GCC Code Coverage Report

Directory: src/
File: src/FunctionGenerator.cpp
Date: 2026-09-03 17:04:53
Exec Total Coverage
Lines: 249 249 100.0%
Branches: 185 289 64.0%
Line Branch Exec Source
1 /*****************************************************************************
2 *
3 * Copyright (C) 2021 Jonathan Grahl <jonathan.grahl@igh.de>
4 * 2021 Florian Pose <florian.pose@igh.de>
5 *
6 * This file is part of the reta library (realtime-automation).
7 *
8 * The reta library is free software: you can redistribute it and/or modify
9 * it under the terms of the GNU Lesser General Public License as published
10 * by the Free Software Foundation, either version 3 of the License, or (at
11 * your option) any later version.
12 *
13 * The reta library is distributed in the hope that it will be useful, but
14 * WITHOUT ANY WARRANTY; without even the implied warranty of
15 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser
16 * General Public License for more details.
17 *
18 * You should have received a copy of the GNU Lesser General Public License
19 * along with the reta library. If not, see <http://www.gnu.org/licenses/>.
20 *
21 ****************************************************************************/
22
23 #include "reta/FunctionGenerator.h"
24
25 #include "Base.h"
26 #include "reta/UserParameter.h"
27
28 #include <cmath>
29
30 using std::function;
31 using std::make_unique;
32 using std::shared_ptr;
33 using std::string;
34 using std::vector;
35
36 using namespace Reta;
37
38 /****************************************************************************/
39
40 22 struct RETA_LOCAL FunctionGenerator::Impl : public Base
41 {
42 Impl(shared_ptr<Task>, const string &, unsigned int);
43
44 void update(const vector<uint8_t> &, const vector<uint8_t> &);
45 void triggerRampOnce(unsigned int);
46 void triggerSineOnce(unsigned int);
47
48 shared_ptr<Task> task;
49
50 enum RampPhase { Rise, High, Fall, Low };
51
52 vector<double> offset;
53
54 UserParameter sineStartCyclic;
55 UserParameter sineStartOnce;
56 UserParameter sineStop;
57 vector<uint8_t> sineAllowStart;
58 vector<uint8_t> sineState;
59 vector<uint8_t> sineOneShot;
60 vector<double> sineFrequency;
61 vector<double> sineAmplitude;
62 vector<double> sineInput;
63 vector<double> sineOutput;
64 vector<double> sineSpeed;
65
66 UserParameter rampStartCyclic;
67 UserParameter rampStartOnce;
68 UserParameter rampStop;
69 vector<uint8_t> rampAllowStart;
70 vector<uint8_t> rampState;
71 vector<uint8_t> rampOneShot;
72 vector<double> rampAmplitude;
73 vector<double> riseTime;
74 vector<double> highTime;
75 vector<double> fallTime;
76 vector<double> lowTime;
77 vector<RampPhase> rampPhase;
78 vector<double> rampTime;
79 vector<double> rampOutput;
80 vector<double> rampSpeed;
81 vector<uint8_t> rampFinishedEvent;
82 vector<uint8_t> sineFinishedEvent;
83
84 vector<double> output;
85 vector<double> speed;
86 };
87
88 /****************************************************************************/
89
90 23 FunctionGenerator::Impl::Impl(
91 shared_ptr<Task> task,
92 const string &prefix,
93 23 unsigned int width) :
94 Base {prefix},
95 task {task},
96 offset(width, 0.0),
97
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 46 sineStartCyclic(task, prefix + "/Sine/StartCyclic", width),
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 44 sineStartOnce(task, prefix + "/Sine/StartOnce", width),
99
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 44 sineStop(task, prefix + "/Sine/Stop", width),
100 sineAllowStart(width, false),
101 sineState(width, false),
102 sineOneShot(width, false),
103 sineFrequency(width, 1.0),
104 sineAmplitude(width, 1.0),
105 sineInput(width, 0.0),
106 sineOutput(width, 0.0),
107 sineSpeed(width, 0.0),
108
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 44 rampStartCyclic(task, prefix + "/Ramp/StartCyclic", width),
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 44 rampStartOnce(task, prefix + "/Ramp/StartOnce", width),
110
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 44 rampStop(task, prefix + "/Ramp/Stop", width),
111 rampAllowStart(width, false),
112 rampState(width, false),
113 rampOneShot(width, false),
114 rampAmplitude(width, 1.0),
115 riseTime(width, 0.2),
116 highTime(width, 0.8),
117 fallTime(width, 0.2),
118 lowTime(width, 0.8),
119 rampPhase(width, Rise),
120 rampTime(width, 0.0),
121 rampOutput(width, 0.0),
122 rampSpeed(width, 0.0),
123 rampFinishedEvent(width, false),
124 sineFinishedEvent(width, false),
125 output(width, 0.0),
126
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 288 speed(width, 0.0)
127 {
128
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 22 checkZeroWidth(width);
129
130
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 22 pdserv *pdserv {task->getPdServ()};
131
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 22 pdtask *pdtask {task->getPdTask()};
132
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 44 pdserv_parameter(
134
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 44 pdserv, (prefix + "/Offset").c_str(), 0666, pd_double_T,
135 22 offset.data(), offset.size(), NULL, NULL, NULL);
136
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 44 pdserv_signal(
138
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 44 pdtask, 1, (prefix + "/Sine/AllowStart").c_str(), pd_boolean_T,
139 22 sineAllowStart.data(), sineAllowStart.size(), NULL);
140
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 44 pdserv_signal(
141
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 44 pdtask, 1, (prefix + "/Sine/State").c_str(), pd_boolean_T,
142 22 sineState.data(), sineState.size(), NULL);
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 44 pdserv_signal(
144
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 44 pdtask, 1, (prefix + "/Sine/OneShot").c_str(), pd_boolean_T,
145 22 sineOneShot.data(), sineOneShot.size(), NULL);
146
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 44 pdserv_parameter(
147
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 44 pdserv, (prefix + "/Sine/Frequency").c_str(), 0666, pd_double_T,
148 22 sineFrequency.data(), sineFrequency.size(), NULL, NULL, NULL);
149
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 44 pdserv_parameter(
150
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 44 pdserv, (prefix + "/Sine/Amplitude").c_str(), 0666, pd_double_T,
151 22 sineAmplitude.data(), sineAmplitude.size(), NULL, NULL, NULL);
152
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 44 pdserv_signal(
153
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 44 pdtask, 1, (prefix + "/Sine/Input").c_str(), pd_double_T,
154 22 sineInput.data(), sineInput.size(), NULL);
155
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 44 pdserv_signal(
156
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 44 pdtask, 1, (prefix + "/Sine/Output").c_str(), pd_double_T,
157 22 sineOutput.data(), sineOutput.size(), NULL);
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 44 pdserv_signal(
159
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 44 pdtask, 1, (prefix + "/Sine/Speed").c_str(), pd_double_T,
160 22 sineSpeed.data(), sineSpeed.size(), NULL);
161
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 44 pdserv_signal(
162
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 44 pdtask, 1, (prefix + "/Sine/FinishedEvent").c_str(), pd_boolean_T,
163 22 sineFinishedEvent.data(), sineFinishedEvent.size(), NULL);
164
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 44 pdserv_signal(
166
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 44 pdtask, 1, (prefix + "/Ramp/AllowStart").c_str(), pd_boolean_T,
167 22 rampAllowStart.data(), rampAllowStart.size(), NULL);
168
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 44 pdserv_signal(
169
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 44 pdtask, 1, (prefix + "/Ramp/State").c_str(), pd_boolean_T,
170 22 rampState.data(), rampState.size(), NULL);
171
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 44 pdserv_signal(
172
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 44 pdtask, 1, (prefix + "/Ramp/OneShot").c_str(), pd_boolean_T,
173 22 rampOneShot.data(), rampOneShot.size(), NULL);
174
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 44 pdserv_parameter(
175
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 44 pdserv, (prefix + "/Ramp/Amplitude").c_str(), 0666, pd_double_T,
176 22 rampAmplitude.data(), rampAmplitude.size(), NULL, NULL, NULL);
177
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 44 pdserv_parameter(
178
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 44 pdserv, (prefix + "/Ramp/RiseTime").c_str(), 0666, pd_double_T,
179 22 riseTime.data(), riseTime.size(), NULL, NULL, NULL);
180
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 44 pdserv_parameter(
181
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 44 pdserv, (prefix + "/Ramp/HighTime").c_str(), 0666, pd_double_T,
182 22 highTime.data(), highTime.size(), NULL, NULL, NULL);
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 44 pdserv_parameter(
184
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 44 pdserv, (prefix + "/Ramp/FallTime").c_str(), 0666, pd_double_T,
185 22 fallTime.data(), fallTime.size(), NULL, NULL, NULL);
186
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 44 pdserv_parameter(
187
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 44 pdserv, (prefix + "/Ramp/LowTime").c_str(), 0666, pd_double_T,
188 22 lowTime.data(), lowTime.size(), NULL, NULL, NULL);
189
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 44 pdserv_signal(
190
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 44 pdtask, 1, (prefix + "/Ramp/Time").c_str(), pd_double_T,
191 22 rampTime.data(), rampTime.size(), NULL);
192
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 44 pdserv_signal(
193
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 44 pdtask, 1, (prefix + "/Ramp/Phase").c_str(), pd_sint32_T,
194 22 rampPhase.data(), rampPhase.size(), NULL);
195
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 44 pdserv_signal(
196
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 44 pdtask, 1, (prefix + "/Ramp/Output").c_str(), pd_double_T,
197 22 rampOutput.data(), rampOutput.size(), NULL);
198
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 44 pdserv_signal(
199
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 44 pdtask, 1, (prefix + "/Ramp/Speed").c_str(), pd_double_T,
200 22 rampSpeed.data(), rampSpeed.size(), NULL);
201
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 44 pdserv_signal(
202
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 44 pdtask, 1, (prefix + "/Ramp/FinishedEvent").c_str(), pd_boolean_T,
203 22 rampFinishedEvent.data(), rampFinishedEvent.size(), NULL);
204
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 44 pdserv_signal(
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 44 pdtask, 1, (prefix + "/Output").c_str(), pd_double_T,
207 22 output.data(), output.size(), NULL);
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 44 pdserv_signal(
209
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 44 pdtask, 1, (prefix + "/Speed").c_str(), pd_double_T, speed.data(),
210 speed.size(), NULL);
211 22 }
212
213 /****************************************************************************/
214
215 90 void FunctionGenerator::Impl::update(
216 const vector<uint8_t> &extStop,
217 const vector<uint8_t> &extError)
218 {
219 90 checkSize(extStop, output);
220 89 checkSize(extError, output);
221
222 89 sineStartCyclic.update();
223 89 sineStartOnce.update();
224 89 sineStop.update();
225
226 89 rampStartCyclic.update();
227 89 rampStartOnce.update();
228 89 rampStop.update();
229
230
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 182 for (unsigned int i = 0; i < output.size(); i++) {
231
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 93 sineAllowStart[i] = !sineState[i] && !extError[i];
232
233
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 93 if (sineStop.getChanged(i) || extError[i] || extStop[i]) {
234 4 sineState[i] = false;
235 }
236
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 89 else if (!sineState[i] && sineStartOnce.getChanged(i)) {
237 1 sineState[i] = true;
238 1 sineOneShot[i] = true;
239 1 sineInput[i] = 0.0;
240 }
241
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 88 else if (!sineState[i] && sineStartCyclic.getChanged(i)) {
242 1 sineState[i] = true;
243 1 sineOneShot[i] = false;
244 1 sineInput[i] = 0.0;
245 }
246
247 93 bool triggerSineFinishedEvent = false;
248
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 93 if (sineState[i]) {
249 54 sineInput[i] += sineFrequency[i] * task->getPeriod();
250 54 sineOutput[i] = sin(sineInput[i] * 2.0 * M_PI) * sineAmplitude[i];
251 108 sineSpeed[i] = 2.0 * M_PI * cos(sineInput[i] * 2.0 * M_PI)
252 54 * sineAmplitude[i] * sineFrequency[i];
253
254
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 54 if (sineOneShot[i] && sineInput[i] >= 1.0) {
255 1 sineState[i] = false;
256 1 triggerSineFinishedEvent = true;
257 }
258 }
259 else {
260 39 sineOutput[i] = 0.0;
261 39 sineSpeed[i] = 0.0;
262 }
263
264
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 93 rampAllowStart[i] = !rampState[i] && !extError[i];
265
266
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 93 if (rampStop.getChanged(i) || extError[i] || extStop[i]) {
267 4 rampState[i] = false;
268 }
269
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 89 else if (!rampState[i] && rampStartOnce.getChanged(i)) {
270 1 triggerRampOnce(i);
271 }
272
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 88 else if (!rampState[i] && rampStartCyclic.getChanged(i)) {
273 1 rampState[i] = true;
274 1 rampOneShot[i] = false;
275 1 rampTime[i] = 0.0;
276 1 rampPhase[i] = Rise;
277 }
278
279 93 bool triggerRampFinishedEvent = false;
280
281
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 93 if (rampState[i]) {
282
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 26 switch (rampPhase[i]) {
283 12 case Rise:
284
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 12 if (rampTime[i] >= riseTime[i]) {
285 2 rampTime[i] = 0.0;
286 2 rampPhase[i] = High;
287 }
288 else {
289 10 rampSpeed[i] = rampAmplitude[i] / riseTime[i];
290 10 rampOutput[i] = rampSpeed[i] * rampTime[i];
291 10 break;
292 }
293 [[fallthrough]];
294
295 case High:
296
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 6 if (rampTime[i] >= highTime[i]) {
297 2 rampTime[i] = 0.0;
298 2 rampPhase[i] = Fall;
299 }
300 else {
301 4 rampOutput[i] = rampAmplitude[i];
302 4 rampSpeed[i] = 0.0;
303 4 break;
304 }
305 [[fallthrough]];
306
307 case Fall:
308
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 8 if (rampTime[i] >= fallTime[i]) {
309 2 rampTime[i] = 0.0;
310 2 rampPhase[i] = Low;
311 }
312 else {
313 6 rampSpeed[i] = -rampAmplitude[i] / fallTime[i];
314 6 rampOutput[i] =
315 6 rampAmplitude[i] + rampSpeed[i] * rampTime[i];
316 6 break;
317 }
318 [[fallthrough]];
319
320 case Low:
321
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 6 if (rampTime[i] >= lowTime[i]) {
322 2 rampTime[i] = 0.0;
323 2 rampPhase[i] = Rise;
324 2 triggerRampFinishedEvent = true;
325
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 2 if (rampOneShot[i]) {
326 1 rampState[i] = false;
327 }
328 }
329 6 rampOutput[i] = 0.0;
330 6 rampSpeed[i] = 0.0;
331 }
332 26 rampTime[i] += task->getPeriod();
333 }
334 else {
335 67 rampOutput[i] = 0.0;
336 67 rampSpeed[i] = 0.0;
337 }
338
339 93 output[i] = offset[i] + sineOutput[i] + rampOutput[i];
340 93 speed[i] = sineSpeed[i] + rampSpeed[i];
341
342 /** Funktion im Sequencer ignorieren.
343 * Damit es moeglich ist nur eine der beiden Funktionen im
344 * Sequencer zu nutzen, kann die jeweils andere auf eine
345 * Amplitude von 0.0 gesetzt werden. Um nicht durchgehend diese
346 * Funktion aktiv zu haben, wird sie hier direkt auf "fertig"
347 * gesetzt. So kann der Sequencer einen Schritt weiter gehen,
348 * ohne auf die andere Funktion warten zu muessen. */
349
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 93 if (rampAmplitude[i] == 0.0) {
350 1 triggerRampFinishedEvent = true;
351 }
352
353
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 93 if (sineAmplitude[i] == 0.0) {
354 1 triggerSineFinishedEvent = true;
355 }
356
357 93 rampFinishedEvent[i] = triggerRampFinishedEvent;
358 93 sineFinishedEvent[i] = triggerSineFinishedEvent;
359 }
360 89 }
361
362 /****************************************************************************/
363
364 4 void FunctionGenerator::Impl::triggerRampOnce(unsigned int i)
365 {
366
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 4 if (!rampState.at(i) && rampAmplitude.at(i) != 0.0) {
367 4 rampState[i] = true;
368 4 rampOneShot[i] = true;
369 4 rampTime[i] = 0.0;
370 4 rampPhase[i] = Rise;
371 }
372 4 }
373
374 /****************************************************************************/
375
376 3 void FunctionGenerator::Impl::triggerSineOnce(unsigned int i)
377 {
378
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 3 if (!sineState.at(i) && sineAmplitude.at(i) != 0.0) {
379 3 sineState[i] = true;
380 3 sineOneShot[i] = true;
381 3 sineInput[i] = 0.0;
382 }
383 3 }
384
385 /****************************************************************************/
386
387 23 FunctionGenerator::FunctionGenerator(
388 shared_ptr<Task> task,
389 const string &prefix,
390 23 unsigned int width) :
391 23 impl {make_unique<Impl>(task, prefix, width)}
392 22 {}
393
394 /****************************************************************************/
395
396 22 FunctionGenerator::~FunctionGenerator()
397 22 {}
398
399 /****************************************************************************/
400
401 87 void FunctionGenerator::update(bool extStop, bool extError)
402 {
403
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 87 update(vector<uint8_t> {extStop}, vector<uint8_t> {extError});
404 87 }
405
406 /****************************************************************************/
407
408 90 void FunctionGenerator::update(
409 const vector<uint8_t> &extStop,
410 const vector<uint8_t> &extError)
411 {
412 90 impl->update(extStop, extError);
413 89 }
414
415 /****************************************************************************/
416
417 1 void FunctionGenerator::update(
418 function<bool(unsigned int)> extStop,
419 function<bool(unsigned int)> extError)
420 {
421
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 2 vector<uint8_t> extStopVector(impl->output.size());
422
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 2 vector<uint8_t> extErrorVector(impl->output.size());
423
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 4 for (unsigned int i = 0; i < impl->output.size(); i++) {
424
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 3 extStopVector[i] = extStop(i);
425
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 3 extErrorVector[i] = extError(i);
426 }
427
428
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 1 update(extStopVector, extErrorVector);
429 1 }
430
431 /****************************************************************************/
432
433 5 void FunctionGenerator::setRampAmplitude(double value, unsigned int i)
434 {
435 5 impl->rampAmplitude.at(i) = value;
436 5 }
437
438 /****************************************************************************/
439
440 2 void FunctionGenerator::setRiseTime(double value, unsigned int i)
441 {
442 2 impl->riseTime.at(i) = value;
443 2 }
444
445 /****************************************************************************/
446
447 2 void FunctionGenerator::setHighTime(double value, unsigned int i)
448 {
449 2 impl->highTime.at(i) = value;
450 2 }
451
452 /****************************************************************************/
453
454 2 void FunctionGenerator::setFallTime(double value, unsigned int i)
455 {
456 2 impl->fallTime.at(i) = value;
457 2 }
458
459 /****************************************************************************/
460
461 2 void FunctionGenerator::setLowTime(double value, unsigned int i)
462 {
463 2 impl->lowTime.at(i) = value;
464 2 }
465
466 /****************************************************************************/
467
468 5 void FunctionGenerator::setSineAmplitude(double value, unsigned int i)
469 {
470 5 impl->sineAmplitude.at(i) = value;
471 5 }
472
473 /****************************************************************************/
474
475 2 void FunctionGenerator::setSineFrequency(double value, unsigned int i)
476 {
477 2 impl->sineFrequency.at(i) = value;
478 2 }
479
480 /****************************************************************************/
481
482 35 double FunctionGenerator::getOutput(unsigned int i) const
483 {
484 35 return impl->output.at(i);
485 }
486
487 /****************************************************************************/
488
489 2 vector<double> FunctionGenerator::getOutputVector() const
490 {
491 2 return impl->output;
492 }
493
494 /****************************************************************************/
495
496 34 double FunctionGenerator::getSpeed(unsigned int i) const
497 {
498 34 return impl->speed.at(i);
499 }
500
501 /****************************************************************************/
502
503 1 vector<double> FunctionGenerator::getSpeedVector() const
504 {
505 1 return impl->speed;
506 }
507
508 /****************************************************************************/
509
510 3 void FunctionGenerator::triggerRampOnce(unsigned int i)
511 {
512 3 impl->triggerRampOnce(i);
513 3 }
514
515 /****************************************************************************/
516
517 3 void FunctionGenerator::triggerSineOnce(unsigned int i)
518 {
519 3 impl->triggerSineOnce(i);
520 3 }
521
522 /****************************************************************************/
523
524 14 bool FunctionGenerator::getRampFinishedEvent(unsigned int i) const
525 {
526 14 return impl->rampFinishedEvent.at(i);
527 }
528
529 /****************************************************************************/
530
531 33 bool FunctionGenerator::getSineFinishedEvent(unsigned int i) const
532 {
533 33 return impl->sineFinishedEvent.at(i);
534 }
535
536 /****************************************************************************/
537
538 62 bool FunctionGenerator::getSineState(unsigned int i) const
539 {
540 62 return impl->sineState.at(i);
541 }
542
543 /****************************************************************************/
544
545 22 bool FunctionGenerator::getRampState(unsigned int i) const
546 {
547 22 return impl->rampState.at(i);
548 }
549
550 /****************************************************************************/
551