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 alloc;
  13     jfieldID ctx;
  14     jfieldID me;
  15     jfieldID mec;
  16     jfieldID mkp;
  17     jfieldID mki;
  18     jfieldID mkd;
  19     jfieldID block;
  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 _bb = (*_env)->FindClass(_env, "Ljava/nio/ByteBuffer;");
  25     L.ctx = (*_env)->GetFieldID(_env, _cls, "ctx", "Ljava/nio/ByteBuffer;");
  26     L.me = (*_env)->GetFieldID(_env, _cls, "me", "Ljava/nio/ByteBuffer;");
  27     L.mec = (*_env)->GetFieldID(_env, _cls, "mec", "Ljava/nio/ByteBuffer;");
  28     L.mkp = (*_env)->GetFieldID(_env, _cls, "mkp", "Ljava/nio/ByteBuffer;");
  29     L.mki = (*_env)->GetFieldID(_env, _cls, "mki", "Ljava/nio/ByteBuffer;");
  30     L.mkd = (*_env)->GetFieldID(_env, _cls, "mkd", "Ljava/nio/ByteBuffer;");
  31     L.block = (*_env)->GetFieldID(_env, _cls, "block", "Ljava/nio/ByteBuffer;");
  32     L.alloc = (*_env)->GetStaticMethodID(_env, _bb, "allocateDirect", "(I)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.alloc, (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->op = 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_kp__D(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_ki__D(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_kd__D(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_summax__D(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_summin__D(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_outmax__D(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_outmin__D(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_order(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->order;
 194 }
 195
 196 JNIEXPORT jobject JNICALL Java_liba_pid_1fuzzy_op(JNIEnv *_env, jobject _obj, jint op)
 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_op(ctx, (unsigned int)op);
 201     return _obj;
 202 }
 203
 204 static jobject concat(JNIEnv *_env, jobject _obj, jobjectArray _val, jdouble const **out)
 205 {
 206     jsize length = 0;
 207     jsize order = (*_env)->GetArrayLength(_env, _val);
 208     for (jsize idx = 0; idx != order; ++idx)
 209     {
 210         jobject o = (*_env)->GetObjectArrayElement(_env, _val, idx);
 211         length += (*_env)->GetArrayLength(_env, o);
 212         (*_env)->DeleteLocalRef(_env, o);
 213     }
 214     jobject obj = (*_env)->CallObjectMethod(_env, _obj, L.alloc, (jint)length * 8);
 215     jdouble *ptr = (jdouble *)(*_env)->GetDirectBufferAddress(_env, obj);
 216     *out = ptr;
 217     for (jsize idx = 0, num = 0; idx != order; ++idx, ptr += num)
 218     {
 219         jobject o = (*_env)->GetObjectArrayElement(_env, _val, idx);
 220         num = (*_env)->GetArrayLength(_env, o);
 221         (*_env)->GetDoubleArrayRegion(_env, o, 0, num, ptr);
 222         (*_env)->DeleteLocalRef(_env, o);
 223     }
 224     return obj;
 225 }
 226
 227 JNIEXPORT jobject JNICALL Java_liba_pid_1fuzzy_rule(JNIEnv *_env, jobject _obj, jobjectArray me, jobjectArray mec,
 228                                                     jobjectArray mkp, jobjectArray mki, jobjectArray mkd)
 229 {
 230     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
 231     a_pid_fuzzy *ctx = (a_pid_fuzzy *)(*_env)->GetDirectBufferAddress(_env, _ctx);
 232     ctx->order = (unsigned int)(*_env)->GetArrayLength(_env, me);
 233     jobject _me = concat(_env, _obj, me, &ctx->me);
 234     jobject _mec = concat(_env, _obj, mec, &ctx->mec);
 235     jobject _mkp = concat(_env, _obj, mkp, &ctx->mkp);
 236     jobject _mki = concat(_env, _obj, mki, &ctx->mki);
 237     jobject _mkd = concat(_env, _obj, mkd, &ctx->mkd);
 238     (*_env)->SetObjectField(_env, _obj, L.me, _me);
 239     (*_env)->SetObjectField(_env, _obj, L.mec, _mec);
 240     (*_env)->SetObjectField(_env, _obj, L.mkp, _mkp);
 241     (*_env)->SetObjectField(_env, _obj, L.mki, _mki);
 242     (*_env)->SetObjectField(_env, _obj, L.mkd, _mkd);
 243     return _obj;
 244 }
 245
 246 JNIEXPORT jint JNICALL Java_liba_pid_1fuzzy_block__(JNIEnv *_env, jobject _obj)
 247 {
 248     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
 249     a_pid_fuzzy *ctx = (a_pid_fuzzy *)(*_env)->GetDirectBufferAddress(_env, _ctx);
 250     return (jint)ctx->block;
 251 }
 252
 253 JNIEXPORT jobject JNICALL Java_liba_pid_1fuzzy_block__I(JNIEnv *_env, jobject _obj, jint num)
 254 {
 255     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
 256     a_pid_fuzzy *ctx = (a_pid_fuzzy *)(*_env)->GetDirectBufferAddress(_env, _ctx);
 257     if (num > (jint)ctx->block)
 258     {
 259         jobject _block = (*_env)->CallObjectMethod(_env, _obj, L.alloc, (jint)A_PID_FUZZY_BLOCK((unsigned int)num));
 260         a_pid_fuzzy_set_block(ctx, (*_env)->GetDirectBufferAddress(_env, _block), (a_size)num);
 261         (*_env)->SetObjectField(_env, _obj, L.block, _block);
 262     }
 263     return _obj;
 264 }
 265
 266 JNIEXPORT jobject JNICALL Java_liba_pid_1fuzzy_kpid(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_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 }