Golang에서 효율적인 산업 자동화 알고리즘을 구현하기 위한 캐싱 메커니즘입니다.

import (
    "fmt"
    "time"
    "github.com/patrickmn/go-cache"
)

func main() {
    c := cache.New(1*time.Minute, 5*time.Minute) //创建缓存，缓存有效期为1分钟，清理时间为5分钟
    c.Set("key", "value", cache.DefaultExpiration) //向缓存中添加数据
    value, found := c.Get("key") //从缓存中获取数据
    if found {
        fmt.Println(value)
    }
}

import (
    "sync"
    "time"
)

type Cache struct {
    data map[string]interface{} //缓存数据
    mutex sync.Mutex //互斥锁
}

func (c *Cache) Get(key string) (interface{}, bool) {
    c.mutex.Lock()
    defer c.mutex.Unlock()
    value, found := c.data[key]
    if found {
        return value, true
    } else {
        return nil, false
    }
}

func (c *Cache) Set(key string, value interface{}, lifetime time.Duration) {
    c.mutex.Lock()
    defer c.mutex.Unlock()
    c.data[key] = value
    time.AfterFunc(lifetime, func() { //设置缓存过期时间
        delete(c.data, key)
    })
}

func main() {
    c := &Cache{data: make(map[string]interface{})} //创建缓存
    c.Set("key", "value", 1*time.Minute) //向缓存中添加数据
    value, found := c.Get("key") //从缓存中获取数据
    if found {
        fmt.Println(value)
    }
}

import (
    "sync"
)

var pool = sync.Pool{
    New: func() interface{} { return make([]byte, 1024) }, //创建缓存对象
}

func main() {
    obj := pool.Get().([]byte) //从缓存中获取数据
    defer pool.Put(obj) //将数据放回缓存
}

type PIDController struct {
    kp float64 //比例系数
    ki float64 //积分系数
    kd float64 //微分系数
    dt float64 //采样时间
    err float64 //误差
    lastErr float64 //上一次误差
    integral float64 //积分累计
    cache *Cache //缓存
}

func (c *PIDController) Update(setPoint, processValue float64) float64 {
    c.err = setPoint - processValue //计算误差
    dc := (c.err - c.lastErr) / c.dt //计算变化率
    c.integral += c.err * c.dt //积分累计
    output := c.kp*c.err + c.ki*c.integral + c.kd*dc //计算控制器输出
    c.cache.Set("err", c.err, time.Second) //缓存误差
    c.cache.Set("dc", dc, time.Second) //缓存变化率
    c.cache.Set("integral", c.integral, time.Second) //缓存积分累计
    c.cache.Set("output", output, time.Second) //缓存控制器输出
    c.lastErr = c.err
    return output
}

func main() {
    c := &PIDController{
        kp: 1,
        ki: 0.1,
        kd: 0.01,
        dt: 0.01,
        cache: NewCache(),
    }
    for i := 0; i < 1000; i++ {
        output := c.Update(10, float64(i)) //更新控制器
        fmt.Println(output)
        time.Sleep(time.Millisecond * 10)
    }
}