ControllerSystem.c File Reference

#include "../../Inc/Systems/ControllerSystem.h"
#include "../../Inc/Utils/Common.h"
#include "../../Inc/Utils/Updateable.h"
#include "../../Inc/Scheduler/Task.h"

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Functions
void	initControllerSystem (ControllerSystem *controller, const char *name, int hz, ControllerType type, int(*updateController)(ControllerSystem *controller), void *child)
	Initializes the Controller System with initial settings. More...
int	c_defaultAddMonitor (ControllerSystem *controller, MonitorSystem *monitor)
	Adds a monitor to the controller. More...
int	c_defaultRemoveMonitor (ControllerSystem *controller, MonitorSystem *monitor)
	Removes a monitor from the controller. More...
int	c_defaultUpdate (Updateable *updateable)
	Default update function for ControllerSystem objects. More...
int	c_defaultSafety (ControllerSystem *controller)
	Default safety function for ControllerSystem objects. More...

Function Documentation

c_defaultAddMonitor()

int c_defaultAddMonitor	(	ControllerSystem *	controller,
		MonitorSystem *	monitor
	)

Adds a monitor to the controller.

Parameters

ctl	A pointer to the ControllerSystem structure.
mtr	A pointer to the MonitorSystem structure to add.

Returns

_SUCCESS if the monitor was added, _FAILURE otherwise.

Definition at line 24 of file ControllerSystem.c.

                                                                              {
    if (controller->num_monitors >= MAX_MONITORS) {
        printf("Cannot add more monitors to the controller\n");
        return _FAILURE;
    }
    controller->monitors[controller->num_monitors++] = monitor;
    return _SUCCESS;
}

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c_defaultRemoveMonitor()

int c_defaultRemoveMonitor	(	ControllerSystem *	controller,
		MonitorSystem *	monitor
	)

Removes a monitor from the controller.

Parameters

ctl	A pointer to the ControllerSystem structure.
mtr	A pointer to the MonitorSystem structure to remove.

Returns

_SUCCESS if the monitor was removed, _FAILURE otherwise.

Definition at line 33 of file ControllerSystem.c.

                                                                                 {
    for (int i = 0; i < controller->num_monitors; i++) {
        if (controller->monitors[i] == monitor) {
            for (int j = i; j < controller->num_monitors - 1; j++) {
                controller->monitors[j] = controller->monitors[j + 1];
            }
            controller->num_monitors--;
            return _SUCCESS;
        }
    }
    printf("Monitor not found in the controller\n");
    return _FAILURE;
}

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c_defaultSafety()

int c_defaultSafety

(

ControllerSystem *

controller

)

Default safety function for ControllerSystem objects.

Parameters

self	Pointer to the ControllerSystem object.

Returns

int Status of the ControllerSystem object.

Definition at line 69 of file ControllerSystem.c.

                                                  {
 
    if (controller->state != c_computed) {
        printf("Controller not computed new value\n");
        return _FAILURE;
    }
 
    if (controller->num_monitors == 0) {
        printf("No monitors set for Controller\n");
        return _FAILURE;
    }
    
    for (int i = 0; i < controller->num_monitors; i++) {
        if (controller->monitors[i]->runMonitor(controller->monitors[i]) == _FAILURE) {
            return _FAILURE;
        }
    }
    controller->state = c_validated;
    return _SUCCESS;
}

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c_defaultUpdate()

int c_defaultUpdate

(

Updateable *

updateable

)

Default update function for ControllerSystem objects.

Parameters

pointer

to the Updateable object.

Returns

int _SUCCESS or _FAILURE.

Definition at line 47 of file ControllerSystem.c.

                                            {
    // Cast the updateable pointer to a controller system
    System* system = (System*)updateable->child;
    ControllerSystem* controller = (ControllerSystem*)system->child;
 
    // Perform the controller update
    if (controller->updateController(controller) == _FAILURE) {
        return _FAILURE;
    }
 
    // Set the controller to computed
    controller->state = c_computed;
 
    // Perform the safety check
    if (controller->safety(controller) == _FAILURE) {
        return _FAILURE;
    }
    
    // Return _SUCCESS
    return _SUCCESS;
}

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initControllerSystem()

void initControllerSystem	(	ControllerSystem *	controller,
		const char *	name,
		int	hz,
		ControllerType	type,
		int(*)(ControllerSystem *controller)	updateController,
		void *	child
	)

Initializes the Controller System with initial settings.

Parameters

controller	A pointer to the ControllerSystem structure.
name	The name of the controller.
hz	Rate at which the controller is called (in hz).
type	The type of controller (per ControllerType).
updateController	The function to update the controller.

Definition at line 6 of file ControllerSystem.c.

                                       {
    initSystem(&controller->system, name, hz, CONTROLLER, controller);
    controller->type = type;
    controller->num_monitors = 0;
    controller->safety = c_defaultSafety;
    controller->addMonitor = c_defaultAddMonitor;
    controller->removeMonitor = c_defaultRemoveMonitor;
    controller->state = c_computed;
    controller->updateController = updateController;
 
    // Set the updateable function to generic controller update/safety
    controller->system.updateable.update = c_defaultUpdate;
    controller->child = child;
    
}

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