#include <EffectsCalculator.h>

Inheritance diagram for EffectsCalculator:

Public Member Functions
	EffectsCalculator ()

virtual	~EffectsCalculator ()

const ClassIdentifier	getInfo ()
	Command handlers always have class infos. Works well with ChoosableClass.

const ClassType	getClassType () override

void	saveFlash ()

void	restoreFlash ()

bool	isActive ()

void	setActive (bool active)

void	calculateEffects (std::vector< std::unique_ptr< Axis > > &axes)

virtual void	setFilters (FFB_Effect *effect)

void	setGain (uint8_t gain)

uint8_t	getGain ()

void	logEffectType (uint8_t type, bool remove=false)

void	calcStatsEffectType (uint8_t type, int32_t force, uint8_t axis)

void	logEffectState (uint8_t type, uint8_t state)

void	resetLoggedActiveEffects (bool reinit)

int32_t	find_free_effect (uint8_t type)

void	free_effect (uint16_t idx)

CommandStatus	command (const ParsedCommand &cmd, std::vector< CommandReply > &replies)

virtual std::string	getHelpstring ()

void	Run ()

void	updateSamplerate (float newSamplerate)

Public Member Functions inherited from PersistentStorage
	PersistentStorage ()

virtual	~PersistentStorage ()

void	restoreFlashDelayed ()

Public Member Functions inherited from CommandHandler
	CommandHandler (const char *clsname, uint16_t clsid, uint8_t instance=0)

virtual	~CommandHandler ()

virtual bool	hasCommands ()

virtual void	setCommandsEnabled (bool enable)

void	registerCommands ()

virtual CommandStatus	internalCommand (const ParsedCommand &cmd, std::vector< CommandReply > &replies)

virtual std::string	getCommandsHelpstring ()

virtual std::string	getCsvHelpstring ()

virtual uint8_t	getCommandHandlerInstance ()

void	broadcastCommandReply (CommandReply reply, uint32_t cmdId, CMDtype type)

void	sendCommandReplyAsync (CommandReply reply, uint32_t cmdId, CMDtype type, CommandInterface *interface=nullptr)

virtual uint16_t	getCommandHandlerID ()

virtual CmdHandlerInfo *	getCommandHandlerInfo ()

virtual bool	isValidCommandId (uint32_t cmdid, uint32_t ignoredFlags=0, uint32_t requiredFlag=0)

virtual CmdHandlerCommanddef *	getCommandFromName (const std::string &cmd, uint32_t ignoredFlags=0)

virtual CmdHandlerCommanddef *	getCommandFromId (const uint32_t id, uint32_t ignoredFlags=0)

template<typename ID>
void	registerCommand (const char cmd, const ID cmdid, const char help=nullptr, uint32_t flags=0)

virtual void	postCmdhandlerInit ()

template<typename ID>
void	overrideCommandFlags (const ID cmdid, uint32_t flagmask=0)

Public Attributes
std::array< FFB_Effect, max_effects >	effects

Static Public Attributes
static ClassIdentifier	info

static const uint32_t	max_effects = MAX_EFFECTS

Static Public Attributes inherited from CommandHandler
static bool	logEnabled = true

Private Member Functions
int32_t	calcComponentForce (FFB_Effect *effect, int32_t forceVector, std::vector< std::unique_ptr< Axis > > &axes, uint8_t axis)

int32_t	calcNonConditionEffectForce (FFB_Effect *effect)

float	speedRampupPct ()

int32_t	calcConditionEffectForce (FFB_Effect *effect, float metric, uint8_t gain, uint8_t idx, float scale, float angle_ratio)

int32_t	getEnvelopeMagnitude (FFB_Effect *effect)

std::string	listEffectsUsed (bool details=false, uint8_t axis=0)

void	checkFilterCoeff (biquad_constant_t *filter, uint32_t freq, uint8_t q)

void	updateFilterSettingsForEffects (uint8_t type_effect)

Private Member Functions inherited from cpp_freertos::Thread
	Thread (const std::string Name, uint16_t StackDepth, UBaseType_t Priority)

	Thread (const char *Name, uint16_t StackDepth, UBaseType_t Priority)

	Thread (uint16_t StackDepth, UBaseType_t Priority)

bool	Start ()

virtual	~Thread ()

TaskHandle_t	GetHandle ()

void	Suspend ()

void	Resume ()

void	ResumeFromISR ()

void	Notify ()

void	NotifyFromISR ()

uint32_t	WaitForNotification (TickType_t Timeout=portMAX_DELAY)

UBaseType_t	GetPriority ()

UBaseType_t	GetPriorityFromISR ()

void	SetPriority (UBaseType_t NewPriority)

std::string	GetName ()

char *	GetName ()

virtual void	Cleanup ()

void	Delay (const TickType_t Delay)

void	DelayUntil (const TickType_t Period)

void	ResetDelayUntil ()

bool	Wait (ConditionVariable &Cv, Mutex &CvLock, TickType_t Timeout=portMAX_DELAY)

Private Attributes
effect_biquad_t	filter [2]

uint8_t	filterProfileId = 0

uint32_t	calcfrequency = 1000

const float	qfloatScaler = 0.01

uint8_t	global_gain = 0xff

effect_gain_t	gain

effect_scaler_t	scaler

uint8_t	frictionPctSpeedToRampup = 25

bool	effects_active = false

uint32_t	effects_used = 0

std::array< effect_stat_t, 12 >	effects_stats

std::array< effect_stat_t, 12 >	effects_statslast

bool	isMonitorEffect = false

Additional Inherited Members
Static Public Member Functions inherited from PersistentStorage
static std::vector< PersistentStorage * > &	getFlashHandlers ()

static void	restoreFlashStartupCb ()

Static Public Member Functions inherited from CommandHandler
static void	logSerial (std::string string)
	Send a log formatted sequence.

static void	logSerialDebug (std::string string)
	Send a log formatted sequence if debug is on.

static bool	logsEnabled ()

static void	setLogsEnabled (bool enabled)

static uint32_t	getClassIdFromName (const char *name)

static const char *	getClassNameFromId (const uint32_t id)

static CommandHandler *	getHandlerFromHandlerId (const uint16_t cmdhandlerID)

static CommandHandler *	getHandlerFromId (const uint16_t id, const uint8_t instance=0xFF)

static CommandHandler *	getHandlerFromClassName (const char *name, const uint8_t instance=0xFF)

static std::vector< CommandHandler * >	getHandlersFromClassName (const char *name)

static std::vector< CommandHandler * >	getHandlersFromId (const uint16_t id)

static bool	isInHandlerList (CommandHandler *handler)

static std::string	getAllHelpstrings ()

static std::vector< CommandHandler * > &	getCommandHandlers ()

template<typename TVal>
static CommandStatus	handleGetSet (const ParsedCommand &cmd, std::vector< CommandReply > &replies, TVal &value)

template<typename TVal, class cls, class cls1>
static CommandStatus	handleGetSetFunc (const ParsedCommand &cmd, std::vector< CommandReply > &replies, TVal &value, void(cls1::setfunc)(TVal), cls obj)

template<typename TVal, class cls, class cls1, class cls2>
static CommandStatus	handleGetFuncSetFunc (const ParsedCommand &cmd, std::vector< CommandReply > &replies, TVal(cls1::getfunc)(), void(cls2::setfunc)(TVal), cls *obj)

template<typename TVal, class cls, class cls1>
static CommandStatus	handleGetFuncSet (const ParsedCommand &cmd, std::vector< CommandReply > &replies, TVal &value, TVal(cls1::getfunc)(), cls obj)

Protected Member Functions inherited from CommandHandler
void	setInstance (uint8_t instance)

virtual void	addCommandHandler ()

virtual void	removeCommandHandler ()

void	registerCommand_INT (const char cmd, const uint32_t cmdid, const char help=nullptr, uint32_t flags=0)

void	overrideCommandFlags_INT (const uint32_t cmdid, uint32_t flagmask=CMDFLAG_GET\|CMDFLAG_GETADR)

Static Protected Member Functions inherited from CommandHandler
static std::vector< uint16_t > &	getCommandHandlerIds ()

Protected Attributes inherited from PersistentStorage
bool	restoreDelayedFlag = false

Protected Attributes inherited from CommandHandler
bool	commandsEnabled = true

std::vector< CmdHandlerCommanddef >	registeredCommands

CmdHandlerInfo	cmdHandlerInfo

Static Protected Attributes inherited from PersistentStorage
static bool	startupComplete = false

Static Private Member Functions inherited from cpp_freertos::Thread
static void	Yield ()

static void	StartScheduler ()

static void	EndScheduler ()

Detailed Description

Definition at line 65 of file EffectsCalculator.h.

Constructor & Destructor Documentation

◆ EffectsCalculator()

EffectsCalculator::EffectsCalculator ( )

Definition at line 26 of file EffectsCalculator.cpp.

◆ ~EffectsCalculator()

EffectsCalculator::~EffectsCalculator ( )

virtual

Definition at line 56 of file EffectsCalculator.cpp.

Member Function Documentation

◆ calcComponentForce()

int32_t EffectsCalculator::calcComponentForce	(	FFB_Effect *	effect,
		int32_t	forceVector,
		std::vector< std::unique_ptr< Axis > > &	axes,
		uint8_t	axis )

private

Calculates the force of an effect

| (rampup is from 0..5% of max velocity) | __________ (after use max coefficient) | / | / |- ---------------------— Velocity -| / | / | ----— | |

Definition at line 288 of file EffectsCalculator.cpp.

◆ calcConditionEffectForce()

int32_t EffectsCalculator::calcConditionEffectForce	(	FFB_Effect *	effect,
		float	metric,
		uint8_t	gain,
		uint8_t	idx,
		float	scale,
		float	angle_ratio )

private

Calculates a conditional effect Takes care of deadband and offsets and scalers Gain of 255 = 1x. Prescale with scale factor

Definition at line 416 of file EffectsCalculator.cpp.

◆ calcNonConditionEffectForce()

int32_t EffectsCalculator::calcNonConditionEffectForce ( FFB_Effect * effect )

private

Calculates forces from a non conditional effect Periodic and constant effects

Definition at line 173 of file EffectsCalculator.cpp.

◆ calcStatsEffectType()

void EffectsCalculator::calcStatsEffectType	(	uint8_t	type,
		int32_t	force,
		uint8_t	axis )

Definition at line 681 of file EffectsCalculator.cpp.

◆ calculateEffects()

void EffectsCalculator::calculateEffects ( std::vector< std::unique_ptr< Axis > > & axes )

Calculates the resulting torque for FFB effects Takes current position input scaled from -0x7fff to 0x7fff Outputs a torque value from -0x7fff to 0x7fff (not yet clipped)

Definition at line 104 of file EffectsCalculator.cpp.

◆ checkFilterCoeff()

void EffectsCalculator::checkFilterCoeff	(	biquad_constant_t *	filter,
		uint32_t	freq,
		uint8_t	q )

private

Definition at line 623 of file EffectsCalculator.cpp.

◆ command()

CommandStatus EffectsCalculator::command	(	const ParsedCommand &	cmd,
		std::vector< CommandReply > &	replies )

virtual

Parameters

[in]	cmd	The parsed command to be executed.
[out]	replies	A vector to return one or multiple reply objects into. Replies to the interface will be generated based on the reply objects. A string reply may not contain start, end and separation markers: [,],\| Other characters are allowed.

Reimplemented from CommandHandler.

Definition at line 746 of file EffectsCalculator.cpp.

◆ find_free_effect()

int32_t EffectsCalculator::find_free_effect ( uint8_t type )

Will return the first effect index which is empty or -1 if none found

Definition at line 994 of file EffectsCalculator.cpp.

◆ free_effect()

void EffectsCalculator::free_effect ( uint16_t idx )

Resets an effect and marks the effect as free

Definition at line 979 of file EffectsCalculator.cpp.

◆ getClassType()

const ClassType EffectsCalculator::getClassType ( )

inlineoverridevirtual

Type of this class. Mainclass, motordriver... Should be implemented by the parent class so it is not in the info struct

Reimplemented from CommandHandler.

Definition at line 74 of file EffectsCalculator.h.

◆ getEnvelopeMagnitude()

int32_t EffectsCalculator::getEnvelopeMagnitude ( FFB_Effect * effect )

private

Modulates the magnitude of an effect based on time and attack/fade levels During attack time the strength changes from the initial attack level to the normal magnitude which is sustained until the fade time where the strength changes to the fade level until the stop time of the effect. Infinite effects can't have an envelope and return the normal magnitude.

Definition at line 450 of file EffectsCalculator.cpp.

◆ getGain()

uint8_t EffectsCalculator::getGain ( )

Definition at line 525 of file EffectsCalculator.cpp.

◆ getHelpstring()

virtual std::string EffectsCalculator::getHelpstring ( )

inlinevirtual

Returns a description of this class

Reimplemented from CommandHandler.

Definition at line 95 of file EffectsCalculator.h.

◆ getInfo()

const ClassIdentifier EffectsCalculator::getInfo ( )

virtual

Command handlers always have class infos. Works well with ChoosableClass.

Implements CommandHandler.

Definition at line 22 of file EffectsCalculator.cpp.

◆ isActive()

bool EffectsCalculator::isActive ( )

Definition at line 62 of file EffectsCalculator.cpp.

◆ listEffectsUsed()

std::string EffectsCalculator::listEffectsUsed	(	bool	details = false,
		uint8_t	axis = 0 )

private

Prints a list of effects that were active at some point Does not reset when an effect is deactivated Axis only used in detail mode

Definition at line 696 of file EffectsCalculator.cpp.

◆ logEffectState()

void EffectsCalculator::logEffectState	(	uint8_t	type,
		uint8_t	state )

Definition at line 671 of file EffectsCalculator.cpp.

◆ logEffectType()

void EffectsCalculator::logEffectType	(	uint8_t	type,
		bool	remove = false )

Definition at line 650 of file EffectsCalculator.cpp.

◆ resetLoggedActiveEffects()

void EffectsCalculator::resetLoggedActiveEffects ( bool reinit )

Resets the effects_used flags If reinit is true it will set the flag again if the currently active effect number is not 0

Definition at line 735 of file EffectsCalculator.cpp.

◆ restoreFlash()

void EffectsCalculator::restoreFlash ( )

virtual

Should be implemented to restore settings. This is not automatically called and should be called when appropriate.

Reimplemented from PersistentStorage.

Definition at line 532 of file EffectsCalculator.cpp.

◆ Run()

void EffectsCalculator::Run ( )

virtual

Implementation of your actual thread code. You must override this function.

Note: If INCLUDE_vTaskDelete is defined, then you may return from your Run method. This will cause the task to be deleted from FreeRTOS, however you are still responsible to delete the task object. If this is not defined, then retuning from your Run() method will result in an assert.

Implements cpp_freertos::Thread.

Definition at line 955 of file EffectsCalculator.cpp.

◆ saveFlash()

void EffectsCalculator::saveFlash ( )

virtual

Called when the user uses the "save" command and presses the save button in the configurator Automatically called by the command parser thread for every class that inherits from PersistentStorage

Reimplemented from PersistentStorage.

Definition at line 584 of file EffectsCalculator.cpp.

◆ setActive()

void EffectsCalculator::setActive ( bool active )

Definition at line 66 of file EffectsCalculator.cpp.

◆ setFilters()

void EffectsCalculator::setFilters ( FFB_Effect * effect )

virtual

Definition at line 473 of file EffectsCalculator.cpp.

◆ setGain()

void EffectsCalculator::setGain ( uint8_t gain )

Definition at line 520 of file EffectsCalculator.cpp.

◆ speedRampupPct()

float EffectsCalculator::speedRampupPct ( )

private

Definition at line 406 of file EffectsCalculator.cpp.

◆ updateFilterSettingsForEffects()

void EffectsCalculator::updateFilterSettingsForEffects ( uint8_t type_effect )

private

Definition at line 637 of file EffectsCalculator.cpp.

◆ updateSamplerate()

void EffectsCalculator::updateSamplerate ( float newSamplerate )

Definition at line 77 of file EffectsCalculator.cpp.

Member Data Documentation

◆ calcfrequency

uint32_t EffectsCalculator::calcfrequency = 1000

private

Definition at line 113 of file EffectsCalculator.h.

◆ effects

std::array<FFB_Effect,max_effects> EffectsCalculator::effects

Definition at line 98 of file EffectsCalculator.h.

◆ effects_active

bool EffectsCalculator::effects_active = false

private

Definition at line 123 of file EffectsCalculator.h.

◆ effects_stats

std::array<effect_stat_t,12> EffectsCalculator::effects_stats

private

Definition at line 125 of file EffectsCalculator.h.

◆ effects_statslast

std::array<effect_stat_t,12> EffectsCalculator::effects_statslast

private

Definition at line 126 of file EffectsCalculator.h.

◆ effects_used

uint32_t EffectsCalculator::effects_used = 0

private

Definition at line 124 of file EffectsCalculator.h.

◆ filter

effect_biquad_t EffectsCalculator::filter[2]

private

Definition at line 111 of file EffectsCalculator.h.

◆ filterProfileId

uint8_t EffectsCalculator::filterProfileId = 0

private

Definition at line 112 of file EffectsCalculator.h.

◆ frictionPctSpeedToRampup

uint8_t EffectsCalculator::frictionPctSpeedToRampup = 25

private

Definition at line 120 of file EffectsCalculator.h.

◆ gain

effect_gain_t EffectsCalculator::gain

private

Definition at line 118 of file EffectsCalculator.h.

◆ global_gain

uint8_t EffectsCalculator::global_gain = 0xff

private

Definition at line 117 of file EffectsCalculator.h.

◆ info

ClassIdentifier EffectsCalculator::info

static

Initial value:

= {
          .name = "Effects" ,
          .id   = CLSID_EFFECTSCALC,
          .visibility = ClassVisibility::hidden
}

Definition at line 17 of file EffectsCalculator.h.

◆ isMonitorEffect

bool EffectsCalculator::isMonitorEffect = false

private

Definition at line 127 of file EffectsCalculator.h.

◆ max_effects

const uint32_t EffectsCalculator::max_effects = MAX_EFFECTS

static

Definition at line 97 of file EffectsCalculator.h.

◆ qfloatScaler

const float EffectsCalculator::qfloatScaler = 0.01

private

Definition at line 114 of file EffectsCalculator.h.

◆ scaler

effect_scaler_t EffectsCalculator::scaler

private

Definition at line 119 of file EffectsCalculator.h.

The documentation for this class was generated from the following files:

Public Member Functions

Public Attributes

Static Public Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ EffectsCalculator()

◆ ~EffectsCalculator()

Member Function Documentation

◆ calcComponentForce()

◆ calcConditionEffectForce()

◆ calcNonConditionEffectForce()

◆ calcStatsEffectType()

◆ calculateEffects()

◆ checkFilterCoeff()

◆ command()

◆ find_free_effect()

◆ free_effect()

◆ getClassType()

◆ getEnvelopeMagnitude()

◆ getGain()

◆ getHelpstring()

◆ getInfo()

◆ isActive()

◆ listEffectsUsed()

◆ logEffectState()

◆ logEffectType()

◆ resetLoggedActiveEffects()

◆ restoreFlash()

◆ Run()

◆ saveFlash()

◆ setActive()

◆ setFilters()

◆ setGain()

◆ speedRampupPct()

◆ updateFilterSettingsForEffects()

◆ updateSamplerate()

Member Data Documentation

◆ calcfrequency

◆ effects

◆ effects_active

◆ effects_stats

◆ effects_statslast

◆ effects_used

◆ filter

◆ filterProfileId

◆ frictionPctSpeedToRampup

◆ gain

◆ global_gain

◆ info

◆ isMonitorEffect

◆ max_effects

◆ qfloatScaler

◆ scaler