yane::NetworkedControl::RealtimeActuator Class Reference

Implementation of the actuator sided control sequence manager. More...

Inheritance diagram for yane::NetworkedControl::RealtimeActuator:

Collaboration diagram for yane::NetworkedControl::RealtimeActuator:

List of all members.

Public Member Functions
void	enterPacket (void *packet, double *data)
	Passes a new control sequence packet to the actuator.
void	getCurrentControl (double *control)
	Offers the current validated control based on entered control sequences.
	RealtimeActuator (yane::Model::Model *model, Cycle *cycle, int horizon, T_RESPONSEFUNC func=0, void *ptr=0, yane::Utils::DebugMaster *dm=0, yane::Utils::StatisticsMaster *sm=0)
	Constructor.
void	setSamplingInstant (int samplingInstant)
	Function to set the current time instant.
	~RealtimeActuator ()
	Destructor.
Protected Member Functions
void	proceedError (int seq, int preseq)
	Triggers an error message by calling the callback function.
Protected Attributes
T_RESPONSEFUNC	_actuatorfunction
	Pointer to the error callback function.
ControlClipboard *	_cb
	Instance of a control sequence manager object.
Cycle *	_cycle
	stores the pointer the the discrete realtime clock
yane::Utils::DebugClient *	_debugclient
	Instance of a debugging client.
double *	_defaultu
	Emergency fallback control to handle the case of buffer running empty.
int	_dimu
	Dimension of the control variable.
int	_horizon
	Length of the control sequences.
yane::Model::Model *	_model
	Instance of the plant model.
void *	_ptr
	Custom pointer passed to the callback function.
int	_seq
	Current time instant, to be set externally.
yane::Utils::StatisticsClientIntCounter *	_stat_appliedseq
	Statistics collector for applied sequences.
yane::Utils::StatisticsClientIntCounter *	_stat_bridgedseq
	Statistics collector for bridged sequences.
yane::Utils::StatisticsClientIntCounter *	_stat_bufferunderrun
	Statistics collector for buffer underruns.
bool	_stat_collect
	If true, the actuator will collect statistical data.
yane::Utils::StatisticsClientIntCounter *	_stat_duplicateseq
	Statistics collector for duplicated sequences.
yane::Utils::StatisticsClientIntCounter *	_stat_inconsistentseq
	Statistics collector for inconsistent sequences.
yane::Utils::StatisticsClientIntCounter *	_stat_invalidatedseq
	Statistics collector for invalidated sequences.
yane::Utils::StatisticsClientIntCounter *	_stat_missingseq
	Statistics collector for missing sequences.
yane::Utils::StatisticsClientIntCounter *	_stat_outdatedseq
	Statistics collector for outdated sequences.
yane::Utils::StatisticsClientIntCounter *	_stat_recvseq
	Statistics collector for received sequences.
yane::Utils::StatisticsClientIntCounter *	_stat_senterror
	Statistics collector for sent error messages.
double *	_u
	Temporary memory for control storage.
int	_u_seq
	Time instant of the last implemented control sequence.

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Detailed Description

This class can be used to simulate a physical hardware controller. It offers realtime controls computed by a predictive controller and automatically stores and sorts the transmitted control sequences.

The user has to pass computed control sequences to an instance of this class. The object automatically chooses the current control vector and provides error packets dedicated to the predictive controller if necessary. The object needs an instance of a discrete realtime clock to identify the current cycle.

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Constructor & Destructor Documentation

LIB_EXPORT yane::NetworkedControl::RealtimeActuator::RealtimeActuator	(	yane::Model::Model *	model,
		Cycle *	cycle,
		int	horizon,
		T_RESPONSEFUNC	func = 0,
		void *	ptr = 0,
		yane::Utils::DebugMaster *	dm = 0,
		yane::Utils::StatisticsMaster *	sm = 0
	)

Constructor

Parameters:

model	Pointer to the class yane:Model::Model object of the controlled system, used to acquire information about dimensions
cycle	Pointer to an object of a discrete realtime clock.
horizon	Length of the control sequences sent by the predictive controller
func	Optional pointer to the error packet callback function. The actuator will not generate error messages, if NULL has been passed.
ptr	Optional custom pointer passed to the callback function for user defined data
dm	Optional pointer to a class yane::Utils::Debugmaster object
sm	Optional pointer to a class yane::Utils::StatisticsMaster object

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Member Function Documentation

LIB_EXPORT void yane::NetworkedControl::RealtimeActuator::enterPacket	(	void *	packet,
		double *	data
	)		[virtual]

The packet has to be prediction consistently generated by an object of class yane::NetworkedControl::Controller. If the packet is too old, contains invalid data or has already been added, it will be ignored.

Parameters:

packet	Pointer to a structure of type yane::IOInterface::OUTPUTPACKET generated by a class yane::NetworkedControl::Controller object
data	Pointer of a complete control sequence of the length (horizon) defined when the executing class yane::NetworkedControl::Actuator object was created.

Reimplemented from yane::NetworkedControl::Actuator.

LIB_EXPORT void yane::NetworkedControl::RealtimeActuator::getCurrentControl

(

double *

control

)

[virtual]

During the call of this function validation checks will be executed and the error callback function will be called if necessary.

Parameters:

control

Pointer of a double array that contains the current control on return

Reimplemented from yane::NetworkedControl::Actuator.

LIB_EXPORT void yane::NetworkedControl::RealtimeActuator::proceedError	(	int	seq,
		int	preseq
	)		[protected, virtual]

Parameters:

seq	Time instant of the erroneous sequence
preseq	Time instant of the last validated sequence

Reimplemented from yane::NetworkedControl::Actuator.

LIB_EXPORT void yane::NetworkedControl::Actuator::setSamplingInstant

(

int

samplingInstant

)

[inherited]

Function to set the current time instant. This function is only used in a deterministic setting, realtime settings require the algorithm to determine the current time instant by itself.

Parameters:

samplingInstant

Current time instant