From 26e5f99dcf551622399fa4d5818c496897a3c9c2 Mon Sep 17 00:00:00 2001
From: Andrey <rusefillc@gmail.com>
Date: Fri, 5 Jul 2024 16:57:17 -0400
Subject: [PATCH] only:extracting lua_pid

---
 firmware/controllers/lua/lua_hooks.cpp | 100 +-----------------------
 firmware/controllers/lua/lua_pid.h     | 102 +++++++++++++++++++++++++
 2 files changed, 103 insertions(+), 99 deletions(-)
 create mode 100644 firmware/controllers/lua/lua_pid.h

diff --git a/firmware/controllers/lua/lua_hooks.cpp b/firmware/controllers/lua/lua_hooks.cpp
index abd805067d..7a89a489a8 100644
--- a/firmware/controllers/lua/lua_hooks.cpp
+++ b/firmware/controllers/lua/lua_hooks.cpp
@@ -10,6 +10,7 @@
 #include "value_lookup.h"
 #include "can_filter.h"
 #include "tunerstudio.h"
+#include "lua_pid.h"
 
 #if EFI_PROD_CODE && HW_HELLEN
 #include "hellen_meta.h"
@@ -522,105 +523,6 @@ private:
 	bool m_isRedundant = false;
 };
 
-struct LuaPid final {
-	LuaPid() = default;
-
-	LuaPid(float kp, float ki, float kd, float min, float max)
-		: m_pid(&m_params)
-	{
-		m_params.pFactor = kp;
-		m_params.iFactor = ki;
-		m_params.dFactor = kd;
-
-		m_params.offset = 0;
-		m_params.periodMs = 0;
-		m_params.minValue = min;
-		m_params.maxValue = max;
-
-		m_lastUpdate.reset();
-	}
-
-	float get(float target, float input) {
-#if EFI_UNIT_TEST
-		// this is how we avoid zero dt
-		advanceTimeUs(1000);
-#endif
-
-		float dt = m_lastUpdate.getElapsedSecondsAndReset(getTimeNowNt());
-
-		return m_pid.getOutput(target, input, dt);
-	}
-
-	void setOffset(float offset) {
-		m_params.offset = offset;
-		reset();
-	}
-
-	void reset() {
-		m_pid.reset();
-	}
-
-private:
-	Pid m_pid;
-	Timer m_lastUpdate;
-	pid_s m_params;
-};
-
-// todo: use templates and reduce duplication between LuaPid and LuaIndustrialPid?
-struct LuaIndustrialPid final {
-	LuaIndustrialPid() = default;
-
-	LuaIndustrialPid(float kp, float ki, float kd, float min, float max)
-		: m_pid(&m_params)
-	{
-		m_params.pFactor = kp;
-		m_params.iFactor = ki;
-		m_params.dFactor = kd;
-
-		m_params.offset = 0;
-		m_params.periodMs = 0;
-		m_params.minValue = min;
-		m_params.maxValue = max;
-
-		m_lastUpdate.reset();
-	}
-
-	float get(float target, float input) {
-#if EFI_UNIT_TEST
-		// this is how we avoid zero dt
-		advanceTimeUs(1000);
-#endif
-
-		float dt = m_lastUpdate.getElapsedSecondsAndReset(getTimeNowNt());
-
-		return m_pid.getOutput(target, input, dt);
-	}
-
-	void setOffset(float offset) {
-		m_params.offset = offset;
-		reset();
-	}
-
-	void setDerivativeFilterLoss(float derivativeFilterLoss) {
-		m_pid.derivativeFilterLoss = derivativeFilterLoss;
-		reset();
-	}
-
-	void setAntiwindupFreq(float antiwindupFreq) {
-		m_pid.antiwindupFreq = antiwindupFreq;
-		reset();
-	}
-
-	void reset() {
-		m_pid.reset();
-	}
-
-private:
-	PidIndustrial m_pid;
-	Timer m_lastUpdate;
-	pid_s m_params;
-};
-
 static bool isFunction(lua_State* l, int idx) {
 	return lua_type(l, idx) == LUA_TFUNCTION;
 }
diff --git a/firmware/controllers/lua/lua_pid.h b/firmware/controllers/lua/lua_pid.h
new file mode 100644
index 0000000000..1de769715f
--- /dev/null
+++ b/firmware/controllers/lua/lua_pid.h
@@ -0,0 +1,102 @@
+#pragma once
+
+#include "pch.h"
+
+struct LuaPid final {
+	LuaPid() = default;
+
+	LuaPid(float kp, float ki, float kd, float min, float max)
+		: m_pid(&m_params)
+	{
+		m_params.pFactor = kp;
+		m_params.iFactor = ki;
+		m_params.dFactor = kd;
+
+		m_params.offset = 0;
+		m_params.periodMs = 0;
+		m_params.minValue = min;
+		m_params.maxValue = max;
+
+		m_lastUpdate.reset();
+	}
+
+	float get(float target, float input) {
+#if EFI_UNIT_TEST
+		// this is how we avoid zero dt
+		advanceTimeUs(1000);
+#endif
+
+		float dt = m_lastUpdate.getElapsedSecondsAndReset(getTimeNowNt());
+
+		return m_pid.getOutput(target, input, dt);
+	}
+
+	void setOffset(float offset) {
+		m_params.offset = offset;
+		reset();
+	}
+
+	void reset() {
+		m_pid.reset();
+	}
+
+private:
+	Pid m_pid;
+	Timer m_lastUpdate;
+	pid_s m_params;
+};
+
+// todo: use templates and reduce duplication between LuaPid and LuaIndustrialPid?
+struct LuaIndustrialPid final {
+	LuaIndustrialPid() = default;
+
+	LuaIndustrialPid(float kp, float ki, float kd, float min, float max)
+		: m_pid(&m_params)
+	{
+		m_params.pFactor = kp;
+		m_params.iFactor = ki;
+		m_params.dFactor = kd;
+
+		m_params.offset = 0;
+		m_params.periodMs = 0;
+		m_params.minValue = min;
+		m_params.maxValue = max;
+
+		m_lastUpdate.reset();
+	}
+
+	float get(float target, float input) {
+#if EFI_UNIT_TEST
+		// this is how we avoid zero dt
+		advanceTimeUs(1000);
+#endif
+
+		float dt = m_lastUpdate.getElapsedSecondsAndReset(getTimeNowNt());
+
+		return m_pid.getOutput(target, input, dt);
+	}
+
+	void setOffset(float offset) {
+		m_params.offset = offset;
+		reset();
+	}
+
+	void setDerivativeFilterLoss(float derivativeFilterLoss) {
+		m_pid.derivativeFilterLoss = derivativeFilterLoss;
+		reset();
+	}
+
+	void setAntiwindupFreq(float antiwindupFreq) {
+		m_pid.antiwindupFreq = antiwindupFreq;
+		reset();
+	}
+
+	void reset() {
+		m_pid.reset();
+	}
+
+private:
+	PidIndustrial m_pid;
+	Timer m_lastUpdate;
+	pid_s m_params;
+};