1 /*
2 // Copyright (c) 2018 Intel Corporation
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 "stepwisecontroller.hpp"
18 
19 #include "ec/stepwise.hpp"
20 #include "errors/exception.hpp"
21 #include "util.hpp"
22 #include "zone.hpp"
23 
24 #include <algorithm>
25 #include <chrono>
26 #include <cmath>
27 #include <iostream>
28 #include <map>
29 #include <memory>
30 #include <thread>
31 #include <vector>
32 
33 namespace pid_control
34 {
35 
36 void StepwiseController::process(void)
37 {
38     // Get input value
39     double input = inputProc();
40 
41     ec::StepwiseInfo info = getStepwiseInfo();
42 
43     double output = lastOutput;
44 
45     // Calculate new output if hysteresis allows
46     if (std::isnan(output))
47     {
48         output = ec::stepwise(info, input);
49         lastInput = input;
50     }
51     else if ((input - lastInput) > info.positiveHysteresis)
52     {
53         output = ec::stepwise(info, input);
54         lastInput = input;
55     }
56     else if ((lastInput - input) > info.negativeHysteresis)
57     {
58         output = ec::stepwise(info, input);
59         lastInput = input;
60     }
61 
62     lastOutput = output;
63     // Output new value
64     outputProc(output);
65 
66     return;
67 }
68 
69 std::unique_ptr<Controller> StepwiseController::createStepwiseController(
70     ZoneInterface* owner, const std::string& id,
71     const std::vector<std::string>& inputs, const ec::StepwiseInfo& initial)
72 {
73     // StepwiseController requires at least 1 input
74     if (inputs.empty())
75     {
76         throw ControllerBuildException("Stepwise controller missing inputs");
77         return nullptr;
78     }
79 
80     auto thermal = std::make_unique<StepwiseController>(id, inputs, owner);
81     thermal->setStepwiseInfo(initial);
82 
83     return thermal;
84 }
85 
86 double StepwiseController::inputProc(void)
87 {
88     double value = std::numeric_limits<double>::lowest();
89     for (const auto& in : _inputs)
90     {
91         value = std::max(value, _owner->getCachedValue(in));
92     }
93     return value;
94 }
95 
96 void StepwiseController::outputProc(double value)
97 {
98     if (getStepwiseInfo().isCeiling)
99     {
100         _owner->addRPMCeiling(value);
101     }
102     else
103     {
104         _owner->addSetPoint(value);
105     }
106     return;
107 }
108 
109 } // namespace pid_control
110