#include <asyncWrapper.hpp>

Inheritance diagram for okapi::AsyncWrapper< Input, Output >:

Public Member Functions
	AsyncWrapper (const std::shared_ptr< ControllerInput< Input > > &iinput, const std::shared_ptr< ControllerOutput< Output > > &ioutput, const std::shared_ptr< IterativeController< Input, Output > > &icontroller, const Supplier< std::unique_ptr< AbstractRate > > &irateSupplier, const double iratio=1, std::shared_ptr< Logger > ilogger=Logger::getDefaultLogger())
	A wrapper class that transforms an `IterativeController` into an `AsyncController` by running it in another task.

	AsyncWrapper (AsyncWrapper< Input, Output > &&other)=delete

AsyncWrapper< Input, Output > &	operator= (AsyncWrapper< Input, Output > &&other)=delete

	~AsyncWrapper () override

void	setTarget (const Input itarget) override
	Sets the target for the controller.

void	controllerSet (const Input ivalue) override
	Writes the value of the controller output.

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

Input	getProcessValue () const override

Output	getOutput () const
	Returns the last calculated output of the controller.

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

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

void	setSampleTime (const QTime &isampleTime)
	Set time between loops.

void	setOutputLimits (const Output imax, const Output imin)
	Set controller output bounds.

void	setControllerSetTargetLimits (double itargetMax, double itargetMin)
	Sets the (soft) limits for the target range that controllerSet() scales into.

Output	getMaxOutput ()
	Get the upper output bound.

Output	getMinOutput ()
	Get the lower output bound.

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

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

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

void	startThread ()
	Starts the internal thread.

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

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

Protected Member Functions
void	loop ()

virtual void	resumeMovement ()
	Resumes moving after the controller is reset.

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

Protected Attributes
std::shared_ptr< Logger >	logger

Supplier< std::unique_ptr< AbstractRate > >	rateSupplier

std::shared_ptr< ControllerInput< Input > >	input

std::shared_ptr< ControllerOutput< Output > >	output

std::shared_ptr< IterativeController< Input, Output > >	controller

bool	hasFirstTarget {false}

Input	lastTarget

double	ratio

std::atomic_bool	dtorCalled {false}

CrossplatformThread *	task {nullptr}

Detailed Description

template<typename Input, typename Output>
class okapi::AsyncWrapper< Input, Output >

Definition at line 22 of file asyncWrapper.hpp.

Constructor & Destructor Documentation

◆ AsyncWrapper() [1/2]

template<typename Input , typename Output >

okapi::AsyncWrapper< Input, Output >::AsyncWrapper	(	const std::shared_ptr< ControllerInput< Input > > &	iinput,
		const std::shared_ptr< ControllerOutput< Output > > &	ioutput,
		const std::shared_ptr< IterativeController< Input, Output > > &	icontroller,
		const Supplier< std::unique_ptr< AbstractRate > > &	irateSupplier,
		const double	iratio = `1`,
		std::shared_ptr< Logger >	ilogger = `Logger::getDefaultLogger()`
	)

inline

A wrapper class that transforms an IterativeController into an AsyncController by running it in another task.

The input controller will act like an AsyncController.

Parameters

iinput	controller input, passed to the `IterativeController`
ioutput	controller output, written to from the `IterativeController`
icontroller	the controller to use
irateSupplier	used for rates used in the main loop and in `waitUntilSettled`
iratio	Any external gear ratio.
ilogger	The logger this instance will log to.

Definition at line 35 of file asyncWrapper.hpp.

◆ AsyncWrapper() [2/2]

template<typename Input , typename Output >

okapi::AsyncWrapper< Input, Output >::AsyncWrapper ( AsyncWrapper< Input, Output > && other )

delete

◆ ~AsyncWrapper()

template<typename Input , typename Output >

okapi::AsyncWrapper< Input, Output >::~AsyncWrapper ( )

inlineoverride

Definition at line 53 of file asyncWrapper.hpp.

Member Function Documentation

◆ controllerSet()

template<typename Input , typename Output >

void okapi::AsyncWrapper< Input, Output >::controllerSet ( const Input ivalue )

inlineoverridevirtual

Writes the value of the controller output.

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

Parameters

ivalue the controller's output

Implements okapi::ControllerOutput< Input >.

Definition at line 74 of file asyncWrapper.hpp.

◆ flipDisable() [1/2]

template<typename Input , typename Output >

void okapi::AsyncWrapper< Input, Output >::flipDisable ( )

inlineoverridevirtual

Changes whether the controller is off or on.

Turning the controller on after it was off will cause the controller to move to its last set target, unless it was reset in that time.

Implements okapi::ClosedLoopController< Input, Output >.

Definition at line 182 of file asyncWrapper.hpp.

◆ flipDisable() [2/2]

template<typename Input , typename Output >

void okapi::AsyncWrapper< Input, Output >::flipDisable ( const bool iisDisabled )

inlineoverridevirtual

Sets whether the controller is off or on.

Turning the controller on after it was off will 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 >.

Definition at line 194 of file asyncWrapper.hpp.

◆ getError()

template<typename Input , typename Output >

Output okapi::AsyncWrapper< Input, Output >::getError ( ) const

inlineoverridevirtual

Returns the last error of the controller.

Does not update when disabled.

Implements okapi::ClosedLoopController< Input, Output >.

Definition at line 104 of file asyncWrapper.hpp.

◆ getMaxOutput()

template<typename Input , typename Output >

Output okapi::AsyncWrapper< Input, Output >::getMaxOutput ( )

inline

Get the upper output bound.

Returns: the upper output bound

Definition at line 155 of file asyncWrapper.hpp.

◆ getMinOutput()

template<typename Input , typename Output >

Output okapi::AsyncWrapper< Input, Output >::getMinOutput ( )

inline

Get the lower output bound.

Returns: the lower output bound

Definition at line 164 of file asyncWrapper.hpp.

◆ getOutput()

template<typename Input , typename Output >

Output okapi::AsyncWrapper< Input, Output >::getOutput ( ) const

inline

Returns the last calculated output of the controller.

Definition at line 97 of file asyncWrapper.hpp.

◆ getProcessValue()

template<typename Input , typename Output >

Input okapi::AsyncWrapper< Input, Output >::getProcessValue ( ) const

inlineoverridevirtual

Returns: The most recent value of the process variable.

Implements okapi::ClosedLoopController< Input, Output >.

Definition at line 90 of file asyncWrapper.hpp.

◆ getTarget()

template<typename Input , typename Output >

Input okapi::AsyncWrapper< Input, Output >::getTarget ( )

inlineoverridevirtual

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

Returns: the last target

Implements okapi::ClosedLoopController< Input, Output >.

Definition at line 83 of file asyncWrapper.hpp.

◆ getThread()

template<typename Input , typename Output >

CrossplatformThread * okapi::AsyncWrapper< Input, Output >::getThread ( ) const

inline

Returns the underlying thread handle.

Returns: The underlying thread handle.

Definition at line 239 of file asyncWrapper.hpp.

◆ isDisabled()

template<typename Input , typename Output >

bool okapi::AsyncWrapper< Input, Output >::isDisabled ( ) const

inlineoverridevirtual

Returns whether the controller is currently disabled.

Returns: whether the controller is currently disabled

Implements okapi::ClosedLoopController< Input, Output >.

Definition at line 205 of file asyncWrapper.hpp.

◆ isSettled()

template<typename Input , typename Output >

bool okapi::AsyncWrapper< Input, Output >::isSettled ( )

inlineoverridevirtual

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 >.

Definition at line 116 of file asyncWrapper.hpp.

◆ loop()

template<typename Input , typename Output >

void okapi::AsyncWrapper< Input, Output >::loop ( )

inlineprotected

Definition at line 261 of file asyncWrapper.hpp.

◆ operator=()

template<typename Input , typename Output >

AsyncWrapper< Input, Output > & okapi::AsyncWrapper< Input, Output >::operator= ( AsyncWrapper< Input, Output > && other )

delete

◆ reset()

template<typename Input , typename Output >

void okapi::AsyncWrapper< Input, Output >::reset ( )

inlineoverridevirtual

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

Implements okapi::ClosedLoopController< Input, Output >.

Definition at line 172 of file asyncWrapper.hpp.

◆ resumeMovement()

template<typename Input , typename Output >

virtual void okapi::AsyncWrapper< Input, Output >::resumeMovement ( )

inlineprotectedvirtual

Resumes moving after the controller is reset.

Should not cause movement if the controller is turned off, reset, and turned back on.

Definition at line 276 of file asyncWrapper.hpp.

◆ setControllerSetTargetLimits()

template<typename Input , typename Output >

void okapi::AsyncWrapper< Input, Output >::setControllerSetTargetLimits	(	double	itargetMax,
		double	itargetMin
	)

inline

Sets the (soft) limits for the target range that controllerSet() scales into.

The target computed by controllerSet() is scaled into the range [-itargetMin, itargetMax].

Parameters

itargetMax	The new max target for controllerSet().
itargetMin	The new min target for controllerSet().

Definition at line 146 of file asyncWrapper.hpp.

◆ setOutputLimits()

template<typename Input , typename Output >

void okapi::AsyncWrapper< Input, Output >::setOutputLimits	(	const Output	imax,
		const Output	imin
	)

inline

Set controller output bounds.

Parameters

imax	max output
imin	min output

Definition at line 135 of file asyncWrapper.hpp.

◆ setSampleTime()

template<typename Input , typename Output >

void okapi::AsyncWrapper< Input, Output >::setSampleTime ( const QTime & isampleTime )

inline

Set time between loops.

Parameters

isampleTime time between loops

Definition at line 125 of file asyncWrapper.hpp.

◆ setTarget()

template<typename Input , typename Output >

void okapi::AsyncWrapper< Input, Output >::setTarget ( const Input itarget )

inlineoverridevirtual

Sets the target for the controller.

Implements okapi::ClosedLoopController< Input, Output >.

Definition at line 61 of file asyncWrapper.hpp.

◆ startThread()

template<typename Input , typename Output >

void okapi::AsyncWrapper< Input, Output >::startThread ( )

inline

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.

Definition at line 228 of file asyncWrapper.hpp.

◆ trampoline()

template<typename Input , typename Output >

static void okapi::AsyncWrapper< Input, Output >::trampoline ( void * context )

inlinestaticprotected

Definition at line 255 of file asyncWrapper.hpp.

◆ waitUntilSettled()

template<typename Input , typename Output >

void okapi::AsyncWrapper< Input, Output >::waitUntilSettled ( )

inlineoverridevirtual

Blocks the current task until the controller has settled.

Determining what settling means is implementation-dependent.

Implements okapi::AsyncController< Input, Output >.

Definition at line 213 of file asyncWrapper.hpp.

Member Data Documentation

◆ controller

template<typename Input , typename Output >

std::shared_ptr<IterativeController<Input, Output> > okapi::AsyncWrapper< Input, Output >::controller

protected

Definition at line 248 of file asyncWrapper.hpp.

◆ dtorCalled

template<typename Input , typename Output >

std::atomic_bool okapi::AsyncWrapper< Input, Output >::dtorCalled {false}

protected

Definition at line 252 of file asyncWrapper.hpp.

◆ hasFirstTarget

template<typename Input , typename Output >

bool okapi::AsyncWrapper< Input, Output >::hasFirstTarget {false}

protected

Definition at line 249 of file asyncWrapper.hpp.

◆ input

template<typename Input , typename Output >

std::shared_ptr<ControllerInput<Input> > okapi::AsyncWrapper< Input, Output >::input

protected

Definition at line 246 of file asyncWrapper.hpp.

◆ lastTarget

template<typename Input , typename Output >

Input okapi::AsyncWrapper< Input, Output >::lastTarget

protected

Definition at line 250 of file asyncWrapper.hpp.

◆ logger

template<typename Input , typename Output >

std::shared_ptr<Logger> okapi::AsyncWrapper< Input, Output >::logger

protected

Definition at line 244 of file asyncWrapper.hpp.

◆ output

template<typename Input , typename Output >

std::shared_ptr<ControllerOutput<Output> > okapi::AsyncWrapper< Input, Output >::output

protected

Definition at line 247 of file asyncWrapper.hpp.

◆ rateSupplier

template<typename Input , typename Output >

Supplier<std::unique_ptr<AbstractRate> > okapi::AsyncWrapper< Input, Output >::rateSupplier

protected

Definition at line 245 of file asyncWrapper.hpp.

◆ ratio

template<typename Input , typename Output >

double okapi::AsyncWrapper< Input, Output >::ratio

protected

Definition at line 251 of file asyncWrapper.hpp.

◆ task

template<typename Input , typename Output >

CrossplatformThread* okapi::AsyncWrapper< Input, Output >::task {nullptr}

protected

Definition at line 253 of file asyncWrapper.hpp.

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

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

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ AsyncWrapper() [1/2]

◆ AsyncWrapper() [2/2]

◆ ~AsyncWrapper()

Member Function Documentation

◆ controllerSet()

◆ flipDisable() [1/2]

◆ flipDisable() [2/2]

◆ getError()

◆ getMaxOutput()

◆ getMinOutput()

◆ getOutput()

◆ getProcessValue()

◆ getTarget()

◆ getThread()

◆ isDisabled()

◆ isSettled()

◆ loop()

◆ operator=()

◆ reset()

◆ resumeMovement()

◆ setControllerSetTargetLimits()

◆ setOutputLimits()

◆ setSampleTime()

◆ setTarget()

◆ startThread()

◆ trampoline()

◆ waitUntilSettled()

Member Data Documentation

◆ controller

◆ dtorCalled

◆ hasFirstTarget

◆ input

◆ lastTarget

◆ logger

◆ output

◆ rateSupplier

◆ ratio

◆ task