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

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

All Implemented Interfaces:

ControlResponseIF, ProcessParameterIF

Direct Known Subclasses:

VEL_PID_Responder

public abstract class VEL_Responder
extends BaseResponder
implements 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
protected static int	AFT_THRUSTER_INDEX
protected static int	FWD_THRUSTER_INDEX
protected static int	NUMBER_OF_THRUSTER
static java.lang.String	RECORD_HEADER

Fields inherited from class org.mbari.siam.foce.devices.controlLoop.BaseResponder

_attributes, _cfgPacketBuffer, _controlProcess, _correction, _dataPacket, _dataTurbineHost, _doTurbinate, _error, _esw_pump_amode, _esw_valve_amode, _lastDataPacket, _maxDataBytes, _offset, _packetBuffer, _packetParser, _ph_cmode, _ph_rmode, _previousError, _previousProcessValue, _processValue, _rawCorrection, _recordDelimiter, _recordType, _setPoint, _thruster_amode, _turbinator, _velocity_cmode, DELIMITERS

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

VEL_Responder(FOCEProcess controlProcess, ControlLoopAttributes attributes)

Method Summary

protected float	applyConstraints(double correction) Apply physical/operational constraints to the raw signal correction from the PID loop
protected float	getDeadBandCorrection()
java.lang.StringBuffer	getSampleBuffer() Return a sample buffer with current process data.
SensorDataPacket	getSamplePacket() return a sensor data packet sub-classes should override
void	initialize() initialize control loop
protected void	initTurbinator()
protected double[]	thrusterCommands(double correction) Get command updates to CO2 delivery valves
float	update() update output: where the rubber is told to meet the road (update control loop)
protected void	updateInputs() get any signals needed.
protected void	updateThrusterOutputs(double[] thrusterCommands) Send command updates to inputs (CO2 delivery pump)

Methods inherited from class org.mbari.siam.foce.devices.controlLoop.BaseResponder

getConfigBuffer, getCorrection, getLastSample, reset, showParsedData

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

RECORD_HEADER

public static final java.lang.String RECORD_HEADER

See Also:

Constant Field Values

FWD_THRUSTER_INDEX

protected static final int FWD_THRUSTER_INDEX

See Also:

Constant Field Values

AFT_THRUSTER_INDEX

protected static final int AFT_THRUSTER_INDEX

See Also:

Constant Field Values

NUMBER_OF_THRUSTER

protected static final int NUMBER_OF_THRUSTER

See Also:

Constant Field Values

Constructor Detail

VEL_Responder

public VEL_Responder(FOCEProcess controlProcess,
                     ControlLoopAttributes attributes)
              throws java.lang.Exception

Throws:

java.lang.Exception

Method Detail

initialize

public void initialize()

initialize control loop

Specified by:

initialize in interface ControlResponseIF

Overrides:

initialize in class BaseResponder

initTurbinator

protected void initTurbinator()

updateInputs

protected void updateInputs()
                     throws java.lang.Exception

get any signals needed. typically, this is where the process value and setpoint are updated.

Specified by:

updateInputs in class BaseResponder

Throws:

java.lang.Exception

thrusterCommands

protected double[] thrusterCommands(double correction)
                             throws java.lang.Exception

Get command updates to CO2 delivery valves

Throws:

java.lang.Exception

updateThrusterOutputs

protected void updateThrusterOutputs(double[] thrusterCommands)
                              throws java.lang.Exception

Send command updates to inputs (CO2 delivery pump)

Throws:

java.lang.Exception

applyConstraints

protected float applyConstraints(double correction)
                          throws java.lang.Exception

Apply physical/operational constraints to the raw signal correction from the PID loop

Throws:

java.lang.Exception

getDeadBandCorrection

protected float getDeadBandCorrection()
                               throws java.lang.Exception

Throws:

java.lang.Exception

update

public float update()
             throws java.lang.Exception

update output: where the rubber is told to meet the road (update control loop)

Specified by:

update in interface ControlResponseIF

Specified by:

update in class BaseResponder

Throws:

java.lang.Exception

getSamplePacket

public SensorDataPacket getSamplePacket()

return a sensor data packet sub-classes should override

Specified by:

getSamplePacket in interface ControlResponseIF

Specified by:

getSamplePacket in class BaseResponder

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

Overrides:

getSampleBuffer in class BaseResponder

Throws:

java.lang.Exception