control

Store definition

// SPDX-FileCopyrightText: 2020-2023 Jochem Rutgers
//
// SPDX-License-Identifier: CC0-1.0

(float) frequency (Hz)

{
	float[10] x
} interconnect

{
	// Control frequency
	(float) frequency (Hz)

	// Inputs
	float y
	float setpoint
	bool=true enable

	// Coefficients
	float=0.5 Kp
	float=0.25 Ti (s)
	float=0.05 Td (s)
	float=0 Kff

	// Ti integrator
	float=0 int
	float=-inf int low
	float=inf int high

	// Bounds on the output
	float=0 low
	float=1 high
	float=inf epsilon

	// Misc control
	bool=true reset
	float=nan override

	// Output
	float u

	// Interconnections
	uint8=0 evaluation order
	int8=2 x setpoint
	int8=5 x y
	int8=3 x u
} pid

{
	float input
	bool=true enable
	float=2 gain
	float=-0.1 offset
	float=-inf low
	float=inf high
	float=nan override
	float output

	// Interconnections
	uint8=1 evaluation order
	int8=3 x input
	int8=4 x output
} amp

{
	(float) sample frequency (Hz)
	float=1 amplitude
	float=0.02 frequency (Hz)
	float=0 phase (rad)
	bool=true enable
	float=nan override
	float output

	// Interconnections
	uint8=0 evaluation order
	int8=0 x output
} sine

{
	(float) sample frequency (Hz)
	float=1 amplitude
	float=0.159 frequency (Hz)
	float=0 phase (rad)
	float=0.25 duty cycle
	bool=true enable
	float=nan override
	float output

	// Interconnections
	uint8=0 evaluation order
	int8=0 x duty cycle
	int8=1 x output
} pulse

{
	(float) sample frequency (Hz)
	float input
	float=0.2 cutoff frequency (Hz)
	bool=true enable
	bool reset
	float=nan override
	float output

	// Interconnections
	uint8=0 evaluation order
	int8=4 x input
	int8=5 x output
} lowpass

{
	(float) sample frequency (Hz)
	float input
	float=0.5 speed limit
	float=0.05 acceleration limit
	bool reset
	bool=true enable
	float=nan override
	float output

	// Interconnections
	uint8=0 evaluation order
	int8=1 x input
	int8=2 x output
} ramp

Application

// SPDX-FileCopyrightText: 2020-2023 Jochem Rutgers
//
// SPDX-License-Identifier: CC0-1.0

/*!
 * \file
 * \brief libstored's control example.
 *
 * This example instantiates several control related components.  All inputs
 * and output are mapped onto <tt>/interconnect/x</tt>, and this mapping can be
 * changed dynamically.  This allows you to play around with the sequence of
 * the components.
 *
 * The default configuration is:
 *
 * - sine wave sets the duty cycle of pulse
 * - pulse via ramp as setpoint to PID
 * - PID output via amplifier and lowpass filter to PID input
 *
 * C++14 is required for this example, as stored/components.h requires it.
 */

#include "ExampleControl.h"

#include <stored>

#include <chrono>
#include <iostream>
#include <utility>

class ExampleControlStore : public STORE_T(ExampleControlStore, stored::ExampleControlBase) {
	STORE_CLASS(ExampleControlStore, stored::ExampleControlBase)
public:
	ExampleControlStore() = default;

	// You can change the control frequency dynamically.
	void __frequency_Hz(bool set, float& value)
	{
		if(!set) {
			value = m_frequency_Hz;
		} else {
			m_frequency_Hz = std::max(0.1f, value);
			pid__reset = true;
			lowpass__reset = true;
			ramp__reset = true;
		}
	}

	void __pid__frequency_Hz(bool set, float& value)
	{
		if(!set)
			value = frequency_Hz.get();
		else
			frequency_Hz = value;
	}

	void __sine__sample_frequency_Hz(bool set, float& value)
	{
		if(!set)
			value = frequency_Hz.get();
		else
			frequency_Hz = value;
	}

	void __pulse__sample_frequency_Hz(bool set, float& value)
	{
		if(!set)
			value = frequency_Hz.get();
		else
			frequency_Hz = value;
	}

	void __lowpass__sample_frequency_Hz(bool set, float& value)
	{
		if(!set)
			value = frequency_Hz.get();
		else
			frequency_Hz = value;
	}

	void __ramp__sample_frequency_Hz(bool set, float& value)
	{
		if(!set)
			value = frequency_Hz.get();
		else
			frequency_Hz = value;
	}

private:
	float m_frequency_Hz{10.0f};
};

static ExampleControlStore store;
using value_type = decltype(std::declval<ExampleControlStore>().interconnect__x_0.get());

static void pid()
{
	constexpr auto pid_o = stored::PID<ExampleControlStore>::objects("/pid/");
	static stored::PID<ExampleControlStore, pid_o.flags()> pid_v{pid_o, store};

	auto x_setpoint = store.interconnect__x_a(store.pid__x_setpoint.get());
	if(x_setpoint.valid())
		store.pid__setpoint = x_setpoint.get<value_type>();

	auto x_y = store.interconnect__x_a(store.pid__x_y.get());
	if(x_y.valid())
		store.pid__y = x_y.get<value_type>();

	auto u = pid_v();
	if(!pid_v.isHealthy())
		std::cout << "/pid not healthy" << std::endl;

	auto x_u = store.interconnect__x_a(store.pid__x_u.get());
	if(x_u.valid())
		x_u.set(u);
}

static void amp()
{
	constexpr auto amp_o = stored::Amplifier<ExampleControlStore>::objects("/amp/");
	static stored::Amplifier<ExampleControlStore, amp_o.flags()> amp_v{amp_o, store};

	auto x_input = store.interconnect__x_a(store.amp__x_input.get());
	if(x_input.valid())
		store.amp__input = x_input.get<value_type>();

	auto output = amp_v();

	auto x_output = store.interconnect__x_a(store.amp__x_output.get());
	if(x_output.valid())
		x_output.set(output);
}

static void sine()
{
	constexpr auto sine_o = stored::Sine<ExampleControlStore>::objects("/sine/");
	static stored::Sine<ExampleControlStore, sine_o.flags()> sine_v{sine_o, store};

	auto y = sine_v();
	if(!sine_v.isHealthy())
		std::cout << "/sine not healthy" << std::endl;

	auto x_output = store.interconnect__x_a(store.sine__x_output.get());
	if(x_output.valid())
		x_output.set(y);
}

static void pulse()
{
	constexpr auto pulse_o = stored::PulseWave<ExampleControlStore>::objects("/pulse/");
	static stored::PulseWave<ExampleControlStore, pulse_o.flags()> pulse_v{pulse_o, store};

	auto x_duty_cycle = store.interconnect__x_a(store.pulse__x_duty_cycle.get());
	if(x_duty_cycle.valid())
		store.pulse__duty_cycle = x_duty_cycle.get<value_type>();

	auto y = pulse_v();
	if(!pulse_v.isHealthy())
		std::cout << "/pulse not healthy" << std::endl;

	auto x_output = store.interconnect__x_a(store.pulse__x_output.get());
	if(x_output.valid())
		x_output.set(y);
}

static void lowpass()
{
	constexpr auto lowpass_o = stored::LowPass<ExampleControlStore>::objects("/lowpass/");
	static stored::LowPass<ExampleControlStore, lowpass_o.flags()> lowpass_v{lowpass_o, store};

	auto x_input = store.interconnect__x_a(store.lowpass__x_input.get());
	if(x_input.valid())
		store.lowpass__input = x_input.get<value_type>();

	auto output = lowpass_v();

	auto x_output = store.interconnect__x_a(store.lowpass__x_output.get());
	if(x_output.valid())
		x_output.set(output);
}

static void ramp()
{
	constexpr auto ramp_o = stored::Ramp<ExampleControlStore>::objects("/ramp/");
	static stored::Ramp<ExampleControlStore, ramp_o.flags()> ramp_v{ramp_o, store};

	auto x_input = store.interconnect__x_a(store.ramp__x_input.get());
	if(x_input.valid())
		store.ramp__input = x_input.get<value_type>();

	auto output = ramp_v();
	if(!ramp_v.isHealthy())
		std::cout << "/ramp not healthy" << std::endl;

	auto x_output = store.interconnect__x_a(store.ramp__x_output.get());
	if(x_output.valid())
		x_output.set(output);
}

static void control()
{
	using f_type = std::pair<void (*)(), stored::Variable<uint8_t, ExampleControlStore>>;

	static std::array<f_type, 6> fs = {{
		f_type{&pid, store.pid__evaluation_order},
		f_type{&amp, store.amp__evaluation_order},
		f_type{&sine, store.sine__evaluation_order},
		f_type{&pulse, store.pulse__evaluation_order},
		f_type{&lowpass, store.lowpass__evaluation_order},
		f_type{&ramp, store.ramp__evaluation_order},
	}};

	std::stable_sort(fs.begin(), fs.end(), [](f_type const& a, f_type const& b) {
		return a.second.get() < b.second.get();
	});

	for(auto const& f : fs)
		f.first();
}

int main()
{
	printf("Dynamically change the interconnections between the components\n");
	printf("by modifying the /<component>/x <variable>.\n");

	// Construct the protocol stack.
	stored::Debugger debugger{"control"};
	debugger.map(store);

	stored::DebugZmqLayer zmqLayer;
	if((errno = zmqLayer.lastError())) {
		printf("Cannot initialize ZMQ layer; %s (error %d)\n", zmq_strerror(errno), errno);
		exit(1);
	}
	zmqLayer.wrap(debugger);

	stored::Poller poller;
	stored::PollableZmqLayer pollableZmq(zmqLayer, stored::Pollable::PollIn);

	if((errno = poller.add(pollableZmq))) {
		printf("Cannot add to poller; %s (error %d)\n", zmq_strerror(errno), errno);
		exit(1);
	}

	auto t = std::chrono::system_clock::now();

	while(true) {
		auto now = std::chrono::system_clock::now();
		auto rem = std::chrono::duration_cast<std::chrono::microseconds>(t - now);
		auto rem_us = rem.count();

		if(rem_us <= 0) {
			t += std::chrono::milliseconds(
				(long long)(1.0e3f / store.frequency_Hz.get()));
			// This is where the magic takes place.
			control();
			continue;
		}

		if(poller.poll(std::max<int>(0, (int)(rem_us / 1000L))).empty()) {
			switch(errno) {
			case EINTR:
			case EAGAIN:
				break;
			default:
				perror("Cannot poll");
				exit(1);
			} // else timeout
		} else if((errno = zmqLayer.recv())) {
			printf("Cannot recv; %s (error %d)\n", zmq_strerror(errno), errno);
			exit(1);
		}
	}
}

Store reference

template<typename Base_, typename Implementation_> class ExampleControlObjects

All ExampleControlBase’s objects.

Subclassed by stored::ExampleControlBase< ExampleControlStore >

Public Types

typedef Base_ Base

typedef Implementation_ Implementation

Public Members

impl::StoreVariable<Base, Implementation, bool, 105u, 1> amp__enable: amp/enable

impl::StoreVariable<Base, Implementation, uint8_t, 106u, 1> amp__evaluation_order: amp/evaluation order

impl::StoreVariable<Base, Implementation, float, 32u, 4> amp__gain: amp/gain

impl::StoreVariable<Base, Implementation, float, 44u, 4> amp__high: amp/high

impl::StoreVariable<Base, Implementation, float, 184u, 4> amp__input: amp/input

impl::StoreVariable<Base, Implementation, float, 40u, 4> amp__low: amp/low

impl::StoreVariable<Base, Implementation, float, 36u, 4> amp__offset: amp/offset

impl::StoreVariable<Base, Implementation, float, 188u, 4> amp__output: amp/output

impl::StoreVariable<Base, Implementation, float, 48u, 4> amp__override: amp/override

impl::StoreVariable<Base, Implementation, int8_t, 107u, 1> amp__x_input: amp/x input

impl::StoreVariable<Base, Implementation, int8_t, 108u, 1> amp__x_output: amp/x output

impl::StoreFunction<Base, Implementation, ExampleControlFunctionMap, 1u> frequency_Hz: frequency (Hz)

impl::StoreVariable<Base, Implementation, float, 120u, 4> interconnect__x_0: interconnect/x[0]

impl::StoreVariable<Base, Implementation, float, 124u, 4> interconnect__x_1: interconnect/x[1]

impl::StoreVariable<Base, Implementation, float, 128u, 4> interconnect__x_2: interconnect/x[2]

impl::StoreVariable<Base, Implementation, float, 132u, 4> interconnect__x_3: interconnect/x[3]

impl::StoreVariable<Base, Implementation, float, 136u, 4> interconnect__x_4: interconnect/x[4]

impl::StoreVariable<Base, Implementation, float, 140u, 4> interconnect__x_5: interconnect/x[5]

impl::StoreVariable<Base, Implementation, float, 144u, 4> interconnect__x_6: interconnect/x[6]

impl::StoreVariable<Base, Implementation, float, 148u, 4> interconnect__x_7: interconnect/x[7]

impl::StoreVariable<Base, Implementation, float, 152u, 4> interconnect__x_8: interconnect/x[8]

impl::StoreVariable<Base, Implementation, float, 156u, 4> interconnect__x_9: interconnect/x[9]

impl::StoreVariable<Base, Implementation, float, 80u, 4> lowpass__cutoff_frequency_Hz: lowpass/cutoff frequency (Hz)

impl::StoreVariable<Base, Implementation, bool, 112u, 1> lowpass__enable: lowpass/enable

impl::StoreVariable<Base, Implementation, uint8_t, 230u, 1> lowpass__evaluation_order: lowpass/evaluation order

impl::StoreVariable<Base, Implementation, float, 208u, 4> lowpass__input: lowpass/input

impl::StoreVariable<Base, Implementation, float, 212u, 4> lowpass__output: lowpass/output

impl::StoreVariable<Base, Implementation, float, 84u, 4> lowpass__override: lowpass/override

impl::StoreVariable<Base, Implementation, bool, 229u, 1> lowpass__reset: lowpass/reset

impl::StoreFunction<Base, Implementation, ExampleControlFunctionMap, 5u> lowpass__sample_frequency_Hz: lowpass/sample frequency (Hz)

impl::StoreVariable<Base, Implementation, int8_t, 113u, 1> lowpass__x_input: lowpass/x input

impl::StoreVariable<Base, Implementation, int8_t, 114u, 1> lowpass__x_output: lowpass/x output

impl::StoreVariable<Base, Implementation, bool, 100u, 1> pid__enable: pid/enable

impl::StoreVariable<Base, Implementation, float, 24u, 4> pid__epsilon: pid/epsilon

impl::StoreVariable<Base, Implementation, uint8_t, 224u, 1> pid__evaluation_order: pid/evaluation order

impl::StoreFunction<Base, Implementation, ExampleControlFunctionMap, 2u> pid__frequency_Hz: pid/frequency (Hz)

impl::StoreVariable<Base, Implementation, float, 20u, 4> pid__high: pid/high

impl::StoreVariable<Base, Implementation, float, 172u, 4> pid__int: pid/int

impl::StoreVariable<Base, Implementation, float, 16u, 4> pid__int_high: pid/int high

impl::StoreVariable<Base, Implementation, float, 12u, 4> pid__int_low: pid/int low

impl::StoreVariable<Base, Implementation, float, 168u, 4> pid__Kff: pid/Kff

impl::StoreVariable<Base, Implementation, float, 0u, 4> pid__Kp: pid/Kp

impl::StoreVariable<Base, Implementation, float, 176u, 4> pid__low: pid/low

impl::StoreVariable<Base, Implementation, float, 28u, 4> pid__override: pid/override

impl::StoreVariable<Base, Implementation, bool, 101u, 1> pid__reset: pid/reset

impl::StoreVariable<Base, Implementation, float, 164u, 4> pid__setpoint: pid/setpoint

impl::StoreVariable<Base, Implementation, float, 8u, 4> pid__Td_s: pid/Td (s)

impl::StoreVariable<Base, Implementation, float, 4u, 4> pid__Ti_s: pid/Ti (s)

impl::StoreVariable<Base, Implementation, float, 180u, 4> pid__u: pid/u

impl::StoreVariable<Base, Implementation, int8_t, 102u, 1> pid__x_setpoint: pid/x setpoint

impl::StoreVariable<Base, Implementation, int8_t, 104u, 1> pid__x_u: pid/x u

impl::StoreVariable<Base, Implementation, int8_t, 103u, 1> pid__x_y: pid/x y

impl::StoreVariable<Base, Implementation, float, 160u, 4> pid__y: pid/y

impl::StoreVariable<Base, Implementation, float, 64u, 4> pulse__amplitude: pulse/amplitude

impl::StoreVariable<Base, Implementation, float, 72u, 4> pulse__duty_cycle: pulse/duty cycle

impl::StoreVariable<Base, Implementation, bool, 110u, 1> pulse__enable: pulse/enable

impl::StoreVariable<Base, Implementation, uint8_t, 227u, 1> pulse__evaluation_order: pulse/evaluation order

impl::StoreVariable<Base, Implementation, float, 68u, 4> pulse__frequency_Hz: pulse/frequency (Hz)

impl::StoreVariable<Base, Implementation, float, 204u, 4> pulse__output: pulse/output

impl::StoreVariable<Base, Implementation, float, 76u, 4> pulse__override: pulse/override

impl::StoreVariable<Base, Implementation, float, 200u, 4> pulse__phase_rad: pulse/phase (rad)

impl::StoreFunction<Base, Implementation, ExampleControlFunctionMap, 4u> pulse__sample_frequency_Hz: pulse/sample frequency (Hz)

impl::StoreVariable<Base, Implementation, int8_t, 228u, 1> pulse__x_duty_cycle: pulse/x duty cycle

impl::StoreVariable<Base, Implementation, int8_t, 111u, 1> pulse__x_output: pulse/x output

impl::StoreVariable<Base, Implementation, float, 92u, 4> ramp__acceleration_limit: ramp/acceleration limit

impl::StoreVariable<Base, Implementation, bool, 115u, 1> ramp__enable: ramp/enable

impl::StoreVariable<Base, Implementation, uint8_t, 232u, 1> ramp__evaluation_order: ramp/evaluation order

impl::StoreVariable<Base, Implementation, float, 216u, 4> ramp__input: ramp/input

impl::StoreVariable<Base, Implementation, float, 220u, 4> ramp__output: ramp/output

impl::StoreVariable<Base, Implementation, float, 96u, 4> ramp__override: ramp/override

impl::StoreVariable<Base, Implementation, bool, 231u, 1> ramp__reset: ramp/reset

impl::StoreFunction<Base, Implementation, ExampleControlFunctionMap, 6u> ramp__sample_frequency_Hz: ramp/sample frequency (Hz)

impl::StoreVariable<Base, Implementation, float, 88u, 4> ramp__speed_limit: ramp/speed limit

impl::StoreVariable<Base, Implementation, int8_t, 116u, 1> ramp__x_input: ramp/x input

impl::StoreVariable<Base, Implementation, int8_t, 117u, 1> ramp__x_output: ramp/x output

impl::StoreVariable<Base, Implementation, float, 52u, 4> sine__amplitude: sine/amplitude

impl::StoreVariable<Base, Implementation, bool, 109u, 1> sine__enable: sine/enable

impl::StoreVariable<Base, Implementation, uint8_t, 225u, 1> sine__evaluation_order: sine/evaluation order

impl::StoreVariable<Base, Implementation, float, 56u, 4> sine__frequency_Hz: sine/frequency (Hz)

impl::StoreVariable<Base, Implementation, float, 196u, 4> sine__output: sine/output

impl::StoreVariable<Base, Implementation, float, 60u, 4> sine__override: sine/override

impl::StoreVariable<Base, Implementation, float, 192u, 4> sine__phase_rad: sine/phase (rad)

impl::StoreFunction<Base, Implementation, ExampleControlFunctionMap, 3u> sine__sample_frequency_Hz: sine/sample frequency (Hz)

impl::StoreVariable<Base, Implementation, int8_t, 226u, 1> sine__x_output: sine/x output

template<typename Implementation_> class ExampleControlBase : public stored::ExampleControlObjects<ExampleControlBase<Implementation_>, Implementation_>

Base class with default interface of all ExampleControl implementations.

Although there are no virtual functions in the base class, subclasses can override them. The (lowest) subclass must pass the Implementation_ template paramater to its base, such that all calls from the base class can be directed to the proper overridden implementation.

The base class cannot be instantiated. If a default implementation is required, which does not have side effects to functions, instantiate stored::ExampleControl. This class contains all data of all variables, so it can be large. So, be aware when instantiating it on the stack. Heap is fine. Static allocations is fine too, as the constructor and destructor are trivial.

To inherit the base class, you can use the following template:

class ExampleControl : public stored::store<ExampleControl, ExampleControlBase>::type {
    STORE_CLASS(ExampleControl, ExampleControlBase)
public:
    // Your class implementation, such as:
    ExampleControl() is_default
    // ...
};

Some compilers or tools may get confused by the inheritance using stored::store or stored::store_t. Alternatively, use STORE_T(...) instead, providing the template parameters of stored::store as macro arguments.

See also

stored::ExampleControl

See also

stored::ExampleControlData

Subclassed by stored::ExampleControlDefaultFunctions< ExampleControlBase< ExampleControl > >

Public Types

enum [anonymous]

Values:

enumerator ObjectCount: Number of objects in the store.

enumerator VariableCount: Number of variables in the store.

enumerator FunctionCount: Number of functions in the store.

enumerator BufferSize: Buffer size.

typedef Implementation_ Implementation: Type of the actual implementation, which is the (lowest) subclass.

typedef uintptr_t Key

Type of a key.

See also

bufferToKey()

typedef Map<String::type, Variant<Implementation>>::type ObjectMap: Map as generated by map().

typedef ExampleControlObjects<ExampleControlBase, Implementation_> Objects

typedef ExampleControlBase root: We are the root, as used by STORE_CLASS.

typedef ExampleControlBase self: Define self for stored::store.

Public Functions

inline ~ExampleControlBase()

void __frequency_Hz(bool set, float &value): Callback for frequency (Hz)

void __lowpass__sample_frequency_Hz(bool set, float &value): Callback for lowpass/sample frequency (Hz)

void __pid__frequency_Hz(bool set, float &value): Callback for pid/frequency (Hz)

void __pulse__sample_frequency_Hz(bool set, float &value): Callback for pulse/sample frequency (Hz)

void __ramp__sample_frequency_Hz(bool set, float &value): Callback for ramp/sample frequency (Hz)

void __sine__sample_frequency_Hz(bool set, float &value): Callback for sine/sample frequency (Hz)

inline Key bufferToKey(void const *buffer) const noexcept

Converts a variable’s buffer to a key.

A key is unique for all variables of the same store, but identical for the same variables across different instances of the same store class. Therefore, the key can be used to synchronize between instances of the same store. A key does not contain meta data, such as type or length. It is up to the synchronization library to make sure that these properties are handled well.

For synchronization, when hookEntryX() or hookEntryRO() is invoked, one can compute the key of the object that is accessed. The key can be used, for example, in a key-to-Variant map. When data arrives from another party, the key can be used to find the proper Variant in the map.

This way, data exchange is type-safe, as the Variant can check if the data format matches the expected type. However, one cannot process data if the key is not set yet in the map.

inline Type::type bufferToType(void const *buffer) noexcept: Return the type of the variable, given its buffer.

inline Variant<Implementation> find(char const *name, size_t len = std::numeric_limits<size_t>::max()) noexcept

Finds an object with the given name.

Returns:: the object, or an invalid stored::Variant if not found.

template<typename T> inline Function<T, Implementation> function(char const *name, size_t len = std::numeric_limits<size_t>::max()) noexcept

Finds a function with the given name.

The function, when it exists, must have the given (fixed) type.

inline Implementation const &implementation() const noexcept: Returns the reference to the implementation.

inline Implementation &implementation() noexcept: Returns the reference to the implementation.

inline Variant<Implementation> interconnect__x_a(int a) noexcept: Array-lookup accessor for interconnect/x[a].

template<typename F> inline void list(F &&f) noexcept

Calls a callback for every object in the longDirectory().

See also

stored::list()

template<typename F> inline void list(F f, void *arg, char const *prefix, String::type *nameBuffer) noexcept

Calls a callback for every object in the longDirectory().

See also

stored::list()

template<typename F> inline void list(F f, void *arg, char const *prefix = nullptr) noexcept

Calls a callback for every object in the longDirectory().

See also

stored::list()

inline uint8_t const *longDirectory() const noexcept

Retuns the long directory.

When not available, the short directory is returned.

inline ObjectMap map(char const *prefix = nullptr)

Create a name to Variant map for the store.

Generating the map may be expensive and the result is not cached.

inline char const *name() const noexcept: Returns the name of store, which can be used as prefix for stored::Debugger.

inline uint8_t const *shortDirectory() const noexcept: Returns the short directory.

template<typename T> inline Variable<T, Implementation> variable(char const *name, size_t len = std::numeric_limits<size_t>::max()) noexcept

Finds a variable with the given name.

The variable, when it exists, must have the given (fixed) type.

Public Members

impl::StoreVariable<Base, Implementation, bool, 105u, 1> amp__enable: amp/enable

impl::StoreVariable<Base, Implementation, uint8_t, 106u, 1> amp__evaluation_order: amp/evaluation order

impl::StoreVariable<Base, Implementation, float, 32u, 4> amp__gain: amp/gain

impl::StoreVariable<Base, Implementation, float, 44u, 4> amp__high: amp/high

impl::StoreVariable<Base, Implementation, float, 184u, 4> amp__input: amp/input

impl::StoreVariable<Base, Implementation, float, 40u, 4> amp__low: amp/low

impl::StoreVariable<Base, Implementation, float, 36u, 4> amp__offset: amp/offset

impl::StoreVariable<Base, Implementation, float, 188u, 4> amp__output: amp/output

impl::StoreVariable<Base, Implementation, float, 48u, 4> amp__override: amp/override

impl::StoreVariable<Base, Implementation, int8_t, 107u, 1> amp__x_input: amp/x input

impl::StoreVariable<Base, Implementation, int8_t, 108u, 1> amp__x_output: amp/x output

impl::StoreFunction<Base, Implementation, ExampleControlFunctionMap, 1u> frequency_Hz: frequency (Hz)

impl::StoreVariable<Base, Implementation, float, 120u, 4> interconnect__x_0: interconnect/x[0]

impl::StoreVariable<Base, Implementation, float, 124u, 4> interconnect__x_1: interconnect/x[1]

impl::StoreVariable<Base, Implementation, float, 128u, 4> interconnect__x_2: interconnect/x[2]

impl::StoreVariable<Base, Implementation, float, 132u, 4> interconnect__x_3: interconnect/x[3]

impl::StoreVariable<Base, Implementation, float, 136u, 4> interconnect__x_4: interconnect/x[4]

impl::StoreVariable<Base, Implementation, float, 140u, 4> interconnect__x_5: interconnect/x[5]

impl::StoreVariable<Base, Implementation, float, 144u, 4> interconnect__x_6: interconnect/x[6]

impl::StoreVariable<Base, Implementation, float, 148u, 4> interconnect__x_7: interconnect/x[7]

impl::StoreVariable<Base, Implementation, float, 152u, 4> interconnect__x_8: interconnect/x[8]

impl::StoreVariable<Base, Implementation, float, 156u, 4> interconnect__x_9: interconnect/x[9]

impl::StoreVariable<Base, Implementation, float, 80u, 4> lowpass__cutoff_frequency_Hz: lowpass/cutoff frequency (Hz)

impl::StoreVariable<Base, Implementation, bool, 112u, 1> lowpass__enable: lowpass/enable

impl::StoreVariable<Base, Implementation, uint8_t, 230u, 1> lowpass__evaluation_order: lowpass/evaluation order

impl::StoreVariable<Base, Implementation, float, 208u, 4> lowpass__input: lowpass/input

impl::StoreVariable<Base, Implementation, float, 212u, 4> lowpass__output: lowpass/output

impl::StoreVariable<Base, Implementation, float, 84u, 4> lowpass__override: lowpass/override

impl::StoreVariable<Base, Implementation, bool, 229u, 1> lowpass__reset: lowpass/reset

impl::StoreFunction<Base, Implementation, ExampleControlFunctionMap, 5u> lowpass__sample_frequency_Hz: lowpass/sample frequency (Hz)

impl::StoreVariable<Base, Implementation, int8_t, 113u, 1> lowpass__x_input: lowpass/x input

impl::StoreVariable<Base, Implementation, int8_t, 114u, 1> lowpass__x_output: lowpass/x output

impl::StoreVariable<Base, Implementation, bool, 100u, 1> pid__enable: pid/enable

impl::StoreVariable<Base, Implementation, float, 24u, 4> pid__epsilon: pid/epsilon

impl::StoreVariable<Base, Implementation, uint8_t, 224u, 1> pid__evaluation_order: pid/evaluation order

impl::StoreFunction<Base, Implementation, ExampleControlFunctionMap, 2u> pid__frequency_Hz: pid/frequency (Hz)

impl::StoreVariable<Base, Implementation, float, 20u, 4> pid__high: pid/high

impl::StoreVariable<Base, Implementation, float, 172u, 4> pid__int: pid/int

impl::StoreVariable<Base, Implementation, float, 16u, 4> pid__int_high: pid/int high

impl::StoreVariable<Base, Implementation, float, 12u, 4> pid__int_low: pid/int low

impl::StoreVariable<Base, Implementation, float, 168u, 4> pid__Kff: pid/Kff

impl::StoreVariable<Base, Implementation, float, 0u, 4> pid__Kp: pid/Kp

impl::StoreVariable<Base, Implementation, float, 176u, 4> pid__low: pid/low

impl::StoreVariable<Base, Implementation, float, 28u, 4> pid__override: pid/override

impl::StoreVariable<Base, Implementation, bool, 101u, 1> pid__reset: pid/reset

impl::StoreVariable<Base, Implementation, float, 164u, 4> pid__setpoint: pid/setpoint

impl::StoreVariable<Base, Implementation, float, 8u, 4> pid__Td_s: pid/Td (s)

impl::StoreVariable<Base, Implementation, float, 4u, 4> pid__Ti_s: pid/Ti (s)

impl::StoreVariable<Base, Implementation, float, 180u, 4> pid__u: pid/u

impl::StoreVariable<Base, Implementation, int8_t, 102u, 1> pid__x_setpoint: pid/x setpoint

impl::StoreVariable<Base, Implementation, int8_t, 104u, 1> pid__x_u: pid/x u

impl::StoreVariable<Base, Implementation, int8_t, 103u, 1> pid__x_y: pid/x y

impl::StoreVariable<Base, Implementation, float, 160u, 4> pid__y: pid/y

impl::StoreVariable<Base, Implementation, float, 64u, 4> pulse__amplitude: pulse/amplitude

impl::StoreVariable<Base, Implementation, float, 72u, 4> pulse__duty_cycle: pulse/duty cycle

impl::StoreVariable<Base, Implementation, bool, 110u, 1> pulse__enable: pulse/enable

impl::StoreVariable<Base, Implementation, uint8_t, 227u, 1> pulse__evaluation_order: pulse/evaluation order

impl::StoreVariable<Base, Implementation, float, 68u, 4> pulse__frequency_Hz: pulse/frequency (Hz)

impl::StoreVariable<Base, Implementation, float, 204u, 4> pulse__output: pulse/output

impl::StoreVariable<Base, Implementation, float, 76u, 4> pulse__override: pulse/override

impl::StoreVariable<Base, Implementation, float, 200u, 4> pulse__phase_rad: pulse/phase (rad)

impl::StoreFunction<Base, Implementation, ExampleControlFunctionMap, 4u> pulse__sample_frequency_Hz: pulse/sample frequency (Hz)

impl::StoreVariable<Base, Implementation, int8_t, 228u, 1> pulse__x_duty_cycle: pulse/x duty cycle

impl::StoreVariable<Base, Implementation, int8_t, 111u, 1> pulse__x_output: pulse/x output

impl::StoreVariable<Base, Implementation, float, 92u, 4> ramp__acceleration_limit: ramp/acceleration limit

impl::StoreVariable<Base, Implementation, bool, 115u, 1> ramp__enable: ramp/enable

impl::StoreVariable<Base, Implementation, uint8_t, 232u, 1> ramp__evaluation_order: ramp/evaluation order

impl::StoreVariable<Base, Implementation, float, 216u, 4> ramp__input: ramp/input

impl::StoreVariable<Base, Implementation, float, 220u, 4> ramp__output: ramp/output

impl::StoreVariable<Base, Implementation, float, 96u, 4> ramp__override: ramp/override

impl::StoreVariable<Base, Implementation, bool, 231u, 1> ramp__reset: ramp/reset

impl::StoreFunction<Base, Implementation, ExampleControlFunctionMap, 6u> ramp__sample_frequency_Hz: ramp/sample frequency (Hz)

impl::StoreVariable<Base, Implementation, float, 88u, 4> ramp__speed_limit: ramp/speed limit

impl::StoreVariable<Base, Implementation, int8_t, 116u, 1> ramp__x_input: ramp/x input

impl::StoreVariable<Base, Implementation, int8_t, 117u, 1> ramp__x_output: ramp/x output

impl::StoreVariable<Base, Implementation, float, 52u, 4> sine__amplitude: sine/amplitude

impl::StoreVariable<Base, Implementation, bool, 109u, 1> sine__enable: sine/enable

impl::StoreVariable<Base, Implementation, uint8_t, 225u, 1> sine__evaluation_order: sine/evaluation order

impl::StoreVariable<Base, Implementation, float, 56u, 4> sine__frequency_Hz: sine/frequency (Hz)

impl::StoreVariable<Base, Implementation, float, 196u, 4> sine__output: sine/output

impl::StoreVariable<Base, Implementation, float, 60u, 4> sine__override: sine/override

impl::StoreVariable<Base, Implementation, float, 192u, 4> sine__phase_rad: sine/phase (rad)

impl::StoreFunction<Base, Implementation, ExampleControlFunctionMap, 3u> sine__sample_frequency_Hz: sine/sample frequency (Hz)

impl::StoreVariable<Base, Implementation, int8_t, 226u, 1> sine__x_output: sine/x output

Public Static Functions

template<typename T> static inline constexpr FreeFunction<T, Implementation> freeFunction(char const *name, size_t len = std::numeric_limits<size_t>::max()) noexcept

Finds a function with the given name.

The function, when it exists, must have the given (fixed) type. It is returned as a free function; it is not bound yet to a specific store instance. This function is constexpr for C++14.

template<typename T> static inline constexpr FreeVariable<T, Implementation> freeVariable(char const *name, size_t len = std::numeric_limits<size_t>::max()) noexcept

Finds a variable with the given name.

The variable, when it exists, must have the given (fixed) type. It is returned as a free variable; it is not bound yet to a specific store instance. This function is constexpr for C++14.

static inline constexpr char const *hash() noexcept: Returns a unique hash of the store.

Friends

friend class impl::StoreFunction

friend class impl::StoreVariable

friend class impl::StoreVariantF

friend class impl::StoreVariantV

friend class stored::FreeVariable

friend class stored::Variant< void >

class ExampleControl : public stored::ExampleControlDefaultFunctions<ExampleControlBase<ExampleControl>>

Default ExampleControlBase implementation.

Public Functions

ExampleControl() = default: Default constructor.