/** \file
 *
 *  Specifies the interface details for the DockingServo component in the
 *  ServoModule.
 *
 *  DockingServo.h should only be included by DockingServo.cpp
 *  Other classes should include DockingServoIF.h
 *
 *  Copyright (c) 2007,2008,2009 MBARI
 *  MBARI Proprietary Information.  All Rights Reserved
 */

#include "data/ElementURI.h"

#ifndef DOCKINGSERVOIF_H_
#define DOCKINGSERVOIF_H_

/**
 *  Specifies the interface details for the DockingServo component in the
 *  ServoModule.
 *
 *  DockingServo.h should only be included by DockingServo.cpp
 *  Other classes should include DockingServoIF.h
 *
 *  \ingroup modules_controller
 */
namespace DockingServoIF
{
// Component name
static const Str NAME( "DockingServo" );

// Include common ConfigURIs -- must be in namespace and follow definition of NAME
#include "component/HasLoadAtStartupIF.h"
#include "component/HasHardwareIF.h"
#include "component/HasLoadControlIF.h"
#include "component/HasUartIF.h"

// Include parent URIs -- must be in namespace and follow definition of NAME
#include "EZServoAllIF.h"
#include "EZServoLimitsIF.h"
#include "EZServoPIDIF.h"
#include "EZServoElevRuddIF.h"

static const DataURI ARM_ANGLE_ACTION( NAME, "armAngleAction", Units::RADIAN ); // Used to command the arm position
static const DataURI ARM_ANGLE( NAME, "armAngle", Units::RADIAN ); // Used to reflect the position of the arm
static const DataURI CABLE_VALUE_READING( NAME, "cableValue", Units::COUNT ); // Actual A/D value from cable sensor

static const ConfigURI OPEN_ANGLE_CFG( NAME, "openAngle", "Angle to consider arm open", Units::DEGREE );
static const ConfigURI CLOSED_ANGLE_CFG( NAME, "closedAngle", "Angle to consider arm closed", Units::DEGREE );


}

#endif /*DockingServoIF_H_*/