PID.h

/*
 * This file is part of LSST M1M3 support system package.
 *
 * Developed for the Vera C. Rubin Telescope and Site System.
 * This product includes software developed by the LSST Project
 * (https://www.lsst.org).
 * See the COPYRIGHT file at the top-level directory of this distribution
 * for details of code ownership.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
 
#ifndef PID_H_
#define PID_H_
 
#include <atomic>
 
#include <SAL_MTM1M3C.h>
 
#include <M1M3SSPublisher.h>
#include <PIDParameters.h>
 
namespace LSST {
namespace M1M3 {
namespace SS {
 
class PID {
public:
    PID(int id, PIDParameters parameters);
 
    void updateParameters(PIDParameters parameters);
    void restoreInitialParameters();
    void resetPreviousValues();
 
    double process(double setpoint, double measurement);
 
    void freeze();
 
    void thaw() { _frozen = false; }
 
    double getOffset(bool *changed);
 
    void publishTelemetry();
 
private:
    int _id;
 
    //* initial parameters passed in constructor
    PIDParameters _initialParameters;
    MTM1M3_logevent_pidInfoC *_pidInfo;
    MTM1M3_pidDataC *_pidData;
 
    void _calculateIntermediateValues();
    void _publishInfo();
 
    std::atomic_bool _frozen;
    double _offset;
};
 
} /* namespace SS */
} /* namespace M1M3 */
} /* namespace LSST */
 
#endif /* PID_H_ */