176 lines
4.9 KiB
C++
176 lines
4.9 KiB
C++
/*
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* NullEstimation.cpp
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*
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* Created on: 23 нояб. 2016 г.
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* Author: titov
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*/
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#include "NullEstimation.hh"
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#include <cstring>
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technological::function::NullEstimation::NullEstimation( ResourceKeeper<driver::IInverter> & rh_inverter, ResourceKeeper<driver::IBrake> & rh_brake,
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systemic::ISignal & position,
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ResourceKeeper<std::pmr::monotonic_buffer_resource> & rh_memory ) :
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inverter(rh_inverter), brake(rh_brake), buffer(rh_memory), setting(),
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is_run(false), position(position), output( 0, 0 ),
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proc_ctrl_observe(nullptr), proc_ctrl_collection(nullptr),
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observe_and_calculation(*this), data_collection(*this) {}
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bool technological::function::NullEstimation::getResult( char * value,
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std::size_t size ) const {
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float result = estimator.get_result();
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if( sizeof(result) != size )
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return false;
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std::memcpy( value, &result, size );
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return true;
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}
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void technological::function::NullEstimation::setProcessController_Observe(
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systemic::IProcessControl * proc_ctrl ) {
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proc_ctrl_observe = proc_ctrl;
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}
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void technological::function::NullEstimation::setProcessController_DataCollection(
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systemic::IProcessControl * proc_ctrl ) {
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proc_ctrl_collection = proc_ctrl;
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}
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bool technological::function::NullEstimation::validate( Input & input ) {
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return ( input.amp_modulation > 0.0f ) && ( input.amp_modulation < 1.0f )
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&& ( input.speed > 0.0f ) && ( input.Nc > 0 ) && ( input.np > 0 ) && ( input.rise_to_hold > 0 );
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}
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bool technological::function::NullEstimation::run( const char * value, std::size_t size ) {
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if( is_run )
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return false;
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if( not proc_ctrl_observe or not proc_ctrl_collection )
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return false;
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if( sizeof(Input) != size )
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return false;
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Input input;
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std::memcpy( &input, value, size );
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if( not validate(input) )
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return false;
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setting.Np = input.np;
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ScopeLock< Locable<driver::IInverter>, Locable<driver::IBrake>, Locable<std::pmr::monotonic_buffer_resource> > lock( inverter, brake, buffer );
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if( lock
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and estimator.setBuffer( buffer.operator->() )
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and estimator.configure( setting )
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and estimator.start( input.speed, input.Nc, input.rise_to_hold ) ) {
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output.d = input.amp_modulation;
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output.q = 0.0f;
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brake->disengage();
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inverter->enPulse();
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proc_ctrl_observe->enable();
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proc_ctrl_collection->enable();
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lock.freeze();
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is_run = true;
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}
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return is_run;
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}
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void technological::function::NullEstimation::stop() {
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if( is_run ) {
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proc_ctrl_observe->disable();
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proc_ctrl_collection->disable();
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output = control::RotatingVector(0.0f, 0.0f);
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brake->engage();
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brake.unlock();
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inverter->disPulse();
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inverter.unlock();
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estimator.stop();
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estimator.resetBuffer();
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buffer->release();
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buffer.unlock();
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is_run = false;
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}
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}
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short technological::function::NullEstimation::getState() const {
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if( not(is_run) ) return DISABLE;
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else if( estimator.isCalcReady() ) return FINISHED;
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else if( estimator.isDataCollection() || estimator.isDataAnalysis() ) return EXECUTE;
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else if( estimator.isDataFailure() ) return FAILURE;
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else return -128;
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}
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technological::function::NullEstimation::DataCollectionProcess::DataCollectionProcess(
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NullEstimation & outer ) : outer(outer) {}
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void technological::function::NullEstimation::DataCollectionProcess::setSampleTime(
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float ts_in_second ) {
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outer.setting.Ts = ts_in_second;
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}
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void technological::function::NullEstimation::DataCollectionProcess::process() {
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float iota;
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outer.estimator.execute( outer.position, iota );
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control::NaturalCoordinate switch_time =
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control::function::SpaceVectorPwm::generate( control::itf_park( outer.output, iota ) );
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outer.inverter->pwm( switch_time.u, switch_time.v, switch_time.w );
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}
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void technological::function::NullEstimation::ObserveAndCalculationProcess::setSampleTime(
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float ts_in_second ) {}
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technological::function::NullEstimation::ObserveAndCalculationProcess::ObserveAndCalculationProcess(
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NullEstimation & outer ) : outer(outer) {}
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void technological::function::NullEstimation::ObserveAndCalculationProcess::process() {
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if( outer.estimator.isDataFailure() || !outer.estimator.isDataCollection() ) {
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outer.brake->disengage();
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outer.inverter->disPulse();
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outer.output = control::RotatingVector(0.0f, 0.0f);
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}
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if( outer.estimator.isDataReady() )
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outer.estimator.process();
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}
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