core.math.rate_limiter¶

Inputs¶

Name	Type	Title	Mandatory	Description
input	core.type.f64	Input	True	None
rate	core.type.f64	Rate	True	Rate limit of input value changing. Rate limit is measured in units per seconds.

Outputs¶

Name	Type	Title	Description
output	core.type.f64	Output	None

Parameters¶

Function has no parameters

State variables¶

Function has no state variables

Usage XML code snippet¶

core_math_rate_limiter snippet for FLOW configuration file¶

<f name="rate_limiter" by_spec="core.math.rate_limiter">
    <in alias="input">some_block_1/output</in>
    <in alias="rate">some_block_2/output</in>
</f>

Function’s artifacts¶

Declaration for core_math_rate_limiter
Implementation for core_math_rate_limiter
Header of core_math_rate_limiter
Specification of core_math_rate_limiter
Interface of core_math_rate_limiter

declaration.py¶

from fspeclib import *


Function(
    name='core.math.rate_limiter',
    title=LocalizedString(
        en='Rate limiter'
    ),
    inputs=[
        Input(
            name='input',
            title='Input',
            value_type='core.type.f64'
        ),
        Input(
            name='rate',
            title='Rate',
            description=LocalizedString(
                en='Rate limit of input value changing. Rate limit is measured in units per seconds.'
            ),
            value_type='core.type.f64'
        )
    ],
    outputs=[
        Output(
            name='output',
            title='Output',
            value_type='core.type.f64'
        )
    ],
    injection=Injection(
        timedelta=True,
        timestamp=False
    )
)

core_math_rate_limiter_exec.c¶

#include "core_math_rate_limiter.h"

void core_math_rate_limiter_exec(
    const core_math_rate_limiter_inputs_t *i,
    core_math_rate_limiter_outputs_t *o,
    const core_math_rate_limiter_injection_t *injection
)
{
    double out = o->output;

    if (out < i->input) {
        out += i->rate * injection->dt;
        if (out > i->input) {
            out = i->input;
        }
    } else if (out > i->input) {
        out -= i->rate * injection->dt;
        if (out < i->input) {
            out = i->input;
        }
    } else {
        // Nothing do
    }

    o->output = out;
}

core_math_rate_limiter.h¶

/**
 *  Automatically-generated file. Do not edit!
 */

#ifndef FSPEC_CORE_MATH_RATE_LIMITER_H
#define FSPEC_CORE_MATH_RATE_LIMITER_H

#include <stdint.h>
#include <eswb/types.h>

#include "function.h"

/* Include declaration of dependency types */
#include "core_type_f64.h"

/**
 * @brief Inputs of `core.math.rate_limiter` function
 */
typedef struct core_math_rate_limiter_inputs_ {
    core_type_f64_t input;  /// Input
    core_type_f64_t rate;  /// Rate

} core_math_rate_limiter_inputs_t;

/**
 * @brief Outputs of `core.math.rate_limiter` function
 */
typedef struct core_math_rate_limiter_outputs_ {
    core_type_f64_t output; /// Output

} core_math_rate_limiter_outputs_t;

/**
 * @brief Injections for `core.math.rate_limiter` function
 */
typedef struct core_math_rate_limiter_injection_ {
    core_type_f64_t dt;  /// Time delta from previous iteration (measured in seconds)

} core_math_rate_limiter_injection_t;

typedef struct core_math_rate_limiter_eswb_descriptors_ {
    eswb_topic_descr_t in_input;
    eswb_topic_descr_t in_rate;
    eswb_topic_descr_t out_all;
} core_math_rate_limiter_eswb_descriptors_t;

typedef struct core_math_rate_limiter_interface_ {
    core_math_rate_limiter_inputs_t i;
    core_math_rate_limiter_outputs_t o;
    core_math_rate_limiter_injection_t injection;
    struct timespec prev_exec_time;
    int prev_exec_time_inited;
    core_math_rate_limiter_eswb_descriptors_t eswb_descriptors;
} core_math_rate_limiter_interface_t;

void core_math_rate_limiter_exec(
    const core_math_rate_limiter_inputs_t *i,
    core_math_rate_limiter_outputs_t *o,
    const core_math_rate_limiter_injection_t *injection
);

#endif // FSPEC_CORE_MATH_RATE_LIMITER_H

core_math_rate_limiter_spec.c¶

/**
 *  Automatically-generated file. Do not edit!
 */

#include "core_math_rate_limiter.h"
#include <eswb/types.h>

static const param_spec_t *params[1] = {
    NULL
};

static const input_spec_t i_input = {
    .name = "input",
    .annotation = "Input",
    .flags = 0
};

static const input_spec_t i_rate = {
    .name = "rate",
    .annotation = "Rate",
    .flags = 0
};

static const input_spec_t *inputs[3] = {
    &i_input,
    &i_rate,
    NULL
};

static const output_spec_t o_output = {
    .name = "output",
    .annotation = "Output",
    .flags = 0
};

static const output_spec_t *outputs[2] = {
    &o_output,
    NULL
};

fspec_rv_t core_math_rate_limiter_call_init_inputs(
    void *dh,
    const func_conn_spec_t *conn_spec,
    eswb_topic_descr_t mounting_td
);

fspec_rv_t core_math_rate_limiter_call_init_outputs(
    void *dh,
    const func_conn_spec_t *conn_spec,
    eswb_topic_descr_t mounting_td,
    const char *func_name
);

void core_math_rate_limiter_call_exec(void *dh);

const function_spec_t atomic_core_math_rate_limiter_spec = {
    .name = "core.math.rate_limiter",
    .annotation = "Rate limiter",
    .inputs = inputs,
    .outputs = outputs,
    .params = params
};

const function_calls_t atomic_core_math_rate_limiter_calls = {
    .interface_handle_size = sizeof(core_math_rate_limiter_interface_t),
    .init = NULL,
    .init_inputs = core_math_rate_limiter_call_init_inputs,
    .init_outputs = core_math_rate_limiter_call_init_outputs,
    .pre_exec_init = NULL,
    .exec = core_math_rate_limiter_call_exec,
    .set_params = NULL
};

const function_handler_t atomic_core_math_rate_limiter_handler = {
    .spec = &atomic_core_math_rate_limiter_spec,
    .calls = &atomic_core_math_rate_limiter_calls,
    .extension_handler = NULL
};

core_math_rate_limiter_interface.c¶

/**
 *  Automatically-generated file. Do not edit!
 */

#include "core_math_rate_limiter.h"

#include "error.h"
#include <eswb/api.h>
#include <eswb/topic_proclaiming_tree.h>
#include <eswb/errors.h>

int core_math_rate_limiter_interface_inputs_init(
    core_math_rate_limiter_interface_t *interface,
    const func_conn_spec_t *conn_spec,
    eswb_topic_descr_t mounting_td
)
{
    eswb_rv_t rv;
    int errcnt_no_topic = 0;
    int errcnt_no_input = 0;
    const char *topic_path_in_input = fspec_find_path2connect(conn_spec,"input");
    const char *topic_path_in_rate = fspec_find_path2connect(conn_spec,"rate");

    // Connecting mandatory input "input"
    if (topic_path_in_input != NULL) {
        rv = eswb_connect_nested(mounting_td, topic_path_in_input, &interface->eswb_descriptors.in_input);
        if(rv != eswb_e_ok) {
            error("failed connect input \"input\" to topic \"%s\": %s", topic_path_in_input, eswb_strerror(rv));
            errcnt_no_topic++;
        }
    } else {
        error("mandatory input \"input\" is not speicifed");
        errcnt_no_input++;
    }

    // Connecting mandatory input "rate"
    if (topic_path_in_rate != NULL) {
        rv = eswb_connect_nested(mounting_td, topic_path_in_rate, &interface->eswb_descriptors.in_rate);
        if(rv != eswb_e_ok) {
            error("failed connect input \"rate\" to topic \"%s\": %s", topic_path_in_rate, eswb_strerror(rv));
            errcnt_no_topic++;
        }
    } else {
        error("mandatory input \"rate\" is not speicifed");
        errcnt_no_input++;
    }

    if ((errcnt_no_input > 0) || (errcnt_no_topic > 0)) {
        if (errcnt_no_input > errcnt_no_topic) {
            return fspec_rv_no_input;
        } else {
            return fspec_rv_no_topic;
        }
    }
    return fspec_rv_ok;
}

fspec_rv_t core_math_rate_limiter_interface_inputs_update(core_math_rate_limiter_interface_t *interface)
{
    eswb_rv_t rv;

    rv = eswb_read(interface->eswb_descriptors.in_input, &interface->i.input);
    if(rv != eswb_e_ok) {
        /*FIXME nothing to do yet*/
    }

    rv = eswb_read(interface->eswb_descriptors.in_rate, &interface->i.rate);
    if(rv != eswb_e_ok) {
        /*FIXME nothing to do yet*/
    }

    return 0;
}

fspec_rv_t core_math_rate_limiter_interface_outputs_init(
    core_math_rate_limiter_interface_t *interface,
    const func_conn_spec_t *conn_spec,
    eswb_topic_descr_t mounting_td,
    const char *func_name
)
{
    TOPIC_TREE_CONTEXT_LOCAL_DEFINE(cntx, 2);
    core_math_rate_limiter_outputs_t out;
    eswb_rv_t rv;

    topic_proclaiming_tree_t *rt = usr_topic_set_struct(cntx, out, func_name);

    usr_topic_add_struct_child(cntx, rt, core_math_rate_limiter_outputs_t, output, "output", tt_double);
    rv = eswb_proclaim_tree(mounting_td, rt, cntx->t_num, &interface->eswb_descriptors.out_all);
    if (rv != eswb_e_ok) {
        return fspec_rv_publish_err;
    }

    return fspec_rv_ok;
}

fspec_rv_t core_math_rate_limiter_interface_outputs_update(core_math_rate_limiter_interface_t *interface)
{
    eswb_rv_t rv;

    rv = eswb_update_topic(interface->eswb_descriptors.out_all, &interface->o);
    if (rv != eswb_e_ok) {
        return 1;
    }

    return 0;
}

void core_math_rate_limiter_interface_update(core_math_rate_limiter_interface_t *interface)
{
    core_math_rate_limiter_interface_inputs_update(interface);
    if (interface->prev_exec_time_inited) {
        function_getdeltatime(ft_monotonic, &interface->prev_exec_time, dtp_update_prev, &interface->injection.dt);
    } else {
        function_gettime(ft_monotonic, &interface->prev_exec_time);
        interface->prev_exec_time_inited = -1;
        interface->injection.dt = 0;
    }

    core_math_rate_limiter_exec(&interface->i, &interface->o, &interface->injection);
    core_math_rate_limiter_interface_outputs_update(interface);
}

fspec_rv_t core_math_rate_limiter_call_init_inputs(
    void *dh,
    const func_conn_spec_t *conn_spec,
    eswb_topic_descr_t mounting_td
)
{
    core_math_rate_limiter_interface_t *interface = (core_math_rate_limiter_interface_t*) dh;
    return core_math_rate_limiter_interface_inputs_init(interface, conn_spec, mounting_td);
}

fspec_rv_t core_math_rate_limiter_call_init_outputs(
    void *dh,
    const func_conn_spec_t *conn_spec,
    eswb_topic_descr_t mounting_td,
    const char *func_name
)
{
    core_math_rate_limiter_interface_t *interface = (core_math_rate_limiter_interface_t*) dh;
    return core_math_rate_limiter_interface_outputs_init(interface, conn_spec, mounting_td, func_name);
}

void core_math_rate_limiter_call_exec(void *dh)
{
    core_math_rate_limiter_interface_t *interface = (core_math_rate_limiter_interface_t*) dh;
    core_math_rate_limiter_interface_update(interface);
}

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