add JuliaC example

Author: baggepinnen

Project.toml

@@ -13,7 +13,8 @@ julia = "1.7"
 AllocCheck = "9b6a8646-10ed-4001-bbdc-1d2f46dfbb1a"
 ControlSystemsBase = "aaaaaaaa-a6ca-5380-bf3e-84a91bcd477e"
 FixedPointNumbers = "53c48c17-4a7d-5ca2-90c5-79b7896eea93"
+JET = "c3a54625-cd67-489e-a8e7-0a5a0ff4e31b"
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 
 [targets]
-test = ["AllocCheck", "Test", "ControlSystemsBase", "FixedPointNumbers"]
+test = ["AllocCheck", "Test", "ControlSystemsBase", "FixedPointNumbers", "JET"]

README.md

@@ -195,6 +195,14 @@ plot([res, res_fp], plotu=true, lab=["Float64" "" string(T) ""]); ylabel!("u + d
 
 The fixed-point controller behaves roughly the same in this case, but artifacts are clearly visible. If the number of bits used for the fractional part is decreased, the controller will start to misbehave.
 
+## Compilation using JuliaC
+The file `examples/juliac/juliac_pid.jl` contains a JuliaC-compatible interface that can be compiled into a C-callable shared library using JuliaC. To compile the file, run the following from the `examples/juliac` folder:
+```bash
+julia +nightly --project <PATH_TO_JULIA_REPO>/julia/contrib/juliac.jl --output-lib juliac_pid --trim=unsafe-warn --compile-ccallable juliac_pid.jl
+```
+where `<PATH_TO_JULIA_REPO>` should be replaced with the path to the Julia repository on your system. The command will generate a shared library `juliac_pid` that can be called from C. The file `examples/juliac/juliac_pid.h` contains the C-compatible interface to the shared library.
+
+
 ## See also
 - [TrajectoryLimiters.jl](https://github.com/baggepinnen/TrajectoryLimiters.jl) To generate dynamically feasible reference trajectories with bounded velocity and acceleration given an instantaneous reference $r(t)$ which may change abruptly.
 - [SymbolicControlSystems.jl](https://github.com/JuliaControl/SymbolicControlSystems.jl) For C-code generation of LTI systems.

examples/juliac/Project.toml

@@ -0,0 +1,4 @@
+[deps]
+ControlSystemsBase = "aaaaaaaa-a6ca-5380-bf3e-84a91bcd477e"
+DiscretePIDs = "c1363496-6848-4723-8758-079b737f6baf"
+Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"

examples/juliac/juliac_pid.jl

@@ -0,0 +1,50 @@
+module JuliacPID
+import DiscretePIDs
+import DiscretePIDs: DiscretePID
+import Base.@ccallable
+
+const T = Float64 # The numeric type used by the controller
+
+# Set the initial PID parameters here
+const pid = DiscretePIDs.DiscretePID(; K = T(1), Ti = 1, Td = false, Ts = 1)
+
+
+@ccallable function calculate_control!(r::T, y::T, uff::T)::T
+    DiscretePIDs.calculate_control!(pid, r, y, uff)::T
+end
+
+function set_K!(K::T, r::T, y::T)::Cvoid
+    DiscretePIDs.set_K!(pid, K, r, y)
+    nothing
+end
+
+function set_Ti!(Ti::T)::Cvoid
+    DiscretePIDs.set_Ti!(pid, Ti)
+    nothing
+end
+
+function set_Td!(Td::T)::Cvoid
+    DiscretePIDs.set_Td!(pid, Td)
+    nothing
+end
+
+@ccallable function reset_state!()::Cvoid
+    DiscretePIDs.reset_state!(pid)
+    nothing
+end
+
+@ccallable function main()::Cint
+    println(Core.stdout, "I'm alive and well")
+    u = calculate_control!(0.0, 0.0, 0.0)
+    println(Core.stdout, u)
+
+    Cint(0)
+end
+
+
+end
+
+# compile using something like
+# cd(@__DIR__)
+# run(`julia +nightly --project --experimental /home/fredrikb/repos/julia/contrib/juliac.jl --output-lib juliac_pid --trim=unsafe-warn --compile-ccallable juliac_pid.jl`)
+# run(`ls -ltrh`) # marvel at the smallness of the binary

examples/juliac/test_juliac_pid.jl

@@ -0,0 +1,30 @@
+# Run this file with the same version of julia that you used to compile the shared library.
+cd(@__DIR__)
+
+const T = Float64
+lib = Libc.Libdl.dlopen("/home/fredrikb/.julia/dev/DiscretePIDs/examples/juliac/juliac_pid.so")
+const calc = Libc.Libdl.dlsym(lib, :calculate_control!)
+
+function pid(r::T, y::T, uff::T)
+    ccall(calc, T, (T, T, T), r, y, uff)
+end
+
+pid(0.0, 0.0, 0.0) # test
+
+using ControlSystemsBase, Plots
+Tf = 15   # Simulation time
+Ts = 0.01 # sample time
+
+P   = c2d(ss(tf(1, [1, 1])), Ts) # Process to be controlled, discretized using zero-order hold
+
+ctrl = function(x,t)
+    y = (P.C*x)[] # measurement
+    d = 1         # disturbance
+    r = 0         # reference
+    u = pid(T(r), T(y), T(0))
+    u + d # Plant input is control signal + disturbance
+end
+
+res = lsim(P, ctrl, Tf)
+
+plot(res, plotu=true); ylabel!("u + d", sp=2)

src/DiscretePIDs.jl

@@ -124,6 +124,7 @@ function set_K!(pid::DiscretePID, K, r, y)
         pid.bi = K * pid.Ts / pid.Ti
         pid.I = pid.I + Kold*(pid.b*r - y) - K*(pid.b*r - y)
     end
+    nothing
 end
 
 """
@@ -139,6 +140,7 @@ function set_Ti!(pid::DiscretePID{T}, Ti) where T
     else
         pid.bi = zero(T)
     end
+    nothing
 end
 
 """
@@ -151,6 +153,7 @@ function set_Td!(pid::DiscretePID, Td)
     pid.Td = Td
     pid.ad = Td / (Td + pid.N * pid.Ts)
     pid.bd = pid.K * pid.N * pid.ad
+    nothing
 end
 
 
@@ -193,6 +196,7 @@ function reset_state!(pid::DiscretePID)
     pid.I = zero(pid.I)
     pid.D = zero(pid.D)
     pid.yold = zero(pid.yold)
+    nothing
 end
 
 end

test/runtests.jl

@@ -2,6 +2,7 @@ using DiscretePIDs
 using Test
 using ControlSystemsBase
 using AllocCheck
+using JET
 
 @testset "DiscretePIDs.jl" begin
 
@@ -95,6 +96,10 @@ reset_state!(pid)
 res3 = lsim(P, ctrl, Tf)
 @test res3.y == res2.y
 
+@test_opt pid(1.0, 1.0)
+@test_opt pid(1.0, 1.0, 1.0)
+# @report_call pid(1.0, 1.0)
+
 ## Test with FixedPointNumbers
 using FixedPointNumbers
 T = Fixed{Int16, 10} # 16-bit signed fixed-point with 10 bits for the fractional part