gmt_dos-clients_m2-ctrl 4.1.0

GMT DOS M2 Control Client
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157

use std::{ptr, sync::Arc};

use gmt_dos_clients_io::gmt_m2::fsm::segment::{FsmCommand, PiezoForces, PiezoNodes};
use gmt_m2_ctrl_fsm_piezo_7::FsmPiezo7;
use gmt_m2_ctrl_fsm_piezo_135::FsmPiezo135;
use gmt_m2_ctrl_fsm_piezo_246::FsmPiezo246;
use interface::{Data, Read, Size, Update, Write};
use serde::{Deserialize, Serialize};

/// Piezostack actuator controller
///
/// The controller tuning depends on the segments:
///  * segment #1,3,5: [FsmPiezo135](https://docs.rs/gmt_m2-ctrl_fsm-piezo-135/latest/gmt_m2_ctrl_fsm_piezo_135/type.FsmPiezo135.html)
///  * segment #2,4,6: [FsmPiezo246](https://docs.rs/gmt_m2-ctrl_fsm-piezo-246/latest/gmt_m2_ctrl_fsm_piezo_246/type.FsmPiezo246.html)
///  * segment #7    : [FsmPiezo7](https://docs.rs/gmt_m2-ctrl_fsm-piezo-7/latest/gmt_m2_ctrl_fsm_piezo_7/type.FsmPiezo7.html)
#[derive(Debug, Clone, Serialize, Deserialize)]
pub enum PiezoStackController {
    OuterOdd(FsmPiezo135),
    OuterEven(FsmPiezo246),
    Center(FsmPiezo7),
}
impl PiezoStackController {
    /// Creates a new piezostack actuator controller
    pub fn new(sid: u8) -> Self {
        assert!(0 < sid && sid < 8, "sid must in the range [1,7]");
        match sid {
            7 => PiezoStackController::Center(FsmPiezo7::new()),
            i if i % 2 == 0 => PiezoStackController::OuterEven(FsmPiezo246::new()),
            _ => PiezoStackController::OuterOdd(FsmPiezo135::new()),
        }
    }
    /// Sets the controller inputs
    pub fn u(&mut self, value: &[f64]) {
        unsafe {
            match self {
                PiezoStackController::OuterOdd(pzt_cfb) => ptr::copy_nonoverlapping(
                    value.as_ptr(),
                    pzt_cfb.inputs.pzt_error.as_mut_ptr(),
                    3,
                ),
                PiezoStackController::OuterEven(pzt_cfb) => ptr::copy_nonoverlapping(
                    value.as_ptr(),
                    pzt_cfb.inputs.pzt_error.as_mut_ptr(),
                    3,
                ),
                PiezoStackController::Center(pzt_cfb) => ptr::copy_nonoverlapping(
                    value.as_ptr(),
                    pzt_cfb.inputs.pzt_error.as_mut_ptr(),
                    3,
                ),
            };
        }
    }
    /// Steps the controller
    pub fn step(&mut self) {
        match self {
            PiezoStackController::OuterOdd(pzt_cfb) => pzt_cfb.step(),
            PiezoStackController::OuterEven(pzt_cfb) => pzt_cfb.step(),
            PiezoStackController::Center(pzt_cfb) => pzt_cfb.step(),
        };
    }
    /// Gets the controller outputs
    pub fn y(&mut self, value: &mut [f64]) {
        unsafe {
            match self {
                PiezoStackController::OuterOdd(pzt_cfb) => ptr::copy_nonoverlapping(
                    pzt_cfb.outputs.pzt_control.as_ptr(),
                    value.as_mut_ptr(),
                    3,
                ),
                PiezoStackController::OuterEven(pzt_cfb) => ptr::copy_nonoverlapping(
                    pzt_cfb.outputs.pzt_control.as_ptr(),
                    value.as_mut_ptr(),
                    3,
                ),
                PiezoStackController::Center(pzt_cfb) => ptr::copy_nonoverlapping(
                    pzt_cfb.outputs.pzt_control.as_ptr(),
                    value.as_mut_ptr(),
                    3,
                ),
            };
        }
    }
}

/// FSM segment [piezostack ](PiezoStackController) actuators controller
#[derive(Debug, Clone, Serialize, Deserialize)]
pub struct FsmSegmentInnerController<const ID: u8> {
    piezo: PiezoStackController,
    forces: Vec<f64>,
    nodes: Vec<f64>,
    command: Arc<Vec<f64>>,
}

impl<const ID: u8> FsmSegmentInnerController<ID> {
    /// Creates a new FSM segment controller
    pub fn new() -> Self {
        Self {
            piezo: PiezoStackController::new(ID),
            forces: vec![0f64; 3],
            nodes: vec![0f64; 3],
            command: Arc::new(vec![0f64; 3]),
        }
    }
}

impl<const ID: u8> Update for FsmSegmentInnerController<ID> {
    fn update(&mut self) {
        let deltas: Vec<_> = self
            .command
            .iter()
            .zip(&self.nodes)
            .map(|(c, n)| c - n)
            .collect();
        self.piezo.u(&deltas);
        self.piezo.step();
        self.piezo.y(&mut self.forces);
    }
}

impl<const ID: u8> Size<PiezoNodes<ID>> for FsmSegmentInnerController<ID> {
    fn len(&self) -> usize {
        6
    }
}
impl<const ID: u8> Read<PiezoNodes<ID>> for FsmSegmentInnerController<ID> {
    fn read(&mut self, data: Data<PiezoNodes<ID>>) {
        self.nodes = data.chunks(2).map(|x| x[1] - x[0]).collect();
    }
}
impl<const ID: u8> Size<FsmCommand<ID>> for FsmSegmentInnerController<ID> {
    fn len(&self) -> usize {
        3
    }
}
impl<const ID: u8> Read<FsmCommand<ID>> for FsmSegmentInnerController<ID> {
    fn read(&mut self, data: Data<FsmCommand<ID>>) {
        self.command = data.into_arc();
    }
}

impl<const ID: u8> Size<PiezoForces<ID>> for FsmSegmentInnerController<ID> {
    fn len(&self) -> usize {
        6
    }
}
impl<const ID: u8> Write<PiezoForces<ID>> for FsmSegmentInnerController<ID> {
    fn write(&mut self) -> Option<Data<PiezoForces<ID>>> {
        Some(
            self.forces
                .iter()
                .flat_map(|&x| vec![-x, x])
                .collect::<Vec<_>>()
                .into(),
        )
    }
}