m1_ctrl/
lib.rs

1//use dosio::{ios, DOSIOSError, Dos, IOTags, IOVec, IO};
2pub mod actuators;
3pub mod cg_controller;
4pub mod hp_dynamics;
5pub mod hp_load_cells;
6pub mod local_controller;
7
8/*
9pub struct MacroController<'a> {
10    hardpoints_load_cells: hp_load_cells::Controller<'a>,
11    hardpoints_dynamics: hp_dynamics::Controller<'a>,
12    actuators_force_loops: actuators::M1ForceLoops<'a>,
13}
14
15impl<'a> IOTags for MacroController<'a> {
16    fn outputs_tags(&self) -> Vec<IO<()>> {
17        let mut tags = self.actuators_force_loops.outputs_tags();
18        tags.push(ios!(HPFcmd));
19        tags
20    }
21
22    fn inputs_tags(&self) -> Vec<IO<()>> {
23        ios!(M1RBMcmd, M1S1BMcmd, M1S2BMcmd, M1S3BMcmd, M1S4BMcmd, M1S5BMcmd, M1S6BMcmd, M1S7BMcmd)
24    }
25}
26impl<'a> Iterator for MacroController<'a> {
27    type Item = ();
28
29    fn next(&mut self) -> Option<Self::Item> {
30        self.hardpoints_load_cells
31            .step()
32            .ok()
33            .and(self.hardpoints_dynamics.step().ok())
34            .and(self.actuators_force_loops.step().ok())
35            .and(Some(()))
36    }
37}
38impl<'a> Dos for MacroController<'a> {
39    type Input = Vec<f64>;
40    type Output = Vec<f64>;
41
42    fn outputs(&mut self) -> Option<Vec<IO<Self::Output>>> {
43        Some(
44            Some(
45                self.hardpoints_load_cells
46                    .outputs()
47                    .into_iter()
48                    .chain(self.hardpoints_dynamics.outputs().into_iter())
49                    .flatten()
50                    .collect::<Vec<IO<Vec<f64>>>>(),
51            )
52            .into_iter()
53            .chain(self.actuators_force_loops.outputs().into_iter())
54            .flatten()
55            .collect(),
56        )
57    }
58
59    fn inputs(
60        &mut self,
61        data: Option<Vec<IO<Self::Input>>>,
62    ) -> Result<&mut Self, dosio::DOSIOSError> {
63        if let Some(mut data) = data {
64            self.hardpoints_load_cells
65                .inputs(<Vec<IO<Vec<f64>>> as IOVec>::pop_these(
66                    &mut data,
67                    ios!(OSSHardpointD, M1HPCmd),
68                ))?;
69            self.hardpoints_dynamics
70                .inputs(<Vec<IO<Vec<f64>>> as IOVec>::pop_these(
71                    &mut data,
72                    vec![ios!(M1RBMcmd)],
73                ))?;
74            self.actuators_force_loops.inputs(Some(data))?;
75            Ok(self)
76        } else {
77            Err(DOSIOSError::Inputs(
78                "Empty inputs passed to M1 macro controller".into(),
79            ))
80        }
81    }
82}
83*/
m1_ctrl/lib.rs

m1_ctrl/
lib.rs
