rusefi-1/firmware/controllers/closed_loop_controller.h

61 lines
1.7 KiB
C++

/**
* @file closed_loop_controller.h
*/
#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() = 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) = 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;
};