BuoyancyServo.h

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#ifndef BUOYANCYSERVO_H_
#define BUOYANCYSERVO_H_

#include "EZServoServo.h"
#include "io/LoadControl.h"
#include "io/UartStream.h"

class UniversalDataWriter;

class BuoyancyServo : public EZServoServo
{
public:
    BuoyancyServo( const Module* module );
    virtual ~BuoyancyServo();

    virtual void run();

    virtual RunState start();

    virtual RunState starting();

    virtual RunState pause();

    virtual RunState paused();

    virtual RunState resume();

    virtual RunState resuming();

    virtual RunState runnable();

    virtual RunState resetting()
    {
        return stop();
    }

    virtual RunState stop();

    virtual RunState stopping();

    virtual RunState stopped();

    // Shuts down motor controllers
    void uninitialize( void );

    virtual ConfigURI getConfigURI( ConfigOption configOption ) const;

private:

    // Note that the copy constructor below is private and not given a body.
    // Any attempt to call it will return a compiler error.
    BuoyancyServo( const BuoyancyServo& old ); // disallow copy constructor

    // Instance of load controller
    LoadControl loadControl_;

    ConfigReader* buoyancyDefaultCfgReader_;

    // The outputs themselves
    UniversalDataWriter* buoyancyPosWriter_;

    // The inputs
    DataReader* buoyancyPosReader_;

    // returns true if data is requested from one of the readers
    bool isDataRequested();

    // returns true if a new position has been commanded
    bool isNeeded();

    typedef enum
    {
        INITIALIZE,   // Program basic initialization into EEPROM
        WAIT,         // Wait for EEPROM write to finish
        HOME,         // Do any centering/homing, etc if needed
        EXECUTE,      // Execute any stored programs
        VERIFY,       // Confirm operable and no errors
        DONE,         // Ready to run
    } StartupSequence;

    StartupSequence startup_;

    // indicates whether things are ok to run
    bool ok_;

    float cmdBuoyancyPos_, actualBuoyancyPos_, lastCmdPos_, lastActPos_;

    // Timeouts for checking buoyancy position when we're "OFF"
    Timespan checkingTimeout_;

    // Debugging outputs
    bool debug_;

    bool valveOpen_;

    // Indicates speed has been initialized to fast
    bool fastPumpInit_;


    //------------------- vehicle parameters --------------------------*/
    // Buoyancy Engine
    float deviationVolumeCfg_;
    float checkingTimeoutCfg_;
    float countsPerCCCfg_;
    float buoyancyDefaultCfg_;
    float offsetVolumeCfg_;
    float buoyancyPumpDepth_;
    //-----------------------------------------------------------------*/

    ConfigReader* countsPerCCCfgReader_;       // counts on the A/D per ml of fluid pumped
    ConfigReader* deviationVolumeCfgReader_;   // Number of ml deviation allowed between expected and actual
    ConfigReader* checkingTimeoutCfgReader_;   // If the buoyancy is idling, this is how often to check for actual position. If there's a leak. This is when we'll find it.
    ConfigReader* offsetVolumeCfgReader_;      // Offset of position of motor controller
    ConfigReader* buoyancyPumpDepthCfgReader_; // How deep we can pump

    UniversalDataReader *depthReader_;

    // Read configuration
    bool readConfig();

    // Are we above the depth at which we can pump?
    bool abovePumpDepth();

    // the given motor controller is ready to receive commands
    bool buoyancyRdy_;

    // Initialization routines. Returns true if initialization completed without error
    bool initBuoyancy( void );

};

#endif /*BUOYANCYSERVO_H_*/