DepthServo.h

Go to the documentation of this file.

#ifndef DEPTHSERVO_H_
#define DEPTHSERVO_H_

#include "component/Behavior.h"
#include "utils/Trajectory.h"

class DepthServo : public Behavior
{
public:

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

    virtual ~DepthServo();

    void initialize( void );

    bool readConfig();

    bool readSettings( float& measuredValue );

    bool readParams();

    bool calcSatisfied( const float measuredValue );

    void run();

    bool isSatisfied();

    bool runIfUnsatisfied();

    void uninitialize( void );

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

protected:

    // Setting readers

    SettingReader *holdValueSettingReader_;

    SettingReader *inputSettingReader_;

    SettingReader *proportionalGainSettingReader_;

    SettingReader *integralGainSettingReader_;

    SettingReader *derivativeGainSettingReader_;

    SettingReader *changePerMeterSettingReader_;


    ConfigReader* abortDepthCfgReader_;

    DataReader *speedCmdReader_;

    ConfigReader* maxDiveRateCfgReader_;

    ConfigReader* maxBuoyDiveRateCfgReader_;

    ConfigReader*  maxDiveAccelCfgReader_;

    ConfigReader* maxBuoyDiveAccelCfgReader_;


    // Slate output variables

    DataWriter *verticalModeWriter_;

    DataWriter *depthCmdWriter_;

    // Actual values from settings

    float holdValueSetting_;

    float proportionalGainSetting_;

    float integralGainSetting_;

    float derivativeGainSetting_;

    float changePerMeterSetting_;

    float holdValueIntegral_;

    float lastMeasuredValue_;

    Trajectory trajectory_;

    float maxDiveRate_;
    float maxBuoyDiveRate_;
    float maxDiveAccel_;
    float maxBuoyDiveAccel_;

    float abortDepth_;

    float speedCmd_;

    bool startBelowSetting_;

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

};

#endif /*DEPTHSERVO_H_*/