/*
 * PiControllerProcess.cpp
 *
 *  Created on: 5 θών. 2020 γ.
 *      Author: LeonidTitov
 */

#include "PiControllerProcess.hh"

void processing::acs::PiControllerProcess::set( TypeInput setpoint ) {

    value_error = setpoint;

    if( isConnected() and not(proc_enable) ) {

        regulator.recalculate(value_error, current_value);

        proc_enable = true;
    }

}

processing::acs::PiControllerProcess::TypeOutput processing::acs::PiControllerProcess::get() const {

    return current_value;

}

void processing::acs::PiControllerProcess::set_output(
        SetInterface * output_interface ) {

    if( not output_interface ) proc_enable = false;

    output = output_interface;

}

vector::ITechValue & processing::acs::PiControllerProcess::getLimit() {

    return limit;

}

void processing::acs::PiControllerProcess::setSampleTime( float ts_in_second ) {

    regulator.setTime(ts_in_second);

}

void processing::acs::PiControllerProcess::process() {

    if( not proc_enable )
        return;

//    value_error.update();
//    tracking.value.update();

    value_output = regulator( value_error, tracking.value );

    output->set(value_output);

}

void processing::acs::PiControllerProcess::reset() {

    proc_enable = false;

    value_error = 0.0f;
    tracking.value = current_value;

    regulator.reset();

}

vector::ITechValue & processing::acs::PiControllerProcess::getTrackingTract() {

    return tracking;

}

processing::acs::PiControllerProcess::PiControllerProcess(
        Regulator & regulator, systemic::ISignal & current_value ) : regulator(regulator), current_value(current_value),
                value_error(0.0f), tracking(), limit(regulator),
                proc_enable(false), output(nullptr), value_output(0.0f) {}

bool processing::acs::PiControllerProcess::isConnected() const {

    return output;

}