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realtimecontroller.cpp
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realtimecontroller.cpp
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//----------------------------------------------------------------------------
//
// RealtimeController -luokan toteutus
//
//----------------------------------------------------------------------------
#include "realtimecontroller.h"
#include "piezoactuator.h"
#include "piezosensor.h"
#include <QDebug>
// Linux includes
#include <errno.h>
#include <fcntl.h>
#include <malloc.h>
#include <unistd.h>
#include <string.h>
#include <sys/mman.h>
#include <sys/types.h>
// Xenomai includes
#include <native/task.h>
#include <native/pipe.h>
#define MAX_MESSAGE_LENGTH 10
RT_TASK task_desc;
RT_PIPE pipe_desc;
int pipefd = 0;
// PID-säätimen ohjelmallinen toteutus, parametrit voltteina ja kokonaislukuina
// palauttaa ohjausarvon int millivoltteina
int pid(double setValue, double measurement, double kp, double ki, double kd)
{
// PID-säätimen tilaa kuvaavat muuttujat
static double u[3];
static double e[3];
static double k[3];
const double T = 1/2000.0;
e[0] = setValue - measurement;
k[0] = kp + ki * T/2.0 + 2.0*kd/T;
k[1] = ki*T - 4.0*kd/T;
k[2] = -kp + ki*T/2.0 + 2.0*kd/T;
u[0] = k[0] * e[0] +
k[1] * e[1] +
k[2] * e[2] + u[2];
if( u[0] > 5.0 )
{
u[0] = 5.0;
}
else if( u[0] < -5.0 )
{
u[0] = -5.0;
}
e[2] = e[1];
e[1] = e[0];
u[2] = u[1];
u[1] = u[0];
qDebug()<<"PID-Debug:";
qDebug()<<"S M E: " + QString::number(setValue) +" "+ QString::number(measurement)+" "+
QString::number(setValue - measurement);
qDebug()<<"P I D: " + QString::number(kp)+" "+ QString::number(ki)+" "+QString::number(kd);
qDebug()<<"K :" + QString::number(k[0])+" "+ QString::number(k[1])+" "+ QString::number(k[2]);
qDebug()<<"E :" + QString::number(e[0])+" "+ QString::number(e[1])+" "+ QString::number(e[2]);
qDebug()<<"U :" + QString::number(u[0])+" "+ QString::number(u[1])+" "+ QString::number(u[2]);
return u[0] * 1000;
}
void realtimeLoop(void *arg)
{
Q_UNUSED(arg);
int xenoRet = 0;
char bufChar[MAX_MESSAGE_LENGTH];
int bufInt[MAX_MESSAGE_LENGTH];
RealtimeController::Mode bufMode[MAX_MESSAGE_LENGTH];
RealtimeController::State bufState[MAX_MESSAGE_LENGTH];
int kp = 0, ki = 0, kd = 0;
int setValue = 0;
int actuatorVoltage = 0;
int actuatorVoltageToSend = 0;
int sensorVoltage = 0;
int sensorVoltageToSend = 0;
RealtimeController::Mode mode = RealtimeController::MODE_MANUAL;
RealtimeController::Mode modeToSend;
RealtimeController::State state = RealtimeController::STOPPED;
RealtimeController::State stateToSend;
int output = 0;
PiezoSensor* sensor;
PiezoActuator* actuator;
// varataan muisti anturille ja alustetaa se
sensor = new PiezoSensor();
sensor->init();
// varataan muisti toimilaitteelle ja alustetaan se
actuator = new PiezoActuator();
actuator->init();
// määritetään jaksonaika 500us eli 500000ns
RTIME interval = 500000;
// määritetään taskia kutsuttavaksi jaksonajan välein
xenoRet = rt_task_set_periodic(NULL, TM_NOW, interval);
while(1)
{
// ajastaa silmukan kulkemaan määritetyissä jaksonajoissa
if(rt_task_wait_period(NULL) < 0)
qDebug("task error in realtime loop");
if(state == RealtimeController::STARTED)
{
sensor->getValue(sensorVoltage);
sensorVoltage *= -1; // kytkentä laboratoriolaitteistolla on väärinpäin
// tarkastetaan ajetaanko PID-säätöä vai suoraa ohjausta
if( mode == RealtimeController::MODE_MANUAL)
{
// suorassa jänniteohjauksessa laitetaan suoraan käyttäjän syöttämä skaalattu arvo
// ulostuloon
output = actuatorVoltage;
}
else
{
// PID-säädössä ajetaan algoritmi ja asetetaan ulostulo
output = pid(setValue/1000.0, sensorVoltage/1000.0, kp/1000.0, ki/1000.0, kd/1000.0);
actuatorVoltage = output;
}
}
// asetetaan ulostulo oikeasti toimilaitteelle
actuator->setValue(output);
// qDebug()<< "Set " << output<< "to actuator";
// luetaan käyttöliittymästä mahdollisesti tullut viesti
xenoRet = 0;
xenoRet = rt_pipe_read(&pipe_desc, bufChar, sizeof(bufChar), TM_NONBLOCK);
// jos oltiin saatu viesti, luetaan sen sisältö ja muutetaan tai
// palautetaan lukuarvoja ja tiloja tarvittaessa
// mutexia ei tarvita, koska tämä tehdään joka kierroksella
// säätölaskennan ja säädön jälkeen
if(xenoRet > 0)
{
if(!strcmp(bufChar, "reaSen"))
{
sensorVoltageToSend = sensorVoltage;
int *pBuf = &sensorVoltageToSend;
if(rt_pipe_write(&pipe_desc, (void*)pBuf, sizeof(bufInt), P_NORMAL) < 1)
qDebug("rt write error");
bufChar[0] = '0';
}
else if(!strcmp(bufChar, "reaOut"))
{
actuatorVoltageToSend = actuatorVoltage;
int *pBuf = &actuatorVoltageToSend;
if(rt_pipe_write(&pipe_desc, (void*)pBuf, sizeof(bufInt), P_NORMAL) < 1)
qDebug("rt write error");
bufChar[0] = '0';
}
else if(!strcmp(bufChar, "reaMod"))
{
modeToSend = mode;
RealtimeController::Mode *pBuf = &modeToSend;
if(rt_pipe_write(&pipe_desc, (void*)pBuf, sizeof(bufInt), P_NORMAL) < 1)
qDebug("rt write error");
bufChar[0] = '0';
}
else if(!strcmp(bufChar, "reaSta"))
{
stateToSend = state;
RealtimeController::State *pBuf = &stateToSend;
if(rt_pipe_write(&pipe_desc, (void*)pBuf, sizeof(bufInt), P_NORMAL) < 1)
qDebug("rt write error");
bufChar[0] = '0';
}
else if (!strcmp(bufChar, "setSta"))
{
if(rt_pipe_read(&pipe_desc, bufState, sizeof(bufState), TM_INFINITE) < 1)
qDebug("rt read error");
state = *(RealtimeController::State*)bufState;
bufChar[0] = '0';
qDebug("Set state: %d", state);
}
else if (!strcmp(bufChar, "setPID"))
{
if(rt_pipe_read(&pipe_desc, bufInt, sizeof(bufInt), TM_INFINITE) < 1)
qDebug("rt read error");
kp = *(int*)bufInt;
if(rt_pipe_read(&pipe_desc, bufInt, sizeof(bufInt), TM_INFINITE) < 1)
qDebug("rt read error");
ki = *(int*)bufInt;
if(rt_pipe_read(&pipe_desc, bufInt, sizeof(bufInt), TM_INFINITE) < 1)
qDebug("rt read error");
kd = *(int*)bufInt;
bufChar[0] = '0';
qDebug("Set PID-parameters p: %d, i: %d, d: %d", kp,ki,kd);
}
else if (!strcmp(bufChar, "setSet"))
{
if(rt_pipe_read(&pipe_desc, bufInt, sizeof(bufInt), TM_INFINITE) < 1)
qDebug("rt read error");
setValue = *(int*)bufInt;
bufChar[0] = '0';
qDebug("Set setValue: %d", setValue);
}
else if (!strcmp(bufChar, "setOut"))
{
if(rt_pipe_read(&pipe_desc, bufInt, sizeof(bufInt), TM_INFINITE) < 1)
qDebug("rt read error");
actuatorVoltage = *(int*)bufInt;
bufChar[0] = '0';
qDebug("Set actuatorVoltage: %d", actuatorVoltage);
}
else if (!strcmp(bufChar, "setSca"))
{
if(rt_pipe_read(&pipe_desc, bufInt, sizeof(bufInt), TM_INFINITE) < 1)
qDebug("rt read error");
sensor->setScale(*(int*)bufInt);
if(rt_pipe_read(&pipe_desc, bufInt, sizeof(bufInt), TM_INFINITE) < 1)
qDebug("rt read error");
actuator->setScale(*(int*)bufInt);
bufChar[0] = '0';
qDebug("Set sensor and, actuator scales");
}
else if (!strcmp(bufChar, "setMod"))
{
if(rt_pipe_read(&pipe_desc, bufMode, sizeof(bufMode), TM_INFINITE) < 1)
qDebug("rt read error");
mode = *(RealtimeController::Mode*)bufMode;
bufChar[0] = '0';
qDebug("Set mode to: %d", mode);
}
else if(!strcmp(bufChar, "theEnd"))
{
qDebug("Bye!");
break;
}
else
qDebug("rt read error: unknown string");
}
}
}
RealtimeController::RealtimeController()
{
// lukitaan ohjelman nykyinen ja tuleva muisti niin että se pysyy RAM:ssa kokoajan
mlockall(MCL_CURRENT | MCL_FUTURE);
int xenoError = 0;
// luodaan task-handle reaaliaikasäikeelle
// antamalla T_FPU | T_JOINABLE saattaisi olla mahdollista käyttää
// mittausarvoja doubleina Voltteina koko ohjelmassa
xenoError = rt_task_create(&task_desc, NULL, 0, 99, T_JOINABLE);
xenoError = rt_pipe_create(&pipe_desc, NULL, 0, 0);
if(xenoError != 0)
qDebug("rt init error");
// käynnistetään säie
rt_task_start(&task_desc, &realtimeLoop, NULL);
// luodaan pipe reaaliaikasäikeen kanssa kommunikointiin
pipefd = open("/dev/rtp0", O_RDWR, 0);
if (pipefd < 0)
qDebug("Creating pipe failed");
// pysäytetään säätö oletuksena
stop();
}
RealtimeController::~RealtimeController()
{
// signaloidaan säikeelle että sen pitää sammuttaa itsensä
if(write(pipefd, "theEnd", sizeof("theEnd")) < 0)
qDebug("error %d : %s\n", -errno, strerror(-errno));
// odotetaan kunnes säie on sammunut, erillistä deleteä EI saa tehdä
rt_task_join(&task_desc);
// vapautetaan pipen resurssit
rt_pipe_delete(&pipe_desc);
}
// Funktioissa tästä eteenpäin kirjoitetaan Linux-säikeessä pipeen,
// josta reaaliaika säie/taski käy lukemassa viestin seuraavalla
// säätökerran jälkeen
void RealtimeController::setPIDParameters(int kp, int ki, int kd)
{
int *bufValue;
if(write(pipefd, "setPID", sizeof("setPID")) < 0)
qDebug("error %d : %s\n", -errno, strerror(-errno));
bufValue = &kp;
if(write(pipefd, (void*)bufValue, sizeof(bufValue)) < 0)
qDebug("error %d : %s\n", -errno, strerror(-errno));
bufValue = &ki;
if(write(pipefd, (void*)bufValue, sizeof(bufValue)) < 0)
qDebug("error %d : %s\n", -errno, strerror(-errno));
bufValue = &kd;
if(write(pipefd, (void*)bufValue, sizeof(bufValue)) < 0)
qDebug("error %d : %s\n", -errno, strerror(-errno));
}
void RealtimeController::setScaleFactors(int sensor, int output)
{
int *bufValue;
if(write(pipefd, "setSca", sizeof("setSca")) < 0)
qDebug("error %d : %s\n", -errno, strerror(-errno));
bufValue = &sensor;
if(write(pipefd, (void*)bufValue, sizeof(bufValue)) < 0)
qDebug("error %d : %s\n", -errno, strerror(-errno));
bufValue = &output;
if(write(pipefd, (void*)bufValue, sizeof(bufValue)) < 0)
qDebug("error %d : %s\n", -errno, strerror(-errno));
}
void RealtimeController::setSetValue(int value)
{
int *bufValue;
if(write(pipefd, "setSet", sizeof("setSet")) < 0)
qDebug("error %d : %s\n", -errno, strerror(-errno));
bufValue = &value;
if(write(pipefd, (void*)bufValue, sizeof(bufValue)) < 0)
qDebug("error %d : %s\n", -errno, strerror(-errno));
}
void RealtimeController::setOutputVoltage(int value)
{
int *bufValue;
if(write(pipefd, "setOut", sizeof("setOut")) < 0)
qDebug("error %d : %s\n", -errno, strerror(-errno));
bufValue = &value;
if(write(pipefd, (void*)bufValue, sizeof(bufValue)) < 0)
qDebug("error %d : %s\n", -errno, strerror(-errno));
}
void RealtimeController::readSensorVoltage(int &value)
{
int bufValue[MAX_MESSAGE_LENGTH];
if(write(pipefd, "reaSen", sizeof("reaSen")) < 0)
qDebug("error %d : %s\n", -errno, strerror(-errno));
if(read(pipefd, (void*)bufValue, sizeof(bufValue)) < 1)
qDebug("error %d : %s\n", -errno, strerror(-errno));
value = *(int*)bufValue;
}
void RealtimeController::setMode(RealtimeController::Mode mode)
{
RealtimeController::Mode *bufValue;
if(write(pipefd, "setMod", sizeof("setMod")) < 0)
qDebug("error %d : %s\n", -errno, strerror(-errno));
bufValue = &mode;
if(write(pipefd, (void*)bufValue, sizeof(bufValue)) < 0)
qDebug("error %d : %s\n", -errno, strerror(-errno));
}
void RealtimeController::start()
{
RealtimeController::State *bufValue;
RealtimeController::State state = STARTED;
if(write(pipefd, "setSta", sizeof("setSta")) < 0)
qDebug("error %d : %s\n", -errno, strerror(-errno));
bufValue = &state;
if(write(pipefd, (void*)bufValue, sizeof(bufValue)) < 0)
qDebug("error %d : %s\n", -errno, strerror(-errno));
}
void RealtimeController::stop()
{
RealtimeController::State *bufValue;
RealtimeController::State state = STOPPED;
if(write(pipefd, "setSta", sizeof("setSta")) < 0)
qDebug("er2ror %d : %s\n", -errno, strerror(-errno));
bufValue = &state;
if(write(pipefd, (void*)bufValue, sizeof(bufValue)) < 0)
qDebug("er2ror %d : %s\n", -errno, strerror(-errno));
}
void RealtimeController::readOutputVoltage(int &value)
{
int bufValue[MAX_MESSAGE_LENGTH];
if(write(pipefd, "reaOut", sizeof("reaOut")) < 0)
qDebug("error %d : %s\n", -errno, strerror(-errno));
if(read(pipefd, (void*)bufValue, sizeof(bufValue)) < 1)
qDebug("error %d : %s\n", -errno, strerror(-errno));
value = *(int*)bufValue;
}
void RealtimeController::getMode(RealtimeController::Mode &mode)
{
RealtimeController::Mode bufValue[MAX_MESSAGE_LENGTH];
if(write(pipefd, "reaMod", sizeof("reaMod")) < 0)
qDebug("error %d : %s\n", -errno, strerror(-errno));
if(read(pipefd, (void*)bufValue, sizeof(bufValue)) < 1)
qDebug("error %d : %s\n", -errno, strerror(-errno));
mode = *(RealtimeController::Mode*)bufValue;
}
void RealtimeController::getState(RealtimeController::State &state)
{
RealtimeController::State bufValue[MAX_MESSAGE_LENGTH];
if(write(pipefd, "reaSta", sizeof("reaSta")) < 0)
qDebug("error %d : %s\n", -errno, strerror(-errno));
if(read(pipefd, (void*)bufValue, sizeof(bufValue)) < 1)
qDebug("error %d : %s\n", -errno, strerror(-errno));
state = *(RealtimeController::State*)bufValue;
}