java/src/pid_fuzzy.c

   1 #include "a.h"
   2 #include "a/pid_fuzzy.h"
   3 #include "liba_pid_fuzzy.h"
   4 #if A_PREREQ_GNUC(3, 0) || __has_warning("-Wfloat-equal")
   5 #pragma GCC diagnostic ignored "-Wfloat-equal"
   6 #endif /* -Wfloat-equal */
   7
   8 #undef L
   9 #define L Java_liba_pid_1fuzzy
  10 static struct
  11 {
  12     jmethodID New;
  13     jfieldID ctx;
  14     jfieldID me;
  15     jfieldID mec;
  16     jfieldID mkp;
  17     jfieldID mki;
  18     jfieldID mkd;
  19     jfieldID bfuzz;
  20 } L = {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL};
  21
  22 JNIEXPORT void JNICALL Java_liba_pid_1fuzzy_clinit(JNIEnv *Env, jclass Cls)
  23 {
  24     jclass Nbb = (*Env)->FindClass(Env, "Ljava/nio/ByteBuffer;");
  25     L.New = (*Env)->GetStaticMethodID(Env, Nbb, "allocateDirect", "(I)Ljava/nio/ByteBuffer;");
  26     L.ctx = (*Env)->GetFieldID(Env, Cls, "ctx", "Ljava/nio/ByteBuffer;");
  27     L.me = (*Env)->GetFieldID(Env, Cls, "me", "Ljava/nio/ByteBuffer;");
  28     L.mec = (*Env)->GetFieldID(Env, Cls, "mec", "Ljava/nio/ByteBuffer;");
  29     L.mkp = (*Env)->GetFieldID(Env, Cls, "mkp", "Ljava/nio/ByteBuffer;");
  30     L.mki = (*Env)->GetFieldID(Env, Cls, "mki", "Ljava/nio/ByteBuffer;");
  31     L.mkd = (*Env)->GetFieldID(Env, Cls, "mkd", "Ljava/nio/ByteBuffer;");
  32     L.bfuzz = (*Env)->GetFieldID(Env, Cls, "bfuzz", "Ljava/nio/ByteBuffer;");
  33     (*Env)->SetStaticIntField(Env, Cls, (*Env)->GetStaticFieldID(Env, Cls, "CAP", "I"), A_PID_FUZZY_CAP);
  34     (*Env)->SetStaticIntField(Env, Cls, (*Env)->GetStaticFieldID(Env, Cls, "CAP_ALGEBRA", "I"), A_PID_FUZZY_CAP_ALGEBRA);
  35     (*Env)->SetStaticIntField(Env, Cls, (*Env)->GetStaticFieldID(Env, Cls, "CAP_BOUNDED", "I"), A_PID_FUZZY_CAP_BOUNDED);
  36     (*Env)->SetStaticIntField(Env, Cls, (*Env)->GetStaticFieldID(Env, Cls, "CUP", "I"), A_PID_FUZZY_CUP);
  37     (*Env)->SetStaticIntField(Env, Cls, (*Env)->GetStaticFieldID(Env, Cls, "CUP_ALGEBRA", "I"), A_PID_FUZZY_CUP_ALGEBRA);
  38     (*Env)->SetStaticIntField(Env, Cls, (*Env)->GetStaticFieldID(Env, Cls, "CUP_BOUNDED", "I"), A_PID_FUZZY_CUP_BOUNDED);
  39     (*Env)->SetStaticIntField(Env, Cls, (*Env)->GetStaticFieldID(Env, Cls, "EQU", "I"), A_PID_FUZZY_EQU);
  40 }
  41
  42 JNIEXPORT void JNICALL Java_liba_pid_1fuzzy_init(JNIEnv *Env, jobject Obj)
  43 {
  44     jobject Ctx = (*Env)->CallObjectMethod(Env, Obj, L.New, (jint)sizeof(a_pid_fuzzy));
  45     a_pid_fuzzy *ctx = (a_pid_fuzzy *)(*Env)->GetDirectBufferAddress(Env, Ctx);
  46     (*Env)->SetObjectField(Env, Obj, L.ctx, Ctx);
  47     ctx->pid.summax = +A_FLOAT_INF;
  48     ctx->pid.summin = -A_FLOAT_INF;
  49     ctx->pid.outmax = +A_FLOAT_INF;
  50     ctx->pid.outmin = -A_FLOAT_INF;
  51     ctx->kp = ctx->pid.kp = 1;
  52     ctx->opr = a_fuzzy_equ;
  53     a_pid_fuzzy_init(ctx);
  54 }
  55
  56 JNIEXPORT jdouble JNICALL Java_liba_pid_1fuzzy_kp(JNIEnv *Env, jobject Obj)
  57 {
  58     jobject Ctx = (*Env)->GetObjectField(Env, Obj, L.ctx);
  59     a_pid_fuzzy *ctx = (a_pid_fuzzy *)(*Env)->GetDirectBufferAddress(Env, Ctx);
  60     return ctx->kp;
  61 }
  62
  63 JNIEXPORT jobject JNICALL Java_liba_pid_1fuzzy_set_1kp(JNIEnv *Env, jobject Obj, jdouble kp)
  64 {
  65     jobject Ctx = (*Env)->GetObjectField(Env, Obj, L.ctx);
  66     a_pid_fuzzy *ctx = (a_pid_fuzzy *)(*Env)->GetDirectBufferAddress(Env, Ctx);
  67     ctx->pid.kp = ctx->kp = kp;
  68     return Obj;
  69 }
  70
  71 JNIEXPORT jdouble JNICALL Java_liba_pid_1fuzzy_ki(JNIEnv *Env, jobject Obj)
  72 {
  73     jobject Ctx = (*Env)->GetObjectField(Env, Obj, L.ctx);
  74     a_pid_fuzzy *ctx = (a_pid_fuzzy *)(*Env)->GetDirectBufferAddress(Env, Ctx);
  75     return ctx->ki;
  76 }
  77
  78 JNIEXPORT jobject JNICALL Java_liba_pid_1fuzzy_set_1ki(JNIEnv *Env, jobject Obj, jdouble ki)
  79 {
  80     jobject Ctx = (*Env)->GetObjectField(Env, Obj, L.ctx);
  81     a_pid_fuzzy *ctx = (a_pid_fuzzy *)(*Env)->GetDirectBufferAddress(Env, Ctx);
  82     ctx->pid.ki = ctx->ki = ki;
  83     return Obj;
  84 }
  85
  86 JNIEXPORT jdouble JNICALL Java_liba_pid_1fuzzy_kd(JNIEnv *Env, jobject Obj)
  87 {
  88     jobject Ctx = (*Env)->GetObjectField(Env, Obj, L.ctx);
  89     a_pid_fuzzy *ctx = (a_pid_fuzzy *)(*Env)->GetDirectBufferAddress(Env, Ctx);
  90     return ctx->kd;
  91 }
  92
  93 JNIEXPORT jobject JNICALL Java_liba_pid_1fuzzy_set_1kd(JNIEnv *Env, jobject Obj, jdouble kd)
  94 {
  95     jobject Ctx = (*Env)->GetObjectField(Env, Obj, L.ctx);
  96     a_pid_fuzzy *ctx = (a_pid_fuzzy *)(*Env)->GetDirectBufferAddress(Env, Ctx);
  97     ctx->pid.kd = ctx->kd = kd;
  98     return Obj;
  99 }
 100
 101 JNIEXPORT jdouble JNICALL Java_liba_pid_1fuzzy_summax(JNIEnv *Env, jobject Obj)
 102 {
 103     jobject Ctx = (*Env)->GetObjectField(Env, Obj, L.ctx);
 104     a_pid_fuzzy *ctx = (a_pid_fuzzy *)(*Env)->GetDirectBufferAddress(Env, Ctx);
 105     return ctx->pid.summax;
 106 }
 107
 108 JNIEXPORT jobject JNICALL Java_liba_pid_1fuzzy_set_1summax(JNIEnv *Env, jobject Obj, jdouble summax)
 109 {
 110     jobject Ctx = (*Env)->GetObjectField(Env, Obj, L.ctx);
 111     a_pid_fuzzy *ctx = (a_pid_fuzzy *)(*Env)->GetDirectBufferAddress(Env, Ctx);
 112     ctx->pid.summax = summax;
 113     return Obj;
 114 }
 115
 116 JNIEXPORT jdouble JNICALL Java_liba_pid_1fuzzy_summin(JNIEnv *Env, jobject Obj)
 117 {
 118     jobject Ctx = (*Env)->GetObjectField(Env, Obj, L.ctx);
 119     a_pid_fuzzy *ctx = (a_pid_fuzzy *)(*Env)->GetDirectBufferAddress(Env, Ctx);
 120     return ctx->pid.summin;
 121 }
 122
 123 JNIEXPORT jobject JNICALL Java_liba_pid_1fuzzy_set_1summin(JNIEnv *Env, jobject Obj, jdouble summin)
 124 {
 125     jobject Ctx = (*Env)->GetObjectField(Env, Obj, L.ctx);
 126     a_pid_fuzzy *ctx = (a_pid_fuzzy *)(*Env)->GetDirectBufferAddress(Env, Ctx);
 127     ctx->pid.summin = summin;
 128     return Obj;
 129 }
 130
 131 JNIEXPORT jdouble JNICALL Java_liba_pid_1fuzzy_sum(JNIEnv *Env, jobject Obj)
 132 {
 133     jobject Ctx = (*Env)->GetObjectField(Env, Obj, L.ctx);
 134     a_pid_fuzzy *ctx = (a_pid_fuzzy *)(*Env)->GetDirectBufferAddress(Env, Ctx);
 135     return ctx->pid.sum;
 136 }
 137
 138 JNIEXPORT jdouble JNICALL Java_liba_pid_1fuzzy_outmax(JNIEnv *Env, jobject Obj)
 139 {
 140     jobject Ctx = (*Env)->GetObjectField(Env, Obj, L.ctx);
 141     a_pid_fuzzy *ctx = (a_pid_fuzzy *)(*Env)->GetDirectBufferAddress(Env, Ctx);
 142     return ctx->pid.outmax;
 143 }
 144
 145 JNIEXPORT jobject JNICALL Java_liba_pid_1fuzzy_set_1outmax(JNIEnv *Env, jobject Obj, jdouble outmax)
 146 {
 147     jobject Ctx = (*Env)->GetObjectField(Env, Obj, L.ctx);
 148     a_pid_fuzzy *ctx = (a_pid_fuzzy *)(*Env)->GetDirectBufferAddress(Env, Ctx);
 149     ctx->pid.outmax = outmax;
 150     return Obj;
 151 }
 152
 153 JNIEXPORT jdouble JNICALL Java_liba_pid_1fuzzy_outmin(JNIEnv *Env, jobject Obj)
 154 {
 155     jobject Ctx = (*Env)->GetObjectField(Env, Obj, L.ctx);
 156     a_pid_fuzzy *ctx = (a_pid_fuzzy *)(*Env)->GetDirectBufferAddress(Env, Ctx);
 157     return ctx->pid.outmin;
 158 }
 159
 160 JNIEXPORT jobject JNICALL Java_liba_pid_1fuzzy_set_1outmin(JNIEnv *Env, jobject Obj, jdouble outmin)
 161 {
 162     jobject Ctx = (*Env)->GetObjectField(Env, Obj, L.ctx);
 163     a_pid_fuzzy *ctx = (a_pid_fuzzy *)(*Env)->GetDirectBufferAddress(Env, Ctx);
 164     ctx->pid.outmin = outmin;
 165     return Obj;
 166 }
 167
 168 JNIEXPORT jdouble JNICALL Java_liba_pid_1fuzzy_out(JNIEnv *Env, jobject Obj)
 169 {
 170     jobject Ctx = (*Env)->GetObjectField(Env, Obj, L.ctx);
 171     a_pid_fuzzy *ctx = (a_pid_fuzzy *)(*Env)->GetDirectBufferAddress(Env, Ctx);
 172     return ctx->pid.out;
 173 }
 174
 175 JNIEXPORT jdouble JNICALL Java_liba_pid_1fuzzy_fdb(JNIEnv *Env, jobject Obj)
 176 {
 177     jobject Ctx = (*Env)->GetObjectField(Env, Obj, L.ctx);
 178     a_pid_fuzzy *ctx = (a_pid_fuzzy *)(*Env)->GetDirectBufferAddress(Env, Ctx);
 179     return ctx->pid.fdb;
 180 }
 181
 182 JNIEXPORT jdouble JNICALL Java_liba_pid_1fuzzy_err(JNIEnv *Env, jobject Obj)
 183 {
 184     jobject Ctx = (*Env)->GetObjectField(Env, Obj, L.ctx);
 185     a_pid_fuzzy *ctx = (a_pid_fuzzy *)(*Env)->GetDirectBufferAddress(Env, Ctx);
 186     return ctx->pid.err;
 187 }
 188
 189 JNIEXPORT jint JNICALL Java_liba_pid_1fuzzy_nrule(JNIEnv *Env, jobject Obj)
 190 {
 191     jobject Ctx = (*Env)->GetObjectField(Env, Obj, L.ctx);
 192     a_pid_fuzzy *ctx = (a_pid_fuzzy *)(*Env)->GetDirectBufferAddress(Env, Ctx);
 193     return (jint)ctx->nrule;
 194 }
 195
 196 JNIEXPORT jobject JNICALL Java_liba_pid_1fuzzy_opr(JNIEnv *Env, jobject Obj, jint opr)
 197 {
 198     jobject Ctx = (*Env)->GetObjectField(Env, Obj, L.ctx);
 199     a_pid_fuzzy *ctx = (a_pid_fuzzy *)(*Env)->GetDirectBufferAddress(Env, Ctx);
 200     a_pid_fuzzy_set_opr(ctx, (unsigned int)opr);
 201     return Obj;
 202 }
 203
 204 JNIEXPORT jint JNICALL Java_liba_pid_1fuzzy_nfuzz(JNIEnv *Env, jobject Obj)
 205 {
 206     jobject Ctx = (*Env)->GetObjectField(Env, Obj, L.ctx);
 207     a_pid_fuzzy *ctx = (a_pid_fuzzy *)(*Env)->GetDirectBufferAddress(Env, Ctx);
 208     return (jint)ctx->nfuzz;
 209 }
 210
 211 JNIEXPORT jobject JNICALL Java_liba_pid_1fuzzy_set_1nfuzz(JNIEnv *Env, jobject Obj, jint num)
 212 {
 213     jobject Ctx = (*Env)->GetObjectField(Env, Obj, L.ctx);
 214     a_pid_fuzzy *ctx = (a_pid_fuzzy *)(*Env)->GetDirectBufferAddress(Env, Ctx);
 215     if (num > (jint)ctx->nfuzz)
 216     {
 217         jobject Bfuzz = (*Env)->CallObjectMethod(Env, Obj, L.New, (jint)A_PID_FUZZY_BFUZZ((unsigned int)num));
 218         a_pid_fuzzy_set_bfuzz(ctx, (*Env)->GetDirectBufferAddress(Env, Bfuzz), (a_size)num);
 219         (*Env)->SetObjectField(Env, Obj, L.bfuzz, Bfuzz);
 220     }
 221     return Obj;
 222 }
 223
 224 static jobject concat(JNIEnv *Env, jobject Obj, jobjectArray val, jdouble const **out)
 225 {
 226     jsize length = 0;
 227     jsize nrule = (*Env)->GetArrayLength(Env, val);
 228     for (jsize idx = 0; idx != nrule; ++idx)
 229     {
 230         jobject o = (*Env)->GetObjectArrayElement(Env, val, idx);
 231         length += (*Env)->GetArrayLength(Env, o);
 232         (*Env)->DeleteLocalRef(Env, o);
 233     }
 234     jobject obj = (*Env)->CallObjectMethod(Env, Obj, L.New, (jint)length * 8);
 235     jdouble *ptr = (jdouble *)(*Env)->GetDirectBufferAddress(Env, obj);
 236     *out = ptr;
 237     for (jsize idx = 0, num = 0; idx != nrule; ++idx, ptr += num)
 238     {
 239         jobject o = (*Env)->GetObjectArrayElement(Env, val, idx);
 240         num = (*Env)->GetArrayLength(Env, o);
 241         (*Env)->GetDoubleArrayRegion(Env, o, 0, num, ptr);
 242         (*Env)->DeleteLocalRef(Env, o);
 243     }
 244     return obj;
 245 }
 246
 247 JNIEXPORT jobject JNICALL Java_liba_pid_1fuzzy_set_1rule(JNIEnv *Env, jobject Obj, jobjectArray me, jobjectArray mec,
 248                                                          jobjectArray mkp, jobjectArray mki, jobjectArray mkd)
 249 {
 250     jobject Ctx = (*Env)->GetObjectField(Env, Obj, L.ctx);
 251     a_pid_fuzzy *ctx = (a_pid_fuzzy *)(*Env)->GetDirectBufferAddress(Env, Ctx);
 252     ctx->nrule = (unsigned int)(*Env)->GetArrayLength(Env, me);
 253     jobject Me = concat(Env, Obj, me, &ctx->me);
 254     jobject Mec = concat(Env, Obj, mec, &ctx->mec);
 255     jobject Mkp = concat(Env, Obj, mkp, &ctx->mkp);
 256     jobject Mki = concat(Env, Obj, mki, &ctx->mki);
 257     jobject Mkd = concat(Env, Obj, mkd, &ctx->mkd);
 258     (*Env)->SetObjectField(Env, Obj, L.me, Me);
 259     (*Env)->SetObjectField(Env, Obj, L.mec, Mec);
 260     (*Env)->SetObjectField(Env, Obj, L.mkp, Mkp);
 261     (*Env)->SetObjectField(Env, Obj, L.mki, Mki);
 262     (*Env)->SetObjectField(Env, Obj, L.mkd, Mkd);
 263     return Obj;
 264 }
 265
 266 JNIEXPORT jobject JNICALL Java_liba_pid_1fuzzy_set_1kpid(JNIEnv *Env, jobject Obj, jdouble kp, jdouble ki, jdouble kd)
 267 {
 268     jobject Ctx = (*Env)->GetObjectField(Env, Obj, L.ctx);
 269     a_pid_fuzzy *ctx = (a_pid_fuzzy *)(*Env)->GetDirectBufferAddress(Env, Ctx);
 270     a_pid_fuzzy_set_kpid(ctx, kp, ki, kd);
 271     return Obj;
 272 }
 273
 274 JNIEXPORT jdouble JNICALL Java_liba_pid_1fuzzy_run(JNIEnv *Env, jobject Obj, jdouble set, jdouble fdb)
 275 {
 276     jobject Ctx = (*Env)->GetObjectField(Env, Obj, L.ctx);
 277     a_pid_fuzzy *ctx = (a_pid_fuzzy *)(*Env)->GetDirectBufferAddress(Env, Ctx);
 278     return a_pid_fuzzy_run(ctx, set, fdb);
 279 }
 280
 281 JNIEXPORT jdouble JNICALL Java_liba_pid_1fuzzy_pos(JNIEnv *Env, jobject Obj, jdouble set, jdouble fdb)
 282 {
 283     jobject Ctx = (*Env)->GetObjectField(Env, Obj, L.ctx);
 284     a_pid_fuzzy *ctx = (a_pid_fuzzy *)(*Env)->GetDirectBufferAddress(Env, Ctx);
 285     return a_pid_fuzzy_pos(ctx, set, fdb);
 286 }
 287
 288 JNIEXPORT jdouble JNICALL Java_liba_pid_1fuzzy_inc(JNIEnv *Env, jobject Obj, jdouble set, jdouble fdb)
 289 {
 290     jobject Ctx = (*Env)->GetObjectField(Env, Obj, L.ctx);
 291     a_pid_fuzzy *ctx = (a_pid_fuzzy *)(*Env)->GetDirectBufferAddress(Env, Ctx);
 292     return a_pid_fuzzy_inc(ctx, set, fdb);
 293 }
 294
 295 JNIEXPORT jobject JNICALL Java_liba_pid_1fuzzy_zero(JNIEnv *Env, jobject Obj)
 296 {
 297     jobject Ctx = (*Env)->GetObjectField(Env, Obj, L.ctx);
 298     a_pid_fuzzy *ctx = (a_pid_fuzzy *)(*Env)->GetDirectBufferAddress(Env, Ctx);
 299     a_pid_fuzzy_zero(ctx);
 300     return Obj;
 301 }