added PID to primary pump, working on secondary system

src/coolant/condenser_secondary.cpp

@@ -0,0 +1,17 @@
+
+#include "condenser_secondary.hpp"
+
+using namespace sim::coolant;
+
+condenser_secondary::condenser_secondary(condenser* primary, double volume, double level) :
+		primary(primary), fluid_holder(primary->fluid, volume, 0)
+{
+	this->level = level;
+}
+
+void condenser_secondary::update(double dt)
+{
+	((fluid_holder*)this)->update(dt);
+	heat = primary->add_heat(get_thermal_mass(), heat);
+}
+

src/coolant/condenser_secondary.hpp

@@ -0,0 +1,22 @@
+
+#pragma once
+
+#include "fluid_holder.hpp"
+#include "condenser.hpp"
+
+namespace sim::coolant
+{
+
+class condenser_secondary : public fluid_holder
+{
+	condenser* const primary;
+	
+public:
+
+	condenser_secondary(condenser* primary, double volume, double level);
+
+	void update(double dt);
+};
+
+};
+

src/coolant/evaporator.cpp

@@ -0,0 +1,20 @@
+
+#include "evaporator.hpp"
+
+#include <cmath>
+
+using namespace sim::coolant;
+
+constexpr static double calc_cylinder(double h, double d)
+{
+	double r = d / 2;
+	
+	return M_PI * r * r * h;
+}
+
+evaporator::evaporator(fluid_t type, double height, double diameter, double mass, double level) :
+		height(height), diameter(diameter), fluid_holder(type, calc_cylinder(height, diameter), mass)
+{
+	this->level = level;
+}
+

src/coolant/evaporator.hpp

@@ -0,0 +1,20 @@
+
+#pragma once
+
+#include "fluid_holder.hpp"
+
+namespace sim::coolant
+{
+
+class evaporator : public fluid_holder
+{
+	const double height;
+	const double diameter;
+	
+public:
+
+	evaporator(fluid_t type, double height, double diameter, double mass, double level);
+};
+
+};
+

src/coolant/pump.cpp

@@ -7,19 +7,30 @@
 using namespace sim::coolant;
 
 pump::pump(fluid_holder* src, fluid_holder* dst, double mass, double radius, double power, double l_per_rev, double friction) :
-		src(src), dst(dst), mass(mass), radius(radius), l_per_rev(l_per_rev), friction(friction)
+		src(src),
+		dst(dst),
+		mass(mass),
+		radius(radius),
+		l_per_rev(l_per_rev),
+		friction(friction),
+		max_power(power)
 {
-	this->power = power;
+	
 }
 
-double pump::get_flow() const
+double pump::get_flow_target() const
 {
 	return l_per_rev * get_rpm() * 60;
 }
 
+double pump::get_flow() const
+{
+	return flow;
+}
+
 double pump::get_flow_mass() const
 {
-	return src->fluid.l_to_g(get_flow());
+	return src->fluid.l_to_g(flow);
 }
 
 double pump::get_rpm() const
@@ -27,24 +38,16 @@ double pump::get_rpm() const
 	return velocity / (M_PI * mass * 0.001 * radius * radius);
 }
 
+double pump::get_power() const
+{
+	return power;
+}
+
 const char* pump::get_state_string()
 {
-	if(!powered)
-	{
-		return "Off";
-	}
-
-	if(idling && std::abs(get_flow()) < 1e-3)
-	{
-		return "Idle";
-	}
-
-	if(idling)
-	{
-		return "Coasting";
-	}
-
-	return "Revving";
+	if(!powered) return "Off";
+	if(power == 0) return "Idle";
+	return "On";
 }
 
 static double calc_work(double j, double mass)
@@ -61,11 +64,10 @@ static double calc_work(double j, double mass)
 
 void pump::update(double dt)
 {
-	idling = false;
-
-	if(powered && !idling)
+	if(powered)
 	{
-		velocity += calc_work(dt * power, mass);
+		power = pid.calculate(dt, src->get_volume() / 2, src->get_steam_volume());
+		velocity += calc_work(dt * power * max_power, mass);
 	}
 	
 	fluid_holder fh_src(*src);
@@ -73,7 +75,7 @@ void pump::update(double dt)
 
 	double src_heat = src->get_heat();
 	double p_diff_1 = dst->get_pressure() - src->get_pressure();
-	double src_volume = fh_src.extract_fluid(get_flow() * dt);
+	double src_volume = fh_src.extract_fluid(get_flow_target() * dt);
 	double dst_volume = fh_dst.add_fluid(src_volume, src_heat);
 
 	src->extract_fluid(dst_volume);
@@ -84,15 +86,6 @@ void pump::update(double dt)
 	double work = p_diff * dst_volume * 0.001 + get_rpm() * 60 * dt * friction;
 
 	velocity -= calc_work(work, mass);
-
-	if(dst->get_level() > 400 || src->get_level() < 10)
-	{
-//		idling = true;
-	}
-
-	else
-	{
-//		idling = false;
-	}
+	flow = dst_volume / dt;
 }
 

src/coolant/pump.hpp

@@ -2,6 +2,7 @@
 #pragma once
 
 #include "fluid_holder.hpp"
+#include "../util/pid.hpp"
 
 namespace sim::coolant
 {
@@ -11,24 +12,29 @@ class pump
 	fluid_holder* const src;
 	fluid_holder* const dst;
 
+	util::PID pid {1, 0, 100, 0, 0};
+
+	double flow = 0; // L/s
+	double velocity = 0; // m/s
+	double power = 0;
+
+public:
+	
 	const double mass; // grams
 	const double radius; // meters
 	const double l_per_rev; // litres
 	const double friction; // J/rev
-
-	double velocity = 0; // m/s
-	double power = 0; // W
-
-public:
+	const double max_power; // W
 
 	bool powered = false;
-	bool idling = false;
 
 	pump(fluid_holder* src, fluid_holder* dst, double mass, double radius, double power, double l_per_rev, double friction);
 
 	double get_flow() const; // L/s
+	double get_flow_target() const; // L/s
 	double get_flow_mass() const; // g/s
 	double get_rpm() const; // rev/min
+	double get_power() const; // W
 
 	const char* get_state_string();
 	void update(double dt);

src/coolant/sink.cpp

@@ -0,0 +1,14 @@
+
+#include "sink.hpp"
+
+using namespace sim::coolant;
+
+sink::sink(fluid_t type, double heat, double pressure, double steam_density) :
+		heat(heat),
+		pressure(pressure),
+		steam_density(steam_density),
+		fluid_holder(type, 1, 1)
+{
+
+}
+

src/coolant/sink.hpp

@@ -0,0 +1,34 @@
+
+#pragma once
+
+#include "fluid_holder.hpp"
+
+// the name isn't really important here, it's just to show that anything attached to this
+// can kinda just do anything. for example, get rid of steam to the "outside", 
+// or pump in new coolant. 
+
+namespace sim::coolant
+{
+
+class sink : public fluid_holder
+{
+public:
+	
+	double heat;
+	double pressure;
+	double steam_density;
+
+	sink(fluid_t type, double heat, double pressure, double steam_density);
+	
+	virtual double add_heat(double m, double t) { return t; }
+	virtual double extract_fluid(double amount) { return amount; }
+	virtual double add_fluid(double amount, double heat) { return amount; }
+	virtual void add_steam(double amount, double t) { }
+	virtual void update(double dt) { }
+
+	virtual double get_pressure() const { return pressure; } // pascals
+	virtual double get_steam_density() const { return steam_density; } // g/L
+};
+
+};
+

src/electric/turbine.cpp

@@ -18,7 +18,7 @@ turbine::turbine(coolant::fluid_t type, coolant::condenser* condenser, double le
 		length(length), diameter(diameter), condenser(condenser),
 		sim::coolant::fluid_holder(type, calc_cylinder(length, diameter), mass)
 {
-	this->level = level;
+	
 }
 
 void turbine::update(double secs)

src/graphics/input/keyboard.cpp

@@ -29,19 +29,22 @@ static void cb_keypress(GLFWwindow* win, int key, int sc, int action, int mods)
 		switch(key)
 		{
 		case GLFW_KEY_1:
-			sim::system::active.speed = 1;
+			sim::system::active.speed = 1; // 1 s/s
 			break;
 		case GLFW_KEY_2:
-			sim::system::active.speed = 10;
+			sim::system::active.speed = 10; // 10 s/s
 			break;
 		case GLFW_KEY_3:
-			sim::system::active.speed = 60;
+			sim::system::active.speed = 60; // 1 min/s
 			break;
 		case GLFW_KEY_4:
-			sim::system::active.speed = 600;
+			sim::system::active.speed = 600; // 10 min/s
 			break;
 		case GLFW_KEY_5:
-			sim::system::active.speed = 3600;
+			sim::system::active.speed = 3600; // 1 h/s
+			break;
+		case GLFW_KEY_6:
+			sim::system::active.speed = 43200; // 12 h/s
 			break;
 		}
 	}

src/graphics/locations.cpp

@@ -4,7 +4,7 @@
 
 using namespace sim::graphics;
 
-const glm::mat4 locations::monitors[4] = {
+const glm::mat4 locations::monitors[7] = {
 	(
 		glm::translate(glm::mat4(1), glm::vec3(-2.949, -1.7778 + 0.05, 3 - 0.05)) *
 		glm::rotate(glm::mat4(1), glm::radians<float>(-90), glm::vec3(1, 0, 0)) *
@@ -25,6 +25,23 @@ const glm::mat4 locations::monitors[4] = {
 		glm::translate(glm::mat4(1), glm::vec3(3.5 + 0.05, 3.949, 3 - 0.05)) *
 		glm::rotate(glm::mat4(1), glm::radians<float>(-90), glm::vec3(1, 0, 0)) *
 		glm::scale(glm::mat4(1), glm::vec3(1.9, 1.9, 1.9))
+	),
+	(
+		glm::translate(glm::mat4(1), glm::vec3(6 + 0.05, 3.949, 3 - 0.05)) *
+		glm::rotate(glm::mat4(1), glm::radians<float>(-90), glm::vec3(1, 0, 0)) *
+		glm::scale(glm::mat4(1), glm::vec3(1.9, 1.9, 1.9))
+	),
+	(
+		glm::translate(glm::mat4(1), glm::vec3(8.949, 7.0/3.0 - 0.05, 3 - 0.05)) *
+		glm::rotate(glm::mat4(1), glm::radians<float>(-90), glm::vec3(1, 0, 0)) *
+		glm::rotate(glm::mat4(1), glm::radians<float>(90), glm::vec3(0, 1, 0)) *
+		glm::scale(glm::mat4(1), glm::vec3(1.9, 1.9, 1.9))
+	),
+	(
+		glm::translate(glm::mat4(1), glm::vec3(8.949, -1.0/3.0 - 0.05, 3 - 0.05)) *
+		glm::rotate(glm::mat4(1), glm::radians<float>(-90), glm::vec3(1, 0, 0)) *
+		glm::rotate(glm::mat4(1), glm::radians<float>(90), glm::vec3(0, 1, 0)) *
+		glm::scale(glm::mat4(1), glm::vec3(1.9, 1.9, 1.9))
 	)
 };
 

src/graphics/locations.hpp

@@ -6,7 +6,7 @@
 namespace sim::graphics::locations
 {
 
-extern const glm::mat4 monitors[4];
+extern const glm::mat4 monitors[7];
 
 };
 

src/graphics/monitor/core.cpp

@@ -132,7 +132,7 @@ void core::init()
 	m_scram.load_model("../assets/model/", "reactor_core_scram.stl");
 }
 
-void core::update()
+void core::update(double dt)
 {
 	sim::system& sys = sim::system::active;
 	

src/graphics/monitor/core.hpp

@@ -19,7 +19,7 @@ public:
 
 	core();
 	void init();
-	void update();
+	void update(double dt);
 	void render();
 };
 

src/graphics/monitor/primary_loop.cpp

@@ -60,7 +60,7 @@ void primary_loop::toggle_primary_pump()
 	bool state;
 	
 	sys.primary_pump->powered = state = !sys.primary_pump->powered;
-	gm_switch_primary.model_matrix = glm::translate(glm::mat4(1), glm::vec3(0, state ? 0.07 : 0, 0));
+	gm_switch_1.model_matrix = glm::translate(glm::mat4(1), glm::vec3(0, state ? 0.07 : 0, 0));
 }
 
 void primary_loop::init()
@@ -83,7 +83,7 @@ void primary_loop::init()
 	ss << "Turbine Inlet Valve\n\n";
 	ss << "Opened\nFlow\n\n";
 	ss << "Primary Pump\n\n";
-	ss << "Power\nSpeed\nFlow\n\n";
+	ss << "State\nPower\nSpeed\nFlow\n\n";
 	ss << "Condenser\n\n";
 	ss << "Heat\n";
 	ss << "Steam\n";
@@ -94,21 +94,16 @@ void primary_loop::init()
 	mesh1.bind();
 	mesh1.set(rmesh, GL_STATIC_DRAW);
 
-	rmesh.load_model("../assets/model", "primary_coolant_pump_switch.glb");
-	gm_switch_primary.bind();
-	gm_switch_primary.set(rmesh, GL_STATIC_DRAW);
-
-	rmesh.load_model("../assets/model", "secondary_coolant_pump_switch.glb");
-	gm_switch_secondary.bind();
-	gm_switch_secondary.set(rmesh, GL_STATIC_DRAW);
+	rmesh.load_model("../assets/model", "pump_switch_1.glb");
+	gm_switch_1.bind();
+	gm_switch_1.set(rmesh, GL_STATIC_DRAW);
 
 	m_joystick_turbine_bypass.load_model("../assets/model", "turbine_valve_bypass_joystick.stl");
 	m_joystick_turbine_inlet.load_model("../assets/model", "turbine_valve_inlet_joystick.stl");
-	m_switch_primary.load_model("../assets/model", "primary_coolant_pump_switch.stl");
-	m_switch_secondary.load_model("../assets/model", "secondary_coolant_pump_switch.stl");
+	m_switch_1.load_model("../assets/model", "pump_switch_click_1.stl");
 }
 
-void primary_loop::update()
+void primary_loop::update(double dt)
 {
 	std::stringstream ss;
 	sim::graphics::mesh rmesh;
@@ -122,6 +117,7 @@ void primary_loop::update()
 	ss << show( sys.turbine_inlet_valve->get_flow() / 1000 ) << " kg/s\n";
 	ss << "\n\n\n";
 	ss << sys.primary_pump->get_state_string() << "\n";
+	ss << show( sys.primary_pump->get_power() / 1000 ) << " kW\n";
 	ss << show( sys.primary_pump->get_rpm() ) << " r/min\n";
 	ss << show( sys.primary_pump->get_flow_mass() / 1000 ) << " kg/s\n";
 	ss << "\n\n\n";
@@ -138,7 +134,7 @@ void primary_loop::update()
 		focus::set(std::make_unique<valve_joystick>(sys.turbine_bypass_valve.get()));
 	if(m_joystick_turbine_inlet.check_focus())
 		focus::set(std::make_unique<valve_joystick>(sys.turbine_inlet_valve.get()));
-	if(m_switch_primary.check_focus())
+	if(m_switch_1.check_focus())
 		toggle_primary_pump();
 }
 
@@ -152,12 +148,8 @@ void primary_loop::render()
 	mesh2.uniform();
 	mesh2.render();
 	
-	gm_switch_primary.bind();
-	gm_switch_primary.uniform();
-	gm_switch_primary.render();
-
-	gm_switch_secondary.bind();
-	gm_switch_secondary.uniform();
-	gm_switch_secondary.render();
+	gm_switch_1.bind();
+	gm_switch_1.uniform();
+	gm_switch_1.render();
 }
 

src/graphics/monitor/primary_loop.hpp

@@ -10,13 +10,11 @@ class primary_loop
 {
 	sim::graphics::glmesh mesh1, mesh2;
 
-	sim::graphics::glmesh gm_switch_primary;
-	sim::graphics::glmesh gm_switch_secondary;
+	sim::graphics::glmesh gm_switch_1;
 	
 	sim::graphics::mesh m_joystick_turbine_bypass;
 	sim::graphics::mesh m_joystick_turbine_inlet;
-	sim::graphics::mesh m_switch_primary;
-	sim::graphics::mesh m_switch_secondary;
+	sim::graphics::mesh m_switch_1;
 
 	void toggle_primary_pump();
 	
@@ -24,7 +22,7 @@ public:
 
 	primary_loop();
 	void init();
-	void update();
+	void update(double dt);
 	void render();
 };
 

src/graphics/monitor/secondary_loop.cpp

@@ -0,0 +1,114 @@
+
+#include <GL/glew.h>
+#include <GLFW/glfw3.h>
+
+#include "helpers.hpp"
+#include "secondary_loop.hpp"
+#include "../locations.hpp"
+#include "../../system.hpp"
+#include "../../coolant/valve.hpp"
+#include "../input/focus.hpp"
+
+#include <glm/ext/matrix_transform.hpp>
+#include <iostream>
+
+using namespace sim::graphics;
+using namespace sim::graphics::monitor;
+
+secondary_loop::secondary_loop()
+{
+
+}
+
+void secondary_loop::toggle_secondary_pump()
+{
+	system& sys = sim::system::active;
+	static bool state = false;
+	state = !state;
+//	sys.secondary_pump->powered = state = !sys.secondary_pump->powered;
+	gm_switch_2.model_matrix = glm::translate(glm::mat4(1), glm::vec3(0, state ? 0.07 : 0, 0));
+}
+
+void secondary_loop::toggle_freight_pump()
+{
+	system& sys = sim::system::active;
+	static bool state = false;
+	state = !state;
+//	sys.freight_pump->powered = state = !sys.freight_pump->powered;
+	gm_switch_3.model_matrix = glm::translate(glm::mat4(1), glm::vec3(0, state ? 0.07 : 0, 0));
+}
+
+void secondary_loop::init()
+{
+	mesh1.model_matrix = locations::monitors[5];
+	mesh2.model_matrix = glm::translate(mesh1.model_matrix, glm::vec3(0.5, 0, 0));
+
+	mesh1.colour_matrix = mesh2.colour_matrix = {
+		1, 1, 1, 1,
+		0, 0, 0, 0,
+		0, 0, 0, 0,
+		0, 0, 0, 0
+	};
+	
+	std::stringstream ss;
+	sim::graphics::mesh rmesh;
+
+	ss << "Secondary Loop\n";
+
+	rmesh.load_text(ss.str().c_str(), 0.04);
+	mesh1.bind();
+	mesh1.set(rmesh, GL_STATIC_DRAW);
+
+	rmesh.load_model("../assets/model", "pump_switch_2.glb");
+	gm_switch_2.bind();
+	gm_switch_2.set(rmesh, GL_STATIC_DRAW);
+	
+	rmesh.load_model("../assets/model", "pump_switch_3.glb");
+	gm_switch_3.bind();
+	gm_switch_3.set(rmesh, GL_STATIC_DRAW);
+
+	m_joystick_turbine_bypass.load_model("../assets/model", "turbine_valve_bypass_joystick.stl");
+	m_joystick_turbine_inlet.load_model("../assets/model", "turbine_valve_inlet_joystick.stl");
+	m_switch_2.load_model("../assets/model", "pump_switch_click_2.stl");
+	m_switch_3.load_model("../assets/model", "pump_switch_click_3.stl");
+}
+
+void secondary_loop::update(double dt)
+{
+	std::stringstream ss;
+	sim::graphics::mesh rmesh;
+	system& sys = sim::system::active;
+
+	//TODO
+	ss << "TODO\n";
+
+	rmesh.load_text(ss.str().c_str(), 0.04);
+	mesh2.bind();
+	mesh2.set(rmesh, GL_DYNAMIC_DRAW);
+
+	if(m_switch_2.check_focus())
+		toggle_secondary_pump();
+	if(m_switch_3.check_focus())
+		toggle_freight_pump();
+}
+
+void secondary_loop::render()
+{
+	mesh1.bind();
+	mesh1.uniform();
+	mesh1.render();
+
+	mesh2.bind();
+	mesh2.uniform();
+	mesh2.render();
+	
+	gm_switch_2.bind();
+	gm_switch_2.uniform();
+	gm_switch_2.render();
+
+	gm_switch_3.bind();
+	gm_switch_3.uniform();
+	gm_switch_3.render();
+}
+
+

src/graphics/monitor/secondary_loop.hpp

@@ -0,0 +1,33 @@
+
+#pragma once
+
+#include "../mesh/glmesh.hpp"
+
+namespace sim::graphics::monitor
+{
+
+class secondary_loop
+{
+	sim::graphics::glmesh mesh1, mesh2;
+
+	sim::graphics::glmesh gm_switch_2;
+	sim::graphics::glmesh gm_switch_3;
+	
+	sim::graphics::mesh m_joystick_turbine_bypass;
+	sim::graphics::mesh m_joystick_turbine_inlet;
+	sim::graphics::mesh m_switch_2;
+	sim::graphics::mesh m_switch_3;
+
+	void toggle_secondary_pump();
+	void toggle_freight_pump();
+	
+public:
+
+	secondary_loop();
+	void init();
+	void update(double dt);
+	void render();
+};
+
+};
+

src/graphics/monitor/vessel.cpp

@@ -51,12 +51,11 @@ void vessel::init()
 	mesh1.set(rmesh, GL_STATIC_DRAW);
 }
 
-void vessel::update()
+void vessel::update(double dt)
 {
-	sim::system& sys = sim::system::active;
-
 	std::stringstream ss;
 	sim::graphics::mesh rmesh;
+	sim::system& sys = sim::system::active;
 
 	double temp_min, temp_max;
 	double crod_min = INFINITY, crod_max = -INFINITY;

src/graphics/monitor/vessel.hpp

@@ -14,7 +14,7 @@ public:
 
 	vessel();
 	void init();
-	void update();
+	void update(double dt);
 	void render();
 };
 

src/graphics/window.cpp

@@ -21,6 +21,7 @@
 #include "monitor/vessel.hpp"
 #include "monitor/core.hpp"
 #include "monitor/primary_loop.hpp"
+#include "monitor/secondary_loop.hpp"
 #include "mesh/texture.hpp"
 #include "ui.hpp"
 
@@ -33,6 +34,7 @@ static glmesh MeshScene;
 static monitor::vessel MonitorVessel;
 static monitor::core MonitorCore;
 static monitor::primary_loop MonitorPrimaryLoop;
+static monitor::secondary_loop MonitorSecondaryLoop;
 
 glm::mat4 window::projection_matrix;
 
@@ -116,6 +118,7 @@ void window::create()
 	MonitorCore.init();
 	MonitorVessel.init();
 	MonitorPrimaryLoop.init();
+	MonitorSecondaryLoop.init();
 
 	glfwShowWindow(win);
 	glViewport(0, 0, 800, 600);
@@ -125,9 +128,10 @@ void window::update(double dt)
 {
 	glfwPollEvents();
 
-	MonitorCore.update();
-	MonitorVessel.update();
-	MonitorPrimaryLoop.update();
+	MonitorCore.update(dt);
+	MonitorVessel.update(dt);
+	MonitorPrimaryLoop.update(dt);
+	MonitorSecondaryLoop.update(dt);
 
 	ui::update(dt);
 }
@@ -150,6 +154,7 @@ void window::render()
 	MonitorCore.render();
 	MonitorVessel.render();
 	MonitorPrimaryLoop.render();
+	MonitorSecondaryLoop.render();
 
 	ui::render();
 

src/system.cpp

@@ -35,14 +35,14 @@ system::system()
 		"      C C C C      "
 	};
 	
-	vessel = std::make_unique<reactor::coolant::vessel>(sim::coolant::WATER, 8, 10, 6e6, 300);
+	vessel = std::make_unique<reactor::coolant::vessel>(sim::coolant::WATER, 8, 10, 6e6, 500);
 	reactor = std::make_unique<reactor::reactor>(sim::reactor::builder(19, 19, 1.0 / 4.0, 4, reactor::fuel::fuel_rod(0.5), vessel.get(), layout));
-	condenser = std::make_unique<coolant::condenser>(sim::coolant::WATER, 8, 6, 3e6, 200);
+	condenser = std::make_unique<coolant::condenser>(sim::coolant::WATER, 8, 6, 3e6, 0);
 	turbine = std::make_unique<electric::turbine>(sim::coolant::WATER, condenser.get(), 6, 3, 2e6);
 	
 	turbine_inlet_valve = std::make_unique<coolant::valve>(vessel.get(), turbine.get(), 0, 1e-2);
 	turbine_bypass_valve = std::make_unique<coolant::valve>(vessel.get(), condenser.get(), 0, 1e-2);
-	primary_pump = std::make_unique<coolant::pump>(condenser.get(), vessel.get(), 1e6, 1, 1e6, 1, 10);
+	primary_pump = std::make_unique<coolant::pump>(condenser.get(), vessel.get(), 1e5, 1, 1e4, 0.1, 10);
 }
 
 system::system(system&& o)

src/util/pid.cpp

@@ -25,45 +25,13 @@
 #include "pid.hpp"
 
 using namespace std;
-
-class PIDImpl
-{
-    public:
-        PIDImpl( double dt, double max, double min, double Kp, double Kd, double Ki );
-        ~PIDImpl();
-        double calculate( double setpoint, double pv );
-
-    private:
-        double _dt;
-        double _max;
-        double _min;
-        double _Kp;
-        double _Kd;
-        double _Ki;
-        double _pre_error;
-        double _integral;
-};
-
-
-PID::PID( double dt, double max, double min, double Kp, double Kd, double Ki )
-{
-    pimpl = new PIDImpl(dt,max,min,Kp,Kd,Ki);
-}
-double PID::calculate( double setpoint, double pv )
-{
-    return pimpl->calculate(setpoint,pv);
-}
-PID::~PID() 
-{
-    delete pimpl;
-}
+using namespace sim::util;
 
 
 /**
  * Implementation
  */
-PIDImpl::PIDImpl( double dt, double max, double min, double Kp, double Kd, double Ki ) :
-    _dt(dt),
+PID::PID( double max, double min, double Kp, double Ki, double Kd ) :
     _max(max),
     _min(min),
     _Kp(Kp),
@@ -74,9 +42,8 @@ PIDImpl::PIDImpl( double dt, double max, double min, double Kp, double Kd, doubl
 {
 }
 
-double PIDImpl::calculate( double setpoint, double pv )
+double PID::calculate( double dt, double setpoint, double pv )
 {
-    
     // Calculate error
     double error = setpoint - pv;
 
@@ -84,11 +51,11 @@ double PIDImpl::calculate( double setpoint, double pv )
     double Pout = _Kp * error;
 
     // Integral term
-    _integral += error * _dt;
+    _integral += error * dt;
     double Iout = _Ki * _integral;
 
     // Derivative term
-    double derivative = (error - _pre_error) / _dt;
+    double derivative = (error - _pre_error) / dt;
     double Dout = _Kd * derivative;
 
     // Calculate total output
@@ -106,7 +73,3 @@ double PIDImpl::calculate( double setpoint, double pv )
     return output;
 }
 
-PIDImpl::~PIDImpl()
-{
-}
-

src/util/pid.hpp

@@ -22,7 +22,9 @@
 
 #pragma once
 
-class PIDImpl;
+namespace sim::util
+{
+
 class PID
 {
     public:
@@ -32,13 +34,23 @@ class PID
         // dt -  loop interval time
         // max - maximum value of manipulated variable
         // min - minimum value of manipulated variable
-        PID( double dt, double max, double min, double Kp, double Kd, double Ki );
+        PID( double max, double min, double Kp, double Ki, double Kd );
 
-        // Returns the manipulated variable given a setpoint and current process value
-        double calculate( double setpoint, double pv );
-        ~PID();
+        // Returns the manipulated variable, given
+		// dt - loop interval time
+		// sp - current setpoint
+		// pv - current process value
+        double calculate( double dt, double sp, double pv );
 
     private:
-        PIDImpl *pimpl;
+        double _max;
+        double _min;
+        double _Kp;
+        double _Kd;
+        double _Ki;
+        double _pre_error;
+        double _integral;
+};
+
 };