From c9155b14502989d433eb397977a933cc0e22dacf Mon Sep 17 00:00:00 2001
From: Inex Code <gitea@inex.rocks>
Date: Tue, 30 Mar 2021 15:39:59 +0000
Subject: [PATCH] Add Pooh code

---
 UML1/superpooh.cpp | 276 +++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 276 insertions(+)
 create mode 100644 UML1/superpooh.cpp

diff --git a/UML1/superpooh.cpp b/UML1/superpooh.cpp
new file mode 100644
index 0000000..f726d00
--- /dev/null
+++ b/UML1/superpooh.cpp
@@ -0,0 +1,276 @@
+#include <iostream>
+#include <cmath>
+#include <future>
+#include <thread>
+#include <chrono>
+
+using namespace std;
+
+class PIDImpl
+{
+public:
+    // Kp - proportional gain
+    // Ki - Integral gain
+    // Kd - derivative gain
+    // dt - loop interval time
+    // max - maximum value of manipulated variable
+    // min - minimum value of manipulated variable
+    PIDImpl(double dt, double max, double min, double Kp, double Kd, double Ki);
+    ~PIDImpl();
+    // Returns the manipulated variable given a setpoint and current process value
+    double calculate(double setpoint, double pv);
+
+private:
+    double _dt;
+    double _max;
+    double _min;
+    double _Kp;
+    double _Kd;
+    double _Ki;
+    double _pre_error;
+    double _integral;
+};
+
+/**
+* Implementation
+*/
+PIDImpl::PIDImpl(double dt, double max, double min, double Kp, double Kd, double Ki) : _dt(dt),
+                                                                                       _max(max),
+                                                                                       _min(min),
+                                                                                       _Kp(Kp),
+                                                                                       _Kd(Kd),
+                                                                                       _Ki(Ki),
+                                                                                       _pre_error(0),
+                                                                                       _integral(0)
+{
+}
+
+double PIDImpl::calculate(double setpoint, double pv)
+{
+
+    // Calculate error
+    double error = setpoint - pv;
+
+    // Proportional term
+    double Pout = _Kp * error;
+
+    // Integral term
+    _integral += error * _dt;
+    double Iout = _Ki * _integral;
+
+    // Derivative term
+    double derivative = (error - _pre_error) / _dt;
+    double Dout = _Kd * derivative;
+
+    // Calculate total output
+    double output = Pout + Iout + Dout;
+
+    //std::cout<<"out="<<output<< "Pout = "<< Pout <<" " <<Iout <<" "<< Dout <<std::endl;
+    // Restrict to max/min
+    if (output > _max)
+        output = _max;
+    else if (output < _min)
+        output = _min;
+
+    std::cout << "outB=" << output << std::endl;
+
+    // Save error to previous error
+    _pre_error = error;
+
+    return output;
+}
+
+PIDImpl::~PIDImpl()
+{
+}
+
+enum ECmd
+{
+    ENone,
+    EExit
+};
+
+ECmd cmd = ENone;
+
+int counter = 0;
+
+float getHZadFromUser()
+{
+    return 10.;
+}
+
+class Bear
+{
+    float h;
+    float m;
+    float v;
+    float a;
+
+public:
+    Bear()
+    {
+        v = 0;  // m/s
+        a = 0;  // m/s2
+        m = 10; // kg
+        h = 0;  // Текущая высота
+    }
+    float getH()
+    {
+        return h;
+    }
+    float getV()
+    {
+        return v;
+    }
+    float getM()
+    {
+        return m;
+    }
+    float getA()
+    {
+        return a;
+    }
+    virtual void calc(float dt, float extrnForce)
+    {
+        float dh;
+        v = v + a * dt;
+        dh = v * dt;
+        h = h + dh;
+        a = (extrnForce - 9.8 * m) / m; // m * a = mg - F
+
+        if (h < 0)
+        { // Stay on the ground
+            h = 0.;
+            v = 0.;
+            a = 0.;
+        }
+    }
+
+    void eat(float mass)
+    {
+        m = m + mass;
+    }
+
+    virtual void show()
+    {
+        std::cout << "h=" << h << std::endl;
+    }
+};
+
+class Engine;
+
+class Engine
+{
+    float enginePower = 0; // n 0..500 n
+    float maxPower;        // n
+public:
+    Engine(float imaxPower)
+    {
+        enginePower = 0.;
+        maxPower = imaxPower;
+    }
+
+    void setPower(float enginePowerPercent)
+    {
+        if (enginePowerPercent > 100.)
+            enginePowerPercent = 100;
+        if (enginePowerPercent < -100.)
+            enginePowerPercent = -100;
+
+        enginePower = enginePowerPercent * (maxPower / 100.);
+    }
+
+    float getForce()
+    {
+        return enginePower;
+    }
+};
+
+class SmartFlyingBear : public Bear
+{
+    PIDImpl *pid;
+    Engine *pengine;
+    float hZad;
+
+public:
+    SmartFlyingBear(PIDImpl *ppid, Engine *ppengine)
+    {
+        pid = ppid;
+        pengine = ppengine;
+        hZad = 0;
+    }
+
+    void setHZad(float val)
+    {
+        hZad = val;
+    }
+
+    virtual void calc(float dt, float extrnForce)
+    {
+        float enginePowerPercent = 0;
+        if (pid != nullptr)
+        {
+            enginePowerPercent = pid->calculate(hZad, getH());
+        }
+
+        if (pengine != nullptr)
+        {
+            pengine->setPower(enginePowerPercent);
+            Bear::calc(dt, extrnForce + pengine->getForce());
+        }
+    }
+};
+
+int model()
+{
+
+    //PIDImpl pid(0.1, 100, -100, 0.05, 0.001, 0.1);
+    //Bear pooh;
+    SmartFlyingBear superpooh(new PIDImpl(0.1, 100, -100, 0.15, 0.001, 0.01), new Engine(500.));
+
+    float t = 0;                  // Время моделирования
+    float dt = 0.1; // s
+    float lastT = -5;
+
+    float hZad = 0; // Измененение высоты за шаг моделирования
+
+    while (cmd != EExit)
+    {
+
+        hZad = getHZadFromUser(); // Неблокирующая функция для получения высоты
+
+        if (abs(superpooh.getH() - hZad) < 1 && abs(t - lastT) > 5) {
+            superpooh.eat(0.1);
+            lastT = t;
+        }
+        superpooh.setHZad(hZad);
+        superpooh.show();
+        superpooh.calc(dt, 0);
+
+        t = t + dt;
+
+        std::cout << "Weight = " << superpooh.getM() << std::endl;
+        std::cout << "Velocity = " << superpooh.getV() << std::endl;
+        std::cout << "Acceleration = " << superpooh.getA() << std::endl;
+        std::cout << "===========" << std::endl;
+        std::this_thread::sleep_for(std::chrono::milliseconds(50));
+    }
+
+    return 0;
+}
+
+int main() {
+    std::thread th(model);
+    char ch;
+    while (cmd != EExit)
+    {
+        std::cout << "Enter command (q to exit)" << std::endl;
+        std::cin >> ch;
+        if (ch == 'q') {
+            cmd = EExit;
+            th.join();
+        }
+    }
+    return 0;
+    
+}
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