Namespaces
namespace	anonymous_namespace{ControllerLUT.cpp}

Classes
class	ControllerLUT
	Controller LUT loader with multilinear interpolation. More...
class	ControllerService
	C++ controller service with UDP PWM output. More...
class	PressureStateMachine
	Pressure-based State Machine for Propulsion System. More...
struct	PWMResolution
class	RobustDDPController
	Robust Hybrid Optimal Controller. More...

Functions
std::map< int, std::string >	boardIpMap (const fsw::config::Config &cfg)
	board_id → IP from [boards.
PWMResolution	resolvePWMTargets (const fsw::config::Config &cfg)
template<typename T>
static bool	send_msg (fsw::elodin::ElodinClient &client, T msg)

Variables
constexpr int	N_STATE = 11
constexpr int	N_CONTROL = 2
constexpr int	IDX_P_COPV = 0
constexpr int	IDX_P_REG = 1
constexpr int	IDX_P_U_F = 2
constexpr int	IDX_P_U_O = 3
constexpr int	IDX_P_D_F = 4
constexpr int	IDX_P_D_O = 5
constexpr int	IDX_V_U_F = 6
constexpr int	IDX_V_U_O = 7
constexpr int	IDX_M_GAS_COPV = 8
constexpr int	IDX_M_GAS_F = 9
constexpr int	IDX_M_GAS_O = 10
constexpr double	GAMMA_N2 = 1.4
constexpr double	R_GAS_N2 = 296.8
constexpr double	G0 = 9.807
static constexpr uint8_t	PACKET_TYPE_PWM = 10
static constexpr uint8_t	COMMS_VERSION = 0
static constexpr size_t	HEADER_SIZE = 6
static constexpr size_t	BODY_SIZE = 1
static constexpr size_t	CMD_SIZE = 13
static constexpr size_t	SINGLE_CMD_PACKET_SIZE = HEADER_SIZE + BODY_SIZE + CMD_SIZE
static constexpr size_t	DUAL_CMD_PACKET_SIZE = HEADER_SIZE + BODY_SIZE + CMD_SIZE * 2

Function Documentation

◆ boardIpMap()

std::map< int, std::string > fsw::control::boardIpMap ( const fsw::config::Config & cfg )

inline

board_id → IP from [boards.

*] (non-empty ip, first wins). No synthesized entries: a board this map does not hold is a board config did not declare.

Definition at line 47 of file PWMTargets.hpp.

References b.

Referenced by resolvePWMTargets().

◆ resolvePWMTargets()

PWMResolution fsw::control::resolvePWMTargets ( const fsw::config::Config & cfg )

inline

Definition at line 55 of file PWMTargets.hpp.

References boardIpMap(), res, and target.

Referenced by main(), and main().

◆ send_msg()

template<typename T>

bool fsw::control::send_msg	(	fsw::elodin::ElodinClient &	client,
		T	msg )

static

Definition at line 922 of file ControllerService.cpp.

Referenced by fsw::control::ControllerService::registerControllerTables().

Variable Documentation

◆ BODY_SIZE

size_t fsw::control::BODY_SIZE = 1

staticconstexpr

Definition at line 59 of file ControllerService.cpp.

◆ CMD_SIZE

size_t fsw::control::CMD_SIZE = 13

staticconstexpr

Definition at line 60 of file ControllerService.cpp.

◆ COMMS_VERSION

uint8_t fsw::control::COMMS_VERSION = 0

staticconstexpr

Definition at line 57 of file ControllerService.cpp.

Referenced by fsw::control::ControllerService::sendPWMCommand(), and fsw::control::ControllerService::sendPWMCommands().

◆ DUAL_CMD_PACKET_SIZE

size_t fsw::control::DUAL_CMD_PACKET_SIZE = HEADER_SIZE + BODY_SIZE + CMD_SIZE * 2

staticconstexpr

Definition at line 62 of file ControllerService.cpp.

Referenced by fsw::control::ControllerService::sendPWMCommands().

◆ G0

double fsw::control::G0 = 9.807

constexpr

Definition at line 38 of file RobustDDPController.hpp.

Referenced by fsw::control::RobustDDPController::buildReference(), main(), and fsw::control::RobustDDPController::shouldCutoff().

◆ GAMMA_N2

double fsw::control::GAMMA_N2 = 1.4

constexpr

Definition at line 36 of file RobustDDPController.hpp.

Referenced by fsw::control::RobustDDPController::dynamicsStep().

◆ HEADER_SIZE

size_t fsw::control::HEADER_SIZE = 6

staticconstexpr

Definition at line 58 of file ControllerService.cpp.

◆ IDX_M_GAS_COPV

int fsw::control::IDX_M_GAS_COPV = 8

constexpr

Definition at line 31 of file RobustDDPController.hpp.

Referenced by fsw::control::RobustDDPController::buildState(), and fsw::control::RobustDDPController::dynamicsStep().

◆ IDX_M_GAS_F

int fsw::control::IDX_M_GAS_F = 9

constexpr

Definition at line 32 of file RobustDDPController.hpp.

Referenced by fsw::control::RobustDDPController::buildState(), and fsw::control::RobustDDPController::dynamicsStep().

◆ IDX_M_GAS_O

int fsw::control::IDX_M_GAS_O = 10

constexpr

Definition at line 33 of file RobustDDPController.hpp.

Referenced by fsw::control::RobustDDPController::buildState(), and fsw::control::RobustDDPController::dynamicsStep().

◆ IDX_P_COPV

int fsw::control::IDX_P_COPV = 0

constexpr

Definition at line 23 of file RobustDDPController.hpp.

Referenced by fsw::control::RobustDDPController::buildState(), fsw::control::RobustDDPController::dynamicsStep(), fsw::control::RobustDDPController::isStateSafe(), and fsw::control::RobustDDPController::runningCost().

◆ IDX_P_D_F

int fsw::control::IDX_P_D_F = 4

constexpr

Definition at line 27 of file RobustDDPController.hpp.

Referenced by fsw::control::RobustDDPController::buildState(), fsw::control::RobustDDPController::dynamicsStep(), fsw::control::RobustDDPController::economicDecision(), fsw::control::RobustDDPController::enumerativeMPC(), fsw::control::RobustDDPController::isActionSafe(), fsw::control::RobustDDPController::isStateSafe(), fsw::control::RobustDDPController::runningCost(), fsw::control::RobustDDPController::solveDDP(), and fsw::control::RobustDDPController::step().

◆ IDX_P_D_O

int fsw::control::IDX_P_D_O = 5

constexpr

Definition at line 28 of file RobustDDPController.hpp.

Referenced by fsw::control::RobustDDPController::buildState(), fsw::control::RobustDDPController::dynamicsStep(), fsw::control::RobustDDPController::economicDecision(), fsw::control::RobustDDPController::enumerativeMPC(), fsw::control::RobustDDPController::isActionSafe(), fsw::control::RobustDDPController::isStateSafe(), fsw::control::RobustDDPController::runningCost(), fsw::control::RobustDDPController::solveDDP(), and fsw::control::RobustDDPController::step().

◆ IDX_P_REG

int fsw::control::IDX_P_REG = 1

constexpr

Definition at line 24 of file RobustDDPController.hpp.

Referenced by fsw::control::RobustDDPController::buildState().

◆ IDX_P_U_F

int fsw::control::IDX_P_U_F = 2

constexpr

Definition at line 25 of file RobustDDPController.hpp.

Referenced by fsw::control::RobustDDPController::buildState(), fsw::control::RobustDDPController::dynamicsStep(), and fsw::control::RobustDDPController::isStateSafe().

◆ IDX_P_U_O

int fsw::control::IDX_P_U_O = 3

constexpr

Definition at line 26 of file RobustDDPController.hpp.

Referenced by fsw::control::RobustDDPController::buildState(), fsw::control::RobustDDPController::dynamicsStep(), and fsw::control::RobustDDPController::isStateSafe().

◆ IDX_V_U_F

int fsw::control::IDX_V_U_F = 6

constexpr

Definition at line 29 of file RobustDDPController.hpp.

Referenced by fsw::control::RobustDDPController::buildState(), and fsw::control::RobustDDPController::dynamicsStep().

◆ IDX_V_U_O

int fsw::control::IDX_V_U_O = 7

constexpr

Definition at line 30 of file RobustDDPController.hpp.

Referenced by fsw::control::RobustDDPController::buildState(), and fsw::control::RobustDDPController::dynamicsStep().

◆ N_CONTROL

int fsw::control::N_CONTROL = 2

constexpr

Definition at line 20 of file RobustDDPController.hpp.

Referenced by fsw::control::RobustDDPController::economicDecision(), fsw::control::RobustDDPController::enumerativeMPC(), fsw::control::RobustDDPController::filterAction(), fsw::control::RobustDDPController::linearize(), fsw::control::RobustDDPController::solveDDP(), and fsw::control::RobustDDPController::step().

◆ N_STATE

int fsw::control::N_STATE = 11

constexpr

Definition at line 18 of file RobustDDPController.hpp.

Referenced by fsw::control::RobustDDPController::buildState(), fsw::control::RobustDDPController::dynamicsStep(), fsw::control::RobustDDPController::linearize(), fsw::control::RobustDDPController::reset(), fsw::control::RobustDDPController::RobustDDPController(), and fsw::control::RobustDDPController::solveDDP().

◆ PACKET_TYPE_PWM

uint8_t fsw::control::PACKET_TYPE_PWM = 10

staticconstexpr

Definition at line 56 of file ControllerService.cpp.

Referenced by fsw::control::ControllerService::sendPWMCommand(), and fsw::control::ControllerService::sendPWMCommands().

◆ R_GAS_N2

double fsw::control::R_GAS_N2 = 296.8

constexpr

Definition at line 37 of file RobustDDPController.hpp.

Referenced by fsw::control::RobustDDPController::buildState(), and fsw::control::RobustDDPController::dynamicsStep().

◆ SINGLE_CMD_PACKET_SIZE

size_t fsw::control::SINGLE_CMD_PACKET_SIZE = HEADER_SIZE + BODY_SIZE + CMD_SIZE

staticconstexpr

Definition at line 61 of file ControllerService.cpp.

Referenced by fsw::control::ControllerService::sendPWMCommand().

Namespaces

Classes

Functions

Variables

Function Documentation

◆ boardIpMap()

◆ resolvePWMTargets()

◆ send_msg()

Variable Documentation

◆ BODY_SIZE

◆ CMD_SIZE

◆ COMMS_VERSION

◆ DUAL_CMD_PACKET_SIZE

◆ G0

◆ GAMMA_N2

◆ HEADER_SIZE

◆ IDX_M_GAS_COPV

◆ IDX_M_GAS_F

◆ IDX_M_GAS_O

◆ IDX_P_COPV

◆ IDX_P_D_F

◆ IDX_P_D_O

◆ IDX_P_REG

◆ IDX_P_U_F

◆ IDX_P_U_O

◆ IDX_V_U_F

◆ IDX_V_U_O

◆ N_CONTROL

◆ N_STATE

◆ PACKET_TYPE_PWM

◆ R_GAS_N2

◆ SINGLE_CMD_PACKET_SIZE