ControllerSystem.h File Reference

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "System.h"
#include "MonitorSystem.h"
#include "../Utils/Constants.h"
#include "../Utils/Updateable.h"
#include "../Scheduler/Task.h"

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Classes
struct	ControllerSystem

Typedefs
typedef struct ControllerSystem	ControllerSystem

Enumerations
enum	ControllerType { c_TORQUE , c_APPS , c_BRAKES , c_RTD }
enum	ControllerState { c_idle , c_computed , c_validated }

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...

Typedef Documentation

ControllerSystem

typedef struct ControllerSystem ControllerSystem

Definition at line 28 of file ControllerSystem.h.

Enumeration Type Documentation

ControllerState

enum ControllerState

Enumerator
c_idle
c_computed
c_validated

Definition at line 21 of file ControllerSystem.h.

             {
    c_idle,
    c_computed,
    c_validated
} ControllerState;

ControllerType

enum ControllerType

Enumerator
c_TORQUE
c_APPS
c_BRAKES
c_RTD

Definition at line 14 of file ControllerSystem.h.

             {
    c_TORQUE,
    c_APPS,
    c_BRAKES,
    c_RTD
} ControllerType;

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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