quickjs/src/pid.c

   1 #include "a.h"
   2 #include "a/pid.h"
   3
   4 static JSClassID liba_pid_class_id;
   5
   6 static void liba_pid_finalizer(JSRuntime *rt, JSValue val)
   7 {
   8     js_free_rt(rt, JS_GetOpaque(val, liba_pid_class_id));
   9 }
  10
  11 static JSClassDef liba_pid_class = {"pid", .finalizer = liba_pid_finalizer};
  12
  13 static JSValue liba_pid_ctor(JSContext *ctx, JSValueConst new_target, int argc, JSValueConst *argv)
  14 {
  15     (void)argc;
  16     (void)argv;
  17     JSValue proto, clazz = JS_UNDEFINED;
  18     a_pid *const self = (a_pid *)js_mallocz(ctx, sizeof(a_pid));
  19     if (!self) { return JS_EXCEPTION; }
  20     self->kp = 1;
  21     self->summax = +A_FLOAT_INF;
  22     self->summin = -A_FLOAT_INF;
  23     self->outmax = +A_FLOAT_INF;
  24     self->outmin = -A_FLOAT_INF;
  25     a_pid_init(self);
  26     proto = JS_GetPropertyStr(ctx, new_target, "prototype");
  27     if (JS_IsException(proto)) { goto fail; }
  28     clazz = JS_NewObjectProtoClass(ctx, proto, liba_pid_class_id);
  29     JS_FreeValue(ctx, proto);
  30     if (JS_IsException(clazz)) { goto fail; }
  31     JS_SetOpaque(clazz, self);
  32     return clazz;
  33 fail:
  34     js_free(ctx, self);
  35     JS_FreeValue(ctx, clazz);
  36     return JS_EXCEPTION;
  37 }
  38
  39 static JSValue liba_pid_get(JSContext *ctx, JSValueConst this_val, int magic)
  40 {
  41     a_pid *const self = (a_pid *)JS_GetOpaque2(ctx, this_val, liba_pid_class_id);
  42     if (!self) { return JS_EXCEPTION; }
  43     double x;
  44     switch (magic)
  45     {
  46     case 0: x = (double)self->kp; break;
  47     case 1: x = (double)self->ki; break;
  48     case 2: x = (double)self->kd; break;
  49     case 3: x = (double)self->summax; break;
  50     case 4: x = (double)self->summin; break;
  51     case 5: x = (double)self->outmax; break;
  52     case 6: x = (double)self->outmin; break;
  53     case 7: x = (double)self->out; break;
  54     case 8: x = (double)self->fdb; break;
  55     case 9: x = (double)self->err; break;
  56     default: return JS_UNDEFINED;
  57     }
  58     return JS_NewFloat64(ctx, x);
  59 }
  60
  61 static JSValue liba_pid_set(JSContext *ctx, JSValueConst this_val, JSValueConst val, int magic)
  62 {
  63     a_pid *const self = (a_pid *)JS_GetOpaque2(ctx, this_val, liba_pid_class_id);
  64     if (!self) { return JS_EXCEPTION; }
  65     double x;
  66     if (JS_ToFloat64(ctx, &x, val)) { return JS_EXCEPTION; }
  67     switch (magic)
  68     {
  69     case 0: self->kp = (a_float)x; break;
  70     case 1: self->ki = (a_float)x; break;
  71     case 2: self->kd = (a_float)x; break;
  72     case 3: self->summax = (a_float)x; break;
  73     case 4: self->summin = (a_float)x; break;
  74     case 5: self->outmax = (a_float)x; break;
  75     case 6: self->outmin = (a_float)x; break;
  76     default: break;
  77     }
  78     return JS_UNDEFINED;
  79 }
  80
  81 static JSValue liba_pid_zero(JSContext *ctx, JSValueConst this_val, int argc, JSValueConst *argv)
  82 {
  83     (void)argc;
  84     (void)argv;
  85     a_pid *const self = (a_pid *)JS_GetOpaque2(ctx, this_val, liba_pid_class_id);
  86     if (!self) { return JS_EXCEPTION; }
  87     a_pid_zero(self);
  88     return JS_UNDEFINED;
  89 }
  90
  91 static JSValue liba_pid_kpid(JSContext *ctx, JSValueConst this_val, int argc, JSValueConst *argv)
  92 {
  93     (void)argc;
  94     a_pid *const self = (a_pid *)JS_GetOpaque2(ctx, this_val, liba_pid_class_id);
  95     if (!self) { return JS_EXCEPTION; }
  96     double args[] = {0, 0, 0};
  97     for (unsigned int i = 0; i < A_LEN(args); ++i)
  98     {
  99         if (JS_ToFloat64(ctx, &args[i], argv[i])) { return JS_EXCEPTION; }
 100     }
 101     a_pid_kpid(self, (a_float)args[0], (a_float)args[1], (a_float)args[2]);
 102     return JS_UNDEFINED;
 103 }
 104
 105 static JSValue liba_pid_run(JSContext *ctx, JSValueConst this_val, int argc, JSValueConst *argv)
 106 {
 107     (void)argc;
 108     a_pid *const self = (a_pid *)JS_GetOpaque2(ctx, this_val, liba_pid_class_id);
 109     if (!self) { return JS_EXCEPTION; }
 110     double args[] = {0, 0};
 111     for (unsigned int i = 0; i < A_LEN(args); ++i)
 112     {
 113         if (JS_ToFloat64(ctx, &args[i], argv[i])) { return JS_EXCEPTION; }
 114     }
 115     return JS_NewFloat64(ctx, (double)a_pid_run(self, (a_float)args[0], (a_float)args[1]));
 116 }
 117
 118 static JSValue liba_pid_pos(JSContext *ctx, JSValueConst this_val, int argc, JSValueConst *argv)
 119 {
 120     (void)argc;
 121     a_pid *const self = (a_pid *)JS_GetOpaque2(ctx, this_val, liba_pid_class_id);
 122     if (!self) { return JS_EXCEPTION; }
 123     double args[] = {0, 0};
 124     for (unsigned int i = 0; i < A_LEN(args); ++i)
 125     {
 126         if (JS_ToFloat64(ctx, &args[i], argv[i])) { return JS_EXCEPTION; }
 127     }
 128     return JS_NewFloat64(ctx, (double)a_pid_pos(self, (a_float)args[0], (a_float)args[1]));
 129 }
 130
 131 static JSValue liba_pid_inc(JSContext *ctx, JSValueConst this_val, int argc, JSValueConst *argv)
 132 {
 133     (void)argc;
 134     a_pid *const self = (a_pid *)JS_GetOpaque2(ctx, this_val, liba_pid_class_id);
 135     if (!self) { return JS_EXCEPTION; }
 136     double args[] = {0, 0};
 137     for (unsigned int i = 0; i < A_LEN(args); ++i)
 138     {
 139         if (JS_ToFloat64(ctx, &args[i], argv[i])) { return JS_EXCEPTION; }
 140     }
 141     return JS_NewFloat64(ctx, (double)a_pid_inc(self, (a_float)args[0], (a_float)args[1]));
 142 }
 143
 144 static JSCFunctionListEntry const liba_pid_proto[] = {
 145     JS_PROP_STRING_DEF("[Symbol.toStringTag]", "a.pid", 0),
 146     JS_CGETSET_MAGIC_DEF("kp", liba_pid_get, liba_pid_set, 0),
 147     JS_CGETSET_MAGIC_DEF("ki", liba_pid_get, liba_pid_set, 1),
 148     JS_CGETSET_MAGIC_DEF("kd", liba_pid_get, liba_pid_set, 2),
 149     JS_CGETSET_MAGIC_DEF("summax", liba_pid_get, liba_pid_set, 3),
 150     JS_CGETSET_MAGIC_DEF("summin", liba_pid_get, liba_pid_set, 4),
 151     JS_CGETSET_MAGIC_DEF("outmax", liba_pid_get, liba_pid_set, 5),
 152     JS_CGETSET_MAGIC_DEF("outmin", liba_pid_get, liba_pid_set, 6),
 153     JS_CGETSET_MAGIC_DEF("out", liba_pid_get, NULL, 7),
 154     JS_CGETSET_MAGIC_DEF("fdb", liba_pid_get, NULL, 8),
 155     JS_CGETSET_MAGIC_DEF("err", liba_pid_get, NULL, 9),
 156     JS_CFUNC_DEF("kpid", 3, liba_pid_kpid),
 157     JS_CFUNC_DEF("zero", 0, liba_pid_zero),
 158     JS_CFUNC_DEF("run", 2, liba_pid_run),
 159     JS_CFUNC_DEF("pos", 2, liba_pid_pos),
 160     JS_CFUNC_DEF("inc", 2, liba_pid_inc),
 161 };
 162
 163 int js_liba_pid_init(JSContext *ctx, JSModuleDef *m)
 164 {
 165     JS_NewClassID(&liba_pid_class_id);
 166     JS_NewClass(JS_GetRuntime(ctx), liba_pid_class_id, &liba_pid_class);
 167
 168     JSValue const proto = JS_NewObject(ctx);
 169     JS_SetPropertyFunctionList(ctx, proto, liba_pid_proto, A_LEN(liba_pid_proto));
 170
 171     JSValue const clazz = JS_NewCFunction2(ctx, liba_pid_ctor, "pid", 3, JS_CFUNC_constructor, 0);
 172     JS_SetConstructor(ctx, clazz, proto);
 173     JS_SetClassProto(ctx, liba_pid_class_id, proto);
 174
 175     return JS_SetModuleExport(ctx, m, "pid", clazz);
 176 }