Add test network for pid_aw block

Cleanup libs
Add lib dependancies for console_httpd.
Add inf as double constant.

Makefile

@@ -32,12 +32,14 @@ help:
 	echo "golden repository (on eris.camras.nl)."
 
 
+libnova/libnova.h: lib/libnova.la
 libnova.la: lib/libnova.la
 lib/libnova.la:
 	cd libnova-0.13.0 ; ./configure -enable-static -disable-shared --prefix=${CURDIR} $(CONF_HOST); make; make install
 
 clean: subdirs_CLEAN
 	rm -rf lib/*
+	rm -rf include/libnova
 	cd libnova-0.13.0 ; make clean || true
 
 # Rules for building a release
@@ -131,6 +133,7 @@ endef
 CFLAGS := -pthread -Icommon -Icommon/include -Icontroller -Iconsole/console -Iinclude
 LDFLAGS := -pthread -Lcommon/lib -Lcontroller/lib -Lconsole/console/lib -Llib -Wl,--as-needed
 VPATH += common/lib controller/lib console/console/lib lib
+VPATH += include
 
 
 TARGETS:=

common/command/build.mk

@@ -23,4 +23,4 @@ $(DIR)/command_list: $(COMMAND_LIST_OBJS)
 
 SRCS += $(ARCHSRCS) $(COMMAND_LIST_SRCS)
 TARGETS += $(COMMAND_TARGETS)
-CLEAN += $(COMMAND_TARGETS) $(ARCHOBJS) $(COMMAND_LIST_OBJS)
+CLEAN += $(COMMAND_TARGETS) $(ARCHOBJS) $(COMMAND_LIST_OBJS) $(LIBDIR)/libcommand.a

common/log/build.mk

@@ -12,4 +12,4 @@ $(LIBDIR)/liblog.la_LDFLAGS += -lutils
 $(LIBDIR)/liblog.la: $(ARCHOBJS)
 	$(LIB_LINK)
 
-CLEAN += $(TARGETS) $(ARCHOBJS)
+CLEAN += $(TARGETS) $(ARCHOBJS) $(LIBDIR)/liblog.a

common/trace/build.mk

@@ -53,7 +53,7 @@ SRCS += $(TRACE_DUMPDIFF_SRCS)
 SRCS += $(TRACE_FFT_SRCS)
 SRCS += $(TRACE_LIST_SRCS)
 SRCS += $(TRACE_VIEW_SRCS)
-CLEAN += $(TRACE_TARGETS) $(ARCHOBJS)
+CLEAN += $(TRACE_TARGETS) $(ARCHOBJS) $(LIBDIR)/libtrace.a
 CLEAN += $(TRACE_DUMP_OBJS)
 CLEAN += $(TRACE_DUMPDIFF_OBJS)
 CLEAN += $(TRACE_FFT_OBJS)

common/utils/build.mk

@@ -36,6 +36,6 @@ $(LIBDIR)/libutils.la: $(ARCHOBJS)
 
 CLEAN += $(LIBDIR)/libutils.la
 CLEAN += $(DIR)/weather_test
-CLEAN += $(WEATHER_OBJS) $(ARCHOBJS)
+CLEAN += $(WEATHER_OBJS) $(ARCHOBJS) $(LIBDIR)/libutils.a
 
 SRCS += $(ARCHSRCS) $(WEATHER_SRCS)

console/console/build.mk

@@ -51,24 +51,28 @@ $(DIR)/command_shell: $(DIR)/command_shell.o
 CONSOLE_SRCS += $(DIR)/command_shell.c
 
 $(DIR)/console_moontracker.o: CFLAGS += -Wall -O3
+$(DIR)/console_moontracker.o: libnova/libnova.h
 $(DIR)/console_moontracker_LDFLAGS += -lcommand -lm -laa
 $(DIR)/console_moontracker: libcommand.la libaa.la
 $(DIR)/console_moontracker: $(DIR)/console_moontracker.o
 CONSOLE_SRCS += $(DIR)/console_moontracker.c
 
 $(DIR)/console_j2000tracker.o: CFLAGS += -Wall -O3
+$(DIR)/console_j2000tracker.o: libnova/libnova.h
 $(DIR)/console_j2000tracker_LDFLAGS += -lcommand -lm -lnova -ltrace
 $(DIR)/console_j2000tracker: libcommand.la libtrace.la libnova.la
 $(DIR)/console_j2000tracker: $(DIR)/console_j2000tracker.o
 CONSOLE_SRCS += $(DIR)/console_j2000tracker.c
 
 $(DIR)/console_j2000tracer.o: CFLAGS += -Wall -O3
+$(DIR)/console_j2000tracesr.o: libnova/libnova.h
 $(DIR)/console_j2000tracer_LDFLAGS += -lm -lnova -lutils
 $(DIR)/console_j2000tracer: libutils.la libnova.la
 $(DIR)/console_j2000tracer: $(DIR)/console_j2000tracer.o
 CONSOLE_SRCS += $(DIR)/console_j2000tracer.c
 
 $(DIR)/console_j2000_indi.o: CFLAGS += -Wall -O3
+$(DIR)/console_j2000_indi.o: libnova/libnova.h
 $(DIR)/console_j2000_indi_LDFLAGS += -lm -lindi -lindidriver -lnova -lutils
 $(DIR)/console_j2000_indi: libutils.la libnova.la
 $(DIR)/console_j2000_indi: $(DIR)/console_j2000_indi.o
@@ -135,6 +139,7 @@ $(DIR)/spg_auth: $(DIR)/spg_auth.o
 CONSOLE_SRCS += $(DIR)/spg_auth.c
 
 $(DIR)/console_sattracker.o: CFLAGS += -Wall -O3
+$(DIR)/console_sattracker.o: libnova/libnova.h
 $(DIR)/console_sattracker_LDFLAGS += -lcommand -lnova -lpredict
 $(DIR)/console_sattracker: libcommand.la libpredict.la libnova.la
 $(DIR)/console_sattracker: $(DIR)/console_sattracker.o
@@ -142,7 +147,7 @@ CONSOLE_SRCS += $(DIR)/console_sattracker.c
 
 $(DIR)/console_httpd.o: CFLAGS += -Wall -O0 -g
 $(DIR)/console_httpd_LDFLAGS += -llog -ltrace -lcommand -lwebsockets -lmagic
-$(DIR)/console_httpd: liblog.la
+$(DIR)/console_httpd: liblog.la libtrace.la libcommand.la
 $(DIR)/console_httpd: $(DIR)/console_httpd.o
 CONSOLE_SRCS += $(DIR)/console_httpd.c
 

controller/block/block_pid_aw.c

@@ -22,6 +22,7 @@
 #include <string.h>
 
 #include <controller/controller_block.h>
+#include <controller/controller_sample.h>
 
 /*
        inputs         outputs
@@ -72,7 +73,6 @@ struct controller_block_private {
 	float kp;	/* K factors */
 	float ki;
 	float kd;
-	float t;	/* sample period */
 	float ci;	/* Factors used in calculate (K * T) */
 	float cd;
 	float previous;
@@ -115,7 +115,7 @@ static struct controller_block_param_list params[] = {
 	{ "kp",    true  },
 	{ "ki",    true  },
 	{ "kd",    true  },
-	{ "t",     true  },
+	{ "t",     true  }, /* deprecated */
 	{ "maxw",  false },
 	{ "minw",  false },
 	{ "reset", true  },
@@ -135,7 +135,6 @@ static void param_get(struct controller_block *pid, int param, void *val)
 			*(float*)val = pid->private->kd;
 			break;
 		case 3:
-			*(float*)val = pid->private->t;
 			break;
 		case 4:
 			*(float*)val = pid->private->maxi;
@@ -161,7 +160,6 @@ static void param_set(struct controller_block *pid, int param, va_list val)
 			pid->private->kd = va_arg(val, double);
 			break;
 		case 3:
-			pid->private->t = va_arg(val, double);
 			break;
 		case 4:
 			pid->private->maxi = va_arg(val, double);
@@ -177,8 +175,8 @@ static void param_set(struct controller_block *pid, int param, va_list val)
 			pid->private->out = 0.0;
 			break;
 	}
-	pid->private->ci = pid->private->ki * pid->private->t;
-	pid->private->cd = pid->private->kd / pid->private->t;
+	pid->private->ci = pid->private->ki * controller_sample_period();
+	pid->private->cd = pid->private->kd / controller_sample_period();
 	
 }
 
@@ -210,7 +208,6 @@ struct controller_block * block_pid_aw_create(char *name)
 	pid->private->kp = 0.0;
 	pid->private->ki = 0.0;
 	pid->private->kd = 0.0;
-	pid->private->t = 1.0;
 	pid->private->ci = 0.0;
 	pid->private->cd = 0.0;
 	pid->private->maxi = 0.0;

controller/block/block_pid_aw.test.ctrl

+frequency 100
+
+blocks {
+	{ "pid_aw", "pid" }
+	
+	{ "test_input_float", "in"     }
+	{ "test_input_bool",  "enable" }
+	
+	{ "test_output_float", "out"  }
+	{ "test_output_float", "outp" }
+	{ "test_output_float", "outi" }
+	{ "test_output_float", "outd" }
+}
+
+links {
+	{ "in", "value",     "pid", "in",     true }
+	{ "enable", "value", "pid", "enable", true }
+	{ "pid", "out",      "out", "value",  true }
+	{ "pid", "outp",     "outp", "value", true }
+	{ "pid", "outi",     "outi", "value", true }
+	{ "pid", "outd",     "outd", "value", true }
+}
+
+params {
+	{ "pid", "kp",   (float) 10.0 }
+	{ "pid", "ki",   (float)  2.0 }
+	{ "pid", "kd",   (float)  0.5 }
+	{ "pid", "maxw", (float)  3.0 }
+	{ "pid", "minw", (float) -0.01 }
+
+	{ "enable", "value", 10,
+	    (int) { false, true, true, true, true, true, true, true, true, false }
+	}
+
+	{ "in", "value", 10,
+	    (float) { 0.0, 1.0, -1.0, -1.0, 10.0, 10.0, 100.0, 100.0, 10.0, 10.0 }
+	}
+	
+	{ "out", "value", 10, 
+	    (float) { 0.0, 60.02, -10.0, -10.0, 100.0, 100.0, 1000.0, 1000.0, 100.0, 0.0},
+	    (float) { 0.0, 0.0, inf, inf, inf, inf, inf, inf, inf, 0.0}
+	}
+
+	{ "outp", "value", 10, 
+	    (float) { 0.0, 10.0, -10.0, -10.0, 100.0, 100.0, 1000.0, 1000.0, 100.0, 0.0},
+	    (float) { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}
+	}
+
+	{ "outi", "value", 10, 
+	    (float) { 0.0, 0.02, 0.0, -0.01, 0.19, 0.39, 2.39, 3.0, 3.0, 0.0},
+	    (float) { 0.0, 0.0,  0.0,  0.0,  1e-6, 1e-6, 1e-6, 0.0, 0.0, 0.0}
+	}
+
+	{ "outd", "value", 10, 
+	    (float) { 0.0, 50.0, -100.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0},
+	    (float) { 0.0, 0.0,     0.0, 0.0, inf, inf, inf, inf, inf, 0.0}
+	}
+}

controller/block/build.mk

@@ -83,6 +83,7 @@ CTRL_TESTS += \
 	$(DIR)/block_limit.test.ctrl \
 	$(DIR)/block_matrix_2x2.test.ctrl \
 	$(DIR)/block_not.test.ctrl \
+	$(DIR)/block_pid_aw.test.ctrl \
 	$(DIR)/block_rangecheck.test.ctrl \
 	$(DIR)/block_setpoint_generator_1d.test.ctrl \
 	$(DIR)/block_setpoint_generator_3d.test.ctrl \

controller/controller/controller_load_parser.l

@@ -90,6 +90,7 @@ boolcast	"("[ \t]*"bool"[ \t]*")"
 "deg2rad"	{ return FUNC_DEG2RAD_SYM; }
 "rpm2rads"	{ return FUNC_RPM2RADS_SYM; }
 "pi"		{ return CONST_PI_SYM; }
+"inf"		{ return CONST_INF_SYM; }
 
 {floatcast} 	{ return FLOATCASTSYM; }
 {doublecast} 	{ return DOUBLECASTSYM; }

controller/controller/controller_load_parser.y

@@ -72,6 +72,7 @@ void yyerror(yyscan_t *scanner, char const *s);
 %token FUNC_RPM2RADS_SYM
 
 %token <dbl> CONST_PI_SYM
+%token <dbl> CONST_INF_SYM
 
 %left DUMMY_DOUBLEVAR
 %left DUMMY_INTVAR
@@ -254,6 +255,8 @@ doublevar: DOUBLEVARIABLESYM
 		{ $$ = $1; }
 	| CONST_PI_SYM
 		{ $$ = M_PI; }
+	| CONST_INF_SYM
+		{ $$ = INFINITY; }
 	| MINSYM doublevar %prec UMINUS
 		{ $$ = - $2; }
 	;

controller/controller/controller_sample.c

@@ -303,7 +303,7 @@ static void *sample_thread(void *arg)
 	uint64_t t_start;
 	uint64_t t_io;
 	uint64_t t_end;
-	param.sched_priority = 99;
+	param.sched_priority = 90;
 	sigset_t sigset;
 	struct sigaction sigact;