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Commit 4a83129a authored by Jeroen Vreeken's avatar Jeroen Vreeken
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Add aliases to ctrl file parser 

Introduce first two position aliases
Allow string variables to be used almost anywhere
parent c8682463
Hide whitespace changes
Inline Side-by-side
controller/controller/controller_load_int.h
View file @ 4a83129a
......@@ -45,6 +45,9 @@ void controller_load_frequency(double frequency);
int controller_load_include(char *file_name);
int controller_load_import(char *file_name);
char * controller_load_variable_alias_get_block(char *varname);
char * controller_load_variable_alias_get_term(char *varname);
void controller_load_variable_alias_set(char *varname, char *block, char *term);
double controller_load_variable_double_get(char *varname);
void controller_load_variable_double_set(char *varname, double val);
char * controller_load_variable_string_get(char *varname);
......
controller/controller/controller_load_parser.l
View file @ 4a83129a
......@@ -44,6 +44,7 @@ string "\""[^"]*"\""
variablename [a-zA-Z\_][0-9a-zA-Z\-\_]*
aliasvariable "\$<"{variablename}">"
intvariable "\$["{variablename}"]"
doublevariable "\$("{variablename}")"
stringvariable "\${"{variablename}"}"
......@@ -78,6 +79,7 @@ boolcast "("[ \t]*"bool"[ \t]*")"
"+" { return PLUSSYM; }
"-" { return MINSYM; }
"alias" { return ALIASSYM; }
"frequency" { return FREQUENCYSYM; }
"trigger" { return TRIGGERSYM; }
"blocks" { return BLOCKSSYM; }
......@@ -107,6 +109,12 @@ boolcast "("[ \t]*"bool"[ \t]*")"
return STRINGSYM;
}
{aliasvariable} {
yylval->string = strdup(yytext + 2);
yylval->string[strlen(yylval->string)-1] = 0;
return ALIASVARIABLESYM;
}
{intvariable} {
yylval->string = strdup(yytext + 2);
yylval->string[strlen(yylval->string)-1] = 0;
......
controller/controller/controller_load_parser.y
View file @ 4a83129a
......@@ -46,9 +46,11 @@ void yyerror(yyscan_t *scanner, char const *s);
%start ctrllist
%token ALIASSYM
%token BRACEOPENSYM
%token BRACECLOSESYM
%token COMMASYM
%token <string> ALIASVARIABLESYM
%token <string> STRINGSYM
%token <string> VARIABLENAMESYM
%token <string> INTVARIABLESYM
......@@ -108,7 +110,8 @@ ctrllist: ctrl
| ctrl ctrllist
;
ctrl : frequency
ctrl : aliases
| frequency
| triggers
| links
| blocks
......@@ -125,7 +128,7 @@ frequency: FREQUENCYSYM DOUBLESYM
{ controller_load_frequency($2); }
;
include: INCLUDESYM STRINGSYM
include: INCLUDESYM stringvar
{
if (controller_load_include($2)) {
yyerror(scanner, "Failed to parse include");
......@@ -134,7 +137,7 @@ include: INCLUDESYM STRINGSYM
}
;
import: IMPORTSYM STRINGSYM
import: IMPORTSYM stringvar
{
if (controller_load_import($2)) {
yyerror(scanner, "Failed to parse import");
......@@ -143,6 +146,22 @@ import: IMPORTSYM STRINGSYM
}
;
aliases: ALIASSYM BRACEOPENSYM aliaslist BRACECLOSESYM
aliaslist: alias
| alias aliaslist
;
alias: BRACEOPENSYM
stringvar COMMASYM
stringvar COMMASYM
stringvar
BRACECLOSESYM
{
controller_load_variable_alias_set($2, $4, $6);
}
triggers: TRIGGERSYM BRACEOPENSYM triggerlist BRACECLOSESYM
triggerlist: trigger
......@@ -150,7 +169,7 @@ triggerlist: trigger
;
trigger : BRACEOPENSYM
STRINGSYM varlist
stringvar varlist
BRACECLOSESYM
{
if(controller_load_trigger($2, scanner)) {
......@@ -169,8 +188,8 @@ blocklist: block
;
block : BRACEOPENSYM
STRINGSYM COMMASYM
STRINGSYM varlist
stringvar COMMASYM
stringvar varlist
BRACECLOSESYM
{
if(controller_load_block_create($2, $4, scanner)) {
......@@ -190,8 +209,8 @@ paramlist: param
;
param : BRACEOPENSYM
STRINGSYM COMMASYM
STRINGSYM
stringvar COMMASYM
stringvar
varlist
BRACECLOSESYM
{
......@@ -329,10 +348,10 @@ linklist: link
;
link : BRACEOPENSYM
STRINGSYM COMMASYM
STRINGSYM COMMASYM
STRINGSYM COMMASYM
STRINGSYM COMMASYM
stringvar COMMASYM
stringvar COMMASYM
stringvar COMMASYM
stringvar COMMASYM
BOOLSYM
BRACECLOSESYM
{
......@@ -345,6 +364,54 @@ link : BRACEOPENSYM
free($6);
free($8);
}
| BRACEOPENSYM
ALIASVARIABLESYM COMMASYM
ALIASVARIABLESYM COMMASYM
BOOLSYM
BRACECLOSESYM
{
if (controller_block_connect(
controller_load_variable_alias_get_block($2),
controller_load_variable_alias_get_term($2),
controller_load_variable_alias_get_block($4),
controller_load_variable_alias_get_term($4), $6)) {
yyerror(scanner, "Error connecting blocks");
YYERROR;
}
}
| BRACEOPENSYM
stringvar COMMASYM
stringvar COMMASYM
ALIASVARIABLESYM COMMASYM
BOOLSYM
BRACECLOSESYM
{
if (controller_block_connect($2, $4,
controller_load_variable_alias_get_block($6),
controller_load_variable_alias_get_term($6), $8)) {
yyerror(scanner, "Error connecting blocks");
YYERROR;
}
free($2);
free($4);
}
| BRACEOPENSYM
ALIASVARIABLESYM COMMASYM
stringvar COMMASYM
stringvar COMMASYM
BOOLSYM
BRACECLOSESYM
{
if (controller_block_connect(
controller_load_variable_alias_get_block($2),
controller_load_variable_alias_get_term($2),
$4, $6, $8)) {
yyerror(scanner, "Error connecting blocks");
YYERROR;
}
free($2);
free($4);
}
;
traces : TRACESSYM BRACEOPENSYM tracelist BRACECLOSESYM
......@@ -354,10 +421,10 @@ tracelist: trace
;
trace : BRACEOPENSYM
STRINGSYM COMMASYM
STRINGSYM COMMASYM
STRINGSYM COMMASYM
STRINGSYM
stringvar COMMASYM
stringvar COMMASYM
stringvar COMMASYM
stringvar
BRACECLOSESYM
{
struct controller_trace_name trace;
......@@ -367,6 +434,21 @@ trace : BRACEOPENSYM
trace.blockname = $6;
trace.termname = $8;
controller_trace_list_add(&trace);
}
| BRACEOPENSYM
stringvar COMMASYM
stringvar COMMASYM
ALIASVARIABLESYM
BRACECLOSESYM
{
struct controller_trace_name trace;
trace.name = $2;
trace.unit = $4;
trace.blockname = controller_load_variable_alias_get_block($6);
trace.termname = controller_load_variable_alias_get_term($6);
controller_trace_list_add(&trace);
}
;
controller/controller/controller_load_variable.c
View file @ 4a83129a
......@@ -24,6 +24,7 @@
#include <controller/controller_load.h>
enum variable_type {
VARIABLE_ALIAS,
VARIABLE_STRING,
VARIABLE_DOUBLE,
VARIABLE_INT,
......@@ -37,12 +38,70 @@ struct variable {
char *stringval;
int intval;
char *block;
char *term;
struct variable *next;
};
static struct variable *variables = NULL;
char * controller_load_variable_alias_get_block(char *varname)
{
struct variable *entry;
for (entry = variables; entry; entry = entry->next) {
if (!strcmp(entry->name, varname) &&
entry->type == VARIABLE_ALIAS)
return entry->block;
}
log_send(LOG_T_ERROR, "String variable %s does not exist", varname);
return "";
}
char * controller_load_variable_alias_get_term(char *varname)
{
struct variable *entry;
for (entry = variables; entry; entry = entry->next) {
if (!strcmp(entry->name, varname) &&
entry->type == VARIABLE_ALIAS)
return entry->term;
}
log_send(LOG_T_ERROR, "String variable %s does not exist", varname);
return "";
}
void controller_load_variable_alias_set(char *varname, char *block, char *term)
{
struct variable *entry;
for (entry = variables; entry; entry = entry->next) {
if (!strcmp(entry->name, varname)) {
if (entry->type == VARIABLE_ALIAS) {
free(entry->block);
free(entry->term);
}
break;
}
}
if (!entry) {
entry = calloc(sizeof(struct variable), 1);
entry->name = strdup(varname);
entry->next = variables;
variables = entry;
}
entry->type = VARIABLE_ALIAS;
entry->block = strdup(block);
entry->term = strdup(term);
}
int controller_load_variable_int_get(char *varname)
{
struct variable *entry;
......
controller/dt_ctrl.ctrl
View file @ 4a83129a
......@@ -83,13 +83,18 @@ blocks {
{ "value_bool", "false" }
}
alias {
{ "Azimuth_Position", "azimuth_position_offset_sum", "out" }
{ "Elevation_Position", "elevation_input_matrix", "out0" }
}
links {
{ "dt_az", "position", "azimuth_position_gain", "in" , true }
{ "azimuth_position_gain", "out", "azimuth_position_offset_sum", "in0" , true }
{ "azimuth_position_offset", "value", "azimuth_position_offset_sum", "in1" , true }
{ "azimuth_position_offset_sum", "out", "azimuth_error", "negative" , true }
{ $<Azimuth_Position>, "azimuth_error", "negative" , true }
{ "azimuth_servo_state", "reset", "azimuth_spg", "reset" , false }
{ "azimuth_position_offset_sum", "out", "azimuth_spg", "reset_x" , true }
{ $<Azimuth_Position>, "azimuth_spg", "reset_x" , true }
{ "azimuth_spg", "x", "azimuth_servo_state", "spg_x" , true }
{ "azimuth_spg", "v", "azimuth_servo_state", "spg_v" , true }
{ "azimuth_spg", "a", "azimuth_servo_state", "spg_a" , true }
......@@ -98,7 +103,7 @@ links {
{ "azimuth_safe_and", "q", "azimuth_servo_state", "safe" , true }
{ "azimuth_safety", "recover", "azimuth_servo_state", "override" , false }
{ "azimuth_servo_state", "out_x", "azimuth_error", "positive" , true }
{ "azimuth_position_offset_sum", "out", "azimuth_setpoint_error", "negative" , true }
{ $<Azimuth_Position>, "azimuth_setpoint_error", "negative" , true }
{ "azimuth_spg", "setpoint", "azimuth_setpoint_error", "positive" , true }
{ "azimuth_servo_state", "out_v", "azimuth_speed_ff", "in0" , true }
{ "azimuth_error", "difference", "azimuth_pid", "in" , true }
......@@ -109,7 +114,7 @@ links {
{ "azimuth_pid_filter", "out", "azimuth_speed_ff", "in1" , true }
{ "azimuth_speed_ff", "out", "azimuth_speed_limit", "in" , true }
{ "azimuth_speed_limit", "out", "azimuth_safety", "speed_in" , true }
{ "azimuth_position_offset_sum", "out", "azimuth_safety", "position_in" , true }
{ $<Azimuth_Position>, "azimuth_safety", "position_in" , true }
{ "azimuth_torque", "value", "azimuth_safety", "torque_in" , true }
{ "dt_az", "be4", "azimuth_safety", "safety_in_positive", true }
{ "dt_az", "be2", "azimuth_safety", "safety_in_negative", true }
......@@ -123,7 +128,7 @@ links {
{ "false", "value", "dt_az", "ba2" , true }
{ "elevation_servo_state", "reset", "elevation_spg", "reset" , false }
{ "elevation_input_matrix", "out0", "elevation_spg", "reset_x" , true }
{ $<Elevation_Position>, "elevation_spg", "reset_x" , true }
{ "elevation_spg", "x", "elevation_servo_state", "spg_x" , true }
{ "elevation_spg", "v", "elevation_servo_state", "spg_v" , true }
{ "elevation_spg", "a", "elevation_servo_state", "spg_a" , true }
......@@ -139,9 +144,9 @@ links {
{ "elevation_position_offset_l", "value", "elevation_position_offset_l_sum", "in1" , true }
{ "elevation_position_offset_r_sum","out", "elevation_input_matrix", "in0" , true }
{ "elevation_position_offset_l_sum","out", "elevation_input_matrix", "in1" , true }
{ "elevation_input_matrix", "out0", "elevation_error", "negative" , true }
{ $<Elevation_Position>, "elevation_error", "negative" , true }
{ "elevation_spg", "setpoint", "elevation_setpoint_error", "positive" , true }
{ "elevation_input_matrix", "out0", "elevation_setpoint_error", "negative" , true }
{ $<Elevation_Position>, "elevation_setpoint_error", "negative" , true }
{ "elevation_error", "difference", "elevation_pid", "in" , true }
{ "elevation_servo_state", "enable", "elevation_pid", "enable" , true }
{ "elevation_pid", "out", "elevation_speed_ff", "in1" , true }
......@@ -199,7 +204,7 @@ traces {
{ "Azimuth_PID", "rad/s", "azimuth_pid", "out" }
{ "Azimuth_I", "rad/s", "azimuth_pid", "outi" }
{ "Azimuth_PID_filtered", "rad/s", "azimuth_pid_filter", "out" }
{ "Azimuth_Position", "rad", "azimuth_position_offset_sum", "out" }
{ "Azimuth_Position", "rad", $<Azimuth_Position> }
{ "Azimuth_Speed", "rad/s", "dt_az", "speed" }
{ "Azimuth_Torque", "Nm", "dt_az", "torque" }
{ "Azimuth_Safe", "Boolean", "azimuth_safety", "safe_out" }
......@@ -210,7 +215,7 @@ traces {
{ "Focusbox_Position", "Volt", "dt_az", "ae1" }
{ "Elevation_Position", "rad", "elevation_input_matrix", "out0" }
{ "Elevation_Position", "rad", $<Elevation_Position> }
{ "Elevation_Torsion", "rad", "elevation_input_matrix", "out1" }
{ "Elevation_Setpoint", "rad", "elevation_spg", "setpoint" }
{ "Elevation_Spg0", "rad", "elevation_spg", "x" }
......
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