lua pid class (#3411)

* lua pid

* no luaaa stl

* update luaaa

* finality

* luaaa

* luaaa

* = default

* bad merge

* gitmodules

* lua

* proteus demo script

Co-authored-by: Matthew Kennedy <makenne@microsoft.com>

firmware/config/engines/custom_engine.cpp

@@ -905,10 +905,7 @@ startPwm(1, 80, 1.0)
 -- disable
 startPwm(2, 80, 0.0)
 
-pid = Pid.new()
+pid = Pid.new(2, 0, 0, -100, 100)
-pid:setP(2)
-pid:setMinValue(-100)
-pid:setMaxValue(100)
 
 biasCurveIndex = findCurveIndex("bias")
 
@@ -926,8 +923,7 @@ function onTick()
   tps = (tps == nil and 'invalid TPS' or tps)
   print('Tps ' .. tps)
 
-  pid:setTarget(target)
+  local output = pid:get(target, tps)
-  local output = pid:get(tps)
 
   local bias = curve(biasCurveIndex, target)
   print('bias ' .. bias)

firmware/controllers/lua/lua_hooks.cpp

@@ -385,7 +385,7 @@ static int lua_canRxAdd(lua_State* l) {
 }
 #endif // EFI_CAN_SUPPORT
 
-struct LuaSensor : public StoredValueSensor {
+struct LuaSensor final : public StoredValueSensor {
 	LuaSensor() : LuaSensor("Invalid") { }
 
 	~LuaSensor() {
@@ -409,59 +409,36 @@ struct LuaSensor : public StoredValueSensor {
 	void showInfo(const char*) const {}
 };
 
-struct LuaPid {
+struct LuaPid final {
-	LuaPid
+	LuaPid() = default;
-	()
+
-// todo	(float kp, float ki, float kd, float min, float max)
+	LuaPid(float kp, float ki, float kd, float min, float max)
 		: m_pid(&m_params)
 	{
-		m_params.pFactor = 0;
+		m_params.pFactor = kp;
-		m_params.iFactor = 0;
+		m_params.iFactor = ki;
-		m_params.dFactor = 0;
+		m_params.dFactor = kd;
 
 		m_params.offset = 0;
 		m_params.periodMs = 0;
-		m_params.minValue = 0;
+		m_params.minValue = min;
-		m_params.maxValue = 0;
+		m_params.maxValue = max;
 
 		m_lastUpdate.reset();
 	}
 
-	float get(float input) {
+	float get(float target, float input) {
 #if EFI_UNIT_TEST
 		extern int timeNowUs;
 		// this is how we avoid zero dt
 		timeNowUs += 1000;
 #endif
+
 		float dt = m_lastUpdate.getElapsedSecondsAndReset(getTimeNowNt());
 
 		return m_pid.getOutput(target, input, dt);
 	}
 
-	void setTarget(float value) {
-		target = value;
-	}
-
-	void setP(float value) {
-		m_params.pFactor = value;
-	}
-
-	void setI(float value) {
-		m_params.iFactor = value;
-	}
-
-	void setD(float value) {
-		m_params.dFactor = value;
-	}
-
-	void setMinValue(float value) {
-		m_params.minValue = value;
-	}
-
-	void setMaxValue(float value) {
-		m_params.maxValue = value;
-	}
-
 	void reset() {
 		m_pid.reset();
 	}
@@ -470,12 +447,9 @@ private:
 	Pid m_pid;
 	Timer m_lastUpdate;
 	pid_s m_params;
-	// ugly as hell, a way to move forward while we wait for https://github.com/gengyong/luaaa/issues/7
-	float target;
 };
 
 void configureRusefiLuaHooks(lua_State* l) {
-
 	LuaClass<Timer> luaTimer(l, "Timer");
 	luaTimer
 		.ctor()
@@ -488,21 +462,11 @@ void configureRusefiLuaHooks(lua_State* l) {
 		.fun("set", &LuaSensor::set)
 		.fun("invalidate", &LuaSensor::invalidate);
 
-// not enough Lua memory even to initialize Lua :(
-#if defined(STM32F7) || defined(STM32H7) || EFI_UNIT_TEST
 	LuaClass<LuaPid> luaPid(l, "Pid");
 	luaPid
-		.ctor()
+		.ctor<float, float, float, float, float>()
 		.fun("get", &LuaPid::get)
-		.fun("setTarget", &LuaPid::setTarget)
+		.fun("reset", &LuaPid::reset);
-		.fun("setP", &LuaPid::setP)
-		.fun("setI", &LuaPid::setI)
-		.fun("setD", &LuaPid::setD)
-		.fun("setMinValue", &LuaPid::setMinValue)
-		.fun("setMaxValue", &LuaPid::setMaxValue)
-		.fun("reset", &LuaPid::reset)
-		;
-#endif
 
 	configureRusefiLuaUtilHooks(l);
 

unit_tests/tests/lua/test_lua_hooks.cpp

@@ -143,31 +143,24 @@ TEST(LuaHooks, LuaSensor) {
 
 static const char* pidTest = R"(
 function testFunc()
-	local pid = Pid.new()
+	local pid = Pid.new(0.5, 0, 0, -10, 10)
-	pid:setP(0.5)
-	pid:setMinValue(-10)
-    pid:setMaxValue(10)
-
-	pid:setTarget(3)
 
 	-- delta is -4, output -2
-	if pid:get(7) ~= -2 then
+	if pid:get(3, 7) ~= -2 then
 		return 1
 	end
 
-	pid:setTarget(4)
 	-- delta is 6, output 3
-	if pid:get(-2) ~= 3 then
+	if pid:get(4, -2) ~= 3 then
 		return 2
 	end
 
-	pid:setTarget(0)
 	-- test clamping
-	if pid:get(100) ~= -10 then
+	if pid:get(0, 100) ~= -10 then
 		return 3
 	end
 
-	if pid:get(-100) ~= 10 then
+	if pid:get(0, -100) ~= 10 then
 		return 4
 	end