mirror of
https://github.com/nabbar/golib.git
synced 2025-09-26 20:01:15 +08:00
95 lines
2.5 KiB
Go
95 lines
2.5 KiB
Go
/*
|
|
* MIT License
|
|
*
|
|
* Copyright (c) 2022 Nicolas JUHEL
|
|
*
|
|
* Permission is hereby granted, free of charge, to any person obtaining a copy
|
|
* of this software and associated documentation files (the "Software"), to deal
|
|
* in the Software without restriction, including without limitation the rights
|
|
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
|
* copies of the Software, and to permit persons to whom the Software is
|
|
* furnished to do so, subject to the following conditions:
|
|
*
|
|
* The above copyright notice and this permission notice shall be included in all
|
|
* copies or substantial portions of the Software.
|
|
*
|
|
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
|
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
|
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
|
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
|
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
|
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
|
* SOFTWARE.
|
|
*
|
|
*/
|
|
|
|
package duration
|
|
|
|
import (
|
|
libpid "github.com/nabbar/golib/pidcontroller"
|
|
)
|
|
|
|
var (
|
|
DefaultRateProportional float64 = 0.1
|
|
DefaultRateIntegral float64 = 0.01
|
|
DefaultRateDerivative float64 = 0.05
|
|
)
|
|
|
|
func (d Duration) RangeTo(dur Duration, rateP, rateI, rateD float64) []Duration {
|
|
var (
|
|
p = libpid.New(rateP, rateI, rateD)
|
|
r = make([]Duration, 0)
|
|
)
|
|
|
|
for _, v := range p.Range(d.Float64(), dur.Float64()) {
|
|
r = append(r, ParseFloat64(v).TruncateSeconds())
|
|
}
|
|
|
|
if len(r) < 3 {
|
|
r = append(make([]Duration, 0), d, dur)
|
|
}
|
|
|
|
if r[0] > d {
|
|
r = append(append(make([]Duration, 0), d), r...)
|
|
}
|
|
|
|
if r[len(r)-1] < dur {
|
|
r = append(r, dur)
|
|
}
|
|
|
|
return r
|
|
}
|
|
|
|
func (d Duration) RangeDefTo(dur Duration) []Duration {
|
|
return d.RangeTo(dur, DefaultRateProportional, DefaultRateIntegral, DefaultRateDerivative)
|
|
}
|
|
|
|
func (d Duration) RangeFrom(dur Duration, rateP, rateI, rateD float64) []Duration {
|
|
var (
|
|
p = libpid.New(rateP, rateI, rateD)
|
|
r = make([]Duration, 0)
|
|
)
|
|
|
|
for _, v := range p.Range(dur.Float64(), d.Float64()) {
|
|
r = append(r, ParseFloat64(v).TruncateSeconds())
|
|
}
|
|
|
|
if len(r) < 3 {
|
|
r = append(make([]Duration, 0), d, dur)
|
|
}
|
|
|
|
if r[0] > dur {
|
|
r = append(append(make([]Duration, 0), dur), r...)
|
|
}
|
|
|
|
if r[len(r)-1] < d {
|
|
r = append(r, d)
|
|
}
|
|
|
|
return r
|
|
}
|
|
|
|
func (d Duration) RangeDefFrom(dur Duration) []Duration {
|
|
return d.RangeFrom(dur, DefaultRateProportional, DefaultRateIntegral, DefaultRateDerivative)
|
|
}
|