MassServo.h

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#ifndef MASSSERVO_H_
#define MASSSERVO_H_

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

class UniversalDataWriter;

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

    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.
    MassServo( const MassServo& old ); // disallow copy constructor

    // Instance of load controller
    LoadControl loadControl_;

    // The outputs themselves
    UniversalDataWriter* massPositionWriter_;

    // The inputs
    DataReader* massPositionReader_;

    // Configuration readers
    ConfigReader* totalTksCfgReader_;          // Total encoder ticks for full mass shift travel
    ConfigReader* tksPerMMCfgReader_;          // Number of ticks for one rotation (1 mm of travel)
    ConfigReader* deviationDistanceCfgReader_; // Deviation allowed between expected and actual
    ConfigReader* massDeadbandCfgReader_;

    // 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_;

    // Actual and commanded positions
    float actualMassPosition_;
    float cmdMassPosition_;

    // Debugging outputs
    bool debug_;

    // Timeouts
    Timespan homingTimeout_;

    //------------------- vehicle parameters --------------------------*/
    // Mass Shift
    float totalTksCfg_;      // Total encoder ticks for full mass shift travel
    float tksPerMMCfg_;      // Number of ticks for 1 mm of travel //*** DEBUG real motor is ~ 272 ticks/mm
    float deviationDistCfg_; // Number of encoder ticks deviation allowed between expected and actual
    float massDeadbandCfg_;

    //-----------------------------------------------------------------*/

    // Mass shift variables
    float lastCmdMassPos_;   // Stores the previous commanded position from control
    float lastActMassPos_;   // Stores the previous actual position of the mass shifter
    bool massShiftHomed_;    // True = mass shifter is done being initialized and homing

    // read vehicle config variables
    virtual bool readConfig( void );

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

    bool massRdy_;

    // Calls EZServoServo::checkResponse for status and sets errors as applicable.
    // If error == OVERLOAD_ERROR, calls initMass().
    bool checkResponse( bool checkForReady );

    // Waits for the mass to complete a transit
    bool waitForHoming( void );

};

#endif /*MASSSERVO_H_*/