#include <asyncLinearMotionProfileController.hpp>

Inheritance diagram for okapi::AsyncLinearMotionProfileController:

Public Member Functions
	AsyncLinearMotionProfileController (const TimeUtil &itimeUtil, const PathfinderLimits &ilimits, const std::shared_ptr< ControllerOutput< double > > &ioutput, const QLength &idiameter, const AbstractMotor::GearsetRatioPair &ipair, const std::shared_ptr< Logger > &ilogger=Logger::getDefaultLogger())
	An Async Controller which generates and follows 1D motion profiles.

	AsyncLinearMotionProfileController (AsyncLinearMotionProfileController &&other)=delete

AsyncLinearMotionProfileController &	operator= (AsyncLinearMotionProfileController &&other)=delete

	~AsyncLinearMotionProfileController () override

void	generatePath (std::initializer_list< QLength > iwaypoints, const std::string &ipathId)
	Generates a path which intersects the given waypoints and saves it internally with a key of pathId.

void	generatePath (std::initializer_list< QLength > iwaypoints, const std::string &ipathId, const PathfinderLimits &ilimits)
	Generates a path which intersects the given waypoints and saves it internally with a key of pathId.

bool	removePath (const std::string &ipathId)
	Removes a path and frees the memory it used.

std::vector< std::string >	getPaths ()
	Gets the identifiers of all paths saved in this `AsyncMotionProfileController`.

void	setTarget (std::string ipathId) override
	Executes a path with the given ID.

void	setTarget (std::string ipathId, bool ibackwards)
	Executes a path with the given ID.

void	controllerSet (std::string ivalue) override
	Writes the value of the controller output.

std::string	getTarget () override
	Gets the last set target, or the default target if none was set.

virtual std::string	getTarget () const
	Gets the last set target, or the default target if none was set.

std::string	getProcessValue () const override
	This is overridden to return the current path.

void	waitUntilSettled () override
	Blocks the current task until the controller has settled.

void	moveTo (const QLength &iposition, const QLength &itarget, bool ibackwards=false)
	Generates a new path from the position (typically the current position) to the target and blocks until the controller has settled.

void	moveTo (const QLength &iposition, const QLength &itarget, const PathfinderLimits &ilimits, bool ibackwards=false)
	Generates a new path from the position (typically the current position) to the target and blocks until the controller has settled.

double	getError () const override
	Returns the last error of the controller.

bool	isSettled () override
	Returns whether the controller has settled at the target.

void	reset () override
	Resets the controller's internal state so it is similar to when it was first initialized, while keeping any user-configured information.

void	flipDisable () override
	Changes whether the controller is off or on.

void	flipDisable (bool iisDisabled) override
	Sets whether the controller is off or on.

bool	isDisabled () const override
	Returns whether the controller is currently disabled.

void	tarePosition () override
	This implementation does nothing because the API always requires the starting position to be specified.

void	setMaxVelocity (std::int32_t imaxVelocity) override
	This implementation does nothing because the maximum velocity is configured using PathfinderLimits elsewhere.

void	startThread ()
	Starts the internal thread.

CrossplatformThread *	getThread () const
	Returns the underlying thread handle.

void	forceRemovePath (const std::string &ipathId)
	Attempts to remove a path without stopping execution, then if that fails, disables the controller and removes the path.

Public Member Functions inherited from okapi::ClosedLoopController< Input, Output >
virtual	~ClosedLoopController ()=default

virtual void	setTarget (Input itarget)=0
	Sets the target for the controller.

Public Member Functions inherited from okapi::ControllerOutput< Input >
virtual void	controllerSet (Input ivalue)=0
	Writes the value of the controller output.

Protected Member Functions
void	loop ()

virtual void	executeSinglePath (const std::vector< squiggles::ProfilePoint > &path, std::unique_ptr< AbstractRate > rate)
	Follow the supplied path.

QAngularSpeed	convertLinearToRotational (QSpeed linear) const
	Converts linear "chassis" speed to rotational motor speed.

std::string	getPathErrorMessage (const std::vector< PathfinderPoint > &points, const std::string &ipathId, int length)

Static Protected Member Functions
static void	trampoline (void *context)

Protected Attributes
std::shared_ptr< Logger >	logger

std::map< std::string, std::vector< squiggles::ProfilePoint > >	paths {}

PathfinderLimits	limits

std::shared_ptr< ControllerOutput< double > >	output

QLength	diameter

AbstractMotor::GearsetRatioPair	pair

double	currentProfilePosition {0}

TimeUtil	timeUtil

CrossplatformMutex	currentPathMutex

std::string	currentPath {""}

std::atomic_bool	isRunning {false}

std::atomic_int	direction {1}

std::atomic_bool	disabled {false}

std::atomic_bool	dtorCalled {false}

CrossplatformThread *	task {nullptr}

Detailed Description

Definition at line 21 of file asyncLinearMotionProfileController.hpp.

Constructor & Destructor Documentation

◆ AsyncLinearMotionProfileController() [1/2]

okapi::AsyncLinearMotionProfileController::AsyncLinearMotionProfileController	(	const TimeUtil &	itimeUtil,
		const PathfinderLimits &	ilimits,
		const std::shared_ptr< ControllerOutput< double > > &	ioutput,
		const QLength &	idiameter,
		const AbstractMotor::GearsetRatioPair &	ipair,
		const std::shared_ptr< Logger > &	ilogger = `Logger::getDefaultLogger()`
	)

An Async Controller which generates and follows 1D motion profiles.

Parameters

itimeUtil	The TimeUtil.
ilimits	The default limits.
ioutput	The output to write velocity targets to.
idiameter	The effective diameter for whatever the motor spins.
ipair	The gearset.
ilogger	The logger this instance will log to.

◆ AsyncLinearMotionProfileController() [2/2]

okapi::AsyncLinearMotionProfileController::AsyncLinearMotionProfileController ( AsyncLinearMotionProfileController && other )

delete

◆ ~AsyncLinearMotionProfileController()

okapi::AsyncLinearMotionProfileController::~AsyncLinearMotionProfileController ( )

override

Member Function Documentation

◆ controllerSet()

void okapi::AsyncLinearMotionProfileController::controllerSet ( std::string ivalue )

override

Writes the value of the controller output.

This method might be automatically called in another thread by the controller.

This just calls setTarget().

◆ convertLinearToRotational()

QAngularSpeed okapi::AsyncLinearMotionProfileController::convertLinearToRotational ( QSpeed linear ) const

protected

Converts linear "chassis" speed to rotational motor speed.

Parameters

linear "chassis" frame speed

Returns: motor frame speed

◆ executeSinglePath()

virtual void okapi::AsyncLinearMotionProfileController::executeSinglePath	(	const std::vector< squiggles::ProfilePoint > &	path,
		std::unique_ptr< AbstractRate >	rate
	)

protectedvirtual

Follow the supplied path.

Must follow the disabled lifecycle.

◆ flipDisable() [1/2]

void okapi::AsyncLinearMotionProfileController::flipDisable ( )

overridevirtual

Changes whether the controller is off or on.

Turning the controller on after it was off will NOT cause the controller to move to its last set target.

Implements okapi::ClosedLoopController< Input, Output >.

◆ flipDisable() [2/2]

void okapi::AsyncLinearMotionProfileController::flipDisable ( bool iisDisabled )

overridevirtual

Sets whether the controller is off or on.

Turning the controller on after it was off will NOT cause the controller to move to its last set target, unless it was reset in that time.

Parameters

iisDisabled whether the controller is disabled

Implements okapi::ClosedLoopController< Input, Output >.

◆ forceRemovePath()

void okapi::AsyncLinearMotionProfileController::forceRemovePath ( const std::string & ipathId )

Attempts to remove a path without stopping execution, then if that fails, disables the controller and removes the path.

Parameters

ipathId The path ID that will be removed

◆ generatePath() [1/2]

void okapi::AsyncLinearMotionProfileController::generatePath	(	std::initializer_list< QLength >	iwaypoints,
		const std::string &	ipathId
	)

Generates a path which intersects the given waypoints and saves it internally with a key of pathId.

Call executePath() with the same pathId to run it.

If the waypoints form a path which is impossible to achieve, an instance of std::runtime_error is thrown (and an error is logged) which describes the waypoints. If there are no waypoints, no path is generated.

Parameters

iwaypoints	The waypoints to hit on the path.
ipathId	A unique identifier to save the path with.

◆ generatePath() [2/2]

void okapi::AsyncLinearMotionProfileController::generatePath	(	std::initializer_list< QLength >	iwaypoints,
		const std::string &	ipathId,
		const PathfinderLimits &	ilimits
	)

Generates a path which intersects the given waypoints and saves it internally with a key of pathId.

Call executePath() with the same pathId to run it.

If the waypoints form a path which is impossible to achieve, an instance of std::runtime_error is thrown (and an error is logged) which describes the waypoints. If there are no waypoints, no path is generated.

Parameters

iwaypoints	The waypoints to hit on the path.
ipathId	A unique identifier to save the path with.
ilimits	The limits to use for this path only.

◆ getError()

double okapi::AsyncLinearMotionProfileController::getError ( ) const

overridevirtual

Returns the last error of the controller.

Does not update when disabled. Returns zero if there is no path currently being followed.

Returns: the last error

Implements okapi::ClosedLoopController< Input, Output >.

◆ getPathErrorMessage()

std::string okapi::AsyncLinearMotionProfileController::getPathErrorMessage	(	const std::vector< PathfinderPoint > &	points,
		const std::string &	ipathId,
		int	length
	)

protected

◆ getPaths()

std::vector< std::string > okapi::AsyncLinearMotionProfileController::getPaths ( )

Gets the identifiers of all paths saved in this AsyncMotionProfileController.

Returns: The identifiers of all paths

◆ getProcessValue()

std::string okapi::AsyncLinearMotionProfileController::getProcessValue ( ) const

overridevirtual

This is overridden to return the current path.

Returns: The most recent value of the process variable.

Implements okapi::ClosedLoopController< Input, Output >.

◆ getTarget() [1/2]

virtual std::string okapi::AsyncLinearMotionProfileController::getTarget ( ) const

virtual

Gets the last set target, or the default target if none was set.

Returns: the last target

◆ getTarget() [2/2]

std::string okapi::AsyncLinearMotionProfileController::getTarget ( )

overridevirtual

Gets the last set target, or the default target if none was set.

Returns: the last target

Implements okapi::ClosedLoopController< Input, Output >.

◆ getThread()

CrossplatformThread * okapi::AsyncLinearMotionProfileController::getThread ( ) const

Returns the underlying thread handle.

Returns: The underlying thread handle.

◆ isDisabled()

bool okapi::AsyncLinearMotionProfileController::isDisabled ( ) const

overridevirtual

Returns whether the controller is currently disabled.

Returns: whether the controller is currently disabled

Implements okapi::ClosedLoopController< Input, Output >.

◆ isSettled()

bool okapi::AsyncLinearMotionProfileController::isSettled ( )

overridevirtual

Returns whether the controller has settled at the target.

Determining what settling means is implementation-dependent.

If the controller is disabled, this method must return true.

Returns: whether the controller is settled

Implements okapi::ClosedLoopController< Input, Output >.

◆ loop()

void okapi::AsyncLinearMotionProfileController::loop ( )

protected

◆ moveTo() [1/2]

void okapi::AsyncLinearMotionProfileController::moveTo	(	const QLength &	iposition,
		const QLength &	itarget,
		bool	ibackwards = `false`
	)

Generates a new path from the position (typically the current position) to the target and blocks until the controller has settled.

Does not save the path which was generated.

Parameters

iposition	The starting position.
itarget	The target position.
ibackwards	Whether to follow the profile backwards.

◆ moveTo() [2/2]

void okapi::AsyncLinearMotionProfileController::moveTo	(	const QLength &	iposition,
		const QLength &	itarget,
		const PathfinderLimits &	ilimits,
		bool	ibackwards = `false`
	)

Generates a new path from the position (typically the current position) to the target and blocks until the controller has settled.

Does not save the path which was generated.

Parameters

iposition	The starting position.
itarget	The target position.
ilimits	The limits to use for this path only.
ibackwards	Whether to follow the profile backwards.

◆ operator=()

AsyncLinearMotionProfileController & okapi::AsyncLinearMotionProfileController::operator= ( AsyncLinearMotionProfileController && other )

delete

◆ removePath()

bool okapi::AsyncLinearMotionProfileController::removePath ( const std::string & ipathId )

Removes a path and frees the memory it used.

This function returns true if the path was either deleted or didn't exist in the first place. It returns false if the path could not be removed because it is running.

Parameters

ipathId A unique identifier for the path, previously passed to generatePath()

Returns: true if the path no longer exists

◆ reset()

void okapi::AsyncLinearMotionProfileController::reset ( )

overridevirtual

Resets the controller's internal state so it is similar to when it was first initialized, while keeping any user-configured information.

This implementation also stops movement.

Implements okapi::ClosedLoopController< Input, Output >.

◆ setMaxVelocity()

void okapi::AsyncLinearMotionProfileController::setMaxVelocity ( std::int32_t imaxVelocity )

overridevirtual

This implementation does nothing because the maximum velocity is configured using PathfinderLimits elsewhere.

Parameters

imaxVelocity Ignored.

Implements okapi::AsyncPositionController< std::string, double >.

◆ setTarget() [1/2]

void okapi::AsyncLinearMotionProfileController::setTarget ( std::string ipathId )

override

Executes a path with the given ID.

If there is no path matching the ID, the method will return. Any targets set while a path is being followed will be ignored.

Parameters

ipathId A unique identifier for the path, previously passed to generatePath().

◆ setTarget() [2/2]

void okapi::AsyncLinearMotionProfileController::setTarget	(	std::string	ipathId,
		bool	ibackwards
	)

Executes a path with the given ID.

If there is no path matching the ID, the method will return. Any targets set while a path is being followed will be ignored.

Parameters

ipathId	A unique identifier for the path, previously passed to `generatePath()`.
ibackwards	Whether to follow the profile backwards.

◆ startThread()

void okapi::AsyncLinearMotionProfileController::startThread ( )

Starts the internal thread.

This should not be called by normal users. This method is called by the AsyncControllerFactory when making a new instance of this class.

◆ tarePosition()

void okapi::AsyncLinearMotionProfileController::tarePosition ( )

overridevirtual

This implementation does nothing because the API always requires the starting position to be specified.

Implements okapi::AsyncPositionController< std::string, double >.

◆ trampoline()

static void okapi::AsyncLinearMotionProfileController::trampoline ( void * context )

staticprotected

◆ waitUntilSettled()

void okapi::AsyncLinearMotionProfileController::waitUntilSettled ( )

overridevirtual

Blocks the current task until the controller has settled.

This controller is settled when it has finished following a path. If no path is being followed, it is settled.

Implements okapi::AsyncController< Input, Output >.

Member Data Documentation

◆ currentPath

std::string okapi::AsyncLinearMotionProfileController::currentPath {""}

protected

Definition at line 263 of file asyncLinearMotionProfileController.hpp.

◆ currentPathMutex

CrossplatformMutex okapi::AsyncLinearMotionProfileController::currentPathMutex

protected

Definition at line 261 of file asyncLinearMotionProfileController.hpp.

◆ currentProfilePosition

double okapi::AsyncLinearMotionProfileController::currentProfilePosition {0}

protected

Definition at line 257 of file asyncLinearMotionProfileController.hpp.

◆ diameter

QLength okapi::AsyncLinearMotionProfileController::diameter

protected

Definition at line 255 of file asyncLinearMotionProfileController.hpp.

◆ direction

std::atomic_int okapi::AsyncLinearMotionProfileController::direction {1}

protected

Definition at line 265 of file asyncLinearMotionProfileController.hpp.

◆ disabled

std::atomic_bool okapi::AsyncLinearMotionProfileController::disabled {false}

protected

Definition at line 266 of file asyncLinearMotionProfileController.hpp.

◆ dtorCalled

std::atomic_bool okapi::AsyncLinearMotionProfileController::dtorCalled {false}

protected

Definition at line 267 of file asyncLinearMotionProfileController.hpp.

◆ isRunning

std::atomic_bool okapi::AsyncLinearMotionProfileController::isRunning {false}

protected

Definition at line 264 of file asyncLinearMotionProfileController.hpp.

◆ limits

PathfinderLimits okapi::AsyncLinearMotionProfileController::limits

protected

Definition at line 253 of file asyncLinearMotionProfileController.hpp.

◆ logger

std::shared_ptr<Logger> okapi::AsyncLinearMotionProfileController::logger

protected

Definition at line 251 of file asyncLinearMotionProfileController.hpp.

◆ output

std::shared_ptr<ControllerOutput<double> > okapi::AsyncLinearMotionProfileController::output

protected

Definition at line 254 of file asyncLinearMotionProfileController.hpp.

◆ pair

AbstractMotor::GearsetRatioPair okapi::AsyncLinearMotionProfileController::pair

protected

Definition at line 256 of file asyncLinearMotionProfileController.hpp.

◆ paths

std::map<std::string, std::vector<squiggles::ProfilePoint> > okapi::AsyncLinearMotionProfileController::paths {}

protected

Definition at line 252 of file asyncLinearMotionProfileController.hpp.

◆ task

CrossplatformThread* okapi::AsyncLinearMotionProfileController::task {nullptr}

protected

Definition at line 268 of file asyncLinearMotionProfileController.hpp.

◆ timeUtil

TimeUtil okapi::AsyncLinearMotionProfileController::timeUtil

protected

Definition at line 258 of file asyncLinearMotionProfileController.hpp.

The documentation for this class was generated from the following file:

include/okapi/api/control/async/asyncLinearMotionProfileController.hpp

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ AsyncLinearMotionProfileController() [1/2]

◆ AsyncLinearMotionProfileController() [2/2]

◆ ~AsyncLinearMotionProfileController()

Member Function Documentation

◆ controllerSet()

◆ convertLinearToRotational()

◆ executeSinglePath()

◆ flipDisable() [1/2]

◆ flipDisable() [2/2]

◆ forceRemovePath()

◆ generatePath() [1/2]

◆ generatePath() [2/2]

◆ getError()

◆ getPathErrorMessage()

◆ getPaths()

◆ getProcessValue()

◆ getTarget() [1/2]

◆ getTarget() [2/2]

◆ getThread()

◆ isDisabled()

◆ isSettled()

◆ loop()

◆ moveTo() [1/2]

◆ moveTo() [2/2]

◆ operator=()

◆ removePath()

◆ reset()

◆ setMaxVelocity()

◆ setTarget() [1/2]

◆ setTarget() [2/2]

◆ startThread()

◆ tarePosition()

◆ trampoline()

◆ waitUntilSettled()

Member Data Documentation

◆ currentPath

◆ currentPathMutex

◆ currentProfilePosition

◆ diameter

◆ direction

◆ disabled

◆ dtorCalled

◆ isRunning

◆ limits

◆ logger

◆ output

◆ pair

◆ paths

◆ task

◆ timeUtil