[OSADL-svn-commits] r110 - trunks/fddi-trunk/tests

[OSADL repository commits]

Author: robert
Date: Sat Sep  8 02:04:51 2007
New Revision: 110

Log:


Added:
   trunks/fddi-trunk/tests/usecase_controller.c

Added: trunks/fddi-trunk/tests/usecase_controller.c
==============================================================================
--- (empty file)
+++ trunks/fddi-trunk/tests/usecase_controller.c	Sat Sep  8 02:04:51 2007
@@ -0,0 +1,144 @@
+#include <signal.h>
+#include <stdio.h>
+#include <stdint.h>
+#include <stdlib.h>
+
+//#include <osadl/ldi.h>
+
+#define PV_CREATE(var, type) \
+	do { \
+		ret = pv_##type##_create(&pv_##var, &ldi, #var); \
+		if (ret) { \
+			fprintf(stderr, "error: could not register process variable '"#var"'\n"); \
+			goto out_pv_##var; \
+		} \
+	} while(0)
+
+#define PV_DESTROY(var, type) \
+	pv_##type##_destroy(&pv_##var); \
+	out_pv_##var: \
+	do {} while(0)
+
+#define PV_TRIGGER_CREATE(var) \
+	do { \
+		ret = ldi_trigger_define(&ldi, &pv_##var); \
+		if (ret) { \
+			fprintf(stderr, "error: could not create trigger on process variable "#var"\n"); \
+			goto out_trigger; \
+		} \
+	} while(0)
+
+#define PV_TRIGGER_DESTROY(var) \
+	out_trigger: do {} while(0)
+
+
+/* FIXME put into header file */
+
+	typedef struct ldi_attr {
+	} ldi_attr_t;
+
+	typedef struct ldi {
+	} ldi_t;
+	typedef struct pv {
+	} pv_t;
+
+	/* pv */
+	int pv_uint32_create(pv_t *pv, ldi_t *ldi, const char *name);
+	int pv_uint32_destroy(pv_t *pv);
+	uint32_t pv_uint32_get(pv_t *pv);
+	void pv_uint32_set(pv_t *pv, uint32_t val);
+
+	/* ldi_attr */
+	int ldi_attr_init_from_cmdline(ldi_attr_t *attr, int argc, char *argv[]);
+	int ldi_attr_destroy(ldi_attr_t *attr);
+
+	/* ldi */
+	int ldi_create(ldi_t *ldi, ldi_attr_t *attr);
+	int ldi_destroy(ldi_t *ldi);
+	int ldi_trigger_define(ldi_t *ldi, pv_t *pv);
+	int ldi_trigger_wait(ldi_t *ldi, uint64_t timeout_ns);
+
+
+static int shutdown = 0;
+static int Ta = (10*1000*1000); /* 10 ms */
+
+void
+signalhandler(int sig)
+{
+	if ((sig == SIGPIPE) || (sig == SIGHUP))
+		return;
+	if (sig == SIGTERM || sig == SIGINT)
+		shutdown = 1;
+}
+
+int main(int argc, char *argv[])
+{
+	struct sigaction action;
+	ldi_attr_t ldi_attr;
+	ldi_t ldi;
+	int ret;
+
+	pv_t pv_input;
+	pv_t pv_output;
+	pv_t pv_Kp;
+	pv_t pv_Ki;
+	pv_t pv_Kd;
+
+	/* setup signal handler */
+	action.sa_handler = signalhandler;
+	sigemptyset (&action.sa_mask);
+	action.sa_flags = 0;
+	sigaction (SIGTERM, &action, 0);        /* catches kill from the shell   */
+	sigaction (SIGINT,  &action, 0);        /* catches Ctrl-C from the shell */
+	sigaction (SIGPIPE, &action, 0);        /* catches Broken Pipe exception */
+	sigaction (SIGHUP,  &action, 0);        /* catches HUP                   */
+
+	/* initialize ldi */
+	ret = ldi_attr_init_from_cmdline(&ldi_attr, argc, argv);
+	if (ret) {
+		fprintf(stderr, "error: could not init ldi_attr\n");
+		exit(EXIT_FAILURE);
+	}
+
+	ret = ldi_create(&ldi, &ldi_attr);
+	if (ret) {
+		fprintf(stderr, "error: couldn't create ldi\n");
+		exit(EXIT_FAILURE);
+	}
+
+	PV_CREATE(input, uint32);
+	PV_CREATE(output, uint32);
+	PV_CREATE(Kp, uint32);
+	PV_CREATE(Ki, uint32);
+	PV_CREATE(Kd, uint32);
+
+	PV_TRIGGER_CREATE(input);
+
+	/* control loop */
+	while (!shutdown) {
+
+		uint32_t e, x, esum, ealt;
+
+		ret = ldi_trigger_wait(&ldi, 100*1000*1000); /* wait until trigger fires, with timeout in ns */
+		if (ret)
+			continue;
+
+		e = pv_uint32_get(&pv_input) - x;	/* comparism */
+		esum = esum + e;			/* I part */
+		pv_uint32_set(&pv_output, pv_uint32_get(&pv_Kp)*e + pv_uint32_get(&pv_Ki)*Ta*esum + pv_uint32_get(&pv_Kd)/Ta * (e ? ealt : e));
+		ealt = e;
+
+	}
+
+	PV_TRIGGER_DESTROY(input);
+
+	PV_DESTROY(Kd, uint32);
+	PV_DESTROY(Ki, uint32);
+	PV_DESTROY(Kp, uint32);
+	PV_DESTROY(output, uint32);
+	PV_DESTROY(input, uint32);
+
+	ldi_destroy(&ldi);
+	ldi_attr_destroy(&ldi_attr);
+	return ret;
+}