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 "tuning.hpp"
22 #include "util.hpp"
23 #include "zone.hpp"
24 
25 #include <algorithm>
26 #include <chrono>
27 #include <cmath>
28 #include <iostream>
29 #include <map>
30 #include <memory>
31 #include <thread>
32 #include <vector>
33 
34 namespace pid_control
35 {
36 
37 void StepwiseController::process(void)
38 {
39     // Get input value
40     double input = inputProc();
41 
42     ec::StepwiseInfo info = getStepwiseInfo();
43 
44     double output = lastOutput;
45 
46     // Calculate new output if hysteresis allows
47     if (std::isnan(output))
48     {
49         output = ec::stepwise(info, input);
50         lastInput = input;
51     }
52     else if ((input - lastInput) > info.positiveHysteresis)
53     {
54         output = ec::stepwise(info, input);
55         lastInput = input;
56     }
57     else if ((lastInput - input) > info.negativeHysteresis)
58     {
59         output = ec::stepwise(info, input);
60         lastInput = input;
61     }
62 
63     lastOutput = output;
64     // Output new value
65     outputProc(output);
66 
67     return;
68 }
69 
70 std::unique_ptr<Controller> StepwiseController::createStepwiseController(
71     ZoneInterface* owner, const std::string& id,
72     const std::vector<std::string>& inputs, const ec::StepwiseInfo& initial)
73 {
74     // StepwiseController requires at least 1 input
75     if (inputs.empty())
76     {
77         throw ControllerBuildException("Stepwise controller missing inputs");
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 
94     if (debugEnabled)
95     {
96         std::cerr << getID()
97                   << " choose the maximum temperature value: " << value << "\n";
98     }
99 
100     return value;
101 }
102 
103 void StepwiseController::outputProc(double value)
104 {
105     if (getStepwiseInfo().isCeiling)
106     {
107         _owner->addRPMCeiling(value);
108     }
109     else
110     {
111         _owner->addSetPoint(value, _id);
112         if (debugEnabled)
113         {
114             std::cerr << getID() << " stepwise output pwm: " << value << "\n";
115         }
116     }
117     return;
118 }
119 
120 } // namespace pid_control
121