DepthEnvelope.h

Go to the documentation of this file.

#ifndef DEPTHENVELOPE_H_
#define DEPTHENVELOPE_H_

#include "component/Behavior.h"

class DepthEnvelope : public Behavior
{
public:

    DepthEnvelope( const Str& prefix, const Module* module );

    virtual ~DepthEnvelope();

    void initialize( void );

    void run();

    bool isSatisfied();

    bool runIfUnsatisfied();

    void uninitialize( void );

    static Behavior* CreateBehavior( const Str& prefix, const Module* module );

protected:

    // Config Settings
    ConfigReader* pitchLimitCfgReader_;
    ConfigReader* maxDiveRateCfgReader_;
    ConfigReader* maxBuoyDiveRateCfgReader_;
    ConfigReader* elevTurnTimeCfgReader_;
    ConfigReader* massTurnTimeCfgReader_;


    // Current control commands

    DataReader *verticalModeReader_;

    DataReader *elevatorAngleCmdReader_;
    DataReader *massPositionCmdReader_;

    DataReader *speedCmdReader_;

    // Behavior setting readers

    SettingReader *minDepthSettingReader_;

    SettingReader *maxDepthSettingReader_;

    SettingReader *depthSurrogateSettingReader_;

    SettingReader *depthRateSettingReader_;

    SettingReader *upDepthRateSettingReader_;

    SettingReader *downDepthRateSettingReader_;

    SettingReader *pitchSettingReader_;

    SettingReader *upPitchSettingReader_;

    SettingReader *downPitchSettingReader_;

    // Actual values from settings

    float minDepthSetting_;

    float maxDepthSetting_;

    float downDepthRateSetting_;

    float upDepthRateSetting_;

    float downPitchSetting_;

    float upPitchSetting_;

    float maxDiveRate_;

    float maxBuoyDiveRate_;

    float speedCmd_;

    // Slate input measurements

    DataReader *depthReader_;

    // Current depth rate
    DataReader* depthRateReader_;

    // Slate output variables

    DataWriter *verticalModeWriter_;
    DataWriter *elevatorAngleCmdWriter_;
    DataWriter *massPositionCmdWriter_;

    DataWriter *depthRateCmdWriter_;

    DataWriter *pitchCmdWriter_;

    float elevatorTurnSeconds_;
    float massTurnSeconds_;

    bool readParams( float& param );

    bool calcSatisfied( const float param );

    // Reads in configuration settings
    void readConfig();

    // Reads in behavior settings
    void readSettings();

    // If depthRate is nan, set to appropriate max dive rate.
    float adjustDepthRate( float depthRate, bool goDown );

    // If usingDepth_ is true, project the depth out to when it can be switched
    float projectDepth( float depth );

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

};

#endif /*DEPTHENVELOPE_H_*/