/** \file * * Specifies the interface details for the VerticalControl component in the * ControlModule. * * VerticalControl.h should only be included by VerticalControl.cpp * Other classes should include VerticalControlIF.h * * Copyright (c) 2007,2008,2009 MBARI * MBARI Proprietary Information. All Rights Reserved */ #ifndef VERTICALCONTROLIF_H_ #define VERTICALCONTROLIF_H_ #include "data/ElementURI.h" /** * Specifies the interface details for the VerticalControl component in the * ControlModule. * * VerticalControl.h should only be included by VerticalControl.cpp * Other classes should include VerticalControlIF.h * * \ingroup modules_control */ namespace VerticalControlIF { /// Static const for component name /// (Can be used by other components) static const Str NAME( "VerticalControl" ); // Include common ConfigURIs -- must be in namespace and follow definition of NAME #include "component/HasLoadAtStartupIF.h" /// Static consts for input settings /// (Supplied so outputs can be directed to these inputs) static const DataURI VERTICAL_MODE( NAME, "verticalMode", Units::ENUM ); static const DataURI DEPTH_CMD( NAME, "depthCmd", Units::METER ); static const DataURI DEPTH_RATE_CMD( NAME, "depthRateCmd", Units::METER_PER_SECOND ); static const DataURI PITCH_CMD( NAME, "pitchCmd", Units::RADIAN ); // specify a pitch to hold static const DataURI PITCH_RATE_CMD( NAME, "pitchRateCmd", Units::RADIAN_PER_SECOND ); // specify a pitch rate if desired static const DataURI BUOYANCY_CMD( NAME, "buoyancyCmd", Units::CUBIC_CENTIMETER ); static const DataURI MASS_POSITION_CMD( NAME, "massPositionCmd", Units::METER ); static const DataURI ELEVATOR_ANGLE_CMD( NAME, "elevatorAngleCmd", Units::RADIAN ); /// Configuration static const ConfigURI BUOYANCY_DEFAULT_CFG( NAME, "buoyancyDefault", Units::CUBIC_CENTIMETER ); static const ConfigURI BUOYANCY_LIMIT_HI_CC_CFG( NAME, "buoyancyLimitHiCC", Units::CUBIC_CENTIMETER ); static const ConfigURI BUOYANCY_LIMIT_LO_CC_CFG( NAME, "buoyancyLimitLoCC", Units::CUBIC_CENTIMETER ); static const ConfigURI BUOYANCY_NEUTRAL_CFG( NAME, "buoyancyNeutral", Units::CUBIC_CENTIMETER ); static const ConfigURI BUOYANCY_PUMP_DEPTH_CFG( NAME, "buoyancyPumpDepth", Units::METER ); static const ConfigURI DEPTH_DEADBAND_CFG( NAME, "depthDeadband", Units::METER ); static const ConfigURI DEPTH_RATE_DEADBAND_CFG( NAME, "depthRateDeadband", Units::METER_PER_SECOND ); static const ConfigURI DEPTH_RATE_SAMPLES_CFG( NAME, "depthRateSamples", Units::COUNT ); static const ConfigURI DROP_WEIGHT_DEPTH_EXCURSION_CFG( NAME, "dropWtDepthExcursion", Units::METER ); static const ConfigURI DROP_WEIGHT_OVERRIDE_DELAY_CFG( NAME, "dropWtOverrideDelay", Units::METER ); static const ConfigURI ELEVATOR_DEADBAND_CFG( NAME, "elevDeadband", Units::RADIAN ); static const ConfigURI ELEVATOR_LIMIT_CFG( NAME, "elevLimit", Units::RADIAN ); static const ConfigURI ELEVATOR_TURN_TIME_CFG( NAME, "elevTurnTime", Units::RADIAN ); static const ConfigURI EXCURSION_DEPTH_TIMEOUT_CFG( NAME, "excursionDepthTimeout", Units::SECOND ); static const ConfigURI KD_DEPTH_CFG( NAME, "kdDepth", Units::RADIAN_SECOND_PER_METER ); static const ConfigURI KD_DEPTH_BUOY_CFG( NAME, "kdDepthBuoy", Units::SECOND ); static const ConfigURI KD_DEPTH_RATE_BUOY_CFG( NAME, "kdDepthRateBuoy", Units::SECOND ); static const ConfigURI KD_PITCH_ELEVATOR_CFG( NAME, "kdPitchElevator", Units::SECOND ); static const ConfigURI KD_PITCH_MASS_CFG( NAME, "kdPitchMass", Units::SECOND ); static const ConfigURI KI_DEPTH_CFG( NAME, "kiDepth", Units::RADIAN_PER_SECOND_PER_METER ); static const ConfigURI KI_DEPTH_BUOY_CFG( NAME, "kiDepthBuoy", Units::RECIPROCAL_SECOND ); static const ConfigURI KI_DEPTH_OFF_CFG( NAME, "kiDepthOff", Units::METER_PER_SECOND ); static const ConfigURI KI_DEPTH_RATE_BUOY_CFG( NAME, "kiDepthRateBuoy", Units::RECIPROCAL_SECOND ); static const ConfigURI KI_PITCH_ELEVATOR_CFG( NAME, "kiPitchElevator", Units::RECIPROCAL_SECOND ); static const ConfigURI KI_PITCH_MASS_CFG( NAME, "kiPitchMass", Units::RECIPROCAL_SECOND ); static const ConfigURI KP_DEPTH_CFG( NAME, "kpDepth", Units::RADIAN_PER_METER ); static const ConfigURI KP_DEPTH_BUOY_CFG( NAME, "kpDepthBuoy", Units::RATIO ); static const ConfigURI KP_DEPTH_RATE_BUOY_CFG( NAME, "kpDepthRateBuoy", Units::RATIO ); static const ConfigURI KP_PITCH_ELEVATOR_CFG( NAME, "kpPitchElevator", Units::RATIO ); static const ConfigURI KP_PITCH_MASS_CFG( NAME, "kpPitchMass", Units::RATIO ); static const ConfigURI LIMIT_DEPTH_TRAJECTORY_CFG( NAME, "limitDepthTrajectory", Units::BOOL ); static const ConfigURI MASS_DEADBAND_CFG( NAME, "massDeadband", Units::METER ); static const ConfigURI MASS_DEFAULT_CFG( NAME, "massDefault", Units::METER ); static const ConfigURI MASS_FILTER_LIMIT_CFG( NAME, "massFilterLimit", Units::RADIAN ); static const ConfigURI MASS_FILTER_WIDTH_CFG( NAME, "massFilterWidth", Units::SECOND ); static const ConfigURI MASS_POSITION_LIMIT_FWD_CFG( NAME, "massPositionLimitFwd", Units::METER ); static const ConfigURI MASS_POSITION_LIMIT_AFT_CFG( NAME, "massPositionLimitAft", Units::METER ); static const ConfigURI MASS_TURN_TIME_CFG( NAME, "massTurnTime", Units::SECOND ); static const ConfigURI MAX_BUOY_DIVE_ACCEL_CFG( NAME, "maxBuoyDiveAccel", Units::METER_PER_SECOND_SQUARED ); static const ConfigURI MAX_BUOY_DIVE_RATE_CFG( NAME, "maxBuoyDiveRate", Units::METER_PER_SECOND ); static const ConfigURI MAX_BUOY_INT_CFG( NAME, "maxBuoyInt", Units::CUBIC_CENTIMETER ); static const ConfigURI MAX_DEPTH_INT_CFG( NAME, "maxDepthInt", Units::RADIAN ); static const ConfigURI MAX_DIVE_ACCEL_CFG( NAME, "maxDiveAccel", Units::METER_PER_SECOND_SQUARED ); static const ConfigURI MAX_DIVE_RATE_CFG( NAME, "maxDiveRate", Units::METER_PER_SECOND ); static const ConfigURI MAX_PITCH_ELEVATOR_INT_CFG( NAME, "maxPitchElevatorInt", Units::RADIAN ); static const ConfigURI MAX_PITCH_MASS_INT_CFG( NAME, "maxPitchMassInt", Units::METER ); static const ConfigURI MAX_PITCH_RATE_CFG( NAME, "maxPitchRate", Units::RADIAN_PER_SECOND ); static const ConfigURI MIN_ASCEND_PITCH_CFG( NAME, "minAscendPitch", Units::RADIAN ); static const ConfigURI MIN_DEPTH_EXCURSION_CFG( NAME, "minDepthExcursion", Units::METER ); static const ConfigURI PITCH_LIMIT_CFG( NAME, "pitchLimit", Units::RADIAN ); static const ConfigURI STOP_DEPTH_EXCURSION_CFG( NAME, "stopDepthExcursion", Units::METER ); static const ConfigURI STOP_OVERRIDE_DELAY_CFG( NAME, "stopOverrideDelay", Units::SECOND ); static const ConfigURI STOP_OVERRIDE_DELAY_BUOY_CFG( NAME, "stopOverrideDelayBuoy", Units::SECOND ); static const ConfigURI SURFACE_THRESHOLD_CFG( NAME, "surfaceThreshold", Units::METER ); static const ConfigURI USE_ELEV_INT_IN_DEPTH_MODE( NAME, "useElevIntInDepthMode", Units::BOOL ); static const ConfigURI MASS_BACK_ON_GO_TO_SURFACE( NAME, "massBackOnGoToSurface", Units::BOOL ); static const ConfigURI PITCH_TIMEOUT_GO_TO_SURFACE( NAME, "pitchTimeoutGoToSurface", Units::SECOND ); /// Static consts for "internal" outputs static const DataURI DEPTH2BUOYINT_INTERNAL( NAME, "depth2buoyIntInternal", Units::CUBIC_CENTIMETER ); static const DataURI DEPTH_ERROR_INTERNAL( NAME, "depthErrorInternal", Units::METER ); static const DataURI DEPTH_INTEGRAL_INTERNAL( NAME, "depthIntegralInternal", Units::RADIAN ); static const DataURI DT_INTERNAL( NAME, "dtInternal", Units::SECOND ); static const DataURI ELEVATOR_INTEGRAL_INTERNAL( NAME, "elevatorIntegralInternal", Units::RADIAN ); static const DataURI MASS_INTEGRAL_INTERNAL( NAME, "massIntegralInternal", Units::METER ); static const DataURI MASS_PITCH_ERROR_INTERNAL( NAME, "massPitchErrorInternal", Units::RADIAN ); static const DataURI PITCH_INTERNAL( NAME, "pitchInternal", Units::RADIAN ); static const DataURI SMOOTH_DEPTH_INTERNAL( NAME, "smoothDepthInternal", Units::METER ); /// Static consts for outputs to Servos static const DataURI ELEVATOR_ANGLE_ACTION( NAME, "elevatorAngleAction", Units::RADIAN ); static const DataURI MASS_POSITION_ACTION( NAME, "massPositionAction", Units::METER ); static const DataURI BUOYANCY_ACTION( NAME, "buoyancyAction", Units::CUBIC_CENTIMETER ); /// Defines vertical modes typedef enum { NONE, // No depth control - drift or wander SURFACE, // Go to the surface DEPTH, // Go to a specified depth DEPTH_RATE, // Go at a specified depth rate PITCH_ZERO, // Hold a zero pitch PITCH, // Hold the specified pitch angle PITCH_RATE, // Hold the specified pitch angle rate (until max pitch) MASS_AND_ELEVATOR, // Hold the specified mass and elevator positions FLOAT_ON_SURFACE, // Float on the surface } VerticalMode; } #endif /*VERTICALCONTROLIF_H_*/