Made unique pointers out of class objects

Shobuj-Paul · Feb 24, 2024 · 27b6b2c · 27b6b2c
1 parent 384c878
commit 27b6b2c
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Showing 7 changed files with 35 additions and 36 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -4,7 +4,9 @@ project(bemf_observer LANGUAGES CXX)
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic -Werror")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic -Werror -Wold-style-cast")
+set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -g")
+set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS} -O3")
 
 include(CTest)
 enable_testing()

diff --git a/include/observers/bemf_observer.hpp b/include/observers/bemf_observer.hpp
@@ -1,9 +1,10 @@
 #pragma once
 
+#include <cstdint>
+#include <memory>
 #include <observers/dq_update.hpp>
 #include <observers/tracker.hpp>
 #include <math/foc.hpp>
-#include <cstdint>
 
 namespace observers
 {
@@ -18,18 +19,15 @@ class BemfObserver
   float speed_prev, angle_prev, Vbus_prev;
 
 public:
-  DQUpdate dq_update;
-  Tracker tracker;
+  std::unique_ptr<DQUpdate> dq_update;
+  std::unique_ptr<Tracker> tracker;
   float Ts;
 
   BemfObserver(const float Ts = 0);
   BemfOutput loop(const math::FrameABC& line_currents, const math::FrameABC& line_voltages,
-                  const math::FrameABC& duties, float Vbus,
-                  const SetBemfParams& set_bemf_params,
-                  const SetTrackerParams& set_tracker_params,
-                  const ExtBemfParams& ext_bemf_params,
-                  const ExtTrackerParams& ext_tracker_params,
-                  const uint8_t idle_mode, const uint8_t num_rotor_poles,
+                  const math::FrameABC& duties, float Vbus, const SetBemfParams& set_bemf_params,
+                  const SetTrackerParams& set_tracker_params, const ExtBemfParams& ext_bemf_params,
+                  const ExtTrackerParams& ext_tracker_params, const uint8_t idle_mode, const uint8_t num_rotor_poles,
                   const bool force_bemf, const bool en_dis_6_step_comm);
 };
 }  // namespace observers
diff --git a/include/observers/dq_update.hpp b/include/observers/dq_update.hpp
@@ -1,5 +1,6 @@
 #pragma once
 
+#include <memory>
 #include <math/foc.hpp>
 #include <controllers/pi_controller.hpp>
 
@@ -68,7 +69,7 @@ struct BemfGains
 class DQUpdate
 {
   math::FrameDQ I_prev, X_prev, E;
-  controllers::PIController d_axis, q_axis;
+  std::unique_ptr<controllers::PIController> d_axis, q_axis;
 
 public:
   controllers::PIConfig config;

diff --git a/include/observers/tracker.hpp b/include/observers/tracker.hpp
@@ -1,5 +1,6 @@
 #pragma once
 
+#include <memory>
 #include <controllers/pi_controller.hpp>
 #include <math/operators.hpp>
 #include <math/functions.hpp>
@@ -31,8 +32,8 @@ struct ExtTrackerParams
 class Tracker
 {
   float speed_est, angle_est;
-  controllers::PIController angle_controller;
-  math::integrator angle_integrator;
+  std::unique_ptr<controllers::PIController> angle_controller;
+  std::unique_ptr<math::integrator> angle_integrator;
 
 public:
   controllers::PIConfig config;

diff --git a/src/observers/bemf_observer.cpp b/src/observers/bemf_observer.cpp
@@ -4,14 +4,12 @@ observers::BemfObserver::BemfObserver(const float Ts) : speed_prev(0), angle_pre
 {
 }
 
-observers::BemfOutput observers::BemfObserver::loop(const math::FrameABC& line_currents, const math::FrameABC& line_voltages,
-                                                    const math::FrameABC& duties, float Vbus,
-                                                    const SetBemfParams& set_bemf_params,
-                                                    const SetTrackerParams& set_tracker_params,
-                                                    const ExtBemfParams& ext_bemf_params,
-                                                    const ExtTrackerParams& ext_tracker_params,
-                                                    const uint8_t idle_mode, const uint8_t num_rotor_poles,
-                                                    const bool force_bemf, const bool en_dis_6_step_comm)
+observers::BemfOutput
+observers::BemfObserver::loop(const math::FrameABC& line_currents, const math::FrameABC& line_voltages,
+                              const math::FrameABC& duties, float Vbus, const SetBemfParams& set_bemf_params,
+                              const SetTrackerParams& set_tracker_params, const ExtBemfParams& ext_bemf_params,
+                              const ExtTrackerParams& ext_tracker_params, const uint8_t idle_mode,
+                              const uint8_t num_rotor_poles, const bool force_bemf, const bool en_dis_6_step_comm)
 {
   observers::BemfOutput output;
 
@@ -38,20 +36,19 @@ observers::BemfOutput observers::BemfObserver::loop(const math::FrameABC& line_c
     voltages.beta = voltages.beta * Vbus;
   }
 
-  dq_update.gains = observers::BemfGains(0.0001, 0.0001, 0.1, Ts, 0);
-  dq_update.config = [this]() {
+  dq_update->gains = observers::BemfGains(0.0001, 0.0001, 0.1, Ts, 0);
+  dq_update->config = [this]() {
     controllers::PIConfig config = { 0.1, 0.1, Ts, -180, 180 };
     return config;
   }();
-  tracker.config = [this]() {
+  tracker->config = [this]() {
     controllers::PIConfig config = { 0.1, 0.1, Ts, -180, 180 };
     return config;
   }();
 
-  float phase_error = dq_update.loop(currents, voltages, speed_prev, angle_prev,
-                                     set_bemf_params, ext_bemf_params);
-  float angle = tracker.loop(phase_error, set_tracker_params, ext_tracker_params);
-  float speed = tracker.speed_tracker(angle, Ts);
+  float phase_error = dq_update->loop(currents, voltages, speed_prev, angle_prev, set_bemf_params, ext_bemf_params);
+  float angle = tracker->loop(phase_error, set_tracker_params, ext_tracker_params);
+  float speed = tracker->speed_tracker(angle, Ts);
 
   // Process Tracker Output
   output.phase_error_rad = phase_error;

diff --git a/src/observers/dq_update.cpp b/src/observers/dq_update.cpp
@@ -5,12 +5,13 @@ observers::DQUpdate::DQUpdate() : I_prev(0, 0), X_prev(0, 0), E(0, 0)
 {
 }
 
-observers::DQUpdate::DQUpdate(controllers::PIConfig config, BemfGains gains) : I_prev(0, 0), X_prev(0, 0), E(0, 0), config(config), gains(gains)
+observers::DQUpdate::DQUpdate(controllers::PIConfig config, BemfGains gains)
+  : I_prev(0, 0), X_prev(0, 0), E(0, 0), config(config), gains(gains)
 {
 }
 
 float observers::DQUpdate::loop(math::FrameAlphaBeta currents, math::FrameAlphaBeta voltages, float angular_velocity,
-                                  float rotor_angle, const SetBemfParams& set_params, const ExtBemfParams& ext_params)
+                                float rotor_angle, const SetBemfParams& set_params, const ExtBemfParams& ext_params)
 {
   math::FrameDQ I_est, error, X;
 
@@ -36,8 +37,8 @@ float observers::DQUpdate::loop(math::FrameAlphaBeta currents, math::FrameAlphaB
   if (set_params.error_q)
     error.q = ext_params.error_q;
 
-  E.d = q_axis.loop(error.d, config, set_params.error_sum_d, ext_params.error_sum_d);
-  E.q = d_axis.loop(error.q, config, set_params.error_sum_q, ext_params.error_sum_q);
+  E.d = q_axis->loop(error.d, config, set_params.error_sum_d, ext_params.error_sum_d);
+  E.q = d_axis->loop(error.q, config, set_params.error_sum_q, ext_params.error_sum_q);
 
   X_prev = X;
   I_prev = I_est;

diff --git a/src/observers/tracker.cpp b/src/observers/tracker.cpp
@@ -1,11 +1,10 @@
 #include <observers/tracker.hpp>
 
-float observers::Tracker::loop(float phase_error, const SetTrackerParams& set_params,
-                               const ExtTrackerParams& ext_params)
+float observers::Tracker::loop(float phase_error, const SetTrackerParams& set_params, const ExtTrackerParams& ext_params)
 {
   if (set_params.error)
     phase_error = ext_params.error;
-  angle_est += config.Ts * angle_controller.loop(phase_error, config, set_params.speed, ext_params.speed);
+  angle_est += config.Ts * angle_controller->loop(phase_error, config, set_params.speed, ext_params.speed);
   if (set_params.etheta)
     angle_est = ext_params.etheta;
   angle_est = math::wrapAngle(angle_est);
@@ -18,5 +17,5 @@ observers::Tracker::Tracker(controllers::PIConfig config) : config(config)
 
 float observers::Tracker::speed_tracker(float angle_est, float Ts)
 {
-  return angle_integrator.loop(angle_est, Ts);
+  return angle_integrator->loop(angle_est, Ts);
 }