fuzzy pid tested OK

examples/fuzzypid/fuzzypid1.py

@@ -0,0 +1,63 @@
+from fuzzypid import NB, NM, NS, ZO, PB, PM, PS
+from fuzzypid import RuleBase, MembershipFunction, FuzzyPIDParams, PIDDirect, FuzzyPIDController
+
+# Default fuzzy rule base of delta kp/ki/kd
+kp_rule_base = [
+    [PB, PB, PM, PM, PS, ZO, ZO],
+    [PB, PB, PM, PS, PS, ZO, NS],
+    [PM, PM, PM, PS, ZO, NS, NS],
+    [PM, PM, PS, ZO, NS, NM, NM],
+    [PS, PS, ZO, NS, NS, NM, NM],
+    [PS, ZO, NS, NM, NM, NM, NB],
+    [ZO, ZO, NM, NM, NM, NB, NB],
+]
+
+ki_rule_base = [
+    [NB, NB, NM, NM, NS, ZO, ZO],
+    [NB, NB, NM, NS, NS, ZO, ZO],
+    [NB, NM, NS, NS, ZO, PS, PS],
+    [NM, NM, NS, ZO, PS, PM, PM],
+    [NM, NS, ZO, PS, PS, PM, PB],
+    [ZO, ZO, PS, PS, PM, PB, PB],
+    [ZO, ZO, PS, PM, PM, PB, PB],
+]
+
+kd_rule_base = [
+    [PS, NS, NB, NB, NB, NM, PS],
+    [PS, NS, NB, NM, NM, NS, ZO],
+    [ZO, NS, NM, NM, NS, NS, ZO],
+    [ZO, NS, NS, NS, NS, NS, ZO],
+    [ZO, ZO, ZO, ZO, ZO, ZO, ZO],
+    [PB, PS, PS, PS, PS, PS, PB],
+    [PB, PM, PM, PM, PS, PS, PB],
+]
+
+rule_base = RuleBase(kp_rule_base, ki_rule_base, kd_rule_base)
+
+mf_params = MembershipFunction(
+    [-3, -3, -2, 0, -3, -2, -1, 0, -2, -1, 0, 0, -1, 0, 1, 0, 0, 1, 2, 0, 1, 2, 3, 0, 2, 3, 3, 0])
+
+fuzzy_pid_params = FuzzyPIDParams([
+    [0.65, 0, 0, 0, 0, 0, 1],
+    [-0.34, 0, 0, 0, 0, 0, 1],
+    [-1.1, 0, 0, 0, 0, 0, 1],
+    [-2.4, 0, 0, 0, 0, 0, 1],
+    [1.2, 0, 0, 0, 0, 0, 1],
+    [1.2, 0.05, 0.1, 0, 0, 0, 1],
+])
+
+direct = PIDDirect([True, False, False, False, True, True])
+
+fuzzy_pid_controller = FuzzyPIDController(
+    rule_base, mf_params, fuzzy_pid_params, direct=direct)
+
+max_error = 100
+middle_pwm_output = 500
+control_id = 5
+real = 0
+idea = max_error * 0.9
+print("idea value: ", idea)
+for j in range(10):
+    out = fuzzy_pid_controller.compute_output(control_id, real, idea)
+    real += (out - middle_pwm_output) / middle_pwm_output * max_error * 0.1
+    print("%d,%s" % (int(out), real))

package/fuzzypid/LICENSE

@@ -0,0 +1,674 @@
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+
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+
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+    but WITHOUT ANY WARRANTY; without even the implied warranty of
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+<http://www.gnu.org/licenses/>.
+
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+into proprietary programs.  If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
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+Public License instead of this License.  But first, please read
+<http://www.gnu.org/philosophy/why-not-lgpl.html>.

package/fuzzypid/README.md

@@ -0,0 +1,89 @@
+## fuzzy-pid
+
+### 介绍
+鉴于控制算法常于嵌入式平台使用，所以使用C语言实现模糊PID控制算法。实现的功能包括但不限于：
+
+- 隶属度函数 Membership function
+    - 高斯隶属度函数 Gaussian membership function
+    - 广义钟形隶属度函数 Generalized bell-shaped membership function
+    - S形隶属度函数 Sigmoidal membership function
+    - 梯形隶属度函数 Trapezoidal membership function
+    - 三角形隶属度函数 Triangular membership function
+    - Z形隶属度函数 Z-shaped membership function
+- 模糊算子 Fuzzy operator
+    - 并算子 Union operator
+    - 交算子 Intersection operator
+    - 平衡算子 Equilibrium operator
+- 中心平均解模糊器 Mean of centers defuzzifier
+
+API使用的示例代码如下：
+
+```c
+#include "fuzzyPID.h"
+
+#define DOF 6
+
+int main() {
+    // Default fuzzy rule base of delta kp/ki/kd
+    int rule_base[][qf_default] = {
+            //delta kp rule base
+            {PB, PB, PM, PM, PS, ZO, ZO},
+            {PB, PB, PM, PS, PS, ZO, NS},
+            {PM, PM, PM, PS, ZO, NS, NS},
+            {PM, PM, PS, ZO, NS, NM, NM},
+            {PS, PS, ZO, NS, NS, NM, NM},
+            {PS, ZO, NS, NM, NM, NM, NB},
+            {ZO, ZO, NM, NM, NM, NB, NB},
+            //delta ki rule base
+            {NB, NB, NM, NM, NS, ZO, ZO},
+            {NB, NB, NM, NS, NS, ZO, ZO},
+            {NB, NM, NS, NS, ZO, PS, PS},
+            {NM, NM, NS, ZO, PS, PM, PM},
+            {NM, NS, ZO, PS, PS, PM, PB},
+            {ZO, ZO, PS, PS, PM, PB, PB},
+            {ZO, ZO, PS, PM, PM, PB, PB},
+            //delta kd rule base
+            {PS, NS, NB, NB, NB, NM, PS},
+            {PS, NS, NB, NM, NM, NS, ZO},
+            {ZO, NS, NM, NM, NS, NS, ZO},
+            {ZO, NS, NS, NS, NS, NS, ZO},
+            {ZO, ZO, ZO, ZO, ZO, ZO, ZO},
+            {PB, PS, PS, PS, PS, PS, PB},
+            {PB, PM, PM, PM, PS, PS, PB}};
+
+    // Default parameters of membership function
+    int mf_params[4 * qf_default] = {-3, -3, -2, 0,
+                                     -3, -2, -1, 0,
+                                     -2, -1,  0, 0,
+                                     -1,  0,  1, 0,
+                                      0,  1,  2, 0,
+                                      1,  2,  3, 0,
+                                      2,  3,  3, 0};
+
+    // Default parameters of pid controller
+    float fuzzy_pid_params[DOF][pid_params_count] = {{0.65f,  0,     0,    0, 0, 0, 1},
+                                                     {-0.34f, 0,     0,    0, 0, 0, 1},
+                                                     {-1.1f,  0,     0,    0, 0, 0, 1},
+                                                     {-2.4f,  0,     0,    0, 0, 0, 1},
+                                                     {1.2f,   0,     0,    0, 0, 0, 1},
+                                                     {1.2f,   0.05f, 0.1f, 0, 0, 0, 1}};
+
+    // Obtain the PID controller vector according to the parameters
+    struct PID **pid_vector = fuzzy_pid_vector_init(fuzzy_pid_params, 2.0f, 4, 1, 0, mf_params, rule_base, DOF);
+
+    printf("output:\n");
+    int control_id = 5;
+    float real = 0;
+    float idea = max_error * 0.9f;
+    printf("idea value: %f\n", idea);
+    bool direct[DOF] = {true, false, false, false, true, true};
+    for (int j = 0; j < 1000; ++j) {
+        int out = fuzzy_pid_motor_pwd_output(real, idea, direct[control_id], pid_vector[control_id]);
+        real += (float) (out - middle_pwm_output) / (float) middle_pwm_output * (float) max_error * 0.1f;
+        printf("%d,%f\n", out, real);
+    }
+
+    delete_pid_vector(pid_vector, DOF);
+    return 0;
+}
+```

package/fuzzypid/_fuzzypid.c

@@ -0,0 +1,196 @@
+#include "_fuzzypid.h"
+#include "_fuzzypid_FuzzyPIDController.h"
+#include "_fuzzypid_FuzzyPIDParams.h"
+#include "_fuzzypid_MembershipFunction.h"
+#include "_fuzzypid_PIDDirect.h"
+#include "_fuzzypid_RuleBase.h"
+#include "fuzzy_PID.h"
+
+void _fuzzypid___init__(PikaObj* self) {
+    obj_setInt(self, "PB", PB);
+    obj_setInt(self, "PM", PM);
+    obj_setInt(self, "PS", PS);
+    obj_setInt(self, "ZO", ZO);
+    obj_setInt(self, "NS", NS);
+    obj_setInt(self, "NM", NM);
+    obj_setInt(self, "NB", NB);
+}
+
+static void _fillRuleBase(PikaObj* self,
+                          PikaObj* rules,
+                          int (*rules_base)[qf_default],
+                          size_t* offset) {
+    size_t rules_len = pikaList_getSize(rules);
+    for (size_t i = 0; i < rules_len; ++i) {
+        PikaObj* rule = pikaList_getPtr(rules, i);
+        size_t rule_len = pikaList_getSize(rule);
+        for (size_t j = 0; j < rule_len; ++j) {
+            rules_base[*offset][j] = pikaList_getInt(rule, j);
+        }
+        ++(*offset);
+    }
+}
+
+void _fuzzypid_RuleBase___init__(PikaObj* self,
+                                 PikaObj* kp_rules,
+                                 PikaObj* ki_rules,
+                                 PikaObj* kd_rules) {
+    size_t kp_rules_len = pikaList_getSize(kp_rules);
+    size_t ki_rules_len = pikaList_getSize(ki_rules);
+    size_t kd_rules_len = pikaList_getSize(kd_rules);
+    if (kp_rules_len != ki_rules_len || ki_rules_len != kd_rules_len) {
+        obj_setSysOut(
+            self,
+            "Error: kp_rules, ki_rules, kd_rules must have the same length");
+        obj_setErrorCode(self, -__LINE__);
+        return;
+    }
+    size_t rules_len = kp_rules_len;
+    if (rules_len == 0) {
+        obj_setSysOut(self,
+                      "Error: kp_rules, ki_rules, kd_rules must not be "
+                      "empty");
+        obj_setErrorCode(self, -__LINE__);
+        return;
+    }
+    size_t rule_len = pikaList_getSize(pikaList_getPtr(kp_rules, 0));
+    if (rule_len != qf_default) {
+        obj_setSysOut(self,
+                      "Error: kp_rules, ki_rules, kd_rules must have "
+                      "qf_default columns");
+        obj_setErrorCode(self, -__LINE__);
+        return;
+    }
+    for (size_t i = 0; i < rules_len; ++i) {
+        PikaObj* rule = pikaList_getPtr(kp_rules, i);
+        if (pikaList_getSize(rule) != rule_len) {
+            obj_setSysOut(self,
+                          "Error: kp_rules, ki_rules, kd_rules must have "
+                          "the same length");
+            obj_setErrorCode(self, -__LINE__);
+            return;
+        }
+    }
+    size_t rules_size = sizeof(int) * rules_len * rule_len * 3;
+    int(*rules)[qf_default] = pikaMalloc(rules_size);
+    obj_setInt(self, "rules_size", rules_size);
+    size_t offset = 0;
+    _fillRuleBase(self, kp_rules, rules, &offset);
+    _fillRuleBase(self, ki_rules, rules, &offset);
+    _fillRuleBase(self, kd_rules, rules, &offset);
+    obj_setPtr(self, "rules", rules);
+}
+
+void _fuzzypid_RuleBase___del__(PikaObj* self) {
+    int* rules = obj_getPtr(self, "rules");
+    pikaFree(rules, obj_getInt(self, "rules_size"));
+}
+
+void _fuzzypid_MembershipFunction___init__(PikaObj* self, PikaObj* params) {
+    size_t params_len = pikaList_getSize(params);
+    if (params_len != 4 * qf_default) {
+        obj_setSysOut(self, "Error: params must have 4 * qf_default columns");
+        obj_setErrorCode(self, -__LINE__);
+        return;
+    }
+    int* mf_params = pikaMalloc(sizeof(int) * params_len);
+    for (size_t i = 0; i < params_len; ++i) {
+        mf_params[i] = pikaList_getInt(params, i);
+    }
+    obj_setPtr(self, "mf_params", mf_params);
+}
+
+void _fuzzypid_MembershipFunction___del__(PikaObj* self) {
+    int* mf_params = obj_getPtr(self, "mf_params");
+    pikaFree(mf_params, sizeof(int) * 4 * qf_default);
+}
+
+void _fuzzypid_FuzzyPIDParams___init__(PikaObj* self, PikaObj* pid_params) {
+    size_t DOF = pikaList_getSize(pid_params);
+    size_t pid_params_len = pikaList_getSize(pikaList_getPtr(pid_params, 0));
+    if (pid_params_len != pid_params_count) {
+        obj_setSysOut(self,
+                      "Error: pid_params must have pid_params_count columns");
+        obj_setErrorCode(self, -__LINE__);
+        return;
+    }
+    float(*fuzzy_pid_params)[pid_params_count] =
+        pikaMalloc(sizeof(float) * DOF * pid_params_count);
+    for (size_t i = 0; i < DOF; ++i) {
+        PikaObj* pid_param = pikaList_getPtr(pid_params, i);
+        if (pikaList_getSize(pid_param) != pid_params_len) {
+            obj_setSysOut(self, "Error: pid_params must have the same length");
+            obj_setErrorCode(self, -__LINE__);
+            return;
+        }
+        for (size_t j = 0; j < pid_params_len; ++j) {
+            fuzzy_pid_params[i][j] = pikaList_getFloat(pid_param, j);
+        }
+    }
+    obj_setPtr(self, "fuzzy_pid_params", fuzzy_pid_params);
+    obj_setInt(self, "DOF", DOF);
+}
+
+void _fuzzypid_FuzzyPIDParams___del__(PikaObj* self) {
+    float* fuzzy_pid_params = obj_getPtr(self, "fuzzy_pid_params");
+    size_t DOF = obj_getInt(self, "DOF");
+    pikaFree(fuzzy_pid_params, sizeof(float) * DOF * pid_params_count);
+}
+
+void _fuzzypid_PIDDirect___init__(PikaObj* self, PikaObj* direct) {
+    size_t DOF = pikaList_getSize(direct);
+    pika_bool* direct_vector = pikaMalloc(sizeof(pika_bool) * DOF);
+    for (size_t i = 0; i < DOF; ++i) {
+        direct_vector[i] = pikaList_getBool(direct, i);
+    }
+    obj_setInt(self, "DOF", DOF);
+    obj_setPtr(self, "direct_vector", direct_vector);
+}
+
+void _fuzzypid_PIDDirect___del__(PikaObj* self) {
+    pika_bool* direct_vector = obj_getPtr(self, "direct_vector");
+    pikaFree(direct_vector, sizeof(pika_bool) * obj_getInt(self, "DOF"));
+}
+
+void _fuzzypid_FuzzyPIDController___init__(PikaObj* self,
+                                           PikaObj* rule_base,
+                                           PikaObj* mf_params,
+                                           PikaObj* pid_params,
+                                           pika_float delta_k,
+                                           int mf_type,
+                                           int fo_type,
+                                           int df_type,
+                                           PikaObj* direct) {
+    obj_setPtr(self, "rule_base", rule_base);
+    obj_setPtr(self, "mf_params", mf_params);
+    obj_setPtr(self, "pid_params", pid_params);
+    obj_setPtr(self, "direct", direct);
+    int* rules = obj_getPtr(rule_base, "rules");
+    int* mf_params_mat = obj_getPtr(mf_params, "mf_params");
+    float* fuzzy_pid_params = obj_getPtr(pid_params, "fuzzy_pid_params");
+    int DOF = obj_getInt(pid_params, "DOF");
+    struct PID** pid_vector = fuzzy_pid_vector_init(
+        (float(*)[pid_params_count])fuzzy_pid_params, delta_k, mf_type, fo_type,
+        df_type, mf_params_mat, (int(*)[pid_params_count])rules, DOF);
+    obj_setPtr(self, "pid_vector", pid_vector);
+    obj_setInt(self, "DOF", DOF);
+    obj_setPtr(self, "direct_vector", obj_getPtr(direct, "direct_vector"));
+}
+
+void _fuzzypid_FuzzyPIDController___del__(PikaObj* self) {
+    struct PID** pid_vector = obj_getPtr(self, "pid_vector");
+    if (NULL != pid_vector) {
+        int DOF = obj_getInt(self, "DOF");
+        delete_pid_vector(pid_vector, DOF);
+    }
+}
+
+pika_float _fuzzypid_FuzzyPIDController_compute_output(PikaObj* self,
+                                                       int control_id,
+                                                       pika_float real,
+                                                       pika_float input) {
+    struct PID** pid_vector = obj_getPtr(self, "pid_vector");
+    pika_bool* direct_vector = obj_getPtr(self, "direct_vector");
+    return fuzzy_pid_motor_pwd_output(real, input, direct_vector[control_id],
+                                      pid_vector[control_id]);
+}

package/fuzzypid/_fuzzypid.pyi

@@ -0,0 +1,54 @@
+PB: int
+PM: int
+PS: int
+ZO: int
+NS: int
+NM: int
+NB: int
+
+
+def __init__(): ...
+
+
+class RuleBase:
+    def __init__(self,
+                 kp_rules: list[list[int]],
+                 ki_rules: list[list[int]],
+                 kd_rules: list[list[int]]): ...
+
+    def __del__(self): ...
+
+
+class MembershipFunction:
+    def __init__(self, params: list[int]): ...
+    def __del__(self): ...
+
+
+class FuzzyPIDParams:
+    def __init__(self, pid_params: list[list[float]]): ...
+    def __del__(self): ...
+
+
+class PIDDirect:
+    def __init__(self, direct: list[int]): ...
+    def __del__(self): ...
+
+
+class FuzzyPIDController:
+    def __init__(self,
+                 rule_base: RuleBase,
+                 mf_params: MembershipFunction,
+                 pid_params: FuzzyPIDParams,
+                 delta_k: float,
+                 mf_type: int,
+                 fo_type: int,
+                 df_type: int,
+                 direct: list): ...
+
+    def compute_output(self,
+                       control_id: int,
+                       real: float,
+                       input: float,
+                       ) -> float: ...
+
+    def __del__(self): ...

package/fuzzypid/fuzzy_PID.c

@@ -0,0 +1,592 @@
+#include "fuzzy_PID.h"
+
+struct fuzzy* fuzzy_init(unsigned int input_num, unsigned int output_num) {
+    struct fuzzy* fuzzy_struct =
+        (struct fuzzy*)pika_platform_malloc(sizeof(struct fuzzy));
+    fuzzy_struct->input_num = input_num;
+    fuzzy_struct->output_num = output_num;
+    fuzzy_struct->mf_type = (unsigned int*)pika_platform_malloc(
+        (input_num + output_num) * sizeof(unsigned int));
+#ifdef fuzzy_pid_rule_base_deep_copy
+    fuzzy_struct->mf_params =
+        (int*)pika_platform_malloc(4 * qf_default * sizeof(int));
+    fuzzy_struct->rule_base = (int*)pika_platform_malloc(
+        output_num * qf_default * qf_default * sizeof(int));
+#endif
+    fuzzy_struct->output =
+        (float*)pika_platform_malloc(output_num * sizeof(float));
+    return fuzzy_struct;
+}
+
+void delete_fuzzy(struct fuzzy* fuzzy_struct) {
+    pika_platform_free(fuzzy_struct->mf_type);
+    pika_platform_free(fuzzy_struct->output);
+    pika_platform_free(fuzzy_struct);
+}
+
+void fuzzy_params_init(struct fuzzy* fuzzy_struct,
+                       unsigned int mf_type,
+                       unsigned int fo_type,
+                       unsigned int df_type,
+                       int mf_params[],
+                       int rule_base[][qf_default]) {
+    for (unsigned int i = 0;
+         i < fuzzy_struct->input_num + fuzzy_struct->output_num; ++i) {
+        fuzzy_struct->mf_type[i] = mf_type;
+    }
+
+    for (unsigned int i = 0; i < fuzzy_struct->output_num; ++i) {
+        fuzzy_struct->output[i] = 0;
+    }
+
+#ifdef fuzzy_pid_rule_base_deep_copy
+    for (unsigned int j = 0; j < 4 * qf_default; ++j) {
+        fuzzy_struct->mf_params[j] = mf_params[j];
+    }
+
+    for (unsigned int k = 0; k < fuzzy_struct->output_num * qf_default; ++k) {
+        for (unsigned int i = 0; i < qf_default; ++i) {
+            fuzzy_struct->rule_base[k * 7 + i] = rule_base[k][i];
+        }
+    }
+#else
+    fuzzy_struct->mf_params = mf_params;
+    fuzzy_struct->rule_base = (int*)rule_base;
+#endif
+
+    fuzzy_struct->fo_type = fo_type;
+    fuzzy_struct->df_type = df_type;
+}
+
+#define inverse(parameter) 1.0f / (float)parameter
+
+// Gaussian membership function
+float gaussmf(float x, float sigma, float c) {
+    return expf(-powf(((x - c) / sigma), 2.0f));
+}
+
+// Generalized bell-shaped membership function
+float gbellmf(float x, float a, float b, float c) {
+    return inverse(1.0f + powf(fabsf((x - c) / a), 2.0f * b));
+}
+
+// Sigmoidal membership function
+float sigmf(float x, float a, float c) {
+    return inverse(1.0f + expf(a * (c - x)));
+}
+
+// Trapezoidal membership function
+float trapmf(float x, float a, float b, float c, float d) {
+    if (x >= a && x < b)
+        return (x - a) / (b - a);
+    else if (x >= b && x < c)
+        return 1.0f;
+    else if (x >= c && x <= d)
+        return (d - x) / (d - c);
+    else
+        return 0.0f;
+}
+
+// Triangular membership function
+float trimf(float x, float a, float b, float c) {
+    return trapmf(x, a, b, b, c);
+}
+
+// Z-shaped membership function
+float zmf(float x, float a, float b) {
+    if (x <= a)
+        return 1.0f;
+    else if (x >= a && x <= (a + b) / 2.0f)
+        return 1.0f - 2.0f * powf((x - a) / (b - a), 2.0f);
+    else if (x >= (a + b) / 2.0f && x < b)
+        return 2.0f * powf((x - b) / (b - a), 2.0f);
+    else
+        return 0;
+}
+
+// Membership function
+float mf(float x, unsigned int mf_type, int* params) {
+    switch (mf_type) {
+        case 0:
+            return gaussmf(x, params[0], params[1]);
+        case 1:
+            return gbellmf(x, params[0], params[1], params[2]);
+        case 2:
+            return sigmf(x, params[0], params[2]);
+        case 3:
+            return trapmf(x, params[0], params[1], params[2], params[3]);
+        case 5:
+            return zmf(x, params[0], params[1]);
+        default:  // set triangular as default membership function
+            return trimf(x, params[0], params[1], params[2]);
+    }
+}
+
+// Union operator
+float or (float a, float b, unsigned int type) {
+    if (type == 1) {  // algebraic sum
+        return a + b - a * b;
+    } else if (type == 2) {  // bounded sum
+        return fminf(1, a + b);
+    } else {  // fuzzy union
+        return fmaxf(a, b);
+    }
+}
+
+// Intersection operator
+float and (float a, float b, unsigned int type) {
+    if (type == 1) {  // algebraic product
+        return a * b;
+    } else if (type == 2) {  // bounded product
+        return fmaxf(0, a + b - 1);
+    } else {  // fuzzy intersection
+        return fminf(a, b);
+    }
+}
+
+// Equilibrium operator
+float equilibrium(float a, float b, float params) {
+    return powf(a * b, 1 - params) * powf(1 - (1 - a) * (1 - b), params);
+}
+
+// Fuzzy operator
+float fo(float a, float b, unsigned int type) {
+    if (type < 3) {
+        return and(a, b, type);
+    } else if (type < 6) {
+        return or (a, b, type - 3);
+    } else {
+        return equilibrium(a, b, 0.5f);
+    }
+}
+
+// Mean of centers defuzzifier, only for two input multiple index
+void moc(const float* joint_membership,
+         const unsigned int* index,
+         const unsigned int* count,
+         struct fuzzy* fuzzy_struct) {
+    float denominator_count = 0;
+    float numerator_count[fuzzy_struct->output_num];
+    for (unsigned int l = 0; l < fuzzy_struct->output_num; ++l) {
+        numerator_count[l] = 0;
+    }
+
+    for (int i = 0; i < count[0]; ++i) {
+        for (int j = 0; j < count[1]; ++j) {
+            denominator_count += joint_membership[i * count[1] + j];
+        }
+    }
+
+    for (unsigned int k = 0; k < fuzzy_struct->output_num; ++k) {
+        for (unsigned int i = 0; i < count[0]; ++i) {
+            for (unsigned int j = 0; j < count[1]; ++j) {
+                numerator_count[k] +=
+                    joint_membership[i * count[1] + j] *
+                    fuzzy_struct->rule_base[k * qf_default * qf_default +
+                                            index[i] * qf_default +
+                                            index[count[0] + j]];
+            }
+        }
+    }
+
+#ifdef fuzzy_pid_debug_print
+    pika_platform_printf("output:\n");
+#endif
+    for (unsigned int l = 0; l < fuzzy_struct->output_num; ++l) {
+        fuzzy_struct->output[l] = numerator_count[l] / denominator_count;
+#ifdef fuzzy_pid_debug_print
+        pika_platform_printf("%f,%f,%f\n", numerator_count[l],
+                             denominator_count, fuzzy_struct->index[l]);
+#endif
+    }
+}
+
+// Defuzzifier
+void df(const float* joint_membership,
+        const unsigned int* output,
+        const unsigned int* count,
+        struct fuzzy* fuzzy_struct,
+        int df_type) {
+    if (df_type == 0)
+        moc(joint_membership, output, count, fuzzy_struct);
+    else {
+        pika_platform_printf("Waring: No such of defuzzifier!\n");
+        moc(joint_membership, output, count, fuzzy_struct);
+    }
+}
+
+void fuzzy_control(float e, float de, struct fuzzy* fuzzy_struct) {
+    float membership[qf_default * 2];    // Store membership
+    unsigned int index[qf_default * 2];  // Store the index of each membership
+    unsigned int count[2] = {0, 0};
+
+    {
+        int j = 0;
+        for (int i = 0; i < qf_default; ++i) {
+            float temp = mf(e, fuzzy_struct->mf_type[0],
+                            fuzzy_struct->mf_params + 4 * i);
+            if (temp > 1e-4) {
+                membership[j] = temp;
+                index[j++] = i;
+            }
+        }
+
+        count[0] = j;
+
+        for (int i = 0; i < qf_default; ++i) {
+            float temp = mf(de, fuzzy_struct->mf_type[1],
+                            fuzzy_struct->mf_params + 4 * i);
+            if (temp > 1e-4) {
+                membership[j] = temp;
+                index[j++] = i;
+            }
+        }
+
+        count[1] = j - count[0];
+    }
+
+#ifdef fuzzy_pid_debug_print
+    pika_platform_printf("membership:\n");
+    for (unsigned int k = 0; k < j; ++k) {
+        pika_platform_printf("%f\n", membership[k]);
+    }
+
+    pika_platform_printf("index:\n");
+    for (unsigned int k = 0; k < j; ++k) {
+        pika_platform_printf("%d\n", index[k]);
+    }
+
+    pika_platform_printf("count:\n");
+    for (unsigned int k = 0; k < 2; ++k) {
+        pika_platform_printf("%d\n", count[k]);
+    }
+#endif
+
+    if (count[0] == 0 || count[1] == 0) {
+        for (unsigned int l = 0; l < fuzzy_struct->output_num; ++l) {
+            fuzzy_struct->output[l] = 0;
+        }
+        return;
+    }
+
+    // Joint membership
+    float joint_membership[count[0] * count[1]];
+
+    for (int i = 0; i < count[0]; ++i) {
+        for (int j = 0; j < count[1]; ++j) {
+            joint_membership[i * count[1] + j] = fo(
+                membership[i], membership[count[0] + j], fuzzy_struct->fo_type);
+        }
+    }
+
+    df(joint_membership, index, count, fuzzy_struct, 0);
+}
+
+struct PID* raw_fuzzy_pid_init(float kp,
+                               float ki,
+                               float kd,
+                               float integral_limit,
+                               float dead_zone,
+                               float feed_forward,
+                               float error_max,
+                               float delta_error_max,
+                               float delta_kp_max,
+                               float delta_ki_max,
+                               float delta_kd_max,
+                               unsigned int mf_type,
+                               unsigned int fo_type,
+                               unsigned int df_type,
+                               int mf_params[],
+                               int rule_base[][qf_default],
+                               int output_min_value,
+                               int output_middle_value,
+                               int output_max_value) {
+    struct PID* pid = (struct PID*)pika_platform_malloc(sizeof(struct PID));
+    pid->kp = kp;
+    pid->ki = ki;
+    pid->kd = kd;
+
+    pid->delta_kp_max = delta_kp_max;
+    pid->delta_ki_max = delta_ki_max;
+    pid->delta_kd_max = delta_kd_max;
+
+    pid->delta_kp = 0;
+    pid->delta_ki = 0;
+    pid->delta_kd = 0;
+
+    pid->error_max = error_max;
+    pid->delta_error_max = delta_error_max;
+
+    int output_count = 1;
+    if (ki > 1e-4) {
+        output_count += 1;
+        if (kd > 1e-4)
+            output_count += 1;
+    }
+
+    pid->fuzzy_struct = fuzzy_init(2, output_count);
+    fuzzy_params_init(pid->fuzzy_struct, mf_type, fo_type, df_type, mf_params,
+                      rule_base);
+
+    pid->last_error = 0;
+    pid->current_error = 0;
+
+    pid->intergral = 0;
+    pid->intergral_limit = integral_limit;
+
+    pid->dead_zone = dead_zone;
+    pid->feed_forward = feed_forward;
+
+    pid->output_max_value = output_max_value;
+    pid->output_middle_value = output_middle_value;
+    pid->output_min_value = output_min_value;
+
+    return pid;
+}
+
+struct PID* fuzzy_pid_init(float* params,
+                           float delta_k,
+                           unsigned int mf_type,
+                           unsigned int fo_type,
+                           unsigned int df_type,
+                           int mf_params[],
+                           int rule_base[][qf_default]) {
+    return raw_fuzzy_pid_init(
+        params[0], params[1], params[2], params[3], params[4], params[5],
+        max_error, max_delta_error, params[0] / delta_k, params[1] / delta_k,
+        params[2] / delta_k, mf_type, fo_type, df_type, mf_params, rule_base,
+        min_pwm_output, middle_pwm_output, max_pwm_output);
+}
+
+struct PID* raw_pid_init(float kp,
+                         float ki,
+                         float kd,
+                         float integral_limit,
+                         float dead_zone,
+                         float feed_forward,
+                         float linear_adaptive_kp,
+                         float error_max,
+                         float delta_error_max,
+                         int output_min_value,
+                         int output_middle_value,
+                         int output_max_value) {
+    struct PID* pid = (struct PID*)pika_platform_malloc(sizeof(struct PID));
+    pid->kp = kp;
+    pid->ki = ki;
+    pid->kd = kd;
+
+    pid->delta_kp_max = 0;
+    pid->delta_ki_max = 0;
+    pid->delta_kd_max = 0;
+
+    pid->delta_kp = 0;
+    pid->delta_ki = 0;
+    pid->delta_kd = 0;
+
+    pid->error_max = error_max;
+    pid->delta_error_max = delta_error_max;
+
+    pid->fuzzy_struct = NULL;
+
+    pid->last_error = 0;
+    pid->current_error = 0;
+
+    pid->intergral = 0;
+    pid->intergral_limit = integral_limit;
+
+    pid->dead_zone = dead_zone;
+    pid->feed_forward = feed_forward;
+
+    pid->output_max_value = output_max_value;
+    pid->output_middle_value = output_middle_value;
+    pid->output_min_value = output_min_value;
+
+    pid->linear_adaptive_kp = linear_adaptive_kp;
+    return pid;
+}
+
+struct PID* pid_init(float* params) {
+    return raw_pid_init(params[0], params[1], params[2], params[3], params[4],
+                        params[5], params[6], max_error, max_delta_error,
+                        min_pwm_output, middle_pwm_output, max_pwm_output);
+}
+
+int round_user(float parameter) {
+    if ((int)(parameter * 10.0) % 10 >= 5)
+        return parameter + 1;
+    else
+        return parameter;
+}
+
+int limit(int value, int max_limit, int min_limit) {
+    if (value > max_limit)
+        return max_limit;
+    if (value < min_limit)
+        return min_limit;
+    return value;
+}
+
+float fuzzy_pid_control(float real, float idea, struct PID* pid) {
+    pid->last_error = pid->current_error;
+    pid->current_error = idea - real;
+    float delta_error = pid->current_error - pid->last_error;
+#ifdef fuzzy_pid_dead_zone
+    if (pid->current_error < pid->dead_zone &&
+        pid->current_error > -pid->dead_zone) {
+        pid->current_error = 0;
+    } else {
+        if (pid->current_error > pid->dead_zone)
+            pid->current_error = pid->current_error - pid->dead_zone;
+        else {
+            if (pid->current_error < -pid->dead_zone)
+                pid->current_error = pid->current_error + pid->dead_zone;
+        }
+    }
+#endif
+    fuzzy_control(pid->current_error / pid->error_max * 3.0f,
+                  delta_error / pid->delta_error_max * 3.0f, pid->fuzzy_struct);
+
+    pid->delta_kp =
+        pid->fuzzy_struct->output[0] / 3.0f * pid->delta_kp_max + pid->kp;
+
+    if (pid->fuzzy_struct->output_num >= 2)
+        pid->delta_ki = pid->fuzzy_struct->output[1] / 3.0f * pid->delta_ki_max;
+    else
+        pid->delta_ki = 0;
+
+    if (pid->fuzzy_struct->output_num >= 3)
+        pid->delta_kd = pid->fuzzy_struct->output[2] / 3.0f * pid->delta_kd_max;
+    else
+        pid->delta_ki = 0;
+
+#ifdef fuzzy_pid_debug_print
+    pika_platform_printf("kp : %f, ki : %f, kd : %f\n", kp, ki, kd);
+#endif
+
+    pid->intergral += (pid->ki + pid->delta_ki) * pid->current_error;
+#ifdef fuzzy_pid_integral_limit
+    if (pid->intergral > pid->intergral_limit)
+        pid->intergral = pid->intergral_limit;
+    else {
+        if (pid->intergral < -pid->intergral_limit)
+            pid->intergral = -pid->intergral_limit;
+    }
+#endif
+    pid->output =
+        (pid->kp + pid->delta_kp) * pid->current_error + pid->intergral +
+        (pid->kd + pid->delta_kd) * (pid->current_error - pid->last_error);
+    pid->output += pid->feed_forward * (float)idea;
+    return pid->output;
+}
+
+float pid_control(float real, float idea, struct PID* pid) {
+    pid->last_error = pid->current_error;
+    pid->current_error = idea - real;
+
+#ifdef pid_dead_zone
+    if (pid->current_error < pid->dead_zone &&
+        pid->current_error > -pid->dead_zone) {
+        pid->current_error = 0;
+    } else {
+        if (pid->current_error > pid->dead_zone)
+            pid->current_error = pid->current_error - pid->dead_zone;
+        else {
+            if (pid->current_error < -pid->dead_zone)
+                pid->current_error = pid->current_error + pid->dead_zone;
+        }
+    }
+#endif
+
+#ifdef pid_debug_print
+    pika_platform_printf("kp : %f, ki : %f, kd : %f\n", kp, ki, kd);
+#endif
+
+    pid->intergral += (pid->ki) * pid->current_error;
+#ifdef pid_integral_limit
+    if (pid->intergral > pid->intergral_limit)
+        pid->intergral = pid->intergral_limit;
+    else {
+        if (pid->intergral < -pid->intergral_limit)
+            pid->intergral = -pid->intergral_limit;
+    }
+#endif
+
+    float linear_adaptive_kp = 1;
+    if (pid->linear_adaptive_kp > 1e-4)
+        linear_adaptive_kp = (1 - pid->linear_adaptive_kp) *
+                                 pid->current_error / pid->error_max +
+                             pid->linear_adaptive_kp;
+
+    pid->output = pid->kp * linear_adaptive_kp * pid->current_error +
+                  pid->intergral +
+                  (pid->kd) * (pid->current_error - pid->last_error);
+    pid->output += pid->feed_forward * (float)idea;
+    return pid->output;
+}
+
+void delete_pid(struct PID* pid) {
+    if (pid->fuzzy_struct != NULL) {
+        delete_fuzzy(pid->fuzzy_struct);
+    }
+    pika_platform_free(pid);
+}
+
+void delete_pid_vector(struct PID** pid_vector, unsigned int count) {
+    for (unsigned int i = 0; i < count; ++i) {
+        delete_pid(pid_vector[i]);
+    }
+    pika_platform_free(pid_vector);
+}
+
+struct PID** pid_vector_init(float params[][pid_params_count],
+                             unsigned int count) {
+    struct PID** pid =
+        (struct PID**)pika_platform_malloc(sizeof(struct PID*) * count);
+    for (unsigned int i = 0; i < count; ++i) {
+        pid[i] = pid_init(params[i]);
+    }
+    return pid;
+}
+
+struct PID** fuzzy_pid_vector_init(float params[][pid_params_count],
+                                   float delta_k,
+                                   unsigned int mf_type,
+                                   unsigned int fo_type,
+                                   unsigned int df_type,
+                                   int* mf_params,
+                                   int rule_base[][qf_default],
+                                   unsigned int count) {
+    struct PID** pid =
+        (struct PID**)pika_platform_malloc(sizeof(struct PID*) * count);
+    for (unsigned int i = 0; i < count; ++i) {
+        pid[i] = fuzzy_pid_init(params[i], delta_k, mf_type, fo_type, df_type,
+                                mf_params, rule_base);
+    }
+    return pid;
+}
+
+int direct_control(int zero_value, int offset_value, pika_bool direct) {
+    if (direct == pika_true) {
+        return zero_value + offset_value;
+    } else {
+        return zero_value - offset_value;
+    }
+}
+
+int fuzzy_pid_motor_pwd_output(float real,
+                               float idea,
+                               pika_bool direct,
+                               struct PID* pid) {
+    return limit(direct_control(pid->output_middle_value,
+                                fuzzy_pid_control(real, idea, pid), direct),
+                 pid->output_max_value, pid->output_min_value);
+}
+
+int pid_motor_pwd_output(float real,
+                         float idea,
+                         pika_bool direct,
+                         struct PID* pid) {
+    return limit(direct_control(pid->output_middle_value,
+                                pid_control(real, idea, pid), direct),
+                 pid->output_max_value, pid->output_min_value);
+}

package/fuzzypid/fuzzy_PID.h

@@ -0,0 +1,192 @@
+#ifndef _FUZZY_PID_H_
+#define _FUZZY_PID_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "PikaObj.h"
+#include "math.h"
+#include "stdio.h"
+#include "stdlib.h"
+
+// Fuzzy quantity fields
+enum quantity_fields { qf_small = 5, qf_middle = 7, qf_large = 8 };
+
+#define qf_default qf_middle
+
+struct fuzzy {
+    unsigned int input_num;
+    unsigned int output_num;
+    unsigned int fo_type;
+    unsigned int* mf_type;
+    int* mf_params;
+    unsigned int df_type;
+    int* rule_base;
+    float* output;
+};
+
+struct PID {
+    float kp;
+    float ki;
+    float kd;
+
+    float delta_kp_max;
+    float delta_ki_max;
+    float delta_kd_max;
+
+    float delta_kp;
+    float delta_ki;
+    float delta_kd;
+
+    float error_max;
+    float delta_error_max;
+
+    float last_error;
+    float current_error;
+
+    float intergral;
+    float intergral_limit;
+
+    float dead_zone;
+    float feed_forward;
+
+    float output;
+
+    int output_min_value;
+    int output_middle_value;
+    int output_max_value;
+
+    float linear_adaptive_kp;
+
+    struct fuzzy* fuzzy_struct;
+};
+
+#define NB -3
+#define NM -2
+#define NS -1
+#define ZO 0
+#define PS 1
+#define PM 2
+#define PB 3
+
+// #define pid_debug_print
+// #define pid_dead_zone
+// #define pid_integral_limit
+
+// #define fuzzy_pid_debug_print
+// #define fuzzy_pid_dead_zone
+// #define fuzzy_pid_integral_limit
+// #define fuzzy_pid_rule_base_deep_copy
+
+#define pid_params_count 7
+
+#define torque_mode 1
+#define position_mode 2
+#define control_mode position_mode
+
+#if control_mode == position_mode
+#define max_error 100.0f
+#define max_delta_error 100.0f
+#else
+#define max_error 12.0f
+#define max_delta_error 12.0f
+#endif
+
+#define min_pwm_output 0
+#define middle_pwm_output 500
+#define max_pwm_output 1000
+
+struct fuzzy* fuzzy_init(unsigned int input_num, unsigned int output_num);
+
+void fuzzy_params_init(struct fuzzy* fuzzy_struct,
+                       unsigned int mf_type,
+                       unsigned int fo_type,
+                       unsigned int df_type,
+                       int mf_params[],
+                       int rule_base[][qf_default]);
+
+void fuzzy_control(float e, float de, struct fuzzy* fuzzy_struct);
+
+struct PID* raw_pid_init(float kp,
+                         float ki,
+                         float kd,
+                         float integral_limit,
+                         float dead_zone,
+                         float feed_forward,
+                         float linear_adaptive_kp,
+                         float error_max,
+                         float delta_error_max,
+                         int output_min_value,
+                         int output_middle_value,
+                         int output_max_value);
+
+struct PID* raw_fuzzy_pid_init(float kp,
+                               float ki,
+                               float kd,
+                               float integral_limit,
+                               float dead_zone,
+                               float feed_forward,
+                               float error_max,
+                               float delta_error_max,
+                               float delta_kp_max,
+                               float delta_ki_max,
+                               float delta_kd_max,
+                               unsigned int mf_type,
+                               unsigned int fo_type,
+                               unsigned int df_type,
+                               int* mf_params,
+                               int rule_base[][qf_default],
+                               int output_min_value,
+                               int output_middle_value,
+                               int output_max_value);
+
+// float params[pid_params_count] = {kp, ki, kd, integral_limit,
+// dead_zonefeed_forward, linear_adaptive_kp};
+struct PID* pid_init(float* params);
+
+struct PID* fuzzy_pid_init(float* params,
+                           float delta_k,
+                           unsigned int mf_type,
+                           unsigned int fo_type,
+                           unsigned int df_type,
+                           int mf_params[],
+                           int rule_base[][qf_default]);
+
+struct PID** pid_vector_init(float params[][pid_params_count],
+                             unsigned int count);
+
+struct PID** fuzzy_pid_vector_init(float params[][pid_params_count],
+                                   float delta_k,
+                                   unsigned int mf_type,
+                                   unsigned int fo_type,
+                                   unsigned int df_type,
+                                   int* mf_params,
+                                   int rule_base[][qf_default],
+                                   unsigned int count);
+
+float pid_control(float real, float idea, struct PID* pid);
+
+float fuzzy_pid_control(float real, float idea, struct PID* pid);
+
+int direct_control(int zero_value, int offset_value, pika_bool direct);
+
+int pid_motor_pwd_output(float real,
+                         float idea,
+                         pika_bool direct,
+                         struct PID* pid);
+
+int fuzzy_pid_motor_pwd_output(float real,
+                               float idea,
+                               pika_bool direct,
+                               struct PID* pid);
+
+void delete_pid(struct PID* pid);
+
+void delete_pid_vector(struct PID** pid_vector, unsigned int count);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  //_FUZZY_PID_H_

package/fuzzypid/fuzzypid.py

@@ -0,0 +1,39 @@
+import _fuzzypid
+
+PB: int = _fuzzypid.PB
+PM: int = _fuzzypid.PM
+PS: int = _fuzzypid.PS
+ZO: int = _fuzzypid.ZO
+NS: int = _fuzzypid.NS
+NM: int = _fuzzypid.NM
+NB: int = _fuzzypid.NB
+
+
+class RuleBase(_fuzzypid.RuleBase):
+    ...
+
+
+class MembershipFunction(_fuzzypid.MembershipFunction):
+    ...
+
+
+class FuzzyPIDParams(_fuzzypid.FuzzyPIDParams):
+    ...
+
+
+class PIDDirect(_fuzzypid.PIDDirect):
+    ...
+
+
+class FuzzyPIDController(_fuzzypid.FuzzyPIDController):
+    def __init__(self,
+                 rule_base: RuleBase,
+                 mf_params: MembershipFunction,
+                 pid_params: FuzzyPIDParams,
+                 delta_k: float = 2,
+                 mf_type: int = 4,
+                 fo_type: int = 1,
+                 df_type: int = 0,
+                 direct: list = None):
+        super().__init__(rule_base, mf_params, pid_params,
+                         delta_k, mf_type, fo_type, df_type, direct)

port/linux/.vscode/launch.json

@@ -19,7 +19,7 @@
                 // "--gtest_filter=vm.run_file"
                 // "--gtest_filter=stddata.encode_decode"
                 // "--gtest_filter=packtool.packfiles_txt"
-                "--gtest_filter=vm.str_issue"
+                "--gtest_filter=fuzzypid.fuzzypid1"
             ],
             "stopAtEntry": false,
             "cwd": "${workspaceFolder}",

port/linux/.vscode/settings.json

@@ -117,7 +117,14 @@
         "datastrs.h": "c",
         "__instruction_table.h": "c",
         "assert.h": "c",
-        "_flashdb_kvdb_ctrl.h": "c"
+        "_flashdb_kvdb_ctrl.h": "c",
+        "_fuzzypid.h": "c",
+        "_fuzzypid_membershipfunction.h": "c",
+        "_fuzzypid_fuzzypidcontroller.h": "c",
+        "_fuzzypid_pidparams.h": "c",
+        "_fuzzypid_rulebase.h": "c",
+        "fuzzy_pid.h": "c",
+        "_fuzzypid_piddirect.h": "c"
     },
     "python.formatting.provider": "none",
     "clangd.arguments": [
@@ -128,7 +135,7 @@
         "editor.defaultFormatter": "tamasfe.even-better-toml"
     },
     "[python]": {
-        "editor.defaultFormatter": "ms-python.python"
+        "editor.defaultFormatter": "ms-python.autopep8"
     },
     "[jsonc]": {
         "editor.defaultFormatter": "vscode.json-language-features"

port/linux/package/pikascript/_fuzzypid.pyi

@@ -0,0 +1,54 @@
+PB: int
+PM: int
+PS: int
+ZO: int
+NS: int
+NM: int
+NB: int
+
+
+def __init__(): ...
+
+
+class RuleBase:
+    def __init__(self,
+                 kp_rules: list[list[int]],
+                 ki_rules: list[list[int]],
+                 kd_rules: list[list[int]]): ...
+
+    def __del__(self): ...
+
+
+class MembershipFunction:
+    def __init__(self, params: list[int]): ...
+    def __del__(self): ...
+
+
+class FuzzyPIDParams:
+    def __init__(self, pid_params: list[list[float]]): ...
+    def __del__(self): ...
+
+
+class PIDDirect:
+    def __init__(self, direct: list[int]): ...
+    def __del__(self): ...
+
+
+class FuzzyPIDController:
+    def __init__(self,
+                 rule_base: RuleBase,
+                 mf_params: MembershipFunction,
+                 pid_params: FuzzyPIDParams,
+                 delta_k: float,
+                 mf_type: int,
+                 fo_type: int,
+                 df_type: int,
+                 direct: list): ...
+
+    def compute_output(self,
+                       control_id: int,
+                       real: float,
+                       input: float,
+                       ) -> float: ...
+
+    def __del__(self): ...

port/linux/package/pikascript/fuzzypid.py

@@ -0,0 +1,39 @@
+import _fuzzypid
+
+PB: int = _fuzzypid.PB
+PM: int = _fuzzypid.PM
+PS: int = _fuzzypid.PS
+ZO: int = _fuzzypid.ZO
+NS: int = _fuzzypid.NS
+NM: int = _fuzzypid.NM
+NB: int = _fuzzypid.NB
+
+
+class RuleBase(_fuzzypid.RuleBase):
+    ...
+
+
+class MembershipFunction(_fuzzypid.MembershipFunction):
+    ...
+
+
+class FuzzyPIDParams(_fuzzypid.FuzzyPIDParams):
+    ...
+
+
+class PIDDirect(_fuzzypid.PIDDirect):
+    ...
+
+
+class FuzzyPIDController(_fuzzypid.FuzzyPIDController):
+    def __init__(self,
+                 rule_base: RuleBase,
+                 mf_params: MembershipFunction,
+                 pid_params: FuzzyPIDParams,
+                 delta_k: float = 2,
+                 mf_type: int = 4,
+                 fo_type: int = 1,
+                 df_type: int = 0,
+                 direct: list = None):
+        super().__init__(rule_base, mf_params, pid_params,
+                         delta_k, mf_type, fo_type, df_type, direct)

port/linux/package/pikascript/module_list.txt

@@ -40,4 +40,5 @@ eventloop
 this
 fsm
 subsrc.mod1
-flashdb
+flashdb
+fuzzypid

port/linux/package/pikascript/pikascript-lib/fuzzypid/LICENSE

@@ -0,0 +1,674 @@
+                    GNU GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+                            Preamble
+
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+software and other kinds of works.
+
+  The licenses for most software and other practical works are designed
+to take away your freedom to share and change the works.  By contrast,
+the GNU General Public License is intended to guarantee your freedom to
+share and change all versions of a program--to make sure it remains free
+software for all its users.  We, the Free Software Foundation, use the
+GNU General Public License for most of our software; it applies also to
+any other work released this way by its authors.  You can apply it to
+your programs, too.
+
+  When we speak of free software, we are referring to freedom, not
+price.  Our General Public Licenses are designed to make sure that you
+have the freedom to distribute copies of free software (and charge for
+them if you wish), that you receive source code or can get it if you
+want it, that you can change the software or use pieces of it in new
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+
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+
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+
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port/linux/package/pikascript/pikascript-lib/fuzzypid/README.md

@@ -0,0 +1,89 @@
+## fuzzy-pid
+
+### 介绍
+鉴于控制算法常于嵌入式平台使用，所以使用C语言实现模糊PID控制算法。实现的功能包括但不限于：
+
+- 隶属度函数 Membership function
+    - 高斯隶属度函数 Gaussian membership function
+    - 广义钟形隶属度函数 Generalized bell-shaped membership function
+    - S形隶属度函数 Sigmoidal membership function
+    - 梯形隶属度函数 Trapezoidal membership function
+    - 三角形隶属度函数 Triangular membership function
+    - Z形隶属度函数 Z-shaped membership function
+- 模糊算子 Fuzzy operator
+    - 并算子 Union operator
+    - 交算子 Intersection operator
+    - 平衡算子 Equilibrium operator
+- 中心平均解模糊器 Mean of centers defuzzifier
+
+API使用的示例代码如下：
+
+```c
+#include "fuzzyPID.h"
+
+#define DOF 6
+
+int main() {
+    // Default fuzzy rule base of delta kp/ki/kd
+    int rule_base[][qf_default] = {
+            //delta kp rule base
+            {PB, PB, PM, PM, PS, ZO, ZO},
+            {PB, PB, PM, PS, PS, ZO, NS},
+            {PM, PM, PM, PS, ZO, NS, NS},
+            {PM, PM, PS, ZO, NS, NM, NM},
+            {PS, PS, ZO, NS, NS, NM, NM},
+            {PS, ZO, NS, NM, NM, NM, NB},
+            {ZO, ZO, NM, NM, NM, NB, NB},
+            //delta ki rule base
+            {NB, NB, NM, NM, NS, ZO, ZO},
+            {NB, NB, NM, NS, NS, ZO, ZO},
+            {NB, NM, NS, NS, ZO, PS, PS},
+            {NM, NM, NS, ZO, PS, PM, PM},
+            {NM, NS, ZO, PS, PS, PM, PB},
+            {ZO, ZO, PS, PS, PM, PB, PB},
+            {ZO, ZO, PS, PM, PM, PB, PB},
+            //delta kd rule base
+            {PS, NS, NB, NB, NB, NM, PS},
+            {PS, NS, NB, NM, NM, NS, ZO},
+            {ZO, NS, NM, NM, NS, NS, ZO},
+            {ZO, NS, NS, NS, NS, NS, ZO},
+            {ZO, ZO, ZO, ZO, ZO, ZO, ZO},
+            {PB, PS, PS, PS, PS, PS, PB},
+            {PB, PM, PM, PM, PS, PS, PB}};
+
+    // Default parameters of membership function
+    int mf_params[4 * qf_default] = {-3, -3, -2, 0,
+                                     -3, -2, -1, 0,
+                                     -2, -1,  0, 0,
+                                     -1,  0,  1, 0,
+                                      0,  1,  2, 0,
+                                      1,  2,  3, 0,
+                                      2,  3,  3, 0};
+
+    // Default parameters of pid controller
+    float fuzzy_pid_params[DOF][pid_params_count] = {{0.65f,  0,     0,    0, 0, 0, 1},
+                                                     {-0.34f, 0,     0,    0, 0, 0, 1},
+                                                     {-1.1f,  0,     0,    0, 0, 0, 1},
+                                                     {-2.4f,  0,     0,    0, 0, 0, 1},
+                                                     {1.2f,   0,     0,    0, 0, 0, 1},
+                                                     {1.2f,   0.05f, 0.1f, 0, 0, 0, 1}};
+
+    // Obtain the PID controller vector according to the parameters
+    struct PID **pid_vector = fuzzy_pid_vector_init(fuzzy_pid_params, 2.0f, 4, 1, 0, mf_params, rule_base, DOF);
+
+    printf("output:\n");
+    int control_id = 5;
+    float real = 0;
+    float idea = max_error * 0.9f;
+    printf("idea value: %f\n", idea);
+    bool direct[DOF] = {true, false, false, false, true, true};
+    for (int j = 0; j < 1000; ++j) {
+        int out = fuzzy_pid_motor_pwd_output(real, idea, direct[control_id], pid_vector[control_id]);
+        real += (float) (out - middle_pwm_output) / (float) middle_pwm_output * (float) max_error * 0.1f;
+        printf("%d,%f\n", out, real);
+    }
+
+    delete_pid_vector(pid_vector, DOF);
+    return 0;
+}
+```

port/linux/package/pikascript/pikascript-lib/fuzzypid/_fuzzypid.c

@@ -0,0 +1,196 @@
+#include "_fuzzypid.h"
+#include "_fuzzypid_FuzzyPIDController.h"
+#include "_fuzzypid_FuzzyPIDParams.h"
+#include "_fuzzypid_MembershipFunction.h"
+#include "_fuzzypid_PIDDirect.h"
+#include "_fuzzypid_RuleBase.h"
+#include "fuzzy_PID.h"
+
+void _fuzzypid___init__(PikaObj* self) {
+    obj_setInt(self, "PB", PB);
+    obj_setInt(self, "PM", PM);
+    obj_setInt(self, "PS", PS);
+    obj_setInt(self, "ZO", ZO);
+    obj_setInt(self, "NS", NS);
+    obj_setInt(self, "NM", NM);
+    obj_setInt(self, "NB", NB);
+}
+
+static void _fillRuleBase(PikaObj* self,
+                          PikaObj* rules,
+                          int (*rules_base)[qf_default],
+                          size_t* offset) {
+    size_t rules_len = pikaList_getSize(rules);
+    for (size_t i = 0; i < rules_len; ++i) {
+        PikaObj* rule = pikaList_getPtr(rules, i);
+        size_t rule_len = pikaList_getSize(rule);
+        for (size_t j = 0; j < rule_len; ++j) {
+            rules_base[*offset][j] = pikaList_getInt(rule, j);
+        }
+        ++(*offset);
+    }
+}
+
+void _fuzzypid_RuleBase___init__(PikaObj* self,
+                                 PikaObj* kp_rules,
+                                 PikaObj* ki_rules,
+                                 PikaObj* kd_rules) {
+    size_t kp_rules_len = pikaList_getSize(kp_rules);
+    size_t ki_rules_len = pikaList_getSize(ki_rules);
+    size_t kd_rules_len = pikaList_getSize(kd_rules);
+    if (kp_rules_len != ki_rules_len || ki_rules_len != kd_rules_len) {
+        obj_setSysOut(
+            self,
+            "Error: kp_rules, ki_rules, kd_rules must have the same length");
+        obj_setErrorCode(self, -__LINE__);
+        return;
+    }
+    size_t rules_len = kp_rules_len;
+    if (rules_len == 0) {
+        obj_setSysOut(self,
+                      "Error: kp_rules, ki_rules, kd_rules must not be "
+                      "empty");
+        obj_setErrorCode(self, -__LINE__);
+        return;
+    }
+    size_t rule_len = pikaList_getSize(pikaList_getPtr(kp_rules, 0));
+    if (rule_len != qf_default) {
+        obj_setSysOut(self,
+                      "Error: kp_rules, ki_rules, kd_rules must have "
+                      "qf_default columns");
+        obj_setErrorCode(self, -__LINE__);
+        return;
+    }
+    for (size_t i = 0; i < rules_len; ++i) {
+        PikaObj* rule = pikaList_getPtr(kp_rules, i);
+        if (pikaList_getSize(rule) != rule_len) {
+            obj_setSysOut(self,
+                          "Error: kp_rules, ki_rules, kd_rules must have "
+                          "the same length");
+            obj_setErrorCode(self, -__LINE__);
+            return;
+        }
+    }
+    size_t rules_size = sizeof(int) * rules_len * rule_len * 3;
+    int(*rules)[qf_default] = pikaMalloc(rules_size);
+    obj_setInt(self, "rules_size", rules_size);
+    size_t offset = 0;
+    _fillRuleBase(self, kp_rules, rules, &offset);
+    _fillRuleBase(self, ki_rules, rules, &offset);
+    _fillRuleBase(self, kd_rules, rules, &offset);
+    obj_setPtr(self, "rules", rules);
+}
+
+void _fuzzypid_RuleBase___del__(PikaObj* self) {
+    int* rules = obj_getPtr(self, "rules");
+    pikaFree(rules, obj_getInt(self, "rules_size"));
+}
+
+void _fuzzypid_MembershipFunction___init__(PikaObj* self, PikaObj* params) {
+    size_t params_len = pikaList_getSize(params);
+    if (params_len != 4 * qf_default) {
+        obj_setSysOut(self, "Error: params must have 4 * qf_default columns");
+        obj_setErrorCode(self, -__LINE__);
+        return;
+    }
+    int* mf_params = pikaMalloc(sizeof(int) * params_len);
+    for (size_t i = 0; i < params_len; ++i) {
+        mf_params[i] = pikaList_getInt(params, i);
+    }
+    obj_setPtr(self, "mf_params", mf_params);
+}
+
+void _fuzzypid_MembershipFunction___del__(PikaObj* self) {
+    int* mf_params = obj_getPtr(self, "mf_params");
+    pikaFree(mf_params, sizeof(int) * 4 * qf_default);
+}
+
+void _fuzzypid_FuzzyPIDParams___init__(PikaObj* self, PikaObj* pid_params) {
+    size_t DOF = pikaList_getSize(pid_params);
+    size_t pid_params_len = pikaList_getSize(pikaList_getPtr(pid_params, 0));
+    if (pid_params_len != pid_params_count) {
+        obj_setSysOut(self,
+                      "Error: pid_params must have pid_params_count columns");
+        obj_setErrorCode(self, -__LINE__);
+        return;
+    }
+    float(*fuzzy_pid_params)[pid_params_count] =
+        pikaMalloc(sizeof(float) * DOF * pid_params_count);
+    for (size_t i = 0; i < DOF; ++i) {
+        PikaObj* pid_param = pikaList_getPtr(pid_params, i);
+        if (pikaList_getSize(pid_param) != pid_params_len) {
+            obj_setSysOut(self, "Error: pid_params must have the same length");
+            obj_setErrorCode(self, -__LINE__);
+            return;
+        }
+        for (size_t j = 0; j < pid_params_len; ++j) {
+            fuzzy_pid_params[i][j] = pikaList_getFloat(pid_param, j);
+        }
+    }
+    obj_setPtr(self, "fuzzy_pid_params", fuzzy_pid_params);
+    obj_setInt(self, "DOF", DOF);
+}
+
+void _fuzzypid_FuzzyPIDParams___del__(PikaObj* self) {
+    float* fuzzy_pid_params = obj_getPtr(self, "fuzzy_pid_params");
+    size_t DOF = obj_getInt(self, "DOF");
+    pikaFree(fuzzy_pid_params, sizeof(float) * DOF * pid_params_count);
+}
+
+void _fuzzypid_PIDDirect___init__(PikaObj* self, PikaObj* direct) {
+    size_t DOF = pikaList_getSize(direct);
+    pika_bool* direct_vector = pikaMalloc(sizeof(pika_bool) * DOF);
+    for (size_t i = 0; i < DOF; ++i) {
+        direct_vector[i] = pikaList_getBool(direct, i);
+    }
+    obj_setInt(self, "DOF", DOF);
+    obj_setPtr(self, "direct_vector", direct_vector);
+}
+
+void _fuzzypid_PIDDirect___del__(PikaObj* self) {
+    pika_bool* direct_vector = obj_getPtr(self, "direct_vector");
+    pikaFree(direct_vector, sizeof(pika_bool) * obj_getInt(self, "DOF"));
+}
+
+void _fuzzypid_FuzzyPIDController___init__(PikaObj* self,
+                                           PikaObj* rule_base,
+                                           PikaObj* mf_params,
+                                           PikaObj* pid_params,
+                                           pika_float delta_k,
+                                           int mf_type,
+                                           int fo_type,
+                                           int df_type,
+                                           PikaObj* direct) {
+    obj_setPtr(self, "rule_base", rule_base);
+    obj_setPtr(self, "mf_params", mf_params);
+    obj_setPtr(self, "pid_params", pid_params);
+    obj_setPtr(self, "direct", direct);
+    int* rules = obj_getPtr(rule_base, "rules");
+    int* mf_params_mat = obj_getPtr(mf_params, "mf_params");
+    float* fuzzy_pid_params = obj_getPtr(pid_params, "fuzzy_pid_params");
+    int DOF = obj_getInt(pid_params, "DOF");
+    struct PID** pid_vector = fuzzy_pid_vector_init(
+        (float(*)[pid_params_count])fuzzy_pid_params, delta_k, mf_type, fo_type,
+        df_type, mf_params_mat, (int(*)[pid_params_count])rules, DOF);
+    obj_setPtr(self, "pid_vector", pid_vector);
+    obj_setInt(self, "DOF", DOF);
+    obj_setPtr(self, "direct_vector", obj_getPtr(direct, "direct_vector"));
+}
+
+void _fuzzypid_FuzzyPIDController___del__(PikaObj* self) {
+    struct PID** pid_vector = obj_getPtr(self, "pid_vector");
+    if (NULL != pid_vector) {
+        int DOF = obj_getInt(self, "DOF");
+        delete_pid_vector(pid_vector, DOF);
+    }
+}
+
+pika_float _fuzzypid_FuzzyPIDController_compute_output(PikaObj* self,
+                                                       int control_id,
+                                                       pika_float real,
+                                                       pika_float input) {
+    struct PID** pid_vector = obj_getPtr(self, "pid_vector");
+    pika_bool* direct_vector = obj_getPtr(self, "direct_vector");
+    return fuzzy_pid_motor_pwd_output(real, input, direct_vector[control_id],
+                                      pid_vector[control_id]);
+}

port/linux/package/pikascript/pikascript-lib/fuzzypid/fuzzy_PID.c

@@ -0,0 +1,592 @@
+#include "fuzzy_PID.h"
+
+struct fuzzy* fuzzy_init(unsigned int input_num, unsigned int output_num) {
+    struct fuzzy* fuzzy_struct =
+        (struct fuzzy*)pika_platform_malloc(sizeof(struct fuzzy));
+    fuzzy_struct->input_num = input_num;
+    fuzzy_struct->output_num = output_num;
+    fuzzy_struct->mf_type = (unsigned int*)pika_platform_malloc(
+        (input_num + output_num) * sizeof(unsigned int));
+#ifdef fuzzy_pid_rule_base_deep_copy
+    fuzzy_struct->mf_params =
+        (int*)pika_platform_malloc(4 * qf_default * sizeof(int));
+    fuzzy_struct->rule_base = (int*)pika_platform_malloc(
+        output_num * qf_default * qf_default * sizeof(int));
+#endif
+    fuzzy_struct->output =
+        (float*)pika_platform_malloc(output_num * sizeof(float));
+    return fuzzy_struct;
+}
+
+void delete_fuzzy(struct fuzzy* fuzzy_struct) {
+    pika_platform_free(fuzzy_struct->mf_type);
+    pika_platform_free(fuzzy_struct->output);
+    pika_platform_free(fuzzy_struct);
+}
+
+void fuzzy_params_init(struct fuzzy* fuzzy_struct,
+                       unsigned int mf_type,
+                       unsigned int fo_type,
+                       unsigned int df_type,
+                       int mf_params[],
+                       int rule_base[][qf_default]) {
+    for (unsigned int i = 0;
+         i < fuzzy_struct->input_num + fuzzy_struct->output_num; ++i) {
+        fuzzy_struct->mf_type[i] = mf_type;
+    }
+
+    for (unsigned int i = 0; i < fuzzy_struct->output_num; ++i) {
+        fuzzy_struct->output[i] = 0;
+    }
+
+#ifdef fuzzy_pid_rule_base_deep_copy
+    for (unsigned int j = 0; j < 4 * qf_default; ++j) {
+        fuzzy_struct->mf_params[j] = mf_params[j];
+    }
+
+    for (unsigned int k = 0; k < fuzzy_struct->output_num * qf_default; ++k) {
+        for (unsigned int i = 0; i < qf_default; ++i) {
+            fuzzy_struct->rule_base[k * 7 + i] = rule_base[k][i];
+        }
+    }
+#else
+    fuzzy_struct->mf_params = mf_params;
+    fuzzy_struct->rule_base = (int*)rule_base;
+#endif
+
+    fuzzy_struct->fo_type = fo_type;
+    fuzzy_struct->df_type = df_type;
+}
+
+#define inverse(parameter) 1.0f / (float)parameter
+
+// Gaussian membership function
+float gaussmf(float x, float sigma, float c) {
+    return expf(-powf(((x - c) / sigma), 2.0f));
+}
+
+// Generalized bell-shaped membership function
+float gbellmf(float x, float a, float b, float c) {
+    return inverse(1.0f + powf(fabsf((x - c) / a), 2.0f * b));
+}
+
+// Sigmoidal membership function
+float sigmf(float x, float a, float c) {
+    return inverse(1.0f + expf(a * (c - x)));
+}
+
+// Trapezoidal membership function
+float trapmf(float x, float a, float b, float c, float d) {
+    if (x >= a && x < b)
+        return (x - a) / (b - a);
+    else if (x >= b && x < c)
+        return 1.0f;
+    else if (x >= c && x <= d)
+        return (d - x) / (d - c);
+    else
+        return 0.0f;
+}
+
+// Triangular membership function
+float trimf(float x, float a, float b, float c) {
+    return trapmf(x, a, b, b, c);
+}
+
+// Z-shaped membership function
+float zmf(float x, float a, float b) {
+    if (x <= a)
+        return 1.0f;
+    else if (x >= a && x <= (a + b) / 2.0f)
+        return 1.0f - 2.0f * powf((x - a) / (b - a), 2.0f);
+    else if (x >= (a + b) / 2.0f && x < b)
+        return 2.0f * powf((x - b) / (b - a), 2.0f);
+    else
+        return 0;
+}
+
+// Membership function
+float mf(float x, unsigned int mf_type, int* params) {
+    switch (mf_type) {
+        case 0:
+            return gaussmf(x, params[0], params[1]);
+        case 1:
+            return gbellmf(x, params[0], params[1], params[2]);
+        case 2:
+            return sigmf(x, params[0], params[2]);
+        case 3:
+            return trapmf(x, params[0], params[1], params[2], params[3]);
+        case 5:
+            return zmf(x, params[0], params[1]);
+        default:  // set triangular as default membership function
+            return trimf(x, params[0], params[1], params[2]);
+    }
+}
+
+// Union operator
+float or (float a, float b, unsigned int type) {
+    if (type == 1) {  // algebraic sum
+        return a + b - a * b;
+    } else if (type == 2) {  // bounded sum
+        return fminf(1, a + b);
+    } else {  // fuzzy union
+        return fmaxf(a, b);
+    }
+}
+
+// Intersection operator
+float and (float a, float b, unsigned int type) {
+    if (type == 1) {  // algebraic product
+        return a * b;
+    } else if (type == 2) {  // bounded product
+        return fmaxf(0, a + b - 1);
+    } else {  // fuzzy intersection
+        return fminf(a, b);
+    }
+}
+
+// Equilibrium operator
+float equilibrium(float a, float b, float params) {
+    return powf(a * b, 1 - params) * powf(1 - (1 - a) * (1 - b), params);
+}
+
+// Fuzzy operator
+float fo(float a, float b, unsigned int type) {
+    if (type < 3) {
+        return and(a, b, type);
+    } else if (type < 6) {
+        return or (a, b, type - 3);
+    } else {
+        return equilibrium(a, b, 0.5f);
+    }
+}
+
+// Mean of centers defuzzifier, only for two input multiple index
+void moc(const float* joint_membership,
+         const unsigned int* index,
+         const unsigned int* count,
+         struct fuzzy* fuzzy_struct) {
+    float denominator_count = 0;
+    float numerator_count[fuzzy_struct->output_num];
+    for (unsigned int l = 0; l < fuzzy_struct->output_num; ++l) {
+        numerator_count[l] = 0;
+    }
+
+    for (int i = 0; i < count[0]; ++i) {
+        for (int j = 0; j < count[1]; ++j) {
+            denominator_count += joint_membership[i * count[1] + j];
+        }
+    }
+
+    for (unsigned int k = 0; k < fuzzy_struct->output_num; ++k) {
+        for (unsigned int i = 0; i < count[0]; ++i) {
+            for (unsigned int j = 0; j < count[1]; ++j) {
+                numerator_count[k] +=
+                    joint_membership[i * count[1] + j] *
+                    fuzzy_struct->rule_base[k * qf_default * qf_default +
+                                            index[i] * qf_default +
+                                            index[count[0] + j]];
+            }
+        }
+    }
+
+#ifdef fuzzy_pid_debug_print
+    pika_platform_printf("output:\n");
+#endif
+    for (unsigned int l = 0; l < fuzzy_struct->output_num; ++l) {
+        fuzzy_struct->output[l] = numerator_count[l] / denominator_count;
+#ifdef fuzzy_pid_debug_print
+        pika_platform_printf("%f,%f,%f\n", numerator_count[l],
+                             denominator_count, fuzzy_struct->index[l]);
+#endif
+    }
+}
+
+// Defuzzifier
+void df(const float* joint_membership,
+        const unsigned int* output,
+        const unsigned int* count,
+        struct fuzzy* fuzzy_struct,
+        int df_type) {
+    if (df_type == 0)
+        moc(joint_membership, output, count, fuzzy_struct);
+    else {
+        pika_platform_printf("Waring: No such of defuzzifier!\n");
+        moc(joint_membership, output, count, fuzzy_struct);
+    }
+}
+
+void fuzzy_control(float e, float de, struct fuzzy* fuzzy_struct) {
+    float membership[qf_default * 2];    // Store membership
+    unsigned int index[qf_default * 2];  // Store the index of each membership
+    unsigned int count[2] = {0, 0};
+
+    {
+        int j = 0;
+        for (int i = 0; i < qf_default; ++i) {
+            float temp = mf(e, fuzzy_struct->mf_type[0],
+                            fuzzy_struct->mf_params + 4 * i);
+            if (temp > 1e-4) {
+                membership[j] = temp;
+                index[j++] = i;
+            }
+        }
+
+        count[0] = j;
+
+        for (int i = 0; i < qf_default; ++i) {
+            float temp = mf(de, fuzzy_struct->mf_type[1],
+                            fuzzy_struct->mf_params + 4 * i);
+            if (temp > 1e-4) {
+                membership[j] = temp;
+                index[j++] = i;
+            }
+        }
+
+        count[1] = j - count[0];
+    }
+
+#ifdef fuzzy_pid_debug_print
+    pika_platform_printf("membership:\n");
+    for (unsigned int k = 0; k < j; ++k) {
+        pika_platform_printf("%f\n", membership[k]);
+    }
+
+    pika_platform_printf("index:\n");
+    for (unsigned int k = 0; k < j; ++k) {
+        pika_platform_printf("%d\n", index[k]);
+    }
+
+    pika_platform_printf("count:\n");
+    for (unsigned int k = 0; k < 2; ++k) {
+        pika_platform_printf("%d\n", count[k]);
+    }
+#endif
+
+    if (count[0] == 0 || count[1] == 0) {
+        for (unsigned int l = 0; l < fuzzy_struct->output_num; ++l) {
+            fuzzy_struct->output[l] = 0;
+        }
+        return;
+    }
+
+    // Joint membership
+    float joint_membership[count[0] * count[1]];
+
+    for (int i = 0; i < count[0]; ++i) {
+        for (int j = 0; j < count[1]; ++j) {
+            joint_membership[i * count[1] + j] = fo(
+                membership[i], membership[count[0] + j], fuzzy_struct->fo_type);
+        }
+    }
+
+    df(joint_membership, index, count, fuzzy_struct, 0);
+}
+
+struct PID* raw_fuzzy_pid_init(float kp,
+                               float ki,
+                               float kd,
+                               float integral_limit,
+                               float dead_zone,
+                               float feed_forward,
+                               float error_max,
+                               float delta_error_max,
+                               float delta_kp_max,
+                               float delta_ki_max,
+                               float delta_kd_max,
+                               unsigned int mf_type,
+                               unsigned int fo_type,
+                               unsigned int df_type,
+                               int mf_params[],
+                               int rule_base[][qf_default],
+                               int output_min_value,
+                               int output_middle_value,
+                               int output_max_value) {
+    struct PID* pid = (struct PID*)pika_platform_malloc(sizeof(struct PID));
+    pid->kp = kp;
+    pid->ki = ki;
+    pid->kd = kd;
+
+    pid->delta_kp_max = delta_kp_max;
+    pid->delta_ki_max = delta_ki_max;
+    pid->delta_kd_max = delta_kd_max;
+
+    pid->delta_kp = 0;
+    pid->delta_ki = 0;
+    pid->delta_kd = 0;
+
+    pid->error_max = error_max;
+    pid->delta_error_max = delta_error_max;
+
+    int output_count = 1;
+    if (ki > 1e-4) {
+        output_count += 1;
+        if (kd > 1e-4)
+            output_count += 1;
+    }
+
+    pid->fuzzy_struct = fuzzy_init(2, output_count);
+    fuzzy_params_init(pid->fuzzy_struct, mf_type, fo_type, df_type, mf_params,
+                      rule_base);
+
+    pid->last_error = 0;
+    pid->current_error = 0;
+
+    pid->intergral = 0;
+    pid->intergral_limit = integral_limit;
+
+    pid->dead_zone = dead_zone;
+    pid->feed_forward = feed_forward;
+
+    pid->output_max_value = output_max_value;
+    pid->output_middle_value = output_middle_value;
+    pid->output_min_value = output_min_value;
+
+    return pid;
+}
+
+struct PID* fuzzy_pid_init(float* params,
+                           float delta_k,
+                           unsigned int mf_type,
+                           unsigned int fo_type,
+                           unsigned int df_type,
+                           int mf_params[],
+                           int rule_base[][qf_default]) {
+    return raw_fuzzy_pid_init(
+        params[0], params[1], params[2], params[3], params[4], params[5],
+        max_error, max_delta_error, params[0] / delta_k, params[1] / delta_k,
+        params[2] / delta_k, mf_type, fo_type, df_type, mf_params, rule_base,
+        min_pwm_output, middle_pwm_output, max_pwm_output);
+}
+
+struct PID* raw_pid_init(float kp,
+                         float ki,
+                         float kd,
+                         float integral_limit,
+                         float dead_zone,
+                         float feed_forward,
+                         float linear_adaptive_kp,
+                         float error_max,
+                         float delta_error_max,
+                         int output_min_value,
+                         int output_middle_value,
+                         int output_max_value) {
+    struct PID* pid = (struct PID*)pika_platform_malloc(sizeof(struct PID));
+    pid->kp = kp;
+    pid->ki = ki;
+    pid->kd = kd;
+
+    pid->delta_kp_max = 0;
+    pid->delta_ki_max = 0;
+    pid->delta_kd_max = 0;
+
+    pid->delta_kp = 0;
+    pid->delta_ki = 0;
+    pid->delta_kd = 0;
+
+    pid->error_max = error_max;
+    pid->delta_error_max = delta_error_max;
+
+    pid->fuzzy_struct = NULL;
+
+    pid->last_error = 0;
+    pid->current_error = 0;
+
+    pid->intergral = 0;
+    pid->intergral_limit = integral_limit;
+
+    pid->dead_zone = dead_zone;
+    pid->feed_forward = feed_forward;
+
+    pid->output_max_value = output_max_value;
+    pid->output_middle_value = output_middle_value;
+    pid->output_min_value = output_min_value;
+
+    pid->linear_adaptive_kp = linear_adaptive_kp;
+    return pid;
+}
+
+struct PID* pid_init(float* params) {
+    return raw_pid_init(params[0], params[1], params[2], params[3], params[4],
+                        params[5], params[6], max_error, max_delta_error,
+                        min_pwm_output, middle_pwm_output, max_pwm_output);
+}
+
+int round_user(float parameter) {
+    if ((int)(parameter * 10.0) % 10 >= 5)
+        return parameter + 1;
+    else
+        return parameter;
+}
+
+int limit(int value, int max_limit, int min_limit) {
+    if (value > max_limit)
+        return max_limit;
+    if (value < min_limit)
+        return min_limit;
+    return value;
+}
+
+float fuzzy_pid_control(float real, float idea, struct PID* pid) {
+    pid->last_error = pid->current_error;
+    pid->current_error = idea - real;
+    float delta_error = pid->current_error - pid->last_error;
+#ifdef fuzzy_pid_dead_zone
+    if (pid->current_error < pid->dead_zone &&
+        pid->current_error > -pid->dead_zone) {
+        pid->current_error = 0;
+    } else {
+        if (pid->current_error > pid->dead_zone)
+            pid->current_error = pid->current_error - pid->dead_zone;
+        else {
+            if (pid->current_error < -pid->dead_zone)
+                pid->current_error = pid->current_error + pid->dead_zone;
+        }
+    }
+#endif
+    fuzzy_control(pid->current_error / pid->error_max * 3.0f,
+                  delta_error / pid->delta_error_max * 3.0f, pid->fuzzy_struct);
+
+    pid->delta_kp =
+        pid->fuzzy_struct->output[0] / 3.0f * pid->delta_kp_max + pid->kp;
+
+    if (pid->fuzzy_struct->output_num >= 2)
+        pid->delta_ki = pid->fuzzy_struct->output[1] / 3.0f * pid->delta_ki_max;
+    else
+        pid->delta_ki = 0;
+
+    if (pid->fuzzy_struct->output_num >= 3)
+        pid->delta_kd = pid->fuzzy_struct->output[2] / 3.0f * pid->delta_kd_max;
+    else
+        pid->delta_ki = 0;
+
+#ifdef fuzzy_pid_debug_print
+    pika_platform_printf("kp : %f, ki : %f, kd : %f\n", kp, ki, kd);
+#endif
+
+    pid->intergral += (pid->ki + pid->delta_ki) * pid->current_error;
+#ifdef fuzzy_pid_integral_limit
+    if (pid->intergral > pid->intergral_limit)
+        pid->intergral = pid->intergral_limit;
+    else {
+        if (pid->intergral < -pid->intergral_limit)
+            pid->intergral = -pid->intergral_limit;
+    }
+#endif
+    pid->output =
+        (pid->kp + pid->delta_kp) * pid->current_error + pid->intergral +
+        (pid->kd + pid->delta_kd) * (pid->current_error - pid->last_error);
+    pid->output += pid->feed_forward * (float)idea;
+    return pid->output;
+}
+
+float pid_control(float real, float idea, struct PID* pid) {
+    pid->last_error = pid->current_error;
+    pid->current_error = idea - real;
+
+#ifdef pid_dead_zone
+    if (pid->current_error < pid->dead_zone &&
+        pid->current_error > -pid->dead_zone) {
+        pid->current_error = 0;
+    } else {
+        if (pid->current_error > pid->dead_zone)
+            pid->current_error = pid->current_error - pid->dead_zone;
+        else {
+            if (pid->current_error < -pid->dead_zone)
+                pid->current_error = pid->current_error + pid->dead_zone;
+        }
+    }
+#endif
+
+#ifdef pid_debug_print
+    pika_platform_printf("kp : %f, ki : %f, kd : %f\n", kp, ki, kd);
+#endif
+
+    pid->intergral += (pid->ki) * pid->current_error;
+#ifdef pid_integral_limit
+    if (pid->intergral > pid->intergral_limit)
+        pid->intergral = pid->intergral_limit;
+    else {
+        if (pid->intergral < -pid->intergral_limit)
+            pid->intergral = -pid->intergral_limit;
+    }
+#endif
+
+    float linear_adaptive_kp = 1;
+    if (pid->linear_adaptive_kp > 1e-4)
+        linear_adaptive_kp = (1 - pid->linear_adaptive_kp) *
+                                 pid->current_error / pid->error_max +
+                             pid->linear_adaptive_kp;
+
+    pid->output = pid->kp * linear_adaptive_kp * pid->current_error +
+                  pid->intergral +
+                  (pid->kd) * (pid->current_error - pid->last_error);
+    pid->output += pid->feed_forward * (float)idea;
+    return pid->output;
+}
+
+void delete_pid(struct PID* pid) {
+    if (pid->fuzzy_struct != NULL) {
+        delete_fuzzy(pid->fuzzy_struct);
+    }
+    pika_platform_free(pid);
+}
+
+void delete_pid_vector(struct PID** pid_vector, unsigned int count) {
+    for (unsigned int i = 0; i < count; ++i) {
+        delete_pid(pid_vector[i]);
+    }
+    pika_platform_free(pid_vector);
+}
+
+struct PID** pid_vector_init(float params[][pid_params_count],
+                             unsigned int count) {
+    struct PID** pid =
+        (struct PID**)pika_platform_malloc(sizeof(struct PID*) * count);
+    for (unsigned int i = 0; i < count; ++i) {
+        pid[i] = pid_init(params[i]);
+    }
+    return pid;
+}
+
+struct PID** fuzzy_pid_vector_init(float params[][pid_params_count],
+                                   float delta_k,
+                                   unsigned int mf_type,
+                                   unsigned int fo_type,
+                                   unsigned int df_type,
+                                   int* mf_params,
+                                   int rule_base[][qf_default],
+                                   unsigned int count) {
+    struct PID** pid =
+        (struct PID**)pika_platform_malloc(sizeof(struct PID*) * count);
+    for (unsigned int i = 0; i < count; ++i) {
+        pid[i] = fuzzy_pid_init(params[i], delta_k, mf_type, fo_type, df_type,
+                                mf_params, rule_base);
+    }
+    return pid;
+}
+
+int direct_control(int zero_value, int offset_value, pika_bool direct) {
+    if (direct == pika_true) {
+        return zero_value + offset_value;
+    } else {
+        return zero_value - offset_value;
+    }
+}
+
+int fuzzy_pid_motor_pwd_output(float real,
+                               float idea,
+                               pika_bool direct,
+                               struct PID* pid) {
+    return limit(direct_control(pid->output_middle_value,
+                                fuzzy_pid_control(real, idea, pid), direct),
+                 pid->output_max_value, pid->output_min_value);
+}
+
+int pid_motor_pwd_output(float real,
+                         float idea,
+                         pika_bool direct,
+                         struct PID* pid) {
+    return limit(direct_control(pid->output_middle_value,
+                                pid_control(real, idea, pid), direct),
+                 pid->output_max_value, pid->output_min_value);
+}

port/linux/package/pikascript/pikascript-lib/fuzzypid/fuzzy_PID.h

@@ -0,0 +1,192 @@
+#ifndef _FUZZY_PID_H_
+#define _FUZZY_PID_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "PikaObj.h"
+#include "math.h"
+#include "stdio.h"
+#include "stdlib.h"
+
+// Fuzzy quantity fields
+enum quantity_fields { qf_small = 5, qf_middle = 7, qf_large = 8 };
+
+#define qf_default qf_middle
+
+struct fuzzy {
+    unsigned int input_num;
+    unsigned int output_num;
+    unsigned int fo_type;
+    unsigned int* mf_type;
+    int* mf_params;
+    unsigned int df_type;
+    int* rule_base;
+    float* output;
+};
+
+struct PID {
+    float kp;
+    float ki;
+    float kd;
+
+    float delta_kp_max;
+    float delta_ki_max;
+    float delta_kd_max;
+
+    float delta_kp;
+    float delta_ki;
+    float delta_kd;
+
+    float error_max;
+    float delta_error_max;
+
+    float last_error;
+    float current_error;
+
+    float intergral;
+    float intergral_limit;
+
+    float dead_zone;
+    float feed_forward;
+
+    float output;
+
+    int output_min_value;
+    int output_middle_value;
+    int output_max_value;
+
+    float linear_adaptive_kp;
+
+    struct fuzzy* fuzzy_struct;
+};
+
+#define NB -3
+#define NM -2
+#define NS -1
+#define ZO 0
+#define PS 1
+#define PM 2
+#define PB 3
+
+// #define pid_debug_print
+// #define pid_dead_zone
+// #define pid_integral_limit
+
+// #define fuzzy_pid_debug_print
+// #define fuzzy_pid_dead_zone
+// #define fuzzy_pid_integral_limit
+// #define fuzzy_pid_rule_base_deep_copy
+
+#define pid_params_count 7
+
+#define torque_mode 1
+#define position_mode 2
+#define control_mode position_mode
+
+#if control_mode == position_mode
+#define max_error 100.0f
+#define max_delta_error 100.0f
+#else
+#define max_error 12.0f
+#define max_delta_error 12.0f
+#endif
+
+#define min_pwm_output 0
+#define middle_pwm_output 500
+#define max_pwm_output 1000
+
+struct fuzzy* fuzzy_init(unsigned int input_num, unsigned int output_num);
+
+void fuzzy_params_init(struct fuzzy* fuzzy_struct,
+                       unsigned int mf_type,
+                       unsigned int fo_type,
+                       unsigned int df_type,
+                       int mf_params[],
+                       int rule_base[][qf_default]);
+
+void fuzzy_control(float e, float de, struct fuzzy* fuzzy_struct);
+
+struct PID* raw_pid_init(float kp,
+                         float ki,
+                         float kd,
+                         float integral_limit,
+                         float dead_zone,
+                         float feed_forward,
+                         float linear_adaptive_kp,
+                         float error_max,
+                         float delta_error_max,
+                         int output_min_value,
+                         int output_middle_value,
+                         int output_max_value);
+
+struct PID* raw_fuzzy_pid_init(float kp,
+                               float ki,
+                               float kd,
+                               float integral_limit,
+                               float dead_zone,
+                               float feed_forward,
+                               float error_max,
+                               float delta_error_max,
+                               float delta_kp_max,
+                               float delta_ki_max,
+                               float delta_kd_max,
+                               unsigned int mf_type,
+                               unsigned int fo_type,
+                               unsigned int df_type,
+                               int* mf_params,
+                               int rule_base[][qf_default],
+                               int output_min_value,
+                               int output_middle_value,
+                               int output_max_value);
+
+// float params[pid_params_count] = {kp, ki, kd, integral_limit,
+// dead_zonefeed_forward, linear_adaptive_kp};
+struct PID* pid_init(float* params);
+
+struct PID* fuzzy_pid_init(float* params,
+                           float delta_k,
+                           unsigned int mf_type,
+                           unsigned int fo_type,
+                           unsigned int df_type,
+                           int mf_params[],
+                           int rule_base[][qf_default]);
+
+struct PID** pid_vector_init(float params[][pid_params_count],
+                             unsigned int count);
+
+struct PID** fuzzy_pid_vector_init(float params[][pid_params_count],
+                                   float delta_k,
+                                   unsigned int mf_type,
+                                   unsigned int fo_type,
+                                   unsigned int df_type,
+                                   int* mf_params,
+                                   int rule_base[][qf_default],
+                                   unsigned int count);
+
+float pid_control(float real, float idea, struct PID* pid);
+
+float fuzzy_pid_control(float real, float idea, struct PID* pid);
+
+int direct_control(int zero_value, int offset_value, pika_bool direct);
+
+int pid_motor_pwd_output(float real,
+                         float idea,
+                         pika_bool direct,
+                         struct PID* pid);
+
+int fuzzy_pid_motor_pwd_output(float real,
+                               float idea,
+                               pika_bool direct,
+                               struct PID* pid);
+
+void delete_pid(struct PID* pid);
+
+void delete_pid_vector(struct PID** pid_vector, unsigned int count);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  //_FUZZY_PID_H_

port/linux/test/module-test.cpp

@@ -800,4 +800,66 @@ TEST_RUN_SINGLE_FILE_EXCEPT_OUTPUT(flashdb,
 
 #endif
 
+TEST(fuzzypid, base) {
+#define DOF 6
+    // Default fuzzy rule base of delta kp/ki/kd
+    int rule_base[][qf_default] = {// delta kp rule base
+                                   {PB, PB, PM, PM, PS, ZO, ZO},
+                                   {PB, PB, PM, PS, PS, ZO, NS},
+                                   {PM, PM, PM, PS, ZO, NS, NS},
+                                   {PM, PM, PS, ZO, NS, NM, NM},
+                                   {PS, PS, ZO, NS, NS, NM, NM},
+                                   {PS, ZO, NS, NM, NM, NM, NB},
+                                   {ZO, ZO, NM, NM, NM, NB, NB},
+                                   // delta ki rule base
+                                   {NB, NB, NM, NM, NS, ZO, ZO},
+                                   {NB, NB, NM, NS, NS, ZO, ZO},
+                                   {NB, NM, NS, NS, ZO, PS, PS},
+                                   {NM, NM, NS, ZO, PS, PM, PM},
+                                   {NM, NS, ZO, PS, PS, PM, PB},
+                                   {ZO, ZO, PS, PS, PM, PB, PB},
+                                   {ZO, ZO, PS, PM, PM, PB, PB},
+                                   // delta kd rule base
+                                   {PS, NS, NB, NB, NB, NM, PS},
+                                   {PS, NS, NB, NM, NM, NS, ZO},
+                                   {ZO, NS, NM, NM, NS, NS, ZO},
+                                   {ZO, NS, NS, NS, NS, NS, ZO},
+                                   {ZO, ZO, ZO, ZO, ZO, ZO, ZO},
+                                   {PB, PS, PS, PS, PS, PS, PB},
+                                   {PB, PM, PM, PM, PS, PS, PB}};
+
+    // Default parameters of membership function
+    int mf_params[4 * qf_default] = {-3, -3, -2, 0, -3, -2, -1, 0, -2, -1,
+                                     0,  0,  -1, 0, 1,  0,  0,  1, 2,  0,
+                                     1,  2,  3,  0, 2,  3,  3,  0};
+
+    // Default parameters of pid controller
+    float fuzzy_pid_params[DOF][pid_params_count] = {
+        {0.65f, 0, 0, 0, 0, 0, 1}, {-0.34f, 0, 0, 0, 0, 0, 1},
+        {-1.1f, 0, 0, 0, 0, 0, 1}, {-2.4f, 0, 0, 0, 0, 0, 1},
+        {1.2f, 0, 0, 0, 0, 0, 1},  {1.2f, 0.05f, 0.1f, 0, 0, 0, 1}};
+
+    // Obtain the PID controller vector according to the parameters
+    struct PID** pid_vector = fuzzy_pid_vector_init(
+        fuzzy_pid_params, 2.0f, 4, 1, 0, mf_params, rule_base, DOF);
+
+    printf("output:\n");
+    int control_id = 5;
+    float real = 0;
+    float idea = max_error * 0.9f;
+    printf("idea value: %f\n", idea);
+    bool direct[DOF] = {true, false, false, false, true, true};
+    for (int j = 0; j < 10; ++j) {
+        int out = fuzzy_pid_motor_pwd_output(real, idea, direct[control_id],
+                                             pid_vector[control_id]);
+        real += (float)(out - middle_pwm_output) / (float)middle_pwm_output *
+                (float)max_error * 0.1f;
+        printf("%d,%f\n", out, real);
+    }
+
+    delete_pid_vector(pid_vector, DOF);
+}
+
+TEST_RUN_SINGLE_FILE(fuzzypid, fuzzypid1, "test/python/fuzzypid/fuzzypid1.py");
+
 TEST_END

port/linux/test/python/fuzzypid/fuzzypid1.py

@@ -0,0 +1,63 @@
+from fuzzypid import NB, NM, NS, ZO, PB, PM, PS
+from fuzzypid import RuleBase, MembershipFunction, FuzzyPIDParams, PIDDirect, FuzzyPIDController
+
+# Default fuzzy rule base of delta kp/ki/kd
+kp_rule_base = [
+    [PB, PB, PM, PM, PS, ZO, ZO],
+    [PB, PB, PM, PS, PS, ZO, NS],
+    [PM, PM, PM, PS, ZO, NS, NS],
+    [PM, PM, PS, ZO, NS, NM, NM],
+    [PS, PS, ZO, NS, NS, NM, NM],
+    [PS, ZO, NS, NM, NM, NM, NB],
+    [ZO, ZO, NM, NM, NM, NB, NB],
+]
+
+ki_rule_base = [
+    [NB, NB, NM, NM, NS, ZO, ZO],
+    [NB, NB, NM, NS, NS, ZO, ZO],
+    [NB, NM, NS, NS, ZO, PS, PS],
+    [NM, NM, NS, ZO, PS, PM, PM],
+    [NM, NS, ZO, PS, PS, PM, PB],
+    [ZO, ZO, PS, PS, PM, PB, PB],
+    [ZO, ZO, PS, PM, PM, PB, PB],
+]
+
+kd_rule_base = [
+    [PS, NS, NB, NB, NB, NM, PS],
+    [PS, NS, NB, NM, NM, NS, ZO],
+    [ZO, NS, NM, NM, NS, NS, ZO],
+    [ZO, NS, NS, NS, NS, NS, ZO],
+    [ZO, ZO, ZO, ZO, ZO, ZO, ZO],
+    [PB, PS, PS, PS, PS, PS, PB],
+    [PB, PM, PM, PM, PS, PS, PB],
+]
+
+rule_base = RuleBase(kp_rule_base, ki_rule_base, kd_rule_base)
+
+mf_params = MembershipFunction(
+    [-3, -3, -2, 0, -3, -2, -1, 0, -2, -1, 0, 0, -1, 0, 1, 0, 0, 1, 2, 0, 1, 2, 3, 0, 2, 3, 3, 0])
+
+fuzzy_pid_params = FuzzyPIDParams([
+    [0.65, 0, 0, 0, 0, 0, 1],
+    [-0.34, 0, 0, 0, 0, 0, 1],
+    [-1.1, 0, 0, 0, 0, 0, 1],
+    [-2.4, 0, 0, 0, 0, 0, 1],
+    [1.2, 0, 0, 0, 0, 0, 1],
+    [1.2, 0.05, 0.1, 0, 0, 0, 1],
+])
+
+direct = PIDDirect([True, False, False, False, True, True])
+
+fuzzy_pid_controller = FuzzyPIDController(
+    rule_base, mf_params, fuzzy_pid_params, direct=direct)
+
+max_error = 100
+middle_pwm_output = 500
+control_id = 5
+real = 0
+idea = max_error * 0.9
+print("idea value: ", idea)
+for j in range(10):
+    out = fuzzy_pid_controller.compute_output(control_id, real, idea)
+    real += (out - middle_pwm_output) / middle_pwm_output * max_error * 0.1
+    print("%d,%s" % (int(out), real))

port/linux/test/test_common.h

@@ -12,6 +12,7 @@
 
 extern "C" {
 #include <stdio.h>
+#include "../fuzzypid/fuzzy_PID.h"
 #include "PikaMain.h"
 #include "PikaMath_Operator.h"
 #include "PikaStdLib_MemChecker.h"

src/PikaParser.c

@@ -2589,6 +2589,7 @@ static char* Suger_from_import_as(Args* buffs_p, char* sLine) {
     return sLine;
 #endif
     Args buffs = {0};
+    Arg* aLineOut = NULL;
     char* sLineOut = sLine;
     char* sClass = NULL;
     char* sModule = NULL;
@@ -2636,13 +2637,20 @@ static char* Suger_from_import_as(Args* buffs_p, char* sLine) {
                                 sClassItem);
         sClassAfter = strsAppend(&buffs, sClassAfter, sClassItem);
     }
-    sClassAfter[strlen(sClassAfter) - 1] = '\0';
+    sClassAfter[strGetSize(sClassAfter) - 1] = '\0';
     sClass = sClassAfter;
-
-    sLineOut = strsFormat(&buffs, PIKA_LINE_BUFF_SIZE, "import %s\n%s = %s",
-                          sClass, sAlias, sClass);
+    aLineOut = arg_newStr("import ");
+    aLineOut = arg_strAppend(aLineOut, sClass);
+    aLineOut = arg_strAppend(aLineOut, "\n");
+    aLineOut = arg_strAppend(aLineOut, sAlias);
+    aLineOut = arg_strAppend(aLineOut, " = ");
+    aLineOut = arg_strAppend(aLineOut, sClass);
+    sLineOut = arg_getStr(aLineOut);
     sLineOut = strsCopy(buffs_p, sLineOut);
 __exit:
+    if (NULL != aLineOut) {
+        arg_deinit(aLineOut);
+    }
     strsDeinit(&buffs);
     return sLineOut;
 }

src/PikaVM.c

@@ -1427,7 +1427,7 @@ static uint32_t _get_n_input_with_unpack(PikaVMFrame* vm, int n_used) {
 }
 
 #define vars_or_keys_or_default (f.is_vars || f.is_keys || f.is_default)
-#define METHOD_TYPE_LIST_MAX_LEN PIKA_LINE_BUFF_SIZE
+#define METHOD_TYPE_LIST_MAX_LEN PIKA_LINE_BUFF_SIZE * 2
 static int PikaVMFrame_loadArgsFromMethodArg(PikaVMFrame* vm,
                                              PikaObj* oMethodHost,
                                              Args* aLoclas,

src/PikaVersion.h

@@ -2,4 +2,4 @@
 #define PIKA_VERSION_MINOR 13
 #define PIKA_VERSION_MICRO 1
 
-#define PIKA_EDIT_TIME "2023/12/17 23:09:50"
+#define PIKA_EDIT_TIME "2023/12/18 02:17:06"