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Signed-off-by: Bernardo Carvalho <bernardo.carvalho@tecnico.ulisboa.pt>
This commit is contained in:
Bernardo Brotas de Carvalho
2024-11-23 22:39:17 +00:00
parent 592d87e887
commit a6f0076ec2
2 changed files with 321 additions and 94 deletions
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191
GAMs/ElectricProbesGAM/ElectricProbesGAM.cpp
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@@ -29,31 +29,46 @@
/* Project header includes */
/*---------------------------------------------------------------------------*/
#include "AdvancedErrorManagement.h"
#include "CLASSMETHODREGISTER.h"
#include "ElectricProbesGAM.h"
#include "RegisteredMethodsMessageFilter.h"
/*---------------------------------------------------------------------------*/
/* Static definitions */
/*---------------------------------------------------------------------------*/
//namespace MARTeIsttok {
namespace MARTe {
/**
* The number of signals
*/
const uint32 EP_NUM_INPUTS = 4u;
const uint32 EP_NUM_OUTPUTS = 2u;
/*---------------------------------------------------------------------------*/
/* Method definitions */
/*---------------------------------------------------------------------------*/
namespace MARTeIsttok {
//namespace MARTeIsttok {
ElectricProbesGAM::ElectricProbesGAM() :
GAM(),
MessageI() {
gain = 0u;
//inputSignals = NULL_PTR(MARTe::float32 **);
numberOfSamplesAvg = 1u;
//outputSignals = NULL_PTR(MARTe::float32 **);
// outputSignal1 = NULL;
inputElectricTop = NULL_PTR(MARTe::float32 *);
inputElectricInner = NULL_PTR(MARTe::float32 *);
inputElectricOuter = NULL_PTR(MARTe::float32 *);
inputElectricBottom = NULL_PTR(MARTe::float32 *);
lastInputs = NULL_PTR(MARTe::float32**);
outputEpR = NULL_PTR(MARTe::float32 *);
outputEpZ = NULL_PTR(MARTe::float32 *);
resetInEachState = false;
}
ElectricProbesGAM::~ElectricProbesGAM() {
@@ -64,6 +79,22 @@ namespace MARTeIsttok {
delete[] outputSignals;
}
*/
if (lastInputs != NULL_PTR(MARTe::float32**)) {
MARTe::uint32 k;
for (k=0u; k < EP_NUM_INPUTS; k++) {
if (lastInputs[k] != NULL_PTR(MARTe::float32*)) {
delete[] lastInputs[k];
}
}
delete[] lastInputs;
}
/*
for (k=0u; k < EP_NUM_INPUTS; k++) {
if(lastInputs[k] != NULL_PTR(MARTe::float32 *)) {
delete [] lastInputs[k];
}
}
*/
}
bool ElectricProbesGAM::Initialise(MARTe::StructuredDataI & data) {
@@ -81,6 +112,37 @@ namespace MARTeIsttok {
if (ok) {
REPORT_ERROR(ErrorManagement::Information, "Parameter Gain set to %d", gain);
}
if (ok) {
ok = data.Read("NumberOfSamplesAvg", numberOfSamplesAvg);
if (!ok) {
REPORT_ERROR(ErrorManagement::ParametersError,
"The parameter NumberOfSamplesAvg shall be set");
}
}
if (ok) {
REPORT_ERROR(ErrorManagement::Information, "Parameter NumberOfSamplesAvg set to %d",
numberOfSamplesAvg);
}
if (ok) {
uint32 auxResetInEachState = 0u;
ok = data.Read("ResetInEachState", auxResetInEachState);
if (!ok) {
REPORT_ERROR(ErrorManagement::InitialisationError, "Error reading ResetInEachState");
}
else {
if (auxResetInEachState == 1u) {
resetInEachState = true;
}
else if (auxResetInEachState == 0u) {
resetInEachState = false;
}
else {
ok = false;
REPORT_ERROR(ErrorManagement::InitialisationError, "Wrong value for ResetInEachState. Possible values 0 (false) or 1 (true)");
}
}
}
return ok;
}
@@ -93,7 +155,22 @@ namespace MARTeIsttok {
}
if (ok) {
lastInputs = new float32*[numberOfInputSignals];
uint32 n;
if (lastInputs != NULL_PTR(MARTe::float32**)) {
for (n = 0u; n < numberOfInputSignals ; n++) {
if (numberOfSamplesAvg > 1u) {
lastInputs[n] = new float32[numberOfSamplesAvg - 1u];
if (lastInputs[n] != NULL_PTR(MARTe::float32*)) {
uint32 i;
for (i = 0u; i < (numberOfSamplesAvg - 1u); i++) {
lastInputs[n][i] = 0.0F;
}
}
}
}
}
for (n = 0u; (n < numberOfInputSignals) && (ok); n++) {
StreamString inputSignalName;
ok = GetSignalName(InputSignals, n, inputSignalName);
@@ -155,6 +232,7 @@ namespace MARTeIsttok {
REPORT_ERROR(ErrorManagement::Information, "InputSignals reinterpret_cast OK");
}
}
// OutputSignals
@@ -217,6 +295,19 @@ namespace MARTeIsttok {
outputEpZ = reinterpret_cast<float32 *>(GetOutputSignalMemory(1u));
}
}
// Install message filter
ReferenceT<RegisteredMethodsMessageFilter> registeredMethodsMessageFilter("RegisteredMethodsMessageFilter");
if (ok) {
ok = registeredMethodsMessageFilter.IsValid();
}
if (ok) {
registeredMethodsMessageFilter->SetDestination(this);
ok = InstallMessageFilter(registeredMethodsMessageFilter);
}
return ok;
}
@@ -225,12 +316,75 @@ namespace MARTeIsttok {
//*outputSignal = *inputSignal;
*outputEpR = 4.3;
// *outputEpZ = 3.4;
*outputEpZ = *inputElectricTop;
*outputEpZ = *inputElectricTop - *inputElectricOuter;
//*outputSignal1 = *inputSignals[0]; // - *inputSignals[1];
//*outputSignal1 = *inputSignals[0] - *inputSignals[1];
//update the last values
for (MARTe::uint32 i = 0u; i < EP_NUM_INPUTS; i++) {
if (numberOfSamplesAvg > 2u) {
/*lint -e{9117} implicit conversion is safe*/
for (MARTe::uint32 k = (numberOfSamplesAvg - 1u); k > 0u; k--) {
lastInputs[i][k] = lastInputs[i][k - 1];
}
}
}
if (numberOfSamplesAvg > 1u) {
lastInputs[0][0] = *inputElectricTop;
lastInputs[1][0] = *inputElectricInner;
lastInputs[2][0] = *inputElectricOuter;
lastInputs[3][0] = *inputElectricBottom;
//lastInputs[i][0] = input[i][numberOfSamples - 1u];
}
return true;
}
bool ElectricProbesGAM::PrepareNextState(const char8 * const currentStateName,
const char8 * const nextStateName) {
bool ret = true;
if (resetInEachState) {
lastStateExecuted = nextStateName;
}
/*
bool cond1 = (stateVector.GetDataPointer() != NULL_PTR(float64 **));
bool cond2 = (derivativeStateVector.GetDataPointer() != NULL_PTR(float64 **));
if (cond1 && cond2) {
for (uint32 i = 0u; i < sizeStateVector; i++) {
stateVector(i, 0u) = 0.0;
derivativeStateVector(i, 0u) = 0.0;
}
}
else {
REPORT_ERROR(ErrorManagement::ParametersError, "stateVector or derivativeStateVector = NULL ");
ret = false;
}
}
else {
//If the currentStateName and lastStateExecuted are different-> rest values
if (lastStateExecuted != currentStateName) {
bool cond1 = (stateVector.GetDataPointer() != NULL_PTR(float64 **));
bool cond2 = (derivativeStateVector.GetDataPointer() != NULL_PTR(float64 **));
if (cond1 && cond2) {
for (uint32 i = 0u; i < sizeStateVector; i++) {
stateVector(i, 0u) = 0.0;
derivativeStateVector(i, 0u) = 0.0;
}
}
else {
REPORT_ERROR(ErrorManagement::ParametersError, "stateVector or derivativeStateVector = NULL ");
ret = false;
}
}
lastStateExecuted = nextStateName;
}
*/
return ret;
}
bool ElectricProbesGAM::ExportData(MARTe::StructuredDataI & data) {
using namespace MARTe;
@@ -247,9 +401,32 @@ namespace MARTeIsttok {
return ok;
}
CLASS_REGISTER(ElectricProbesGAM, "1.0")
//CLASS_METHOD_REGISTER(AtcaIopConfig, WriteEoWo)
ErrorManagement::ErrorType ElectricProbesGAM::CalcOffSets() {
}
ErrorManagement::ErrorType ret = MARTe::ErrorManagement::NoError;
REPORT_ERROR(ErrorManagement::Information,
"CalcOffSets. numberOfSamplesAvg: %d!", numberOfSamplesAvg);
if (numberOfSamplesAvg > 1u) {
for (uint32 i = 0u; i < EP_NUM_INPUTS; i++) {
inputOffsets[i] = 0.0f;
for (uint32 k = 0 ; k < numberOfSamplesAvg; k++) {
inputOffsets[i] += lastInputs[i][k];
}
inputOffsets[i] /= numberOfSamplesAvg;
REPORT_ERROR(ErrorManagement::Information,
"CalcOffSets. Offset:%d= %f!", i, inputOffsets[i]);
}
}
return ret;
}
CLASS_REGISTER(ElectricProbesGAM, "1.0")
// CLASS_METHOD_REGISTER(ElectricProbesGAM, ElectricProbesGAM::CalcOffSets)
CLASS_METHOD_REGISTER(ElectricProbesGAM, CalcOffSets)
} /* namespace MARTeIsttok */
// vim: syntax=cpp ts=4 sw=4 sts=4 sr et