#ifndef VEHICLE_H #define VEHICLE_H #include #include #include #include #define PORT 49 #define STBD 52 #define VERTICAL 53 #define LATERAL 50 /************************** DATA ****************************************/ extern void* depth_routine(void* args); extern float auto_heading_setpoint; extern float auto_depth_setpoint; extern float auto_cruise_setpoint; extern float auto_cruise_lat_setpoint; extern float latitude; struct Auto_pilot { /* analog input from top */ int foreaft_ch; int turns_ch; int lateral; // hard coded in, need to change later int vertical; // hard coded in, need to change later /* digital input from top */ int autoHead_ch; int autoDepth_ch; int autoAltitude_ch; int autoCruise_ch; int depthJogUp_ch; int depthJogDown_ch; int bellypack_ch; /**** the following are coming from the bottom ***/ int headingSource; // 0 for gyro, 1 for compass int depthTransducer; // digital channel??? int AltitudeSource; // 1 for alt #1, 2 for #2 int dvlInput; /**** the following are the pid's ****************/ float p_autoHead; float i_autoHead; float d_autoHead; float p_autoDepth; float i_autoDepth; float d_autoDepth; float p_autoAlt; float i_autoAlt; float d_autoAlt; float p_autoCruise; float i_autoCruise; float d_autoCruise; /**** the following are the vehicle output channels ****/ int portThruster_ch; int STBDThruster_ch; int vertThruster_ch; int latThruster_ch; string auto_pilot_string; char autoPilotStr[256]; //this is the string to be sent to the vehicle int auto_pilot_enable; }; struct Arm { /* the following are bottom output channels */ int sin_shoulder_channel; int cos_shoulder_channel; float offset_shoulder; /* the following are the top input channels */ int command_shoulder_channel_top; float master_shoulder; float feedback_shoulder; int shoulder_servo_channel_bot; float p_shoulder; float i_shoulder; float d_shoulder; /* the following are bottom output channels */ int sin_swing_channel; int cos_swing_channel; float offset_swing; /* the following are the top input channels */ int command_swing_channel_top; float master_swing; float feedback_swing; int swing_servo_channel_bot; float p_swing; float i_swing; float d_swing; /* the following are bottom output channels */ int sin_elbow_channel; int cos_elbow_channel; float offset_elbow; /* the following are the top input channels */ int command_elbow_channel_top; float master_elbow; float feedback_elbow; int elbow_servo_channel_bot; float p_elbow; float i_elbow; float d_elbow; /* the following are bottom output channels */ int sin_pitch_channel; int cos_pitch_channel; float offset_pitch; /* the following are the top input channels */ int command_pitch_channel_top; float master_pitch; float feedback_pitch; int pitch_servo_channel_bot; float p_pitch; float i_pitch; float d_pitch; /* the following are bottom output channels */ int sin_yaw_channel; int cos_yaw_channel; float offset_yaw; /* the following are the top input channels */ int command_yaw_channel_top; float master_yaw; float feedback_yaw; int yaw_servo_channel_bot; float p_yaw; float i_yaw; float d_yaw; string arm_string; char armStr[512]; int arm_enable; }; struct Camera { /* the following are bottom inputs channels */ int sin_shoulder_channel; int cos_shoulder_channel; float offset_shoulder; /* the following are the top input channels */ int command_shoulder_channel_top; float master_shoulder; float feedback_shoulder; int shoulder_servo_channel_bot; float p_shoulder; float i_shoulder; float d_shoulder; /* the following are bottom output channels */ int sin_pan_channel; int cos_pan_channel; float offset_pan; /* the following are the top input channels */ int command_pan_channel_top; float master_pan; float feedback_pan; int pan_servo_channel_bot; float p_pan; float i_pan; float d_pan; /* the following are bottom output channels */ int sin_tilt_channel; int cos_tilt_channel; float offset_tilt; /* the following are the top input channels */ int command_tilt_channel_top; float master_tilt; float feedback_tilt; int tilt_servo_channel_bot; float p_tilt; float i_tilt; float d_tilt; string cam_string; char camStr[512]; int camera_enable; }; struct Teleos { float kf1_foreaft; float kf1_turns; float kf1_lateral; float kf1_vertical; float kf2_foreaft; float kf2_turns; float kf2_lateral; float kf2_vertical; float db_foreaft; float db_turns; float db_lateral; float db_vertical; float st_foreaft; float st_turns; float st_lateral; float st_vertical; int curve_mode; /* these feedbacks are a temporary hack until * the update rate is faster from the sub */ float port_thruster; float stbd_thruster; float lateral_thruster; float vertical_thruster; char teleos_string[1024]; }; /****************************************************************************/ class Vehicle { public : Vehicle(); ~Vehicle(); char* append_auto_string(); char* append_arm_string(); char* append_cam_string(); int update_vehicle_thruster(int index, int raw); int gyro_validity; // from parascientific float curr_heading; // need this heading for float curr_depth; float curr_vel; float curr_lat_vel; float curr_raw_psi; float curr_pitch; float curr_roll; float cam1_pan; float cam1_tilt; float cam2_pan; float cam2_tilt; float port_thruster; float stbd_thruster; float vert_thruster; float lat_thruster; float altitude; float autoAltitude; float vertSpeed; float heading; float auto_pilot; int bellypack_ch; float gesdac_output[16]; static char auto_string[255]; static char arm_string[255]; static char cam_string[255]; int mpl_digitals[65]; int gesout_digitals[129]; int rpm_interval; int rpm_speed; float ship_heading; float dvl_altitude; struct Auto_pilot autopilot; struct Arm arm; struct Camera camera; struct Teleos teleos; int set_curr_pitch(float pitch); int set_curr_roll(float roll); void update_depth_hist(int which_array); bool get_depth_hist(int which_array, char hist[]); }; extern Vehicle vehicle; // global object #endif