turbine_controller.hpp

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#pragma once
 
#include <functional>
#include <string>
 
#include "utilities/controllers/controller_io.hpp"
#include "vendor/dylib/dylib.hpp"
 
namespace kynema::util {
 
class TurbineController {
public:
    ControllerIO io;
 
    TurbineController(
        std::string shared_lib_path, std::string controller_function_name,
        std::string input_file_path, std::string output_file_path, double initial_yaw_angle = 0.0,
        bool yaw_control_enabled = false
    );
 
    void CallController();
 
    [[nodiscard]] double YawAngleCommand() const { return this->yaw_angle_command_; }
 
private:
    std::string input_file_path_;           //< Path to the input file
    std::string output_file_path_;          //< Path to the output file
    std::string shared_lib_path_;           //< Path to shared library
    std::string controller_function_name_;  //< Name of the controller function in the shared library
 
    util::dylib lib_;  //< Handle to the shared library
    std::function<void(float*, int*, const char* const, char* const, char* const)>
        controller_function_;  //< Function pointer to the controller function
 
    //< Commanded yaw angle (rad) integrated from yaw rate command
    double yaw_angle_command_{0.0};
 
    //< Flag to enable yaw control
    bool yaw_control_enabled_{false};
};
 
}  // namespace kynema::util