Changeset 260
- Timestamp:
- 02/02/09 14:47:34 (15 years ago)
- Files:
-
- 7 modified
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CMakeLists.txt (modified) (1 diff)
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bdm/stat/loggers.h (modified) (1 diff)
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bdm/uibuilder.cpp (modified) (1 diff)
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bdm/uibuilder.h (modified) (2 diffs)
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pmsm/pmsmDS.h (modified) (6 diffs)
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pmsm/sim.cpp (modified) (2 diffs)
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tests/UI/UIbuilder_test.cpp (modified) (3 diffs)
Legend:
- Unmodified
- Added
- Removed
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CMakeLists.txt
r256 r260 29 29 SET(CMAKE_CXX_FLAGS "-Wall -pipe -Wno-unknown-pragmas") 30 30 SET(CMAKE_CXX_FLAGS_RELEASE " -DNDEBUG -O2") 31 SET(CMAKE_CXX_FLAGS_DEBUG "-g ")32 SET(CMAKE_CXX_FLAGS "- O2 -Wall -Wno-unknown-pragmas")31 SET(CMAKE_CXX_FLAGS_DEBUG "-g -O0") 32 SET(CMAKE_CXX_FLAGS "-Wall -Wno-unknown-pragmas") 33 33 ADD_DEFINITIONS(-DNDEBUG) 34 34 INCLUDE(CMakeLocal.txt OPTIONAL) -
bdm/stat/loggers.h
r257 r260 14 14 #define LGR_H 15 15 16 #include <itpp/itbase.h>17 16 #include "libBM.h" 18 #include "../itpp_ext.h"19 17 20 18 namespace bdm{ -
bdm/uibuilder.cpp
r257 r260 37 37 UIREGISTER(UIinternal); 38 38 39 void UI_DBG ( Setting &S, const string &spc ) { 40 const char *Name=S.getName(); 41 if ( Name!=NULL ) {cout << spc << std::string ( Name );}; 42 Setting::Type T=S.getType(); 43 switch ( T ) { 44 case Setting::TypeArray: 45 cout << endl; 46 for ( int i=0;i<S.getLength();i++ ) {UI_DBG ( S[i], spc+" " );}; 47 break; 48 case Setting::TypeList: 49 cout << endl; 50 for ( int i=0;i<S.getLength();i++ ) {UI_DBG ( S[i], spc+" " );}; 51 break; 52 case Setting::TypeGroup: 53 cout << endl; 54 for ( int i=0;i<S.getLength();i++ ) {UI_DBG ( S[i], spc+" " );} 55 break; 56 case Setting::TypeInt: 57 cout << " = "; 58 cout << int ( S ) <<endl; 59 break; 60 case Setting::TypeFloat: 61 cout << " = "; 62 cout << double ( S ) <<endl; 63 break; 64 case Setting::TypeString: 65 cout << " = "; 66 cout << ( const char* ) ( S ) <<endl; 67 break; 68 case Setting::TypeBoolean: 69 cout << " = "; 70 cout << bool ( S ) <<endl; 71 break; 72 default: {cout << "?";}; 73 } 74 } 75 39 76 } 40 77 //UIexternal* UIexternal_instance =new UIexternal(); -
bdm/uibuilder.h
r257 r260 6 6 #include "libconfig/libconfig.h++" 7 7 8 namespace bdm {8 namespace bdm { 9 9 10 using namespace libconfig;11 using namespace std;10 using namespace libconfig; 11 using namespace std; 12 12 13 13 #define CHECK_UITYPE(S,Type) it_assert_debug(S.getType()==Setting::Type, string("Wrong input path \"")+string(S.getPath())+string("\"")); … … 16 16 ////////// GLOBAL VAriables 17 17 18 class UIbuilder;18 class UIbuilder; 19 19 //! Internal structure mapping strings to UIBuilder objects 20 typedef map<const string, const UIbuilder*> UImap;21 extern UImap __uimap__;20 typedef map<const string, const UIbuilder*> UImap; 21 extern UImap __uimap__; 22 22 23 class UIFile : public Config{23 class UIFile : public Config { 24 24 public: 25 UIFile(const char * fname):Config(){26 try{Config::readFile(fname);}27 catch (ParseException& P) {28 char msg[200];29 sprintf(msg,"Error in file %s on line %d.", fname, P.getLine());30 it_error(msg);31 }32 catch (FileIOException f) {it_error("File " + string(fname) + " not found");}33 }34 };25 UIFile ( const char * fname ) :Config() { 26 try{Config::readFile ( fname );} 27 catch ( ParseException& P ) { 28 char msg[200]; 29 sprintf ( msg,"Error in file %s on line %d.", fname, P.getLine() ); 30 it_error ( msg ); 31 } 32 catch ( FileIOException f ) {it_error ( "File " + string ( fname ) + " not found" );} 33 } 34 }; 35 35 36 /*!\brief Builds computational object from a UserInfo structure36 /*!\brief Builds computational object from a UserInfo structure 37 37 38 Return value is a pointer to the created object (memory management issue?)39 */40 class UIbuilder {38 Return value is a pointer to the created object (memory management issue?) 39 */ 40 class UIbuilder { 41 41 protected: 42 static const UIbuilder* theinstance; 43 vec getvec ( Setting& S ) { 44 CHECK_UITYPE(S,TypeArray); 45 vec tmp; 46 tmp.set_size ( S.getLength() ); 47 for ( int i=0;i<S.getLength();i++ ) { 48 switch (S[i].getType()) { 49 case Setting::TypeFloat : 50 tmp[i]=double(S[i]);break; 51 case Setting::TypeInt : 52 tmp[i]=int(S[i]);break; 53 case Setting::TypeBoolean : 54 tmp[i]=bool(S[i]);break; 55 default: it_error("libconfig error?"); 56 } 57 } 58 return tmp; 59 }; 60 vec getivec ( Setting& S ) { 61 CHECK_UITYPE(S,TypeArray); 62 vec tmp; 63 tmp.set_size ( S.getLength() ); 64 for ( int i=0;i<S.getLength();i++ ) { 65 switch (S[i].getType()) { 66 case Setting::TypeFloat : 67 tmp[i]=double(S[i]);break; 68 case Setting::TypeInt : 69 tmp[i]=int(S[i]);break; 70 case Setting::TypeBoolean : 71 tmp[i]=bool(S[i]);break; 72 default: it_error("libconfig error?"); 73 } 74 } 75 return tmp; 76 }; 42 const vec getvec ( Setting& S ) const { 43 CHECK_UITYPE ( S,TypeArray ); 44 vec tmp; 45 tmp.set_size ( S.getLength() ); 46 for ( int i=0;i<S.getLength();i++ ) { 47 switch ( S[i].getType() ) { 48 case Setting::TypeFloat : 49 tmp[i]=double ( S[i] );break; 50 case Setting::TypeInt : 51 tmp[i]=int ( S[i] );break; 52 case Setting::TypeBoolean : 53 tmp[i]=bool ( S[i] );break; 54 default: it_error ( "libconfig error?" ); 55 } 56 } 57 return tmp; 58 }; 59 const vec getivec ( Setting& S ) const { 60 CHECK_UITYPE ( S,TypeArray ); 61 vec tmp; 62 tmp.set_size ( S.getLength() ); 63 for ( int i=0;i<S.getLength();i++ ) { 64 switch ( S[i].getType() ) { 65 case Setting::TypeFloat : 66 tmp[i]=double ( S[i] );break; 67 case Setting::TypeInt : 68 tmp[i]=int ( S[i] );break; 69 case Setting::TypeBoolean : 70 tmp[i]=bool ( S[i] );break; 71 default: it_error ( "libconfig error?" ); 72 } 73 } 74 return tmp; 75 }; 77 76 public: 78 77 //!Constructor needs to be run only once macro UIREGISTER 79 UIbuilder (const string &typ){__uimap__.insert(make_pair(typ,this));}78 UIbuilder ( const string &typ ) {__uimap__.insert ( make_pair ( typ,this ) );} 80 79 //! Function building the computational object 81 virtual bdmroot* build (Setting &S) const =0;82 };80 virtual bdmroot* build ( Setting &S ) const =0; 81 }; 83 82 84 class UIexternal:public UIbuilder{83 class UIexternal:public UIbuilder { 85 84 public: 86 UIexternal() :UIbuilder("external"){}87 bdmroot* build (Setting &S) const;88 };85 UIexternal() :UIbuilder ( "external" ) {} 86 bdmroot* build ( Setting &S ) const; 87 }; 89 88 90 class UIinternal:public UIbuilder{89 class UIinternal:public UIbuilder { 91 90 public: 92 UIinternal():UIbuilder("internal"){} 93 bdmroot* build(Setting &S) const; 94 }; 91 UIinternal() :UIbuilder ( "internal" ) {} 92 bdmroot* build ( Setting &S ) const; 93 }; 94 95 //! [Debugging] Print values in current S to cout 96 void UI_DBG ( Setting &S, const string &spc ); 95 97 96 98 //! Prototype of a UI builder. Return value is by the second argument since it type checking via \c dynamic_cast. 97 template<class T> 98 void UIbuild(Setting &S, T* &ret){ 99 CHECK_UITYPE(S,TypeGroup); 100 // Check if field "type" is present, if not it is not a valid UI 101 it_assert_debug(S.exists("type"), string(S.getPath())+" is not a valid UI!"); 102 103 const string typ=S["type"]; 104 // Find "type" in list of registred UI builders 105 UImap::const_iterator iter = __uimap__.find( typ ); 106 if( iter == __uimap__.end()) { 107 it_error("UI of type \"" + typ + "\" is not registered!"); 108 } 109 110 //BUILD the result 111 ret = dynamic_cast<T*>(iter->second->build(S)); 112 }; 99 template<class T> 100 void UIbuild ( Setting &S, T* &ret ) { 101 CHECK_UITYPE ( S,TypeGroup ); 102 // Check if field "type" is present, if not it is not a valid UI 103 it_assert_debug ( S.exists ( "type" ), string ( S.getPath() ) +" is not a valid UI!" ); 113 104 114 //! Auxiliary function allowing recursivity in S 115 template<class T> 116 void UIcall(Setting &S, void (*func)(Setting&, T), T Tmp ){ 117 CHECK_UITYPE(S,TypeGroup); 118 // Check if field "type" is present, if not it is not a valid UI 119 it_assert_debug(S.exists("type"), string(S.getPath())+" is not a valid UI!"); 120 121 const string typ=S["type"]; 122 if(typ=="internal"){ 123 try { 124 Setting* Stmp = &S; 125 do {Stmp=&(Stmp->getParent());} while (!Stmp->isRoot()); 126 Setting& intS=Stmp->lookup((const char*)S["path"]); 127 func(intS, Tmp); // <======== calling UIset 105 const string typ=S["type"]; 106 // Find "type" in list of registred UI builders 107 UImap::const_iterator iter = __uimap__.find ( typ ); 108 if ( iter == __uimap__.end() ) { 109 it_error ( "UI of type \"" + typ + "\" is not registered!" ); 110 } 111 112 //BUILD the result 113 try { 114 ret = dynamic_cast<T*> ( iter->second->build ( S ) ); 115 } 116 catch ( SettingTypeException e ) { 117 UI_DBG(S,""); 118 it_error ( "Setting " +string ( e.getPath() ) +" is of incorrect Type" );} 119 catch ( SettingNotFoundException e ) { 120 UI_DBG(S,""); 121 it_error ( "Setting " + string ( e.getPath() ) +" was not found" );} 122 }; 123 124 //! Auxiliary function allowing recursivity in S (too complex, remove?) 125 template<class T> 126 void UIcall ( Setting &S, void ( *func ) ( Setting&, T ), T Tmp ) { 127 CHECK_UITYPE ( S,TypeGroup ); 128 // Check if field "type" is present, if not it is not a valid UI 129 it_assert_debug ( S.exists ( "type" ), string ( S.getPath() ) +" is not a valid UI!" ); 130 131 const string typ=S["type"]; 132 if ( typ=="internal" ) { 133 try { 134 Setting* Stmp = &S; 135 do {Stmp=& ( Stmp->getParent() );} 136 while ( !Stmp->isRoot() ); 137 Setting& intS=Stmp->lookup ( ( const char* ) S["path"] ); 138 func ( intS, Tmp ); // <======== calling func 139 return; 140 } 141 catch ( ... ) { 142 it_error ( "Internal field " + string ( S.getPath() ) + " not valid" ); 143 } 144 } 145 if ( typ=="external" ) { 146 UIFile C(S["filename"]); 147 try { 148 func ( C.lookup ( ( const char* ) S["path"] ), Tmp ); 149 } 150 catch ( ... ) { 151 it_error ( "External field " + string ( S.getPath() ) + " not valid" ); 152 } 128 153 return; 129 154 } 130 catch (...) { it_error("Internal field " + string(S.getPath()) + " not valid"); 131 } 132 } 133 if(typ=="extern"){ 134 Config C; 135 bdmroot* tmp; 136 try{C.readFile((const char*)S["filename"]);} catch (...){ 137 it_error("File " + string((const char*)S["filename"]) + " not found or broken"); 138 } 139 try {func(C.lookup((const char*)S["path"]), Tmp);} catch (...) { //<=========== calling UIset 140 it_error("External field " + string(S.getPath()) + " not valid"); 141 } 142 return; 143 } 144 145 // v======================= calling final set 146 func(S, Tmp); 147 }; 155 156 // v======================= calling final func 157 func ( S, Tmp ); 158 }; 148 159 149 160 } 150 #endif UIBUILD161 #endif //UIBUILD -
pmsm/pmsmDS.h
r258 r260 12 12 13 13 #include <stat/loggers.h> 14 14 #include "simulator.h" 15 15 #include "pmsm.h" 16 #include "simulator.h"17 #include <uibuilder.h>18 16 19 17 //! Simulator of PMSM machine with predefined profile on omega … … 22 20 protected: 23 21 //! indeces of logged variables 24 int L_x, L_ou, L_oy, L_iu ;22 int L_x, L_ou, L_oy, L_iu, L_optu; 25 23 //! Setpoints of omega in timespans given by dt_prof 26 24 vec profileWw; … … 29 27 //! Number of miliseconds per discrete time step 30 28 int Dt; 29 //! options for logging, string in which each character has a meaning: 30 //! \c u - log predictions of 'true' voltage 31 string opt; 31 32 public: 32 pmsmDS ( int Dt0 ) : Dt ( Dt0 ) {} 33 //! Constructor with fixed sampling period 34 pmsmDS (string opt0="" ) : Dt ( 125 ), opt(opt0) {} 33 35 void set_parameters ( double Rs0, double Ls0, double Fmag0, double Bf0, double p0, double kp0, double J0, double Uc0, double DT0, double dt0 ) { 34 36 pmsmsim_set_parameters ( Rs0, Ls0, Fmag0, Bf0, p0, kp0, J0, Uc0, DT0, dt0 ); … … 42 44 static double Ww; // W 43 45 if ( t>=dt_prof*ind ) { 46 ind++; 44 47 if ( ind<profileWw.length() ) { 45 ind++;46 48 //linear increase 47 dW = profileWw ( ind )-profileWw ( ind-1 ); 49 if ( profileWw.length() ==1 ) { 50 Ww=profileWw ( 0 ); dW=0.0;} 51 else { 52 dW = profileWw ( ind )-profileWw ( ind-1 ); 53 dW *=125e-6/dt_prof; 54 } 48 55 } 49 56 else { … … 58 65 void log_add ( logger &L ) { 59 66 L_x = L.add ( rx, "x" ); 60 L_oy = L.add ( ry, "oi" ); 61 L_ou = L.add ( ru, "ou" ); 62 L_iu = L.add ( ru, "iu" ); 67 L_oy = L.add ( ry, "obs" ); 68 L_ou = L.add ( ru, "obs" ); 69 L_iu = L.add ( ru, "true" ); 70 // log differences 71 if (opt.find("u")==string::npos){ 72 L_optu = L.add(ru, "model"); 73 } 63 74 } 64 75 … … 68 79 L.logit ( L_ou, vec_2 ( KalmanObs[0],KalmanObs[1] ) ); 69 80 L.logit ( L_iu, vec_2 ( KalmanObs[4],KalmanObs[5] ) ); 70 } 81 if (opt.find("u")==string::npos){ 82 double sq3=sqrt(3.0); 83 double ua,ub; 84 double i1=x[0]; 85 double i2=0.5*(-i1+sq3*x[1]); 86 double i3=0.5*(-i1-sq3*x[1]); 87 double u1=KalmanObs[0]; 88 double u2=0.5*(-u1+sq3*KalmanObs[1]); 89 double u3=0.5*(-u1-sq3*KalmanObs[1]); 90 91 double du1=0.7*(double(i1>0.1) - double(i1<-0.1))+0.05*i1; 92 double du2=0.7*(double(i2>0.1) - double(i2<-0.1))+0.05*i2; 93 double du3=0.7*(double(i3>0.1) - double(i3<-0.1))+0.05*i3; 94 ua = (2.0*(u1-du1)-(u2-du2)-(u3-du3))/3.0; 95 ub = ((u2-du2)-(u3-du3))/sq3; 96 L.logit( L_optu , vec_2 (ua,ub)); 97 } 98 } 71 99 72 100 void set_profile ( double dt, const vec &Ww ) {dt_prof=dt; profileWw=Ww;} 73 101 }; 74 75 class UIpmsm: public UIbuilder {76 public:77 UIpmsm() :UIbuilder ( "pmsm" ) {}78 //Non-standard BUILD!! Does not create79 void build ( Setting &S, void** result ) const {80 81 };82 };83 84 class UIpmsmDS: public UIbuilder {85 static void tmp_set ( Setting &S, pmsmDS* tmp ) {86 tmp->set_parameters ( S["Rs"], S["Ls"], S["Fmag"], S["Bf"], S["p"], S["kp"], \87 S["J"], S["Uc"], S["DT"], 1.0e-6 );88 };89 public:90 UIpmsmDS() :UIbuilder ( "pmsmDS" ) {};91 bdmroot* build ( Setting &S ) const {92 pmsmDS* tmp = new pmsmDS ( S["DT"] );93 //allowing recursive Settings94 UIcall<pmsmDS*> ( S["params"], &tmp_set , tmp );95 };96 97 };98 UIREGISTER(UIpmsmDS); -
pmsm/sim.cpp
r257 r260 11 11 */ 12 12 13 #include <uibuilder.h> 14 #include <stat/libDS.h> 15 #include "pmsmDS.h" 16 13 #include "pmsm_ui.h" 17 14 #include <stat/loggers_ui.h> 18 15 … … 35 32 DS->step(); 36 33 DS->logit(*L); 34 L->step(); 37 35 } 38 36 -
tests/UI/UIbuilder_test.cpp
r257 r260 22 22 UItest():UIbuilder("test"){} 23 23 bdmroot* build(Setting &S) const{ 24 try{25 24 int a=S["a"]; 26 25 string St; … … 28 27 cls* tmp = new cls(a,St); 29 28 return tmp; 30 }31 catch (...){32 it_error(string(S.getPath()) + " is not a valid test UI");33 }34 29 } 35 30 }; … … 39 34 UItest2():UIbuilder("test2"){} 40 35 bdmroot* build(Setting &S) const{ 41 try{42 36 int a=S["a"]; 43 37 string St; 44 38 S.lookupValue("S",St); 45 39 return new cls2(a,St); 46 }47 catch (...){48 it_error(string(S.getPath()) + " is not a valid test UI");49 }50 40 } 51 41 int no(){return 2;}
