closed_loop_controller.h

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/**
 * @file closed_loop_controller.h
 */
 
#pragma once
 
#include <rusefi/expected.h>
 
template <typename TInput, typename TOutput>
class ClosedLoopController {
public:
    void update() {
        expected<TOutput> outputValue = getOutput();
        setOutput(outputValue);
    }
 
private:
    expected<TOutput> getOutput() {
        expected<TInput> setpoint = getSetpoint();
        // If we don't know the setpoint, return failure.
        if (!setpoint) {
            return unexpected;
        }
 
        expected<TInput> observation = observePlant();
        // If we couldn't observe the plant, return failure.
        if (!observation) {
            return unexpected;
        }
 
        expected<TOutput> openLoopResult = getOpenLoop(setpoint.Value);
        // If we couldn't compute open loop, return failure.
        if (!openLoopResult) {
            return unexpected;
        }
 
        expected<TOutput> closedLoopResult = getClosedLoop(setpoint.Value, observation.Value);
        // If we couldn't compute closed loop, return failure.
        if (!closedLoopResult) {
            return unexpected;
        }
 
        return openLoopResult.Value + closedLoopResult.Value;
    }
 
    // Get the setpoint: where should the controller put the plant?
    virtual expected<TInput> getSetpoint() = 0;
 
    // Get the current observation: what is the current state of the world?
    virtual expected<TInput> observePlant() = 0;
 
    // Get the open-loop output: output state based on only the setpoint
    virtual expected<TOutput> getOpenLoop(TInput setpoint) = 0;
 
    // Get the closed-loop output: output state based on setpoint and observation
    virtual expected<TOutput> getClosedLoop(TInput setpoint, TInput observation) = 0;
 
    // Set the output: Drive whatever output system will perturb the plant in the real world
    virtual void setOutput(expected<TOutput> outputValue) = 0;
};