int _tmain(int argc, _TCHAR* argv[])
{
VectorReader myVectorReader;
VectorRecord_t currentVector;
ArgParser myArgParser;
unsigned long seconds_counter = 0;
unsigned long steps_counter = 0;
bool update_vector = false;
bool update_PID_control = false;
bool last_iteration = false;
float plantState;
float processF;
uint16_t processValue;
float setPointF;
uint16_t setPoint;
uint16_t setPoint_old = 0;
float effect = 0;
float k_norm = 0.446f;
float offset_norm = 48.144f;
float tempSetting; // Temperature setting
bool reg_enabled; // Heater ON/OFF
uint8_t pid_mode;
char *input_fname;
char *output_dir;
char *tmp_arg_str;
int simulation_mode;
char tmp_buf_char[100];
//--------------------------------------------//
// Command line arguments parsing
myArgParser.Parse(argc, (char **)argv);
//myArgParser.PrintOptions();
//std::cin.get();
//return 0;
if (!(input_fname = myArgParser.GetOptionValue("-input")))
{
std::cout << "Expected test vector file (-input <file>)" << std::endl;
std::cin.get();
return 0;
}
if (!(output_dir = myArgParser.GetOptionValue("-outdir")))
{
std::cout << "Expected output directory (-outdir <directory>)" << std::endl;
std::cin.get();
return 0;
}
if (!(tmp_arg_str = myArgParser.GetOptionValue("-mode")))
{
std::cout << "Expected simulation mode (-mode <PLANT_STEP / NORMAL>)" << std::endl;
std::cin.get();
return 0;
}
simulation_mode = (strcmp(tmp_arg_str, "PLANT_STEP") == 0) ? SIM_PLANT_STEP_RESPONSE : SIM_NORMAL;
//--------------------------------------------//
//-----------------------------//
// Reading test vector file
if (myVectorReader.ReadVectorFile(input_fname) == false)
{
std::cout << "Cannot read test vector file. Press any key to exit." << std::endl;
std::cin.get();
return 0;
}
std::cout << "Test vector file OK. Starting simulation." << std::endl;
//-----------------------------//
// Initializing simulation
if (!CreateDirectory(output_dir,NULL))
{
if (GetLastError() != ERROR_ALREADY_EXISTS)
{
std::cout << "Cannot create output log directory" << std::endl;
std::cin.get();
return 0;
}
}
// Open LOG files
FILE *f_state_float;
FILE *f_state_int;
FILE *f_setting;
FILE *f_p_term;
FILE *f_d_term;
FILE *f_i_term;
FILE *f_pid_output;
// Create log data files:
// Plant state float
sprintf_s(tmp_buf_char, 100, "%s%s", output_dir, "col_0f.txt");
fopen_s( &f_state_float, tmp_buf_char, "w" );
// Plant state integer
sprintf_s(tmp_buf_char, 100, "%s%s", output_dir, "col_0.txt");
fopen_s( &f_state_int, tmp_buf_char, "w" );
// Set value
sprintf_s(tmp_buf_char, 100, "%s%s", output_dir, "setting.txt");
fopen_s( &f_setting, tmp_buf_char, "w" );
// P-term of PID controller
sprintf_s(tmp_buf_char, 100, "%s%s", output_dir, "col_5.txt");
fopen_s( &f_p_term, tmp_buf_char, "w" );
// D-term of PID controller
sprintf_s(tmp_buf_char, 100, "%s%s", output_dir, "col_6.txt");
fopen_s( &f_d_term, tmp_buf_char, "w" );
// I-term of PID controller
sprintf_s(tmp_buf_char, 100, "%s%s", output_dir, "col_7.txt");
fopen_s( &f_i_term, tmp_buf_char, "w" );
// Output of PID controller
sprintf_s(tmp_buf_char, 100, "%s%s", output_dir, "col_8.txt");
fopen_s( &f_pid_output, tmp_buf_char, "w" );
// Set ambient temperature and plant internal state
if (!myVectorReader.StartConditions.AmbientValid)
myVectorReader.StartConditions.Ambient = 25;
if (!myVectorReader.StartConditions.StateValid)
myVectorReader.StartConditions.SystemState = 25;
initPlant((float)myVectorReader.StartConditions.Ambient, (float)myVectorReader.StartConditions.SystemState);
processPlant(0);
// Initialize PID controller
setPIDIntegratorLimit(0);
// Initial simulator state
reg_enabled = false; // heater OFF
tempSetting = 25.0f; // Temperature default setting
myVectorReader.GetNextVector(¤tVector);
//int32_t aaa;
//aaa = INT32_MAX;
//printf("%d",aaa);
//std::cin.get();
//-----------------------------//
// Simulate
while(true)
{
// Process time counters
update_vector = false;
update_PID_control = false;
if (steps_counter % STEPS_PER_SECOND == 0)
{
if (seconds_counter == currentVector.TimeStamp)
{
update_vector = true;
}
if (seconds_counter % PID_CALL_INTERVAL == 0)
{
update_PID_control = true;
}
seconds_counter++;
}
steps_counter++;
// Update setting using data from test vector file
if (update_vector)
{
if (last_iteration)
{
printf("%10lu sec. Simulation finished.\n", currentVector.TimeStamp);
break;
}
reg_enabled = currentVector.ProcessEnabled;
if (reg_enabled)
{
tempSetting = (float)currentVector.ForceValue;
setPIDIntegratorLimit((int)tempSetting);
}
if (reg_enabled)
printf("%10lu sec. New setting = %.2f\n", currentVector.TimeStamp, tempSetting);
else
printf("%10lu sec. New setting = %s\n", currentVector.TimeStamp, "OFF");
last_iteration = !myVectorReader.GetNextVector(¤tVector);
//std::cin.get();
}
// Process plant with TIMESTEP interval
processPlant(effect);
// Process regulator
if (simulation_mode == SIM_PLANT_STEP_RESPONSE)
{
if (reg_enabled)
effect = 100;
else
effect = 0;
dbg_PID_output = (int16_t)effect;
}
else
{
if (update_PID_control)
{
// Calculate process value
plantState = (float)getPlantState();
processF = (plantState + offset_norm) / k_norm;
processF *= 4;
//processF /= 2;
processValue = (uint16_t)processF;
// Calculate setpoint
setPointF = (tempSetting + offset_norm) / k_norm;
setPointF *= 4;
//setPointF /= 2;
setPoint = (uint16_t)setPointF;
// PID
pid_mode = 0;
if (reg_enabled)
pid_mode |= PID_ENABLED;
effect = processPID(setPoint, processValue,pid_mode);
}
}
// LOG
fprintf(f_state_float, "%f\r", getPlantState());
fprintf(f_state_int, "%u\r", (uint16_t)getPlantState());
fprintf(f_setting, "%d\r", (int)tempSetting);
fprintf(f_p_term, "%d\r", dbg_PID_p_term);
fprintf(f_d_term, "%d\r", dbg_PID_d_term);
fprintf(f_i_term, "%d\r", dbg_PID_i_term);
fprintf(f_pid_output, "%d\r", dbg_PID_output);
}
//-------------------------------//
fclose(f_state_float);
fclose(f_state_int);
fclose(f_setting);
fclose(f_p_term);
fclose(f_d_term);
fclose(f_i_term);
fclose(f_pid_output);
std::cout << "Done. Press enter to exit." << std::endl;
std::cin.get();
return 0;
}
