VelocityControl.hpp

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#ifndef VELOCITYCONTROL_HPP_
#define VELOCITYCONTROL_HPP_
#include <labust/control/PIDController.h>
#include <labust/control/SOIdentification.hpp>
#include <labust_uvapp/VelConConfig.h>
#include <labust_uvapp/ConfigureVelocityController.h>
#include <labust_uvapp/EnableControl.h>
#include <navcon_msgs/ModelParamsUpdate.h>
#include <dynamic_reconfigure/server.h>

#include <auv_msgs/NavSts.h>
#include <auv_msgs/BodyVelocityReq.h>
#include <auv_msgs/BodyForceReq.h>
#include <ros/ros.h>
#include <std_msgs/String.h>
#include <sensor_msgs/Joy.h>

#include <string>
#include <map>

namespace labust
{
        namespace control
        {
                class VelocityControl
                {
                        enum {u=0,v,w,p,q,r};
                        enum {X=0,Y,Z,K,M,N};
                        enum {alpha=0,beta,betaa};
                        enum {Kp=0,Ki,Kd,Kt};
                        enum {disableAxis=0,
                                manualAxis=1,
                                controlAxis=2,
                                identAxis=3,
                          directAxis=4};

                public:
                        VelocityControl();
                        void onInit();
                        void step();
                        void start();

                private:
                        void handleReference(const auv_msgs::BodyVelocityReq::ConstPtr& ref);
                        void handleEstimates(const auv_msgs::NavSts::ConstPtr& estimate);
                        void handleMeasurement(const auv_msgs::NavSts::ConstPtr& meas);
                        void handleWindup(const auv_msgs::BodyForceReq::ConstPtr& tau);
                        void handleModelUpdate(const navcon_msgs::ModelParamsUpdate::ConstPtr& update);
                        void handleExt(const auv_msgs::BodyForceReq::ConstPtr& tau);
                        void handleManual(const sensor_msgs::Joy::ConstPtr& joy);
                        bool handleServerConfig(labust_uvapp::ConfigureVelocityController::Request& req,
                                        labust_uvapp::ConfigureVelocityController::Response& resp);
                        bool handleEnableControl(labust_uvapp::EnableControl::Request& req,
                                        labust_uvapp::EnableControl::Response& resp);
                        void dynrec_cb(labust_uvapp::VelConConfig& config, uint32_t level);
                        void safetyTest();
                        void updateDynRecConfig();
                        double doIdentification(int i);
                        ros::NodeHandle nh,ph;
                        ros::Time lastRef, lastMan, lastEst, lastMeas;
                        double timeout;

                        void initialize_controller();
                        PIDController controller[r+1];
                        boost::shared_ptr<SOIdentification> ident[r+1];
                        double measurement[r+1];
                        float tauManual[N+1], tauExt[N+1];
                        double joy_scale, Ts;
                        boost::array<int32_t,r+1> axis_control;
                        bool suspend_axis[r+1], externalIdent;
                        boost::recursive_mutex serverMux;

                        ros::Publisher tauOut, tauAchW;
                        ros::Subscriber velocityRef, stateHat, manualIn, tauAch, measSub, identExt, modelUpdate;
                        ros::ServiceServer highLevelSelect, enableControl;
                        labust_uvapp::VelConConfig config;
                  dynamic_reconfigure::Server<labust_uvapp::VelConConfig> server;
                  const static std::string dofName[r+1];
                };
        }
}

/* VELOCITYCONTROL_HPP_ */
#endif