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ValueProvider observers and PID fixes #53

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merged 2 commits into from
Mar 11, 2024
Merged

ValueProvider observers and PID fixes #53

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8d2604e
ValueProvider observers and PID fixes
rcahoon Feb 29, 2024
619e804
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rcahoon Mar 1, 2024
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155 changes: 80 additions & 75 deletions src/main/java/com/team766/config/AbstractConfigValue.java
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Original file line number Diff line number Diff line change
@@ -1,95 +1,100 @@
package com.team766.config;

import java.util.ArrayList;
import java.util.Collection;
import java.util.Collections;
import com.team766.library.AbstractObservable;
import com.team766.library.SettableValueProvider;
import com.team766.logging.Category;
import com.team766.logging.Logger;
import com.team766.logging.LoggerExceptionUtils;
import com.team766.logging.Severity;
import java.util.ArrayList;
import java.util.Collection;
import java.util.Collections;
import java.util.Optional;

public abstract class AbstractConfigValue<E> implements SettableValueProvider<E> {
protected String m_key;
private E m_cachedValue;
private boolean m_cachedHasValue;
private int m_cachedGeneration = -1;
public abstract class AbstractConfigValue<E> extends AbstractObservable<Optional<E>>
implements SettableValueProvider<E> {
protected String m_key;
private E m_cachedValue;
private boolean m_cachedHasValue;

private static ArrayList<AbstractConfigValue<?>> c_accessedValues = new ArrayList<AbstractConfigValue<?>>();
private static ArrayList<AbstractConfigValue<?>> c_accessedValues =
new ArrayList<AbstractConfigValue<?>>();

static Collection<AbstractConfigValue<?>> accessedValues() {
return Collections.unmodifiableCollection(c_accessedValues);
}
static Collection<AbstractConfigValue<?>> accessedValues() {
return Collections.unmodifiableCollection(c_accessedValues);
}

static void resetStatics() {
c_accessedValues.clear();
}
static void resetStatics() {
c_accessedValues.clear();
}

protected AbstractConfigValue(final String key) {
m_key = key;
c_accessedValues.add(this);
// Querying for this config setting's key will add a placeholder entry
// in the config file if this setting does not already exist there.
ConfigFileReader.instance.getRawValue(m_key);
}
protected AbstractConfigValue(final String key) {
m_key = key;
c_accessedValues.add(this);
// Querying for this config setting's key will add a placeholder entry
// in the config file if this setting does not already exist there.
ConfigFileReader.instance.getRawValue(m_key);
update();
}

private void sync() {
if (ConfigFileReader.instance.getGeneration() != m_cachedGeneration) {
m_cachedGeneration = ConfigFileReader.instance.getGeneration();
var rawValue = ConfigFileReader.instance.getRawValue(m_key);
m_cachedHasValue = rawValue != null;
if (m_cachedHasValue) {
try {
m_cachedValue = parseJsonValue(rawValue);
} catch (Exception ex) {
Logger.get(Category.CONFIGURATION).logRaw(Severity.ERROR,
"Failed to parse " + m_key + " from the config file: "
+ LoggerExceptionUtils.exceptionToString(ex));
m_cachedValue = null;
m_cachedHasValue = false;
}
}
}
}
void update() {
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var rawValue = ConfigFileReader.instance.getRawValue(m_key);
m_cachedHasValue = rawValue != null;
if (m_cachedHasValue) {
try {
m_cachedValue = parseJsonValue(rawValue);
} catch (Exception ex) {
Logger.get(Category.CONFIGURATION)
.logRaw(
Severity.ERROR,
"Failed to parse "
+ m_key
+ " from the config file: "
+ LoggerExceptionUtils.exceptionToString(ex));
m_cachedValue = null;
m_cachedHasValue = false;
}
}
notifyObservers(m_cachedHasValue ? Optional.of(m_cachedValue) : Optional.empty());
}

public String getKey() {
return m_key;
}
public String getKey() {
return m_key;
}

@Override
public boolean hasValue() {
sync();
return m_cachedHasValue;
}
@Override
public boolean hasValue() {
return m_cachedHasValue;
}

@Override
public E get() {
sync();
if (!m_cachedHasValue) {
throw new IllegalArgumentException(m_key + " not found in the config file");
}
return m_cachedValue;
}
@Override
public E get() {
if (!m_cachedHasValue) {
throw new IllegalArgumentException(m_key + " not found in the config file");
}
return m_cachedValue;
}

public void set(final E value) {
ConfigFileReader.instance.setValue(m_key, value);
}
public void set(final E value) {
ConfigFileReader.instance.setValue(m_key, value);
notifyObservers(Optional.of(value));
}

public void clear() {
ConfigFileReader.instance.setValue(m_key, null);
}
public void clear() {
ConfigFileReader.instance.setValue(m_key, null);
notifyObservers(Optional.empty());
}

protected abstract E parseJsonValue(Object configValue);
protected abstract E parseJsonValue(Object configValue);

@Override
public String toString() {
sync();
if (!m_cachedHasValue) {
return "<unset>";
}
if (m_cachedValue == null) {
return "<null>";
}
return m_cachedValue.toString();
}
}
@Override
public String toString() {
if (!m_cachedHasValue) {
return "<unset>";
}
if (m_cachedValue == null) {
return "<null>";
}
return m_cachedValue.toString();
}
}
13 changes: 4 additions & 9 deletions src/main/java/com/team766/config/ConfigFileReader.java
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Original file line number Diff line number Diff line change
Expand Up @@ -29,10 +29,6 @@ public class ConfigFileReader {

private static final String KEY_DELIMITER = ".";

// This is incremented each time the config file is reloaded to ensure that ConfigValues use the
// most recent setting.
private int m_generation = 0;

private String m_fileName;
private String m_backupFileName; // if set, will also save here
private JSONObject m_values = new JSONObject();
Expand Down Expand Up @@ -81,12 +77,11 @@ public void reloadFromJson(final String jsonString) {
"Could not parse config value for " + param.getKey(), ex);
}
}
// All values parsed successfully; now actually apply the new values.
m_values = newValues;
++m_generation;
}

public int getGeneration() {
return m_generation;
for (AbstractConfigValue<?> param : AbstractConfigValue.accessedValues()) {
param.update();
}
}

public boolean containsKey(final String key) {
Expand Down
115 changes: 73 additions & 42 deletions src/main/java/com/team766/controllers/PIDController.java
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,6 @@
import com.team766.config.ConfigFileReader;
import com.team766.hal.RobotProvider;
import com.team766.library.SetValueProvider;
import com.team766.library.SettableValueProvider;
import com.team766.library.ValueProvider;
import com.team766.logging.Category;
import com.team766.logging.Logger;
Expand Down Expand Up @@ -40,13 +39,13 @@ public class PIDController {
private int printCounter = 0;
private boolean print = false;

private final ValueProvider<Double> Kp;
private final ValueProvider<Double> Ki;
private final ValueProvider<Double> Kd;
private final ValueProvider<Double> Kff;
private final ValueProvider<Double> maxoutput_low;
private final ValueProvider<Double> maxoutput_high;
private final ValueProvider<Double> endthreshold;
private ValueProvider<Double> Kp;
private ValueProvider<Double> Ki;
private ValueProvider<Double> Kd;
private ValueProvider<Double> Kff;
private ValueProvider<Double> maxoutput_low;
private ValueProvider<Double> maxoutput_high;
private ValueProvider<Double> endthreshold;

private double setpoint = Double.NaN;

Expand Down Expand Up @@ -76,6 +75,20 @@ public static PIDController loadFromConfig(String configPrefix) {
ConfigFileReader.getInstance().getDouble(configPrefix + THRESHOLD_KEY));
}

/**
* Default constructor. PID gains should be set later using mutator methods.
*/
public PIDController() {
this(
new SetValueProvider<Double>(),
new SetValueProvider<Double>(),
new SetValueProvider<Double>(),
new SetValueProvider<Double>(),
new SetValueProvider<Double>(),
new SetValueProvider<Double>(),
new SetValueProvider<Double>());
}

/**
*
* @param P P constant
Expand All @@ -92,14 +105,7 @@ public PIDController(
final double outputmax_low,
final double outputmax_high,
final double threshold) {
Kp = new SetValueProvider<Double>(P);
Ki = new SetValueProvider<Double>(I);
Kd = new SetValueProvider<Double>(D);
Kff = new SetValueProvider<Double>();
maxoutput_low = new SetValueProvider<Double>(outputmax_low);
maxoutput_high = new SetValueProvider<Double>(outputmax_high);
endthreshold = new SetValueProvider<Double>(threshold);
setTimeProvider(RobotProvider.getTimeProvider());
this(P, I, D, 0.0, outputmax_low, outputmax_high, threshold);
}

public PIDController(
Expand All @@ -110,8 +116,14 @@ public PIDController(
final double outputmax_low,
final double outputmax_high,
final double threshold) {
this(P, I, D, outputmax_low, outputmax_high, threshold);
((SetValueProvider<Double>) Kff).set(FF);
Kp = new SetValueProvider<Double>(P);
Ki = new SetValueProvider<Double>(I);
Kd = new SetValueProvider<Double>(D);
Kff = new SetValueProvider<Double>(FF);
maxoutput_low = new SetValueProvider<Double>(outputmax_low);
maxoutput_high = new SetValueProvider<Double>(outputmax_high);
endthreshold = new SetValueProvider<Double>(threshold);
setTimeProvider(RobotProvider.getTimeProvider());
}

private void setTimeProvider(final TimeProviderI timeProvider_) {
Expand Down Expand Up @@ -204,30 +216,41 @@ public void disable() {
* @param D Derivative value used in the PID controller
*/
public void setConstants(final double P, final double I, final double D) {
((SettableValueProvider<Double>) Kp).set(P);
((SettableValueProvider<Double>) Ki).set(I);
((SettableValueProvider<Double>) Kd).set(D);
needsUpdate = true;
Kp = new SetValueProvider<Double>(P);
Ki = new SetValueProvider<Double>(I);
Kd = new SetValueProvider<Double>(D);
}

public void setP(final double P) {
((SettableValueProvider<Double>) Kp).set(P);
needsUpdate = true;
setP(new SetValueProvider<Double>(P));
}

public void setP(final ValueProvider<Double> P) {
Kp = P;
}

public void setI(final double I) {
((SettableValueProvider<Double>) Ki).set(I);
needsUpdate = true;
setI(new SetValueProvider<Double>(I));
}

public void setI(final ValueProvider<Double> I) {
Ki = I;
}

public void setD(final double D) {
((SettableValueProvider<Double>) Kd).set(D);
needsUpdate = true;
setD(new SetValueProvider<Double>(D));
}

public void setD(final ValueProvider<Double> D) {
Kd = D;
}

public void setFF(final double FF) {
((SettableValueProvider<Double>) Kff).set(FF);
needsUpdate = true;
setFF(new SetValueProvider<Double>(FF));
}

public void setFF(final ValueProvider<Double> FF) {
Kff = FF;
}

/**
Expand Down Expand Up @@ -347,20 +370,28 @@ public double getCurrentError() {
return cur_error;
}

public void setMaxoutputHigh(final Double in) {
if (in == null) {
((SettableValueProvider<Double>) maxoutput_high).clear();
} else {
((SettableValueProvider<Double>) maxoutput_high).set(in);
}
public void clearMaxoutputHigh() {
maxoutput_high = new SetValueProvider<Double>();
}

public void setMaxoutputLow(final Double in) {
if (in == null) {
((SettableValueProvider<Double>) maxoutput_low).clear();
} else {
((SettableValueProvider<Double>) maxoutput_low).set(in);
}
public void setMaxoutputHigh(final double in) {
maxoutput_high = new SetValueProvider<Double>(in);
}

public void setMaxoutputHigh(final ValueProvider<Double> in) {
maxoutput_high = in;
}

public void clearMaxoutputLow() {
maxoutput_low = new SetValueProvider<Double>();
}

public void setMaxoutputLow(final double in) {
maxoutput_low = new SetValueProvider<Double>(in);
}

public void setMaxoutputLow(final ValueProvider<Double> in) {
maxoutput_low = in;
}

public double getSetpoint() {
Expand Down
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