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