id 1770361563

CMakeLists.txt

@@ -120,6 +120,9 @@ set(APP_SOURCES
     "src/patterns/creational/AbstractFactory.cpp"
     "src/patterns/creational/Builder.cpp"
     "src/patterns/creational/Prototype.cpp"
+    ## Exceptions
+    "src/core/exception/BasicHandle.cpp"
+    "src/core/exception/ThrowNoexcept.cpp"
     ## Streams
     "src/core/filehandle/IOStream.cpp"
     "src/core/filehandle/StringStream.cpp"
@@ -137,6 +140,14 @@ set(APP_SOURCES
     "src/leetcode/arrays/container_with_most_water/ContainerWithMostWater.cpp"
     "src/leetcode/arrays/longest_common_prefix/Solution.cpp"
     "src/leetcode/arrays/3sum/Solution.cpp"
+    "src/leetcode/arrays/4sum/Solution.cpp"
+    ## Controller
+    "src/controller/pid/pid.cpp"
+    "src/controller/pid/PIDSim.cpp"
+    ## Smart Pointers
+    "src/core/datatypes/smart_pointer/Unique.cpp"
+    "src/core/datatypes/smart_pointer/Shared.cpp"
+    "src/core/datatypes/smart_pointer/Weak.cpp"
 )
 
 # Test files
@@ -147,6 +158,7 @@ set(APP_TESTS
     "tests/container_with_most_water_ut.cpp"
     "tests/longest_common_prefix_ut.cpp"
     "tests/three_sum_ut.cpp"
+    "tests/four_sum_ut.cpp"
 )
 
 # ----------------------------------------------------------------------------------------

src/controller/pid/PIDSim.cpp

@@ -0,0 +1,22 @@
+#include <iostream>
+#include "pid.h"
+
+namespace {
+void run() {
+  PID pid = PID(0.1, 100, -100, 0.1, 0.01, 0.5);
+  double setpoint = 100;
+  double val = 20;
+  for (int i = 0; i < 200; i++) {
+    double inc = pid.calculate(setpoint, val);
+    std::cout << "setpoint:" << setpoint << " - val:" << val << " - inc:" << inc
+              << std::endl;
+    val += inc;
+  }
+}
+}  // namespace
+
+struct PIDSimRunner {
+  PIDSimRunner() { run(); }
+};
+
+static PIDSimRunner autoRunner;

src/controller/pid/pid.cpp

@@ -0,0 +1,115 @@
+/**
+ * Copyright 2019 Bradley J. Snyder <snyder.bradleyj@gmail.com>
+ *
+ * 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.
+ */
+
+#ifndef _PID_SOURCE_
+#define _PID_SOURCE_
+
+#include <iostream>
+#include <cmath>
+#include "pid.h"
+
+using namespace std;
+
+class PIDImpl
+{
+    public:
+        PIDImpl( double dt, double max, double min, double Kp, double Kd, double Ki );
+        ~PIDImpl();
+        double calculate( double setpoint, double pv );
+
+    private:
+        double _dt;
+        double _max;
+        double _min;
+        double _Kp;
+        double _Kd;
+        double _Ki;
+        double _pre_error;
+        double _integral;
+};
+
+
+PID::PID( double dt, double max, double min, double Kp, double Kd, double Ki )
+{
+    pimpl = new PIDImpl(dt,max,min,Kp,Kd,Ki);
+}
+double PID::calculate( double setpoint, double pv )
+{
+    return pimpl->calculate(setpoint,pv);
+}
+PID::~PID() 
+{
+    delete pimpl;
+}
+
+/**
+ * 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;
+
+    // Restrict to max/min
+    if( output > _max )
+        output = _max;
+    else if( output < _min )
+        output = _min;
+
+    // Save error to previous error
+    _pre_error = error;
+
+    return output;
+}
+
+PIDImpl::~PIDImpl()
+{
+}
+
+#endif

src/controller/pid/pid.h

@@ -0,0 +1,49 @@
+/**
+ * Copyright 2019 Bradley J. Snyder <snyder.bradleyj@gmail.com>
+ *
+ * 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.
+ */
+
+#ifndef _PID_H_
+#define _PID_H_
+
+class PIDImpl;
+class PID {
+ 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
+  PID(double dt, double max, double min, double Kp, double Kd, double Ki);
+
+  // Returns the manipulated variable given a setpoint and current process value
+  double calculate(double setpoint, double pv);
+  ~PID();
+
+    PID() = delete;
+    PID(const PID& other) = delete;
+    PID& operator=(const PID& other) = delete;
+
+ private:
+  PIDImpl* pimpl;
+};
+
+#endif

src/core/datatypes/TypeConVersions.cpp

@@ -65,6 +65,21 @@ void explicitConversion() {
   const void* pVoid = reinterpret_cast<const void*>(&pi);
   cout << "reinterpret_cast: address of pi = " << pVoid << "\n";
 
+  // ** Use case: Memory-Mapped I/O **
+  // C
+  // #define REG_ADDR 0x000fff01
+  //   volatile uint8_t* reg = reinterpret_cast<volatile uint8_t*>(REG_ADDR);
+  //   *reg = 0xF;
+  //   *reg = 0x1;
+
+  // C++
+  // #include <cstdint>
+  // constexpr std::uintptr_t REG_ADDR = 0x000fff02;
+  // auto* const reg = reinterpret_cast<volatile uint8_t*>(REG_ADDR);
+  // *reg = 0xF;
+
+  // *reg = 0x1;
+
   // *5. dynamic_cast: safe cast between related classes (runtime checked)
   Base* basePtr = new Derived();
   const Derived* derivedPtr = dynamic_cast<Derived*>(basePtr);