MotorControlModuleSDFM_TMS320F28388D/Projects/EFC_Application/UMLibrary/technological/commissioning/ThetaNullEstimate.hh

/*
 * ThetaNullEstimate.h
 *
 *  Created on: 23 <EFBFBD><EFBFBD><EFBFBD><EFBFBD>. 2016 <EFBFBD>.
 *      Author: titov
 */

#ifndef SOURCE_COMMISSIONING_THETANULLESTIMATE_H_

#define SOURCE_COMMISSIONING_THETANULLESTIMATE_H_

#include "../../algorithm/LinearRegression.hh"

#include "../../math/math_inc.hh"

#include <algorithm>

#include <memory_resource>

namespace technological { namespace commissioning {

//todo: <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>.
class ThetaNullEstimate {
public:
	struct TSetting {

		float Ts;
		float Np;

		float valid_mismatch_theta_1;
		float valid_error;

		bool isValid() const {
			return Ts > 0.0f
					&& Np > 0
					&& Np < 128
					and valid_mismatch_theta_1 > 0
					and valid_error > 0;
		}
	};

private:
	enum TDirection {
		forward,
		backward
	};

	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
	bool enable;
	bool data_collection;
	bool data_analysis;

	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
	int sector_setpoint; 			//!<<3C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> (1/6 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>).
	unsigned int Np;				//!<<3C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
	float speed;					//!<<3C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
	float Ts;						//!<<3C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.

	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
	TDirection direction;
	unsigned long count_rise;		//!<<3C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
	unsigned long count_next;		//!<<3C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
	int sector;						//!<<3C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
	unsigned long count;			//!<<3C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>

	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
	algorithm::LinearRegression * null_calculator;
	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
	float errorEstimate;
	float totalError;       //!<<3C><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
	//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>.
	float previous_feedback;
	float delta_previous;



	std::pmr::monotonic_buffer_resource * buff_resource;
private:
	void add_data(float theta_feedback);

	float calc_null_result() const {
		const unsigned int start_k = 0;

		return (null_calculator->getTheta(0)
				+ null_calculator->getTheta(1) * start_k);
	}

	bool check_valid_result() const {
		return null_calculator->getTheta(1) < ( math::constants::pi_3 + errorEstimate )
				&& null_calculator->getTheta(1) > ( math::constants::pi_3 - errorEstimate )
				and std::abs( null_calculator->getError() ) < totalError;
	}

public:
	ThetaNullEstimate();

	bool setBuffer( std::pmr::monotonic_buffer_resource * buffer );
	void resetBuffer();

	bool configure(const TSetting & setting);

	bool start(float average_speed, unsigned int number_sector, float rise_to_hold);
	void stop();

	void execute(float theta_feedback, float & iota);

	void process();

	bool isDataCollection() const {return enable && data_collection;}
	bool isDataCollected() const {return enable && not data_collection;}
	bool isDataAnalysis() const {return enable && data_analysis;}

	bool isDataReady() const {return enable && null_calculator && null_calculator->isFull();}
	bool isDataFailure() const {return enable && !data_collection && null_calculator && !null_calculator->isFull();}
	bool isCalcReady() const {return enable && null_calculator && null_calculator->isFinish();}

	float get_result() const {
		if(null_calculator && check_valid_result())
			return calc_null_result();
		else
			return NAN;
	}
};

}}



#endif /* SOURCE_COMMISSIONING_THETANULLESTIMATE_H_ */