/*
 * Copyright (c) 2013, Linz Center of Mechatronics GmbH (LCM), web: www.lcm.at
 * All rights reserved.
 */
/*
 * This file is licensed according to the BSD 3-clause license as follows:
 * 
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the "Linz Center of Mechatronics GmbH" and "LCM" nor
 *       the names of its contributors may be used to endorse or promote products
 *       derived from this software without specific prior written permission.
 * 
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
 * IN NO EVENT SHALL "Linz Center of Mechatronics GmbH" BE LIABLE FOR ANY
 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
/*
 * This file is part of X2C. web: x2c.lcm.at
 * $LastChangedRevision: 4111 $
 * $LastChangedDate:: 2026-03-09 14:42:15 +0100#$
 */
// USERCODE-BEGIN:Description                                                                                           
//*     Description:                                                           *
// USERCODE-END:Description                                                                                             

package at.lcm.x2c.library.control;

import at.lcm.x2c.core.structure.*;
import at.lcm.bu21.general.dtypes.*;

// USERCODE-BEGIN:Imports                                                                                               
import at.lcm.x2c.utils.QFormat;

// USERCODE-END:Imports                                                                                                 

@SuppressWarnings("unused")
public class ConvFnc_PI_FiP8 extends JavaConversionFunction {
    private static final long serialVersionUID = 1L;

    @Override
    public void convertMaskToImplementation() throws Exception {

        // Mask Parameter: Kp                                                                                           
        MaskDouble KpMaskVal = 
            (MaskDouble)this.getMaskParameter("Kp").getMaskDataType();
        TNumeric KpMaskData = 
            (TNumeric)KpMaskVal.getData();
        // Mask Parameter: Ki                                                                                           
        MaskDouble KiMaskVal = 
            (MaskDouble)this.getMaskParameter("Ki").getMaskDataType();
        TNumeric KiMaskData = 
            (TNumeric)KiMaskVal.getData();
        // Mask Parameter: initHandling                                                                                 
        MaskComboBox initHandlingMaskVal = 
            (MaskComboBox)this.getMaskParameter("initHandling").getMaskDataType();
        TString initHandlingMaskData = 
            (TString)initHandlingMaskVal.getData();
        // Mask Parameter: ts_fact                                                                                      
        MaskDouble ts_factMaskVal = 
            (MaskDouble)this.getMaskParameter("ts_fact").getMaskDataType();
        TNumeric ts_factMaskData = 
            (TNumeric)ts_factMaskVal.getData();

        // Implementation Parameter: b0                                                                                 
        TNumeric b0CtrVal = this.getImplementationParameterData("b0");
        // Implementation Parameter: b1                                                                                 
        TNumeric b1CtrVal = this.getImplementationParameterData("b1");
        // Implementation Parameter: sfrb0                                                                              
        TNumeric sfrb0CtrVal = this.getImplementationParameterData("sfrb0");
        // Implementation Parameter: sfrb1                                                                              
        TNumeric sfrb1CtrVal = this.getImplementationParameterData("sfrb1");
        // Implementation Parameter: i_old                                                                              
        TNumeric i_oldCtrVal = this.getImplementationParameterData("i_old");
        // Implementation Parameter: enable_old                                                                         
        TNumeric enable_oldCtrVal = this.getImplementationParameterData("enable_old");
        // Implementation Parameter: initHandling                                                                       
        TNumeric initHandlingCtrVal = this.getImplementationParameterData("initHandling");

// USERCODE-BEGIN:ConvMaskToImplementation                                                                              
        double Kp, Ki;
        double Ts = 0;
        int ts_fact;
        double b0, b1;
        final int BITS = 8;

        // get controller parameter values
        Kp = Double.valueOf(KpMaskVal.getValue());
        Ki = Double.valueOf(KiMaskVal.getValue());
        ts_fact = Double.valueOf(ts_factMaskVal.getValue()).intValue();

        // validate controller parameters
        if (ts_fact <= 0) {
            ts_fact = 1;
        }

        // get function of Init input
        if (initHandlingMaskVal.getValue().equals("initialize integral")) {
            // set handling to 0 for init of integral
            initHandlingCtrVal.setReal(0, 0, 0);
        } else if (initHandlingMaskVal.getValue().equals("initialize output")) {
            // set handling to 1 for init of output
            initHandlingCtrVal.setReal(0, 0, 1);
        }

        // calculate temporary variables
        Ts = ts_fact * this.getDedicatedBlock().getModel().getSampleTime();

        // Zero order hold (zoh):
        // G(s) = Kp + Ki/s -> G(z) = Kp + Ki*Ts*1/(z-1)
        b0 = Ki * Ts;
        b1 = Kp;

        sfrb0CtrVal.setReal(0, 0, Double.valueOf(QFormat.getQFormat(b0, BITS, true)));
        sfrb1CtrVal.setReal(0, 0, Double.valueOf(QFormat.getQFormat(b1, BITS, true)));
        b0CtrVal.setReal(0, 0, Double.valueOf(QFormat.getQValue(b0, (int) (sfrb0CtrVal.getReal(0, 0)), BITS, true)));
        b1CtrVal.setReal(0, 0, Double.valueOf(QFormat.getQValue(b1, (int) (sfrb1CtrVal.getReal(0, 0)), BITS, true)));

// USERCODE-END:ConvMaskToImplementation                                                                                
        this.setImplementationParameterData("b0", b0CtrVal);
        this.setImplementationParameterData("b1", b1CtrVal);
        this.setImplementationParameterData("sfrb0", sfrb0CtrVal);
        this.setImplementationParameterData("sfrb1", sfrb1CtrVal);
        this.setImplementationParameterData("i_old", i_oldCtrVal);
        this.setImplementationParameterData("enable_old", enable_oldCtrVal);
        this.setImplementationParameterData("initHandling", initHandlingCtrVal);
    }

    @Override
    public void convertImplementationToMask() throws Exception {

        // Mask Parameter: Kp                                                                                           
        MaskDouble KpMaskVal = 
            (MaskDouble)this.getMaskParameter("Kp").getMaskDataType();
        TNumeric KpMaskData = 
            (TNumeric)KpMaskVal.getData();
        // Mask Parameter: Ki                                                                                           
        MaskDouble KiMaskVal = 
            (MaskDouble)this.getMaskParameter("Ki").getMaskDataType();
        TNumeric KiMaskData = 
            (TNumeric)KiMaskVal.getData();
        // Mask Parameter: initHandling                                                                                 
        MaskComboBox initHandlingMaskVal = 
            (MaskComboBox)this.getMaskParameter("initHandling").getMaskDataType();
        TString initHandlingMaskData = 
            (TString)initHandlingMaskVal.getData();
        // Mask Parameter: ts_fact                                                                                      
        MaskDouble ts_factMaskVal = 
            (MaskDouble)this.getMaskParameter("ts_fact").getMaskDataType();
        TNumeric ts_factMaskData = 
            (TNumeric)ts_factMaskVal.getData();

        // Implementation Parameter: b0                                                                                 
        TNumeric b0CtrVal = this.getImplementationParameterData("b0");
        // Implementation Parameter: b1                                                                                 
        TNumeric b1CtrVal = this.getImplementationParameterData("b1");
        // Implementation Parameter: sfrb0                                                                              
        TNumeric sfrb0CtrVal = this.getImplementationParameterData("sfrb0");
        // Implementation Parameter: sfrb1                                                                              
        TNumeric sfrb1CtrVal = this.getImplementationParameterData("sfrb1");
        // Implementation Parameter: i_old                                                                              
        TNumeric i_oldCtrVal = this.getImplementationParameterData("i_old");
        // Implementation Parameter: enable_old                                                                         
        TNumeric enable_oldCtrVal = this.getImplementationParameterData("enable_old");
        // Implementation Parameter: initHandling                                                                       
        TNumeric initHandlingCtrVal = this.getImplementationParameterData("initHandling");

// USERCODE-BEGIN:ConvImplementationToMask                                                                              
        double Ts = 0;
        int ts_fact;
        double Ki, Kp, b0, b1, sfr0, sfr1;
        final int BITS = 8;

        // get controller parameter
        b0 = b0CtrVal.getReal(0, 0);
        b1 = b1CtrVal.getReal(0, 0);
        sfr0 = sfrb0CtrVal.getReal(0, 0);
        sfr1 = sfrb1CtrVal.getReal(0, 0);

        // calculate controller coefficients
        b0 = QFormat.getDecValue((long) b0, (int) sfr0, BITS, true);
        b1 = QFormat.getDecValue((long) b1, (int) sfr1, BITS, true);

        // get sample time information from model (sample time information can't be obtained from target)
        ts_fact = Double.valueOf(ts_factMaskVal.getValue()).intValue();
        Ts = ts_fact * this.getDedicatedBlock().getModel().getSampleTime();

        // Zero order hold (zoh):
        Ki = b0 / Ts;
        Kp = b1;

        // set mask parameter
        KpMaskData.setReal(0, 0, Kp);
        KiMaskData.setReal(0, 0, Ki);

// USERCODE-END:ConvImplementationToMask                                                                                
        this.getMaskParameter("Kp").setValue(KpMaskData.toFullString());
        this.getMaskParameter("Ki").setValue(KiMaskData.toFullString());
        this.getMaskParameter("initHandling").setValue(initHandlingMaskData.getString());
        this.getMaskParameter("ts_fact").setValue(ts_factMaskData.toFullString());
    }
}
