org.mbari.siam.foce.devices.controlLoop
Class BaseResponder

java.lang.Object
  org.mbari.siam.foce.devices.controlLoop.BaseResponder

All Implemented Interfaces:

ControlResponseIF

Direct Known Subclasses:

PH_Responder, VEL_Responder

public abstract class BaseResponder
extends java.lang.Object
implements ControlResponseIF

Field Summary

protected ControlLoopAttributes	_attributes
protected java.lang.StringBuffer	_cfgPacketBuffer
protected ControlProcessIF	_controlProcess
protected double	_correction
protected SensorDataPacket	_dataPacket
protected java.lang.String	_dataTurbineHost
protected boolean	_doTurbinate
protected float	_error
protected int	_esw_pump_amode
protected int	_esw_valve_amode
protected SensorDataPacket	_lastDataPacket
protected static org.apache.log4j.Logger	_log4j Log4j logger
protected int	_maxDataBytes
protected double	_offset
protected java.lang.StringBuffer	_packetBuffer
protected PacketParser	_packetParser
protected int	_ph_cmode
protected int	_ph_rmode
protected float	_previousError
protected float	_previousProcessValue
protected float	_processValue
protected double	_rawCorrection
protected java.lang.String	_recordDelimiter
protected java.lang.String	_recordType
protected float	_setPoint
protected int	_thruster_amode
protected Turbinator	_turbinator
protected int	_velocity_cmode
static java.lang.String	DELIMITERS

Constructor Summary

BaseResponder(ControlProcessIF controlProcess, ControlLoopAttributes attributes)

Method Summary

java.lang.StringBuffer	getConfigBuffer() Return a sample buffer with current response configuration.
abstract float	getCorrection() Calculate correction value (heart of the PID loop) updateInputs must be called before calling this method
SensorDataPacket	getLastSample() Return most recent sample data packet
java.lang.StringBuffer	getSampleBuffer() Return a sample buffer with current process data.
abstract SensorDataPacket	getSamplePacket() return a sensor data packet sub-classes should override
void	initialize() initialize control loop
void	reset() reset control loop
void	showParsedData(PacketParser.Field[] fields)
abstract float	update() update output (new process command)
protected abstract void	updateInputs() Update inputs, needed prior to updating output values.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

_log4j

protected static org.apache.log4j.Logger _log4j

Log4j logger

DELIMITERS

public static final java.lang.String DELIMITERS

See Also:

Constant Field Values

_velocity_cmode

protected int _velocity_cmode

_ph_cmode

protected int _ph_cmode

_ph_rmode

protected int _ph_rmode

_esw_valve_amode

protected int _esw_valve_amode

_esw_pump_amode

protected int _esw_pump_amode

_thruster_amode

protected int _thruster_amode

_setPoint

protected float _setPoint

_offset

protected double _offset

_processValue

protected float _processValue

_previousProcessValue

protected float _previousProcessValue

_error

protected float _error

_previousError

protected float _previousError

_correction

protected double _correction

_rawCorrection

protected double _rawCorrection

_packetParser

protected PacketParser _packetParser

_turbinator

protected Turbinator _turbinator

_dataTurbineHost

protected java.lang.String _dataTurbineHost

_packetBuffer

protected java.lang.StringBuffer _packetBuffer

_cfgPacketBuffer

protected java.lang.StringBuffer _cfgPacketBuffer

_recordType

protected java.lang.String _recordType

_dataPacket

protected SensorDataPacket _dataPacket

_lastDataPacket

protected SensorDataPacket _lastDataPacket

_maxDataBytes

protected int _maxDataBytes

_doTurbinate

protected boolean _doTurbinate

_recordDelimiter

protected java.lang.String _recordDelimiter

_controlProcess

protected ControlProcessIF _controlProcess

_attributes

protected ControlLoopAttributes _attributes

Constructor Detail

BaseResponder

public BaseResponder(ControlProcessIF controlProcess,
                     ControlLoopAttributes attributes)
              throws java.lang.Exception

Throws:

java.lang.Exception

Method Detail

update

public abstract float update()
                      throws java.lang.Exception

update output (new process command)

Specified by:

update in interface ControlResponseIF

Throws:

java.lang.Exception

updateInputs

protected abstract void updateInputs()
                              throws java.lang.Exception

Update inputs, needed prior to updating output values. For example, input signals and tuning parameters that may have changed (picked up from _attributes): _processValue, _setPoint, _error, _offset

Throws:

java.lang.Exception

getCorrection

public abstract float getCorrection()
                             throws java.lang.Exception

Calculate correction value (heart of the PID loop) updateInputs must be called before calling this method

Throws:

java.lang.Exception

getSamplePacket

public abstract SensorDataPacket getSamplePacket()

return a sensor data packet sub-classes should override

Specified by:

getSamplePacket in interface ControlResponseIF

initialize

public void initialize()

initialize control loop

Specified by:

initialize in interface ControlResponseIF

reset

public void reset()

reset control loop

Specified by:

reset in interface ControlResponseIF

getLastSample

public SensorDataPacket getLastSample()

Return most recent sample data packet

getSampleBuffer

public java.lang.StringBuffer getSampleBuffer()
                                       throws java.lang.Exception

Return a sample buffer with current process data. sub-classes should call the base class to get the common data items.

Specified by:

getSampleBuffer in interface ControlResponseIF

Throws:

java.lang.Exception

getConfigBuffer

public java.lang.StringBuffer getConfigBuffer()
                                       throws java.lang.Exception

Return a sample buffer with current response configuration. sub-classes should call the base class to get the common data items.

Throws:

java.lang.Exception

showParsedData

public void showParsedData(PacketParser.Field[] fields)