/* ******************************************************** Copyright 2000 MBARI. MBARI Proprietary Information. All rights reserved. NOTE: This file is automatically generated. DO NOT MODIFY. ******************************************************** */ #ifndef __VehicleConfigurationIF_H #define __VehicleConfigurationIF_H #include "TaskInterface.h" #define VehicleConfigurationIFServerName "VehicleConfigurationIFServer" /****************************************************************************/ /* Copyright (c) 2000 MBARI */ /* MBARI Proprietary Information. All rights reserved. */ /****************************************************************************/ /* Summary : */ /* Filename : VehicleConfigurationIF.idl */ /* Author : */ /* Project : */ /* Version : 1.0 */ /* Created : 02/07/2000 */ /* Modified : */ /* Archived : */ /****************************************************************************/ /* Modification History: */ /****************************************************************************/ /* CLASS VehicleConfigurationIF DESCRIPTION TaskInterface to VehicleConfiguration AUTHOR Tom O'Reilly and Rob McEwen */ class VehicleConfigurationIF : public TaskInterface { friend class VehicleConfigurationIF_SK; public: typedef char Name[32]; typedef char Port[32]; typedef char Driver[32]; typedef double Vector[3]; VehicleConfigurationIF(const char *name, int timeout = 10); VehicleConfigurationIF(const char *name, const char *serverName, int timeout = 10); ~VehicleConfigurationIF(); /////////////////////////////////////////////////////////////////// // Retrieve the number of devices in the table short deviceCount(); /////////////////////////////////////////////////////////////////// // Get a device index by name short findDevice(VehicleConfigurationIF::Name name); /////////////////////////////////////////////////////////////////// // short getDeviceName(short index, VehicleConfigurationIF::Name name); /////////////////////////////////////////////////////////////////// // Get port info by name or index short getDeviceDriver(short index, VehicleConfigurationIF::Driver driver); short getDeviceDriver(VehicleConfigurationIF::Name name, VehicleConfigurationIF::Driver driver); /////////////////////////////////////////////////////////////////// // Get information on a device by number short deviceInfo(short index, VehicleConfigurationIF::Name name, VehicleConfigurationIF::Port port, short *priority); /////////////////////////////////////////////////////////////////// // Get information on a device by name short deviceInfo(VehicleConfigurationIF::Name name, VehicleConfigurationIF::Port port, short *priority); /////////////////////////////////////////////////////////////////// // Get vehicle name void vehicleName(VehicleConfigurationIF::Name name); /////////////////////////////////////////////////////////////////// // Get propeller pitch double propPitch(); /////////////////////////////////////////////////////////////////// // Get vehicle mass double mass(); /////////////////////////////////////////////////////////////////// // Get vehicle buoyancy double buoyancy(); /////////////////////////////////////////////////////////////////// // Get proportional gain for heading double kpHeading(); /////////////////////////////////////////////////////////////////// // Get derivative gain for heading double kdHeading(); /////////////////////////////////////////////////////////////////// // Get integral gain for heading double kiHeading(); /////////////////////////////////////////////////////////////////// // Get the heading waypoint gain double kwpHeading(); /////////////////////////////////////////////////////////////////// // Get the maximum heading rate double maxHdgRate(); /////////////////////////////////////////////////////////////////// // Get maximum rudder angle double rudLimit(); /////////////////////////////////////////////////////////////////// // Get rudder actuator limit double rudActLimit(); /////////////////////////////////////////////////////////////////// // Get rudder actuator rate limit double rudActRateLimit(); /////////////////////////////////////////////////////////////////// // Get proportional gain for pitch double kpPitch(); /////////////////////////////////////////////////////////////////// // Get derivative gain for pitch double kdPitch(); /////////////////////////////////////////////////////////////////// // Get integral gain for pitch double kiPitch(); /////////////////////////////////////////////////////////////////// // Get pitch limit double pitchLimit(); /////////////////////////////////////////////////////////////////// // Get the maximum dive rate double maxDiveRate(); /////////////////////////////////////////////////////////////////// // Get the depth proportional gain double kpDepth(); /////////////////////////////////////////////////////////////////// // Get the depth integral gain double kiDepth(); /////////////////////////////////////////////////////////////////// // Get maximum elevator angle double elevLimit(); /////////////////////////////////////////////////////////////////// // Get elevator actuator limit double elevActLimit(); /////////////////////////////////////////////////////////////////// // Get elevator actuator rate limit double elevActRateLimit(); /////////////////////////////////////////////////////////////////// // Get control system sampling period double Ts(); /////////////////////////////////////////////////////////////////// // Get the effective drag coefficient double effDragCoef(); /////////////////////////////////////////////////////////////////// // Get the propeller efficiency (Kt/Ke) double propEfficiency(); /////////////////////////////////////////////////////////////////// // Get the command generator (whoi_traj) time constant tau double tau(); /////////////////////////////////////////////////////////////////// // Get depth integrator limit double maxDepthInt(); /////////////////////////////////////////////////////////////////// // Get heading integrator limit double maxHdgInt(); /////////////////////////////////////////////////////////////////// // Get pitch integrator limit double maxPitchInt(); /////////////////////////////////////////////////////////////////// // Some kind of drag coefficient? double xuabu(); /////////////////////////////////////////////////////////////////// // Center of mass, not including dropweights void centerOfMass(VehicleConfigurationIF::Vector v); /////////////////////////////////////////////////////////////////// // Center of buoyancy, not including dropweights void centerOfBuoyancy(VehicleConfigurationIF::Vector v); /////////////////////////////////////////////////////////////////// // Duct area double ductArea(); /////////////////////////////////////////////////////////////////// // Number of drop weights short nDropWeights(); /////////////////////////////////////////////////////////////////// // Drop weight characteristics short dropWeight(short weightNo, double *mass, double *buoyancy, VehicleConfigurationIF::Vector location); /////////////////////////////////////////////////////////////////// // Fin locations relative to vehicle frame void finLocations(VehicleConfigurationIF::Vector lowerRudder, VehicleConfigurationIF::Vector upperRudder, VehicleConfigurationIF::Vector portElevator, VehicleConfigurationIF::Vector stbdElevator); /////////////////////////////////////////////////////////////////// // Flag to tell DynamicControlServer to switch on the roll/yaw // decoupling computation. double decouple(); /////////////////////////////////////////////////////////////////// // Specify which instrument to use as the altimeter in Navigation. double altimeterInstrument(); /////////////////////////////////////////////////////////////////// // Flag to select the Lbl for navigation double useLbl(); double useIns(); protected: // Message codes for each method enum VehicleConfigurationIFMsgCode { DeviceCountMsgCode, FindDeviceMsgCode, GetDeviceNameMsgCode, GetDeviceDriverMsgCode, GetDeviceDriver01MsgCode, DeviceInfoMsgCode, DeviceInfo01MsgCode, VehicleNameMsgCode, PropPitchMsgCode, MassMsgCode, BuoyancyMsgCode, KpHeadingMsgCode, KdHeadingMsgCode, KiHeadingMsgCode, KwpHeadingMsgCode, MaxHdgRateMsgCode, RudLimitMsgCode, RudActLimitMsgCode, RudActRateLimitMsgCode, KpPitchMsgCode, KdPitchMsgCode, KiPitchMsgCode, PitchLimitMsgCode, MaxDiveRateMsgCode, KpDepthMsgCode, KiDepthMsgCode, ElevLimitMsgCode, ElevActLimitMsgCode, ElevActRateLimitMsgCode, TsMsgCode, EffDragCoefMsgCode, PropEfficiencyMsgCode, TauMsgCode, MaxDepthIntMsgCode, MaxHdgIntMsgCode, MaxPitchIntMsgCode, XuabuMsgCode, CenterOfMassMsgCode, CenterOfBuoyancyMsgCode, DuctAreaMsgCode, NDropWeightsMsgCode, DropWeightMsgCode, FinLocationsMsgCode, DecoupleMsgCode, AltimeterInstrumentMsgCode, UseLblMsgCode, UseInsMsgCode }; // Define message structure for each method struct DeviceCountMsg : Request, Reply { short returnVal; } _deviceCountMsg; struct FindDeviceMsg : Request, Reply { short returnVal; VehicleConfigurationIF::Name name; } _findDeviceMsg; struct GetDeviceNameMsg : Request, Reply { short returnVal; short index; VehicleConfigurationIF::Name name; } _getDeviceNameMsg; struct GetDeviceDriverMsg : Request, Reply { short returnVal; short index; VehicleConfigurationIF::Driver driver; } _getDeviceDriverMsg; struct GetDeviceDriver01Msg : Request, Reply { short returnVal; VehicleConfigurationIF::Name name; VehicleConfigurationIF::Driver driver; } _getDeviceDriver01Msg; struct DeviceInfoMsg : Request, Reply { short returnVal; short index; VehicleConfigurationIF::Name name; VehicleConfigurationIF::Port port; short priority; } _deviceInfoMsg; struct DeviceInfo01Msg : Request, Reply { short returnVal; VehicleConfigurationIF::Name name; VehicleConfigurationIF::Port port; short priority; } _deviceInfo01Msg; struct VehicleNameMsg : Request, Reply { VehicleConfigurationIF::Name name; } _vehicleNameMsg; struct PropPitchMsg : Request, Reply { double returnVal; } _propPitchMsg; struct MassMsg : Request, Reply { double returnVal; } _massMsg; struct BuoyancyMsg : Request, Reply { double returnVal; } _buoyancyMsg; struct KpHeadingMsg : Request, Reply { double returnVal; } _kpHeadingMsg; struct KdHeadingMsg : Request, Reply { double returnVal; } _kdHeadingMsg; struct KiHeadingMsg : Request, Reply { double returnVal; } _kiHeadingMsg; struct KwpHeadingMsg : Request, Reply { double returnVal; } _kwpHeadingMsg; struct MaxHdgRateMsg : Request, Reply { double returnVal; } _maxHdgRateMsg; struct RudLimitMsg : Request, Reply { double returnVal; } _rudLimitMsg; struct RudActLimitMsg : Request, Reply { double returnVal; } _rudActLimitMsg; struct RudActRateLimitMsg : Request, Reply { double returnVal; } _rudActRateLimitMsg; struct KpPitchMsg : Request, Reply { double returnVal; } _kpPitchMsg; struct KdPitchMsg : Request, Reply { double returnVal; } _kdPitchMsg; struct KiPitchMsg : Request, Reply { double returnVal; } _kiPitchMsg; struct PitchLimitMsg : Request, Reply { double returnVal; } _pitchLimitMsg; struct MaxDiveRateMsg : Request, Reply { double returnVal; } _maxDiveRateMsg; struct KpDepthMsg : Request, Reply { double returnVal; } _kpDepthMsg; struct KiDepthMsg : Request, Reply { double returnVal; } _kiDepthMsg; struct ElevLimitMsg : Request, Reply { double returnVal; } _elevLimitMsg; struct ElevActLimitMsg : Request, Reply { double returnVal; } _elevActLimitMsg; struct ElevActRateLimitMsg : Request, Reply { double returnVal; } _elevActRateLimitMsg; struct TsMsg : Request, Reply { double returnVal; } _TsMsg; struct EffDragCoefMsg : Request, Reply { double returnVal; } _effDragCoefMsg; struct PropEfficiencyMsg : Request, Reply { double returnVal; } _propEfficiencyMsg; struct TauMsg : Request, Reply { double returnVal; } _tauMsg; struct MaxDepthIntMsg : Request, Reply { double returnVal; } _maxDepthIntMsg; struct MaxHdgIntMsg : Request, Reply { double returnVal; } _maxHdgIntMsg; struct MaxPitchIntMsg : Request, Reply { double returnVal; } _maxPitchIntMsg; struct XuabuMsg : Request, Reply { double returnVal; } _xuabuMsg; struct CenterOfMassMsg : Request, Reply { VehicleConfigurationIF::Vector v; } _centerOfMassMsg; struct CenterOfBuoyancyMsg : Request, Reply { VehicleConfigurationIF::Vector v; } _centerOfBuoyancyMsg; struct DuctAreaMsg : Request, Reply { double returnVal; } _ductAreaMsg; struct NDropWeightsMsg : Request, Reply { short returnVal; } _nDropWeightsMsg; struct DropWeightMsg : Request, Reply { short returnVal; short weightNo; double mass; double buoyancy; VehicleConfigurationIF::Vector location; } _dropWeightMsg; struct FinLocationsMsg : Request, Reply { VehicleConfigurationIF::Vector lowerRudder; VehicleConfigurationIF::Vector upperRudder; VehicleConfigurationIF::Vector portElevator; VehicleConfigurationIF::Vector stbdElevator; } _finLocationsMsg; struct DecoupleMsg : Request, Reply { double returnVal; } _decoupleMsg; struct AltimeterInstrumentMsg : Request, Reply { double returnVal; } _altimeterInstrumentMsg; struct UseLblMsg : Request, Reply { double returnVal; } _useLblMsg; struct UseInsMsg : Request, Reply { double returnVal; } _useInsMsg; }; #endif