Add quadratic sign block

controller/block/block_gain_ratio_abs.c

@@ -54,7 +54,7 @@ static void gain_ra_calculate(struct controller_block *gain)
 	
 	out = fabs((in * num)/ denom);
 	if (isnan(out)) {
-		out = 1.0;
+		out = 0.0;
 	}
 	priv->out = out;
 }

controller/block/block_quadratic_sign.c

+/*
+	Copyright Jeroen Vreeken (jeroen@vreeken.net), 2018
+
+	This program is free software: you can redistribute it and/or modify
+	it under the terms of the GNU General Public License as published by
+	the Free Software Foundation, either version 3 of the License, or
+	(at your option) any later version.
+
+	This program is distributed in the hope that it will be useful,
+	but WITHOUT ANY WARRANTY; without even the implied warranty of
+	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+	GNU General Public License for more details.
+
+	You should have received a copy of the GNU General Public License
+	along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include <controller/controller_block.h>
+#include <log/log.h>
+
+/*
+       inputs      outputs
+       nr name     nr name
+
+     ----------------------
+     |                    |
+  ---| 0  in       0  out |----
+     |	                  |
+     ----------------------
+     
+ */
+
+struct controller_block_private {
+	float *input0;
+	float out;
+};
+
+static void quadsign_calculate(struct controller_block *quadsign)
+{
+	struct controller_block_private *priv = quadsign->private;
+	float in = *priv->input0;
+
+	float out = copysign(in * in, in);
+
+	priv->out = out;
+}
+
+static struct controller_block_interm_list interms[] = {
+	{ "in", CONTROLLER_BLOCK_TERM_FLOAT, offsetof(struct controller_block_private, input0) },
+	{ NULL }
+};
+
+static struct controller_block_outterm_list outterms[] = {
+	{ "out", CONTROLLER_BLOCK_TERM_FLOAT, offsetof(struct controller_block_private, out) },
+	{ NULL }
+};
+
+static struct controller_block * block_quadratic_sign_create(char *name, int argc, va_list val)
+{
+	struct controller_block *quadsign;
+	
+	if (!(quadsign = controller_block_alloc("quadratic_sign", name, sizeof(struct controller_block_private))))
+		return NULL;
+
+	quadsign->private->out = 0.0;
+
+	if (controller_block_interm_list_init(quadsign, interms))
+		goto err_block;
+
+	if (controller_block_outterm_list_init(quadsign, outterms))
+		goto err_block;
+
+	quadsign->calculate = quadsign_calculate;
+
+	if (controller_block_add(quadsign))
+		goto err_block;
+	
+	return quadsign;
+
+err_block:
+	controller_block_free(quadsign);
+	return NULL;
+}
+
+BLOCK_CREATE(quadratic_sign) = {
+	.create = block_quadratic_sign_create,
+	.args = { NULL },
+};

controller/block/block_quadratic_sign.test.ctrl

+trigger {
+	{ "immediate" }
+}
+
+blocks (100.0, 0.0) {
+	{ "quadratic_sign", "quadratic_sign" }
+	
+	{ "test_input_float",  "test_input"  }
+	{ "test_output_float", "test_output" }
+}
+
+links {
+	{ "test_input", "value",   "quadratic_sign", "in", true }
+	{ "quadratic_sign", "out", "test_output", "value", true }
+}
+
+params {
+	{ "test_input",  "value", 6, (float) { 0.0, 1.0, -1.0, 2.0, 0.5, -0.5 } }
+	{ "test_output", "value", 6, 
+		(float) { 0.0,  1.0, -1.0, 4.0, 0.25, -0.25 },
+		(float) { 0.0,  0.0,  0.0, 0.0, 0.0,   0.0  }
+	}
+}
+
+set trace_server false

controller/block/build.mk

@@ -38,6 +38,7 @@ BLOCKS := \
 	multiplexer \
 	pid \
 	pid_aw \
+	quadratic_sign \
 	quadrature_decoder \
 	quantize \
 	random \
@@ -123,6 +124,7 @@ CTRL_TESTS += \
 	$(DIR)/block_not.test.output \
 	$(DIR)/block_oneshot.test.output \
 	$(DIR)/block_pid_aw.test.output \
+	$(DIR)/block_quadratic_sign.test.output \
 	$(DIR)/block_rangecheck.test.output \
 	$(DIR)/block_setpoint_generator_1d.test.output \
 	$(DIR)/block_setpoint_generator_3d.test.output \

controller/packet/block_packet_eth.c

@@ -47,6 +47,8 @@ struct controller_block_private {
 	size_t rx_size;
 	size_t tx_size;
 	
+	bool valid;
+	
 	int sock;
 	struct sockaddr_ll sockaddr_ll;
 };
@@ -63,7 +65,7 @@ static void packet_eth_rx_calculate(struct controller_block *packet_rx)
 			valid = true;
 	} while (ret > 0);
 	
-	priv->valid = true;
+	priv->valid = valid;
 }
 
 static void packet_eth_tx_calculate(struct controller_block *packet_tx)
@@ -173,7 +175,7 @@ static struct controller_block * block_packet_eth_create(char *name, int argc,
 		goto err_block;
 	packet_tx = controller_block_alloc("packet_eth_tx", name_tx, 0);
 
-	if (controller_block_outterm_list_init(in_bool, outterms))
+	if (controller_block_outterm_list_init(packet, outterms))
 		goto err_outterm;
 
 	if (!packet)

controller/packet/packet_eth.ctrl

@@ -8,6 +8,10 @@ blocks (100.0, 0.0) {
 	{ "packet_in_float_be", "position", "packet", 0 }
 	{ "packet_in_float_be", "stick", "packet", 4 }
 	{ "packet_in_float_be", "speed", "packet", 8 }
+	{ "packet_in_float_be", "speedff", "packet", 12 }
+	{ "packet_in_float_be", "positionff", "packet", 16 }
+	{ "packet_in_float_be", "pid", "packet", 20 }
+	{ "packet_in_float_be", "motor_I", "packet", 24 }
 #	{ "debug", "debug_position" }
 #	{ "debug", "debug_stick" }
 #	{ "debug", "debug_speed" }