control

Documentation

Overview

Package control package for feedback loop controls

Index

• type Block
• type BlockConfig
• type Config
• type Control
• type Controllable
• type Loop
  • func NewLoop(logger golog.Logger, cfg Config, m Controllable) (*Loop, error)
  • func (l *Loop) BlockList(ctx context.Context) ([]string, error)
  • func (l *Loop) ConfigAt(ctx context.Context, name string) (BlockConfig, error)
  • func (l *Loop) Frequency(ctx context.Context) (float64, error)
  • func (l *Loop) GetConfig(ctx context.Context) Config
  • func (l *Loop) OutputAt(ctx context.Context, name string) ([]Signal, error)
  • func (l *Loop) SetConfigAt(ctx context.Context, name string, config BlockConfig) error
  • func (l *Loop) Start() error
  • func (l *Loop) Stop()
• type Signal
  • func (s *Signal) GetSignalValueAt(i int) float64
  • func (s *Signal) SetSignalValueAt(i int, val float64)

Types

type Block

type Block interface {
	// Reset will reset the control block to initial state. Returns an error on failure
	Reset(ctx context.Context) error

	// Next calculate the next output. Takes an array of float64 , a delta time returns True and the output value on success false otherwise
	Next(ctx context.Context, x []Signal, dt time.Duration) ([]Signal, bool)

	// UpdateConfig update the configuration of a pre-existing control block returns an error on failure
	UpdateConfig(ctx context.Context, config BlockConfig) error

	// Output returns the most recent valid value, useful for block aggregating signals
	Output(ctx context.Context) []Signal

	// Config returns the underlying config for a Block
	Config(ctx context.Context) BlockConfig
}

Block interface for a control block.

type BlockConfig

type BlockConfig struct {
	Name      string              `json:"name"`       // Control Block name
	Type      controlBlockType    `json:"type"`       // Control Block type
	Attribute config.AttributeMap `json:"attributes"` // Internal block configuration
	DependsOn []string            `json:"depends_on"` // List of blocks needed for calling Next
}

BlockConfig configuration of a given block.

type Config

type Config struct {
	Blocks    []BlockConfig `json:"blocks"`    // Blocks Control Block Config
	Frequency float64       `json:"frequency"` // Frequency loop Frequency
}

Config configuration of the control loop.

type Control

type Control interface {
	// OutputAt returns the Signal at the block name, error when the block doesn't exist
	OutputAt(ctx context.Context, name string) ([]Signal, error)
	// ConfigAt returns the Configl at the block name, error when the block doesn't exist
	ConfigAt(ctx context.Context, name string) (BlockConfig, error)
	// BlockList returns the list of blocks in a control loop error when the list is empty
	BlockList(ctx context.Context) ([]string, error)
	// Frequency returns the loop's frequency
	Frequency(ctx context.Context) (float64, error)
	// Start starts the loop
	Start() error
	// Stop stops the loop
	Stop()
}

Control control interface can be used to interfact with a control loop to query signals, change config, start/stop the loop etc...

type Controllable

type Controllable interface {
	// SetPower set the power and direction of the motor
	SetPower(ctx context.Context, power float64, extra map[string]interface{}) error
	// GetPosition returns the current encoder count value
	GetPosition(ctx context.Context, extra map[string]interface{}) (float64, error)
}

Controllable controllable type for a DC motor.

type Loop

type Loop struct {
	// contains filtered or unexported fields
}

Loop holds the loop config.

func NewLoop

func NewLoop(logger golog.Logger, cfg Config, m Controllable) (*Loop, error)

NewLoop construct a new control loop for a specific endpoint.

func (*Loop) BlockList

func (l *Loop) BlockList(ctx context.Context) ([]string, error)

BlockList returns the list of blocks in a control loop error when the list is empty.

func (*Loop) ConfigAt

func (l *Loop) ConfigAt(ctx context.Context, name string) (BlockConfig, error)

ConfigAt returns the Configl at the block name, error when the block doesn't exist.

func (*Loop) Frequency

func (l *Loop) Frequency(ctx context.Context) (float64, error)

Frequency returns the loop's frequency.

func (*Loop) GetConfig

func (l *Loop) GetConfig(ctx context.Context) Config

GetConfig return the control loop config.

func (*Loop) OutputAt

func (l *Loop) OutputAt(ctx context.Context, name string) ([]Signal, error)

OutputAt returns the Signal at the block name, error when the block doesn't exist.

func (*Loop) SetConfigAt

func (l *Loop) SetConfigAt(ctx context.Context, name string, config BlockConfig) error

SetConfigAt returns the Configl at the block name, error when the block doesn't exist.

func (*Loop) Start

func (l *Loop) Start() error

Start starts the loop.

func (*Loop) Stop

func (l *Loop) Stop()

Stop stops then loop.

type Signal

type Signal struct {
	// contains filtered or unexported fields
}

Signal holds any data passed between blocks.

func (*Signal) GetSignalValueAt

func (s *Signal) GetSignalValueAt(i int) float64

GetSignalValueAt returns the value of the signal at an index, threadsafe.

func (*Signal) SetSignalValueAt

func (s *Signal) SetSignalValueAt(i int, val float64)

SetSignalValueAt set the value of a signal at an index, threadsafe.