mirror of https://github.com/rusefi/rusefi-1.git
57 lines
1.6 KiB
C++
57 lines
1.6 KiB
C++
#pragma once
|
|
|
|
#include "expected.h"
|
|
|
|
template <typename TInput, typename TOutput>
|
|
class ClosedLoopController {
|
|
public:
|
|
void update() {
|
|
expected<TOutput> outputValue = getOutput();
|
|
setOutput(outputValue);
|
|
}
|
|
|
|
private:
|
|
expected<TOutput> getOutput() {
|
|
expected<TInput> setpoint = getSetpoint();
|
|
// If we don't know the setpoint, return failure.
|
|
if (!setpoint) {
|
|
return unexpected;
|
|
}
|
|
|
|
expected<TInput> observation = observePlant();
|
|
// If we couldn't observe the plant, return failure.
|
|
if (!observation) {
|
|
return unexpected;
|
|
}
|
|
|
|
expected<TOutput> openLoopResult = getOpenLoop(setpoint.Value);
|
|
// If we couldn't compute open loop, return failure.
|
|
if (!openLoopResult) {
|
|
return unexpected;
|
|
}
|
|
|
|
expected<TOutput> closedLoopResult = getClosedLoop(setpoint.Value, observation.Value);
|
|
// If we couldn't compute closed loop, return failure.
|
|
if (!closedLoopResult) {
|
|
return unexpected;
|
|
}
|
|
|
|
return openLoopResult.Value + closedLoopResult.Value;
|
|
}
|
|
|
|
// Get the setpoint: where should the controller put the plant?
|
|
virtual expected<TInput> getSetpoint() const = 0;
|
|
|
|
// Get the current observation: what is the current state of the world?
|
|
virtual expected<TInput> observePlant() const = 0;
|
|
|
|
// Get the open-loop output: output state based on only the setpoint
|
|
virtual expected<TOutput> getOpenLoop(TInput setpoint) const = 0;
|
|
|
|
// Get the closed-loop output: output state based on setpoint and observation
|
|
virtual expected<TOutput> getClosedLoop(TInput setpoint, TInput observation) = 0;
|
|
|
|
// Set the output: Drive whatever output system will perturb the plant in the real world
|
|
virtual void setOutput(expected<TOutput> outputValue) = 0;
|
|
};
|