15:42 +0800 | [diff] [blame] | 96 | if (c.type != "stepwise") |
Patrick Venture | d149172 | 2019-02-08 14:37:45 -0800 | [diff] [blame] | 97 | { |
Hank Liou | 375f709 | 2019-03-29 20:15:42 +0800 | [diff] [blame] | 98 | p.at("samplePeriod").get_to(c.pidInfo.ts); |
| 99 | p.at("proportionalCoeff").get_to(c.pidInfo.proportionalCoeff); |
| 100 | p.at("integralCoeff").get_to(c.pidInfo.integralCoeff); |
| 101 | p.at("feedFwdOffsetCoeff").get_to(c.pidInfo.feedFwdOffset); |
| 102 | p.at("feedFwdGainCoeff").get_to(c.pidInfo.feedFwdGain); |
| 103 | p.at("integralLimit_min").get_to(c.pidInfo.integralLimit.min); |
| 104 | p.at("integralLimit_max").get_to(c.pidInfo.integralLimit.max); |
| 105 | p.at("outLim_min").get_to(c.pidInfo.outLim.min); |
| 106 | p.at("outLim_max").get_to(c.pidInfo.outLim.max); |
| 107 | p.at("slewNeg").get_to(c.pidInfo.slewNeg); |
| 108 | p.at("slewPos").get_to(c.pidInfo.slewPos); |
| 109 | |
Josh Lehan | c612c05 | 2022-12-12 09:56:47 -0800 | [diff] [blame] | 110 | // Unlike other coefficients, treat derivativeCoeff as an optional |
| 111 | // parameter, as support for it is fairly new, to avoid breaking |
| 112 | // existing configurations in the field that predate it. |
Hank Liou | 375f709 | 2019-03-29 20:15:42 +0800 | [diff] [blame] | 113 | c.pidInfo.positiveHysteresis = positiveHysteresisValue; |
| 114 | c.pidInfo.negativeHysteresis = negativeHysteresisValue; |
Josh Lehan | c612c05 | 2022-12-12 09:56:47 -0800 | [diff] [blame] | 115 | c.pidInfo.derivativeCoeff = derivativeCoeffValue; |
Patrick Venture | d149172 | 2019-02-08 14:37:45 -0800 | [diff] [blame] | 116 | } |
| 117 | else |
| 118 | { |
Hank Liou | 375f709 | 2019-03-29 20:15:42 +0800 | [diff] [blame] | 119 | p.at("samplePeriod").get_to(c.stepwiseInfo.ts); |
| 120 | p.at("isCeiling").get_to(c.stepwiseInfo.isCeiling); |
| 121 | |
| 122 | for (size_t i = 0; i < ec::maxStepwisePoints; i++) |
| 123 | { |
| 124 | c.stepwiseInfo.reading[i] = |
| 125 | std::numeric_limits<double>::quiet_NaN(); |
| 126 | c.stepwiseInfo.output[i] = std::numeric_limits<double>::quiet_NaN(); |
| 127 | } |
| 128 | |
| 129 | auto reading = p.find("reading"); |
| 130 | if (reading != p.end()) |
| 131 | { |
| 132 | auto r = p.at("reading"); |
| 133 | for (size_t i = 0; i < ec::maxStepwisePoints; i++) |
| 134 | { |
| 135 | auto n = r.find(std::to_string(i)); |
| 136 | if (n != r.end()) |
| 137 | { |
| 138 | r.at(std::to_string(i)).get_to(c.stepwiseInfo.reading[i]); |
| 139 | } |
| 140 | } |
| 141 | } |
| 142 | |
| 143 | auto output = p.find("output"); |
| 144 | if (output != p.end()) |
| 145 | { |
| 146 | auto o = p.at("output"); |
| 147 | for (size_t i = 0; i < ec::maxStepwisePoints; i++) |
| 148 | { |
| 149 | auto n = o.find(std::to_string(i)); |
| 150 | if (n != o.end()) |
| 151 | { |
| 152 | o.at(std::to_string(i)).get_to(c.stepwiseInfo.output[i]); |
| 153 | } |
| 154 | } |
| 155 | } |
| 156 | |
| 157 | c.stepwiseInfo.positiveHysteresis = positiveHysteresisValue; |
| 158 | c.stepwiseInfo.negativeHysteresis = negativeHysteresisValue; |
Patrick Venture | d149172 | 2019-02-08 14:37:45 -0800 | [diff] [blame] | 159 | } |
| 160 | } |
Josh Lehan | 31058fd | 2023-01-13 11:06:16 -0800 | [diff] [blame] | 161 | |
James Feist | f81f288 | 2019-02-26 11:26:36 -0800 | [diff] [blame] | 162 | } // namespace conf |
Patrick Venture | d149172 | 2019-02-08 14:37:45 -0800 | [diff] [blame] | 163 | |
Harvey Wu | 239aa7d | 2022-11-18 08:43:34 +0800 | [diff] [blame] | 164 | inline void getCycleTimeSetting(const auto& zone, const int id, |
| 165 | const std::string& attributeName, |
| 166 | uint64_t& value) |
| 167 | { |
| 168 | auto findAttributeName = zone.find(attributeName); |
| 169 | if (findAttributeName != zone.end()) |
| 170 | { |
| 171 | uint64_t tmpAttributeValue = 0; |
| 172 | findAttributeName->get_to(tmpAttributeValue); |
| 173 | if (tmpAttributeValue >= 1) |
| 174 | { |
| 175 | value = tmpAttributeValue; |
| 176 | } |
| 177 | else |
| 178 | { |
| 179 | std::cerr << "Zone " << id << ": " << attributeName |
| 180 | << " is invalid. Use default " << value << " ms\n"; |
| 181 | } |
| 182 | } |
| 183 | else |
| 184 | { |
| 185 | std::cerr << "Zone " << id << ": " << attributeName |
| 186 | << " cannot find setting. Use default " << value << " ms\n"; |
| 187 | } |
| 188 | } |
| 189 | |
Patrick Venture | 1df9e87 | 2020-10-08 15:35:01 -0700 | [diff] [blame] | 190 | std::pair<std::map<int64_t, conf::PIDConf>, std::map<int64_t, conf::ZoneConfig>> |
Patrick Venture | d149172 | 2019-02-08 14:37:45 -0800 | [diff] [blame] | 191 | buildPIDsFromJson(const json& data) |
| 192 | { |
| 193 | // zone -> pids |
James Feist | f81f288 | 2019-02-26 11:26:36 -0800 | [diff] [blame] | 194 | std::map<int64_t, conf::PIDConf> pidConfig; |
Patrick Venture | d149172 | 2019-02-08 14:37:45 -0800 | [diff] [blame] | 195 | // zone -> configs |
Patrick Venture | 1df9e87 | 2020-10-08 15:35:01 -0700 | [diff] [blame] | 196 | std::map<int64_t, conf::ZoneConfig> zoneConfig; |
Patrick Venture | d149172 | 2019-02-08 14:37:45 -0800 | [diff] [blame] | 197 | |
| 198 | /* TODO: if zones is empty, that's invalid. */ |
| 199 | auto zones = data["zones"]; |
| 200 | for (const auto& zone : zones) |
| 201 | { |
| 202 | int64_t id; |
James Feist | f81f288 | 2019-02-26 11:26:36 -0800 | [diff] [blame] | 203 | conf::PIDConf thisZone; |
Patrick Venture | 1df9e87 | 2020-10-08 15:35:01 -0700 | [diff] [blame] | 204 | conf::ZoneConfig thisZoneConfig; |
Patrick Venture | d149172 | 2019-02-08 14:37:45 -0800 | [diff] [blame] | 205 | |
| 206 | /* TODO: using at() throws a specific exception we can catch */ |
| 207 | id = zone["id"]; |
James Feist | 3484bed | 2019-02-25 13:28:18 -0800 | [diff] [blame] | 208 | thisZoneConfig.minThermalOutput = zone["minThermalOutput"]; |
Patrick Venture | d149172 | 2019-02-08 14:37:45 -0800 | [diff] [blame] | 209 | thisZoneConfig.failsafePercent = zone["failsafePercent"]; |
| 210 | |
Harvey Wu | 239aa7d | 2022-11-18 08:43:34 +0800 | [diff] [blame] | 211 | getCycleTimeSetting(zone, id, "cycleIntervalTimeMS", |
| 212 | thisZoneConfig.cycleTime.cycleIntervalTimeMS); |
| 213 | getCycleTimeSetting(zone, id, "updateThermalsTimeMS", |
| 214 | thisZoneConfig.cycleTime.updateThermalsTimeMS); |
Bonnie Lo | 0e8fc39 | 2022-10-05 10:20:55 +0800 | [diff] [blame] | 215 | |
Patrick Venture | d149172 | 2019-02-08 14:37:45 -0800 | [diff] [blame] | 216 | auto pids = zone["pids"]; |
| 217 | for (const auto& pid : pids) |
| 218 | { |
| 219 | auto name = pid["name"]; |
James Feist | f81f288 | 2019-02-26 11:26:36 -0800 | [diff] [blame] | 220 | auto item = pid.get<conf::ControllerInfo>(); |
Patrick Venture | d149172 | 2019-02-08 14:37:45 -0800 | [diff] [blame] | 221 | |
ykchiu | 7c6d35d | 2023-05-10 17:01:46 +0800 | [diff] [blame] | 222 | if (thisZone.find(name) != thisZone.end()) |
| 223 | { |
| 224 | std::cerr << "Warning: zone " << id |
| 225 | << " have the same pid name " << name << std::endl; |
| 226 | } |
| 227 | |
Patrick Venture | d149172 | 2019-02-08 14:37:45 -0800 | [diff] [blame] | 228 | thisZone[name] = item; |
| 229 | } |
| 230 | |
| 231 | pidConfig[id] = thisZone; |
| 232 | zoneConfig[id] = thisZoneConfig; |
| 233 | } |
| 234 | |
| 235 | return std::make_pair(pidConfig, zoneConfig); |
| 236 | } |
Patrick Venture | a076487 | 2020-08-08 07:48:43 -0700 | [diff] [blame] | 237 | |
| 238 | } // namespace pid_control |