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

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

All Implemented Interfaces:

java.rmi.Remote, ControlProcessIF, ProcessConfigIF, ProcessParameterIF, ProcessStateIF

public class FOCEProcess
extends java.lang.Object
implements ControlProcessIF, ProcessParameterIF

FOCEProcess encapsulates the FOCE control process (or "plant", in the control systems domain). It is responsible for managing connections to inputs (pH and velocity sensors) and outputs (motors and valves). It is one of the major components of the FOCE control system software; A ControlWorkerThread periodically causes a ControlResponseIF (e.g. PHPIDResponse, PHEXPResponse) to update using a FOCEPRocess instance to provide current values for system signals and parameters. The ControlResponseIF then updates system outputs via the FOCEProcess. FOCEProcess is configured via ControlLoopAttributes.

See Also:

ProcessParameterIF

Nested Class Summary

Nested classes/interfaces inherited from interface org.mbari.siam.distributed.devices.ProcessParameterIF

ProcessParameterIF.DummyConstValues, ProcessParameterIF.DummyFIDMap, ProcessParameterIF.DummyIDMap, ProcessParameterIF.DummyIIDMap, ProcessParameterIF.DummyModeNames, ProcessParameterIF.DummyOIDMap, ProcessParameterIF.DummyParamNames, ProcessParameterIF.DummyRIDMap, ProcessParameterIF.DummySIDMap

Field Summary

protected static org.apache.log4j.Logger

_log4j Log4j logger

Fields inherited from interface org.mbari.siam.distributed.devices.ControlProcessIF

CPIF_STATE_INSTANTIATED, CPIF_STATE_RUNNING, CPIF_STATE_STOPPED, CPIF_STATE_UNKNOWN

Fields inherited from interface org.mbari.siam.distributed.devices.ProcessParameterIF

AC_PH_INT_AFT, ACTUATION_DISABLED, ACTUATION_ENABLED, ACTUATION_MAX, ACTUATION_MIN, BX_PH_ESW, BX_PH_EXT_MID_L, BX_PH_EXT_MID_R, BX_PH_INT_AFT_L, BX_PH_INT_AFT_R, BX_PH_INT_FWD_L, BX_PH_INT_FWD_R, BX_VESWP, BX_VH2O_EXT_X, BX_VH2O_EXT_Y, BX_VH2O_INT_X, BX_VH2O_INT_Y, BX_VTHR_AFT, BX_VTHR_FWD, CONNECTOR_TYPE_EXT_OSDT, CONNECTOR_TYPE_RAW, CONNECTOR_TYPE_SIAM_OSDT, CONNECTOR_TYPE_SIAM_REG, const_mnem2value, CONTROL_MODE_CONSTANT, CONTROL_MODE_DEADBAND, CONTROL_MODE_MANUAL, CONTROL_MODE_MAX, CONTROL_MODE_MIN, CONTROL_MODE_OFFSET, CONTROL_MODE_PANIC, DIR_X, DIR_Y, DIR_Z, EC_PH_EXT, FC_PH_INT_FWD, filter_id2fname, HD_HDG_EXT, HD_HDG_INT, IAC_PH_INT_AFT_L, IAC_PH_INT_AFT_R, IBX_PH_ESW, IBX_PH_EXT_MID_L, IBX_PH_EXT_MID_R, IBX_PH_INT_AFT_L, IBX_PH_INT_AFT_R, IBX_PH_INT_FWD_L, IBX_PH_INT_FWD_R, IBX_VESWP, IBX_VH2O_EXT_X, IBX_VH2O_EXT_Y, IBX_VH2O_INT_X, IBX_VH2O_INT_Y, IBX_VTHR_AFT, IBX_VTHR_FWD, IC_PH_INT, IEC_PH_EXT_MID_L, IEC_PH_EXT_MID_R, IFC_PH_INT_FWD_L, IFC_PH_INT_FWD_R, IHD_HDG_EXT_X, IHD_HDG_EXT_Y, IHD_HDG_INT_X, IHD_HDG_INT_Y, IIC_PH_INT_AFT, IIC_PH_INT_FWD, IMA_MAG_EXT_X, IMA_MAG_EXT_Y, IMA_MAG_INT_X, IMA_MAG_INT_Y, input_id2iname, IVC_VH2O_EXT_X, IVC_VH2O_EXT_Y, IVC_VH2O_INT_X, IVC_VH2O_INT_Y, IVS_ESWV_AFT, IVS_ESWV_FWD, LOC_ESW, LOC_EXT, LOC_INT, MA_MAG_EXT, MA_MAG_INT, mode_id2pname, OUTPUT_AFT_ESW_VALVE, OUTPUT_AFT_THRUSTER_VELOCITY, OUTPUT_ESW_PUMP_VELOCITY, OUTPUT_FWD_ESW_VALVE, OUTPUT_FWD_THRUSTER_VELOCITY, output_id2name, OUTPUT_TYPE_EXT, OUTPUT_TYPE_SIAM, PARAM_CO2_CONCENTRATION, PARAM_DENSITY_SW, PARAM_ESW_PUMP_AMODE, PARAM_ESW_VALVE_AMODE, PARAM_EXP_A, PARAM_EXP_B, PARAM_EXP_H, PARAM_EXP_K, PARAM_FLUME_AREA, param_id2pname, PARAM_MAX_FLOW_CHANGE_PERCENT, PARAM_PH_ABS_MAX, PARAM_PH_ABS_MIN, PARAM_PH_CMODE, PARAM_PH_DEADBAND_HI, PARAM_PH_DEADBAND_LO, PARAM_PH_LIN_FILTER_DEPTH, PARAM_PH_LIN_OFFSET, PARAM_PH_LIN_SLOPE, PARAM_PH_MAX_CORRECTION, PARAM_PH_OFFSET, PARAM_PH_PID_KD, PARAM_PH_PID_KI, PARAM_PH_PID_KP, PARAM_PH_PID_MAX_KI, PARAM_PH_PID_SCALE_FACTOR, PARAM_PH_RMODE, PARAM_PH_SETPOINT, param_pname2aname, PARAM_THRUSTER_AMODE, PARAM_VELOCITY_CAL_A, PARAM_VELOCITY_CAL_B, PARAM_VELOCITY_CAL_C, PARAM_VELOCITY_CMODE, PARAM_VELOCITY_DEADBAND_HI, PARAM_VELOCITY_DEADBAND_LO, PARAM_VELOCITY_MAX_CORRECTION, PARAM_VELOCITY_MAX_RPM, PARAM_VELOCITY_MIN_RPM, PARAM_VELOCITY_OFFSET, PARAM_VELOCITY_PID_KD, PARAM_VELOCITY_PID_KI, PARAM_VELOCITY_PID_KP, PARAM_VELOCITY_PID_MAX_KI, PARAM_VELOCITY_PID_SCALE_FACTOR, PARAM_VELOCITY_RMODE, PARAM_VELOCITY_SETPOINT, POS_AFT, POS_FWD, POS_L, POS_MID, POS_R, PROC_EXCL, PROC_INCL, RESPONSE_MODE_EXP, RESPONSE_MODE_LIN, RESPONSE_MODE_MAX, RESPONSE_MODE_MIN, RESPONSE_MODE_PID, ROLE_AFT_ESW_VALVE, ROLE_AFT_THRUSTER, ROLE_ESW_PH, ROLE_ESW_PUMP, ROLE_EXT_MID_L_PH, ROLE_EXT_MID_R_PH, ROLE_EXT_X_VELOCITY, ROLE_EXT_Y_VELOCITY, ROLE_FWD_ESW_VALVE, ROLE_FWD_THRUSTER, role_id2name, ROLE_INT_AFT_L_PH, ROLE_INT_AFT_R_PH, ROLE_INT_FWD_L_PH, ROLE_INT_FWD_R_PH, ROLE_INT_X_VELOCITY, ROLE_INT_Y_VELOCITY, ROLE_MASK, SIG_AFT_THRUSTER_VEL, SIG_AFT_THRUSTER_VEL_CMD_CHK, SIG_AFT_THRUSTER_VEL_CMD_RAW, SIG_ESW_AFT_VALVE_CMD, SIG_ESW_AFT_VALVE_STATE, SIG_ESW_FWD_VALVE_CMD, SIG_ESW_FWD_VALVE_STATE, SIG_ESW_INJ_VOL, SIG_ESW_PUMP_CMD_CHK, SIG_ESW_PUMP_CMD_RAW, SIG_ESW_PUMP_VEL, SIG_FWD_THRUSTER_VEL, SIG_FWD_THRUSTER_VEL_CMD_CHK, SIG_FWD_THRUSTER_VEL_CMD_RAW, SIG_PH_ERR, SIG_PH_ESW, SIG_PH_ESW_FILT, SIG_PH_EXT_FILT, SIG_PH_EXT_MID_L, SIG_PH_EXT_MID_R, SIG_PH_GRAD, SIG_PH_INT_AFT_FILT, SIG_PH_INT_AFT_L, SIG_PH_INT_AFT_R, SIG_PH_INT_FILT, SIG_PH_INT_FWD_FILT, SIG_PH_INT_FWD_L, SIG_PH_INT_FWD_R, SIG_VH2O_EXT_DIR_FILT, SIG_VH2O_EXT_MAG_FILT, SIG_VH2O_EXT_X_FILT, SIG_VH2O_EXT_X_RAW, SIG_VH2O_EXT_Y_FILT, SIG_VH2O_EXT_Y_RAW, SIG_VH2O_INT_DIR_FILT, SIG_VH2O_INT_ERR, SIG_VH2O_INT_MAG_FILT, SIG_VH2O_INT_X_FILT, SIG_VH2O_INT_X_RAW, SIG_VH2O_INT_Y_FILT, SIG_VH2O_INT_Y_RAW, signal_id2sname, TYPE_ALL, TYPE_ESW, TYPE_MASK, TYPE_MOTOR, TYPE_PH, TYPE_VALVE, TYPE_VELOCITY, VC_VH2O_EXT_X, VC_VH2O_EXT_Y, VC_VH2O_INT_X, VC_VH2O_INT_Y, VS_ESWV_AFT, VS_ESWV_FWD

Constructor Summary

FOCEProcess(ControlLoopAttributes attributes)
Constructor for FOCEProcess (ControlProcessIF)

Method Summary

void	configureAllFilters() Perform per-filter configuration for all filters.
void	configureFilter(Filter filter) Perform per-filter configuration for specified Filter.
void	configureInputConnector(ControlLoopAttributes.ConnectorSpec connectorSpec)
void	configureOutputConnector(ControlLoopAttributes.ConnectorSpec connectorSpec)
void	connectFilter(Filter filter) make connections to the filtering network for the specified filter
void	connectFilterNetwork() Make connections between all the filters in the filtering network.
ControlInputIF	createConnector(ControlLoopAttributes.ConnectorSpec connectorSpec, FilterInput input)
void	createFilterInputs()
void	createFilters() Create signal processing filters for the control inputs and intermediate processing (like pH averaging).
ControlOutputIF	createOutput(ControlLoopAttributes.ConnectorSpec connectorSpec)
double	dph2rate(double deltaPH) return required pumped fluid volume rate (liters/min), given a desired change in pH.
java.lang.String	filterInputName(int inputID) return a filter input name for the given signal ID
java.lang.String	filterName(int filterID) return a filter name for the given filter ID
double	flowCO2(double massCO2, double massH2O) return CO2 flow mmol/min
protected ControlLoopAttributes	getAttributes() get ControlLoopAttributes instance
Filter	getFilter(int filterID)
FilterInput	getFilterInput(int inputID)
ControlInputIF	getInput(int inputID)
ControlInputIF[]	getInputs()
Node	getNodeReference(java.lang.String siamHost)
ControlOutputIF	getOutput(int outputID)
ControlOutputIF[]	getOutputs()
java.lang.Number	getParameter(int paramID) get current value of a control system parameter by ID
RangeValidator	getPHRangeValidatorInstance() initialize an input validator that will be used by shared // by all of the pH input connectors.
java.lang.Number	getSignal(int signalID) Get signal value by ID.
int	getState()
void	initializeInputConnectors() Create and configure the input connectors for the data stream inputs.
void	initializeOutputConnectors()
void	initPHRangeValidatorInstance() Cause a new pH Range Validator instance to be created (with latest configuration from ControlLoopAttributes)
Instrument	lookupSIAMService(java.lang.String siamHost, java.lang.String registryName)
double	massflowH2O(double densityCO2, double volumeH2O) return water mass flow kg/min
java.lang.String	modeName(int mode) get mnemonic associated with specified mode ID
java.lang.String	outputName(int outputID) return an output name for the given output ID
int	parameterID(java.lang.String parameterName) get the parameter ID by name
java.lang.String	parameterName(int parameterID) get the parameter name by ID
java.lang.String[]	parameterNames() return set of parameter names that may be used to get parameter values KeySet/Iterator are not exportable, so we deal in String arrays
java.lang.String	registry2osdt(java.lang.String siamHost, java.lang.String registryName)
void	setAttributes(ControlLoopAttributes attributes) set ControlLoopAttributes instance
void	setFilterInputInhibit(int filterID, java.lang.String inputName, boolean inhibitValue)
void	setOutput(int roleID, ControlOutputIF output)
void	setParameter(int paramID, java.lang.Number paramValue) set a control system parameter
void	setParameter(java.lang.String parameterName, java.lang.String parameterValue) Set parameter using the underlying ControlLoopAttributes class.
void	setState(int state) set ControlProcessIF state (but not part of the ControlProcessIF interface)
int	signalID(java.lang.String signalName) get the signal ID by name
java.lang.String	signalName(int signalID) return a signal name for the given signal ID
java.lang.String[]	signalNames() return set of signal names that may be used to get signal values KeySet/Iterator are not exportable, so we deal in String arrays
void	simpleStart()
void	startProcess() initialize process
void	stopProcess() shutdown process
java.lang.String	toString()
double	vel2rpm(double velocity) computer thruster speed (rpm) from water velocity (cm/sec) MotorRPM= aV^2+bV+c where V is water velocity (cm/sec)
double	volume2rpm(double volRate) compute pump speed (rpm) from CO2 flow rate (l/min)
double	volumeCO2(double flowCO2, double concentrationCO2) return CO2 volume flow liters/min
double	volumeH2O(double area, double velocity) return water volume flow m^3/min

Methods inherited from class java.lang.Object

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

Field Detail

_log4j

protected static org.apache.log4j.Logger _log4j

Log4j logger

Constructor Detail

FOCEProcess

public FOCEProcess(ControlLoopAttributes attributes)

Constructor for FOCEProcess (ControlProcessIF)

Parameters:

attributes - ControlLoopAttributes shared by ControlLoopService, PID loops etc.

Method Detail

createOutput

public ControlOutputIF createOutput(ControlLoopAttributes.ConnectorSpec connectorSpec)
                             throws java.lang.Exception,
                                    java.rmi.RemoteException

Throws:

java.lang.Exception

java.rmi.RemoteException

createConnector

public ControlInputIF createConnector(ControlLoopAttributes.ConnectorSpec connectorSpec,
                                      FilterInput input)
                               throws InvalidPropertyException

Throws:

InvalidPropertyException

createFilters

public void createFilters()
                   throws java.lang.Exception

Create signal processing filters for the control inputs and intermediate processing (like pH averaging).

Throws:

java.lang.Exception

configureAllFilters

public void configureAllFilters()

Perform per-filter configuration for all filters.

See Also:

configureFilter(Filter filter)

configureFilter

public void configureFilter(Filter filter)
                     throws java.lang.Exception

Perform per-filter configuration for specified Filter.

Throws:

java.lang.Exception

See Also:

configureAllFilters()

createFilterInputs

public void createFilterInputs()
                        throws java.lang.Exception

Throws:

java.lang.Exception

connectFilterNetwork

public void connectFilterNetwork()

Make connections between all the filters in the filtering network.

See Also:

connectFilter(Filter filter)

connectFilter

public void connectFilter(Filter filter)
                   throws java.lang.Exception

make connections to the filtering network for the specified filter

Throws:

java.lang.Exception

initPHRangeValidatorInstance

public void initPHRangeValidatorInstance()

Cause a new pH Range Validator instance to be created (with latest configuration from ControlLoopAttributes)

getPHRangeValidatorInstance

public RangeValidator getPHRangeValidatorInstance()

initialize an input validator that will be used by shared // by all of the pH input connectors. // Uses simple range (including endpoints), and inserts the last // valid value if an input is invalid. // May need one per channel, for example if the validator should // return an average of previous values when an invalid input is encountered. // Could also implement as a filter, but for now a single validator may be used, // reducing the object count.

initializeInputConnectors

public void initializeInputConnectors()
                               throws InvalidPropertyException,
                                      java.lang.Exception

Create and configure the input connectors for the data stream inputs. The configuration information is specified in ControlLoopAttributes in an array of ControlLoopAttributes.ConnectorSpec objects

Throws:

InvalidPropertyException

java.lang.Exception

See Also:

ControlLoopAttributes, ControlLoopAttributes.ConnectorSpec

configureInputConnector

public void configureInputConnector(ControlLoopAttributes.ConnectorSpec connectorSpec)
                             throws InvalidPropertyException,
                                    java.lang.Exception

Throws:

InvalidPropertyException

java.lang.Exception

initializeOutputConnectors

public void initializeOutputConnectors()
                                throws InvalidPropertyException,
                                       java.lang.Exception

Throws:

InvalidPropertyException

java.lang.Exception

configureOutputConnector

public void configureOutputConnector(ControlLoopAttributes.ConnectorSpec connectorSpec)
                              throws InvalidPropertyException,
                                     java.lang.Exception

Throws:

InvalidPropertyException

java.lang.Exception

setAttributes

public void setAttributes(ControlLoopAttributes attributes)

set ControlLoopAttributes instance

getAttributes

protected ControlLoopAttributes getAttributes()

get ControlLoopAttributes instance

modeName

public java.lang.String modeName(int mode)

get mnemonic associated with specified mode ID

getSignal

public java.lang.Number getSignal(int signalID)
                           throws java.lang.Exception

Get signal value by ID. Signals represent intermediate calculated values in the control loop processing chain, i.e., the "lines" in control loop block diagram that connect functional blocks.

Specified by:

getSignal in interface ProcessStateIF

Throws:

java.lang.Exception

getParameter

public java.lang.Number getParameter(int paramID)
                              throws java.lang.Exception

get current value of a control system parameter by ID

Specified by:

getParameter in interface ProcessStateIF

Throws:

java.lang.Exception

parameterID

public int parameterID(java.lang.String parameterName)
                throws java.lang.Exception

get the parameter ID by name

Specified by:

parameterID in interface ProcessStateIF

Throws:

java.lang.Exception

parameterName

public java.lang.String parameterName(int parameterID)
                               throws java.lang.Exception

get the parameter name by ID

Specified by:

parameterName in interface ProcessStateIF

Throws:

java.lang.Exception

signalID

public int signalID(java.lang.String signalName)
             throws java.lang.Exception

get the signal ID by name

Specified by:

signalID in interface ProcessStateIF

Throws:

java.lang.Exception

parameterNames

public java.lang.String[] parameterNames()

return set of parameter names that may be used to get parameter values KeySet/Iterator are not exportable, so we deal in String arrays

Specified by:

parameterNames in interface ProcessStateIF

signalNames

public java.lang.String[] signalNames()

return set of signal names that may be used to get signal values KeySet/Iterator are not exportable, so we deal in String arrays

Specified by:

signalNames in interface ProcessStateIF

signalName

public java.lang.String signalName(int signalID)

return a signal name for the given signal ID

Specified by:

signalName in interface ProcessStateIF

filterName

public java.lang.String filterName(int filterID)

return a filter name for the given filter ID

filterInputName

public java.lang.String filterInputName(int inputID)

return a filter input name for the given signal ID

Specified by:

filterInputName in interface ProcessStateIF

outputName

public java.lang.String outputName(int outputID)

return an output name for the given output ID

setParameter

public void setParameter(int paramID,
                         java.lang.Number paramValue)
                  throws java.lang.Exception

set a control system parameter

Specified by:

setParameter in interface ProcessConfigIF

Throws:

java.lang.Exception

setParameter

public void setParameter(java.lang.String parameterName,
                         java.lang.String parameterValue)
                  throws java.lang.Exception

Set parameter using the underlying ControlLoopAttributes class. This ensures that proper validation is done when assigning the new value.

Specified by:

setParameter in interface ControlProcessIF

Specified by:

setParameter in interface ProcessConfigIF

Throws:

java.lang.Exception

stopProcess

public void stopProcess()
                 throws java.lang.Exception

shutdown process

Specified by:

stopProcess in interface ControlProcessIF

Throws:

java.lang.Exception

simpleStart

public void simpleStart()
                 throws java.lang.Exception

Throws:

java.lang.Exception

startProcess

public void startProcess()
                  throws java.lang.Exception

initialize process

Specified by:

startProcess in interface ControlProcessIF

Throws:

java.lang.Exception

setOutput

public void setOutput(int roleID,
                      ControlOutputIF output)
               throws java.lang.Exception

Specified by:

setOutput in interface ControlProcessIF

Throws:

java.lang.Exception

getOutput

public ControlOutputIF getOutput(int outputID)
                          throws java.rmi.RemoteException

Specified by:

getOutput in interface ControlProcessIF

Throws:

java.rmi.RemoteException

getOutputs

public ControlOutputIF[] getOutputs()
                             throws java.rmi.RemoteException

Specified by:

getOutputs in interface ControlProcessIF

Throws:

java.rmi.RemoteException

getInput

public ControlInputIF getInput(int inputID)
                        throws java.rmi.RemoteException

Specified by:

getInput in interface ControlProcessIF

Throws:

java.rmi.RemoteException

getInputs

public ControlInputIF[] getInputs()
                           throws java.rmi.RemoteException

Specified by:

getInputs in interface ControlProcessIF

Throws:

java.rmi.RemoteException

getState

public int getState()
             throws java.rmi.RemoteException

Specified by:

getState in interface ControlProcessIF

Throws:

java.rmi.RemoteException

setState

public void setState(int state)
              throws java.lang.Exception

set ControlProcessIF state (but not part of the ControlProcessIF interface)

Throws:

java.lang.Exception

volumeH2O

public double volumeH2O(double area,
                        double velocity)

return water volume flow m^3/min

massflowH2O

public double massflowH2O(double densityCO2,
                          double volumeH2O)

return water mass flow kg/min

flowCO2

public double flowCO2(double massCO2,
                      double massH2O)

return CO2 flow mmol/min

volumeCO2

public double volumeCO2(double flowCO2,
                        double concentrationCO2)

return CO2 volume flow liters/min

dph2rate

public double dph2rate(double deltaPH)

return required pumped fluid volume rate (liters/min), given a desired change in pH.

volume2rpm

public double volume2rpm(double volRate)

compute pump speed (rpm) from CO2 flow rate (l/min)

vel2rpm

public double vel2rpm(double velocity)

computer thruster speed (rpm) from water velocity (cm/sec) MotorRPM= aV^2+bV+c where V is water velocity (cm/sec)

getFilter

public Filter getFilter(int filterID)

getFilterInput

public FilterInput getFilterInput(int inputID)

setFilterInputInhibit

public void setFilterInputInhibit(int filterID,
                                  java.lang.String inputName,
                                  boolean inhibitValue)
                           throws java.lang.Exception

Throws:

java.lang.Exception

getNodeReference

public Node getNodeReference(java.lang.String siamHost)
                      throws java.lang.Exception

Throws:

java.lang.Exception

lookupSIAMService

public Instrument lookupSIAMService(java.lang.String siamHost,
                                    java.lang.String registryName)
                             throws java.lang.Exception

Throws:

java.lang.Exception

registry2osdt

public java.lang.String registry2osdt(java.lang.String siamHost,
                                      java.lang.String registryName)
                               throws java.lang.Exception

Throws:

java.lang.Exception

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object