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Dependencies:   NaturalTinyShell_ice libmDot-12Sept mbed-rtos mbed

Fork of ICE by Erick

src/ControlTask/ControlTask.cpp@221:2a5e9902003c, 2016-10-14 (annotated)

Committer:
jmarkel44
Date:
Fri Oct 14 21:30:21 2016 +0000
Revision:
221:2a5e9902003c
Parent:
218:e0c05b4f470b
Child:
252:3c9863f951b7
composite control and composite algorithm implementation

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jmarkel44 218:e0c05b4f470b 1 /******************************************************************************
jmarkel44 218:e0c05b4f470b 2 *
jmarkel44 218:e0c05b4f470b 3 * File: ControlTask.cpp
jmarkel44 218:e0c05b4f470b 4 * Desciption: source for the ICE Control task
jmarkel44 218:e0c05b4f470b 5 *
jmarkel44 218:e0c05b4f470b 6 *****************************************************************************/
jmarkel44 218:e0c05b4f470b 7
jmarkel44 20:653923c2f37a 8 #include "ControlTask.h"
jmarkel44 20:653923c2f37a 9 #include <stdio.h>
jmarkel44 20:653923c2f37a 10 #include "rtos.h"
jmarkel44 46:4cb96ab2d1c8 11 #include "ConfigurationHandler.h"
jmarkel44 46:4cb96ab2d1c8 12 #include "MTSLog.h"
jmarkel44 196:78397baf0802 13 #include "global.h"
jmarkel44 20:653923c2f37a 14
jmarkel44 218:e0c05b4f470b 15 // control functions
jmarkel44 170:f9406996ff5b 16 static void serviceManualControls(void);
jmarkel44 170:f9406996ff5b 17 static void serviceTimerControls(void);
jmarkel44 170:f9406996ff5b 18 static void serviceSetpointControls(void);
jmarkel44 218:e0c05b4f470b 19 static void serviceCompositeControls(void);
jmarkel44 170:f9406996ff5b 20
jmarkel44 46:4cb96ab2d1c8 21 /*****************************************************************************
jmarkel44 46:4cb96ab2d1c8 22 * Function: ControlTask()
jmarkel44 131:a290a3934132 23 * Description: This task will loop through all of the configured
jmarkel44 131:a290a3934132 24 * controls
jmarkel44 46:4cb96ab2d1c8 25 *
jmarkel44 46:4cb96ab2d1c8 26 * @param msg
jmarkel44 46:4cb96ab2d1c8 27 * @return none
jmarkel44 46:4cb96ab2d1c8 28 *****************************************************************************/
jmarkel44 20:653923c2f37a 29 void ControlTask(void const *args)
jmarkel44 20:653923c2f37a 30 {
jmarkel44 20:653923c2f37a 31 printf("\r%s has started...\n", __func__);
jmarkel44 20:653923c2f37a 32
jmarkel44 20:653923c2f37a 33 while ( true ) {
jmarkel44 170:f9406996ff5b 34 serviceManualControls();
jmarkel44 170:f9406996ff5b 35
jmarkel44 170:f9406996ff5b 36 serviceTimerControls();
jmarkel44 170:f9406996ff5b 37
jmarkel44 170:f9406996ff5b 38 serviceSetpointControls();
jmarkel44 170:f9406996ff5b 39
jmarkel44 218:e0c05b4f470b 40 serviceCompositeControls();
jmarkel44 170:f9406996ff5b 41
jmarkel44 170:f9406996ff5b 42 Thread::wait(1000); // do we need to wait?
jmarkel44 170:f9406996ff5b 43 }
jmarkel44 170:f9406996ff5b 44 }
jmarkel44 170:f9406996ff5b 45
jmarkel44 170:f9406996ff5b 46 /*****************************************************************************
jmarkel44 170:f9406996ff5b 47 * Function: serviceManualControls()
jmarkel44 170:f9406996ff5b 48 * Description: service the manual controls
jmarkel44 170:f9406996ff5b 49 * controls
jmarkel44 170:f9406996ff5b 50 *
jmarkel44 170:f9406996ff5b 51 * @param none
jmarkel44 170:f9406996ff5b 52 * @return none
jmarkel44 170:f9406996ff5b 53 *****************************************************************************/
jmarkel44 170:f9406996ff5b 54 static void serviceManualControls(void)
jmarkel44 170:f9406996ff5b 55 {
jmarkel44 170:f9406996ff5b 56 // service the manual controls
jmarkel44 170:f9406996ff5b 57 if ( !manualTable.empty() ) {
jmarkel44 170:f9406996ff5b 58 StringManualMap::iterator pos;
jmarkel44 170:f9406996ff5b 59 for ( pos = manualTable.begin(); pos != manualTable.end(); ++pos ) {
jmarkel44 170:f9406996ff5b 60 pos->second->update();
jmarkel44 97:5cf6ab71dcd0 61 }
jmarkel44 170:f9406996ff5b 62 }
jmarkel44 170:f9406996ff5b 63 }
jmarkel44 170:f9406996ff5b 64
jmarkel44 170:f9406996ff5b 65 /*****************************************************************************
jmarkel44 170:f9406996ff5b 66 * Function: serviceSetpointControls()
jmarkel44 170:f9406996ff5b 67 * Description: service the setpoint controls
jmarkel44 170:f9406996ff5b 68 * controls
jmarkel44 170:f9406996ff5b 69 *
jmarkel44 170:f9406996ff5b 70 * @param none
jmarkel44 170:f9406996ff5b 71 * @return none
jmarkel44 170:f9406996ff5b 72 *****************************************************************************/
jmarkel44 170:f9406996ff5b 73 static void serviceSetpointControls(void)
jmarkel44 170:f9406996ff5b 74 {
jmarkel44 170:f9406996ff5b 75 // service the setpoint controls
jmarkel44 170:f9406996ff5b 76 if ( !setpointTable.empty() ) {
jmarkel44 170:f9406996ff5b 77 StringSetpointMap::iterator pos;
jmarkel44 170:f9406996ff5b 78 for ( pos = setpointTable.begin(); pos != setpointTable.end(); ++pos ) {
jmarkel44 170:f9406996ff5b 79 pos->second->update();
jmarkel44 170:f9406996ff5b 80 }
jmarkel44 170:f9406996ff5b 81 }
jmarkel44 170:f9406996ff5b 82 }
jmarkel44 170:f9406996ff5b 83
jmarkel44 170:f9406996ff5b 84 /*****************************************************************************
jmarkel44 170:f9406996ff5b 85 * Function: serviceTimerControls()
jmarkel44 170:f9406996ff5b 86 * Description: service the timer controls
jmarkel44 170:f9406996ff5b 87 * controls
jmarkel44 170:f9406996ff5b 88 *
jmarkel44 170:f9406996ff5b 89 * @param none
jmarkel44 170:f9406996ff5b 90 * @return none
jmarkel44 170:f9406996ff5b 91 *****************************************************************************/
jmarkel44 170:f9406996ff5b 92 static void serviceTimerControls(void)
jmarkel44 170:f9406996ff5b 93 {
jmarkel44 170:f9406996ff5b 94 // service the timer controls
jmarkel44 170:f9406996ff5b 95 if ( !timerTable.empty() ) {
jmarkel44 170:f9406996ff5b 96 StringVectorTimerMap::iterator pos;
jmarkel44 170:f9406996ff5b 97 for ( pos = timerTable.begin(); pos != timerTable.end(); ++pos ) {
jmarkel44 170:f9406996ff5b 98 // the timer vector is sorted by starttime, so we only need
jmarkel44 170:f9406996ff5b 99 // to service the first timer
jmarkel44 170:f9406996ff5b 100 TimerError_t rc = pos->second.front()->update();
jmarkel44 170:f9406996ff5b 101 if ( rc == TIMER_CONTROL_DESTROY ) {
jmarkel44 196:78397baf0802 102 GLOBAL_mdot->deleteUserFile(pos->second.front()->getControlFile().c_str());
jmarkel44 196:78397baf0802 103 logInfo("%s: deleted %s", __func__, pos->second.front()->getControlFile().c_str());
jmarkel44 170:f9406996ff5b 104 // free the memory
jmarkel44 170:f9406996ff5b 105 delete pos->second.front();
jmarkel44 170:f9406996ff5b 106 pos->second.erase(pos->second.begin());
jmarkel44 46:4cb96ab2d1c8 107 }
jmarkel44 46:4cb96ab2d1c8 108 }
jmarkel44 20:653923c2f37a 109 }
jmarkel44 170:f9406996ff5b 110
jmarkel44 218:e0c05b4f470b 111 }
jmarkel44 218:e0c05b4f470b 112
jmarkel44 218:e0c05b4f470b 113 /*****************************************************************************
jmarkel44 218:e0c05b4f470b 114 * Function: serviceCompositeControls()
jmarkel44 218:e0c05b4f470b 115 * Description: service the composite controls
jmarkel44 218:e0c05b4f470b 116 * controls
jmarkel44 218:e0c05b4f470b 117 *
jmarkel44 218:e0c05b4f470b 118 * @param none
jmarkel44 218:e0c05b4f470b 119 * @return none
jmarkel44 218:e0c05b4f470b 120 *****************************************************************************/
jmarkel44 218:e0c05b4f470b 121 static void serviceCompositeControls(void)
jmarkel44 218:e0c05b4f470b 122 {
jmarkel44 221:2a5e9902003c 123 // service the setpoint controls
jmarkel44 221:2a5e9902003c 124 if ( !compositeTable.empty() ) {
jmarkel44 221:2a5e9902003c 125 StringCompositeMap::iterator pos;
jmarkel44 221:2a5e9902003c 126 for ( pos = compositeTable.begin(); pos != compositeTable.end(); ++pos ) {
jmarkel44 221:2a5e9902003c 127 pos->second->update();
jmarkel44 221:2a5e9902003c 128 }
jmarkel44 221:2a5e9902003c 129 }
jmarkel44 51:66b820f203a5 130 }