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added command line parameters for decision functions
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Live session user committed Jun 20, 2010
1 parent 1afcd0b commit 239ebc6
Showing 1 changed file with 40 additions and 48 deletions.
88 changes: 40 additions & 48 deletions src/combined.c
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Original file line number Diff line number Diff line change
Expand Up @@ -46,7 +46,7 @@ struct actuator {
void *data;
};

typedef void (*decision_function_t) (heartbeat_record_t *hb, int act_count, actuator_t *acts);
typedef void (*decision_function_t) (heartbeat_record_t *hb, int act_count, actuator_t *acts, double param1, double param2);

typedef struct freq_scaler_data {
unsigned long *freq_array;
Expand Down Expand Up @@ -392,12 +392,12 @@ int machine_speed_act (actuator_t *act)

/* decision functions */

void dummy_control (heartbeat_record_t *hb, int act_count, actuator_t *acts)
void dummy_control (heartbeat_record_t *hb, int act_count, actuator_t *acts, double param1, double param2)
{
/* do nothing, lol */
}

void core_heuristics (heartbeat_record_t *current, int act_count, actuator_t *acts)
void core_heuristics (heartbeat_record_t *current, int act_count, actuator_t *acts, double param1, double param2)
{
static actuator_t *core_act = NULL;

Expand All @@ -411,7 +411,7 @@ void core_heuristics (heartbeat_record_t *current, int act_count, actuator_t *ac
}
}

void freq_heuristics (heartbeat_record_t *current, int act_count, actuator_t *acts)
void freq_heuristics (heartbeat_record_t *current, int act_count, actuator_t *acts, double param1, double param2)
{
static actuator_t *freq_act = NULL;
freq_scaler_data_t *freq_data;
Expand All @@ -433,13 +433,13 @@ void freq_heuristics (heartbeat_record_t *current, int act_count, actuator_t *ac
}
}

void uncoordinated_heuristics (heartbeat_record_t *current, int act_count, actuator_t *acts)
void uncoordinated_heuristics (heartbeat_record_t *current, int act_count, actuator_t *acts, double param1, double param2)
{
core_heuristics(current, act_count, acts);
freq_heuristics(current, act_count, acts);
core_heuristics(current, act_count, acts, param1, param2);
freq_heuristics(current, act_count, acts, param1, param2);
}

void step_heuristics (heartbeat_record_t *current, int act_count, actuator_t *acts)
void step_heuristics (heartbeat_record_t *current, int act_count, actuator_t *acts, double param1, double param2)
{
static actuator_t *core_act = NULL;
static actuator_t *freq_acts[16];
Expand Down Expand Up @@ -496,27 +496,27 @@ void step_heuristics (heartbeat_record_t *current, int act_count, actuator_t *ac
*/


void core_controller (heartbeat_record_t *current, int act_count, actuator_t *acts)
void core_p_controller (heartbeat_record_t *current, int act_count, actuator_t *acts, double Kp, double param2)
{
static actuator_t *core_act = NULL;

double target_rate = (hrm_get_max_rate(&hrm) + hrm_get_min_rate(&hrm)) / 2.0;
double error = target_rate - current->window_rate;
double Kp = 0.4;
// double Kp = 0.4;

if (!core_act) get_actuators(&core_act, NULL, 0, NULL, NULL);
core_act->set_value = core_act->value + Kp*error;
if (core_act->set_value < core_act->min) core_act->set_value = core_act->min;
else if (core_act->set_value > core_act->max) core_act->set_value = core_act->max;
}

void machine_state_controller (heartbeat_record_t *current, int act_count, actuator_t *acts)
void machine_state_p_controller (heartbeat_record_t *current, int act_count, actuator_t *acts, double Kp, double param2)
{
static actuator_t *speed_act = NULL;

double target_rate = (hrm_get_max_rate(&hrm) + hrm_get_min_rate(&hrm)) / 2.0;
double error = target_rate - current->window_rate;
double Kp = 100;
// double Kp = 100;

if (!speed_act) get_actuators(NULL, NULL, 0, NULL, &speed_act);
speed_act->set_value = speed_act->value + Kp*error;
Expand All @@ -530,38 +530,18 @@ void machine_state_controller (heartbeat_record_t *current, int act_count, actua
#endif
}

void machine_state_p50_controller (heartbeat_record_t *current, int act_count, actuator_t *acts)
void machine_state_pseudo_pi_controller (heartbeat_record_t *current, int act_count, actuator_t *acts, double Kp, double Ki)
{
static actuator_t *speed_act = NULL;

double target_rate = (hrm_get_max_rate(&hrm) + hrm_get_min_rate(&hrm)) / 2.0;
double error = target_rate - current->window_rate;
double Kp = 50;

if (!speed_act) get_actuators(NULL, NULL, 0, NULL, &speed_act);
speed_act->set_value = speed_act->value + Kp*error;
#if DEBUG
printf("target: %f hr: %f error: %f speed: %d -> %d ", target_rate, current->window_rate, error, speed_act->value, speed_act->set_value);
#endif
if (speed_act->set_value < speed_act->min) speed_act->set_value = speed_act->min;
else if (speed_act->set_value > speed_act->max) speed_act->set_value = speed_act->max;
#if DEBUG
printf("clipped: %d\n", speed_act->set_value);
#endif
}

void machine_state_pseudo_pi_controller (heartbeat_record_t *current, int act_count, actuator_t *acts)
{
static actuator_t *speed_act = NULL;

double target_rate = (hrm_get_max_rate(&hrm) + hrm_get_min_rate(&hrm)) / 2.0;
double error = target_rate - current->window_rate;
double Kp = 100;
double Ki = 25;
// double Kp = 100;
// double Ki = 25;
static double old_error = 0;

if (!speed_act) get_actuators(NULL, NULL, 0, NULL, &speed_act);
speed_act->set_value = speed_act->value + Kp*error - Ki*old_error;
speed_act->set_value = speed_act->value + Kp*error + Ki*old_error;
#if DEBUG
printf("target: %f hr: %f error: %f speed: %d -> %d ", target_rate, current->window_rate, error, speed_act->value, speed_act->set_value);
#endif
Expand All @@ -573,12 +553,12 @@ void machine_state_pseudo_pi_controller (heartbeat_record_t *current, int act_co
old_error = error;
}

void machine_state_histeresis_p_controller (heartbeat_record_t *current, int act_count, actuator_t *acts)
void machine_state_histeresis_p_controller (heartbeat_record_t *current, int act_count, actuator_t *acts, double Kp, double param2)
{
static actuator_t *speed_act = NULL;

double error;
double Kp = 100;
// double Kp = 100;

if (!speed_act) get_actuators(NULL, NULL, 0, NULL, &speed_act);
if (current->window_rate < hrm_get_min_rate(&hrm)) error = hrm_get_min_rate(&hrm) - current->window_rate;
Expand All @@ -595,20 +575,20 @@ void machine_state_histeresis_p_controller (heartbeat_record_t *current, int act
#endif
}

void machine_state_histeresis_pseudo_pi_controller (heartbeat_record_t *current, int act_count, actuator_t *acts)
void machine_state_histeresis_pseudo_pi_controller (heartbeat_record_t *current, int act_count, actuator_t *acts, double Kp, double Ki)
{
static actuator_t *speed_act = NULL;

double error;
double Kp = 100;
double Ki = 25;
// double Kp = 100;
// double Ki = 25;
static double old_error = 0;

if (!speed_act) get_actuators(NULL, NULL, 0, NULL, &speed_act);
if (current->window_rate < hrm_get_min_rate(&hrm)) error = hrm_get_min_rate(&hrm) - current->window_rate;
else if (current->window_rate > hrm_get_max_rate(&hrm)) error = hrm_get_max_rate(&hrm) - current->window_rate;
else error = 0.0;
speed_act->set_value = speed_act->value + Kp*error - Ki*old_error;
speed_act->set_value = speed_act->value + Kp*error + Ki*old_error;
#if DEBUG
printf("target: %f hr: %f error: %f speed: %d -> %d ", target_rate, current->window_rate, error, speed_act->value, speed_act->set_value);
#endif
Expand Down Expand Up @@ -650,30 +630,42 @@ int main(int argc, char **argv)
extern actuator_t *controls;
actuator_t *next_ctl;

decision_function_t decision_f = machine_state_controller;
decision_function_t decision_f = NULL;
double param1 = 0.0, param2 = 0.0;
int acted;

/* we want to see this in realtime even when it's piped through tee */
setlinebuf(stdout);

/* getting rich with stock options */
while ((opt = getopt(argc, argv, "d:")) != -1) switch (opt) {
while ((opt = getopt(argc, argv, "d:p:q:")) != -1) switch (opt) {
case 'd':
if (strcmp(optarg, "core_heuristics") == 0) decision_f = core_heuristics;
else if (strcmp(optarg, "freq_heuristics") == 0) decision_f = freq_heuristics;
else if (strcmp(optarg, "uncoordinated_heuristics") == 0) decision_f = uncoordinated_heuristics;
else if (strcmp(optarg, "step_heuristics") == 0) decision_f = step_heuristics;
else if (strcmp(optarg, "core_controller") == 0) decision_f = core_controller;
else if (strcmp(optarg, "machine_state_controller") == 0) decision_f = machine_state_controller;
else if (strcmp(optarg, "core_p_controller") == 0) decision_f = core_p_controller;
else if (strcmp(optarg, "machine_state_p_controller") == 0) decision_f = machine_state_p_controller;
else if (strcmp(optarg, "machine_state_pseudo_pi_controller") == 0) decision_f = machine_state_pseudo_pi_controller;
else if (strcmp(optarg, "machine_state_histeresis_p_controller") == 0) decision_f = machine_state_histeresis_p_controller;
else if (strcmp(optarg, "machine_state_histeresis_pseudo_pi_controller") == 0) decision_f = machine_state_histeresis_pseudo_pi_controller;
else if (strcmp(optarg, "machine_state_p50_controller") == 0) decision_f = machine_state_p50_controller;
else {
fprintf(stderr, "%s: unknown decision function\n", argv[0]);
exit(1);
}
break;
case 'p':
if (sscanf(optarg, "%lf", &param1) < 1) {
fprintf(stderr, "%s: bad param\n", argv[0]);
exit(1);
}
break;
case 'q':
if (sscanf(optarg, "%lf", &param2) < 1) {
fprintf(stderr, "%s: bad param\n", argv[0]);
exit(1);
}
break;
default:
fprintf(stderr, "Usage: %s [-d decision_function]\n", argv[0]);
exit(1);
Expand Down Expand Up @@ -740,7 +732,7 @@ int main(int argc, char **argv)
/*printf("Current beat: %lld, tag: %d, window: %lld, window_rate: %f\n",
current.beat, current.tag, window_size, current.window_rate);*/

decision_f(&current, actuator_count, controls);
decision_f(&current, actuator_count, controls, param1, param2);

acted = 0;
for (i = 0; i < actuator_count; i++) {
Expand Down

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