TEST( ArgParserTest, DashIsAnArg )
{
ArgParser parser;
const char* args[] = { "test", "-" };
parser.Parse( 2, args );
ASSERT_EQ( 1ul, parser.Arguments().size() );
ASSERT_EQ( "-", parser.Arguments()[0] );
}
/**
* <summary>
* Main Program Entry Point.
* </summary>
*/
int main(int argc, const char** argv)
{
int retval = 0;
WriteHeader();
//Add all the arguments.
s_args.AddMapEntries( s_argmap);
s_s1.RegisterArgs( "s1", s_args);
s_s2.RegisterArgs( "s2", s_args);
//Parse the arguments.
retval = s_args.Parse( argc, argv);
if( retval > 0)
{
int addr = (int) s_args.GetLong( "address");
try {
addr = s_cfgDevice.Attach(addr);
printf("Attached to ASR-2300 at address = %d\n", addr);
} catch (std::runtime_error& re) {
printf("Error: %s0\n", re.what());
return -1;
}
// Dump the device information
DumpDeviceInformation();
//Initialize the stream loggers.
retval = s_s1.Init( s_args, &s_cfgDevice);
if( retval == 0)
retval = s_s2.Init( s_args, &s_cfgDevice);
//Receive the data and store to disk.
if( retval == 0)
{
s_s1.DisplayConfiguration();
s_s2.DisplayConfiguration();
s_cfgDevice.Dci0Transport().ClearReceiveQueue();
retval = ReceiveData((size_t) (s_args.GetDouble("duration")*1000.0));
}
s_s1.Terminate();
s_s2.Terminate();
s_cfgDevice.Detach();
}
else //Arguments were not right.
{
PrintUsage();
}
return retval;
}
TEST( ArgParserTest, LongArgsTest )
{
ArgParser parser;
parser.AddOption( 'h', "hello" );
parser.AddOption( 'g', "goodbye" );
const char* args[] = { "test", "--hello", "--goodbye", "foo" };
parser.Parse( 4, args );
EXPECT_TRUE( parser.HasOption( 'h' ) );
EXPECT_TRUE( parser.HasOption( "hello" ) );
EXPECT_TRUE( parser.HasOption( 'g' ) );
EXPECT_TRUE( parser.HasOption( "goodbye" ) );
ASSERT_EQ( 1ul, parser.Arguments().size() );
ASSERT_EQ( "foo", parser.Arguments()[0] );
}
TEST( ArgParserTest, ThrowsOnUnknownLongArgs )
{
ArgParser parser;
const char* args[] = { "test", "--hello" };
EXPECT_THROW( parser.Parse( 2, args ), Error );
}
int main(int argc, char **argv)
{
using namespace std;
retVal_t returnvalue = rvOK;
ArgParser AP;
AP.AddFile(".mat"); /* sysmat */
AP.AddFile(".rhs", false); /* rhsvec */
AP.AddFile(".cfg"); /* params */
AP.AddFile(".sol", false); /* solvec */
AP.AddOption("-c"); /* cmpmat */
AP.AddFlag("-h");
if (!AP.Parse(argc, argv))
{
cout << "try " << argv[0] << " -h for help" << endl;
return(rvArgumentError);
}
if (AP.FlagSet("-h"))
{
printUsageMessage(argv[0]);
return(returnvalue);
}
if (!AP.FileSet(".mat") || !AP.FileSet(".rhs"))
{
cout << "system matrix file (.mat) and rhs vector file (.rhs) have to be specified !\n"
<< "try " << argv[0] << " -h for help" << endl;
return(rvArgumentError);
}
cout << "Welcome to mattest4c!\n";
/* Reading system matrix */
/* ===================== */
qqqMCSR<qqqComplex> A;
qqqSolverParameters parms;
qqqError error;
cout << "Reading System Matrix (file \"" << AP.FileStr(".mat") << "\") ... " << flush;
if (!A.readMatrix(AP.FileStr(".mat")))
{
cout << "not ok!" << endl;
return(rvIOError);
}
else cout << "ok!\n";
qqqIndex dimension = A.dimension();
if (dimension < 1)
{
cout << "Error: dimension of system matrix is smaller than 1!" << endl;
return(rvFormatError);
}
cout <<"Backwriting to \"" << (AP.OptionSet("-c") ? AP.OptionStr("-c") : "compare.mat") << "\"... " << flush;
A.writeMatrix(AP.OptionSet("-c") ? AP.OptionStr("-c") : "compare.mat", true, true);
cout << "ok!\n";
/* Reading parameter file */
/* ====================== */
if (AP.FileSet(".cfg"))
{
cout << "Reading solver parameter file (file \"" << AP.FileStr(".cfg") << "\") ... " << flush;
if (!parms.readParameters(AP.FileStr(".cfg")))
{
cout << "not ok (using default)!\n";
parms.setDefaultSolverParameters();
}
else cout << "ok!\n";
}
/* Allocating memory */
/* ================= */
cout << "Allocating memory (dimension = " << qqqIndexToLong(dimension) << ") ... " << flush;
qqqComplex *x = new qqqComplex[parms.nrhs * dimension];
qqqComplex *b = new qqqComplex[parms.nrhs * dimension];
#if 1
qqqComplex **mB;
qqqComplex **mX;
if (parms.nrhs > 1)
{
mB = new qqqComplex*[parms.nrhs];
mX = new qqqComplex*[parms.nrhs];
for (qqqIndex ccirhs = 0; ccirhs < parms.nrhs; ccirhs++)
{
mB[ccirhs] = &b[ccirhs * dimension];
mX[ccirhs] = &x[ccirhs * dimension];
}
}
else
{
mB = &b;
mX = &x;
}
#endif
if ((x == NULL) || (b == NULL))
{
cout << "not ok [insufficient memory]!\n";
returnvalue = rvAllocErr;
}
else cout << "ok!\n";
/* Reading right hand side vector(s) */
/* ================================= */
//char filename[40];
string filename;
if (returnvalue == rvOK)
{
cout << "Reading " << parms.nrhs << " right hand side vector(s) (file series \"" << AP.FileStr(".rhs") << "\") ..." << endl;
returnvalue = rvIOError;
for (qqqIndex ccirhs = 0; ccirhs < parms.nrhs; ccirhs++)
{
stringstream sbuf;
sbuf << AP.FileStr(".rhs") << ccirhs << ends;
sbuf >> filename;
qqqIndex readRetval = qqqReadVector(&b[ccirhs * dimension], dimension, filename.c_str());
if (readRetval == -1)
cout << " " << filename << ": not ok [file not found]!\n";
else if (readRetval == -2)
cout << " " << filename << ": not ok [header mismatch]!\n";
else if (readRetval == -3)
cout << " " << filename << ": not ok [dimension mismatch]!\n";
else if (readRetval == -4)
cout << " " << filename << ": not ok [end of file error]!\n";
else if (readRetval != dimension)
cout << " " << filename << ": not ok [format error: row " << readRetval << "]!\n";
else
{
cout << " " << filename << ": ok!\n";
returnvalue = rvOK;
}
if (returnvalue != rvOK)
break;
}
}
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;
}