primitiveManager.hpp

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//TODO Dokumentiraj prototipe funkcija
/*********************************************************************
 * PrimitiveManager.hpp
 *
 *  Created on: Jul 13, 2015
 *      Author: Filip Mandic
 *
 ********************************************************************/

/*********************************************************************
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#ifndef PRIMITIVEMANAGER_HPP_
#define PRIMITIVEMANAGER_HPP_

/*********************************************************************
 *** Includes
 ********************************************************************/

#include <cmath>

//#include <auv_msgs/NavSts.h>
#include <auv_msgs/Bool6Axis.h>
#include <navcon_msgs/EnableControl.h>
#include <navcon_msgs/ConfigureAxes.h>
#include <navcon_msgs/ConfigureVelocityController.h>

#include <labust_mission/labustMission.hpp>
#include <labust_mission/lowLevelConfigure.hpp>
#include <labust/primitive/PrimitiveCall.hpp>
#include <labust_mission/utils.hpp>

//#include <actionlib/client/simple_action_client.h>
//#include <actionlib/client/terminal_state.h>

#include <navcon_msgs/CourseKeepingAction.h>
#include <navcon_msgs/DynamicPositioningAction.h>
#include <navcon_msgs/GoToPointAction.h>
#include <navcon_msgs/DOFIdentificationAction.h>

/*********************************************************************
 *** ControllerManager class definition
 *********************************************************************/

namespace labust
{
        namespace controller
        {

                class PrimitiveManager {

                public:

                        /*********************************************************
                         *** Class functions
                         ********************************************************/

                        /* Constructor */
                        PrimitiveManager();

                        /*********************************************************
                         *** Primitive function calls
                         ********************************************************/

                        /* Go to point fully actuated primitive */
                        void go2point_FA_hdg(bool enable, double north1, double east1, double north2, double east2, double speed, double heading, double radius);

                        /* Go to point fully actuated primitive */
                        void go2point_FA(bool enable, double north1, double east1, double north2, double east2, double speed, double radius);

                        /* Go to point underactuated primitive */
                        void go2point_UA(bool enable, double north1, double east1, double north2, double east2, double speed, double radius);

                        /* Dynamic positioning primitive */
                        void dynamic_positioning(bool enable, double north, double east, double heading);

                        /* Course keeping fully actuated  primitive */
                        void course_keeping_FA(bool enable, double course, double speed, double heading);

                        /* Course keeping underactuated  primitive */
                        void course_keeping_UA(bool enable, double course, double speed);

                        /* Self-oscillations identification */
                        void ISOprimitive(bool enable, int dof, double command, double hysteresis, double reference, double sampling_rate);

                        /*********************************************************
                         *** Class variables
                         ********************************************************/

                private:

                        labust::primitive::PrimitiveCallGo2Point Go2Point;
                        labust::primitive::PrimitiveCallCourseKeeping CourseKeeping;
                        labust::primitive::PrimitiveCallDynamicPositioning DynamicPositioning;
                        labust::primitive::PrimitiveCallDOFIdentification DOFIdentification;

                        labust::LowLevelConfigure LLcfg;

                };
        }
}

using namespace labust::controller;

        /*
         * Constructor
         */
        PrimitiveManager::PrimitiveManager()
        {

        }

        /*********************************************************
         *** Controller primitives masks
         ********************************************************/
        /*
         * Course keeping fully actuated primitive
         */
        void PrimitiveManager::go2point_FA_hdg(bool enable, double north1, double east1, double north2, double east2, double speed, double heading, double radius)
        {
                typedef navcon_msgs::GoToPointGoal Goal;
                if(enable)
                {
                        Goal goal;

                        goal.ref_type = Goal::CONSTANT;
                        goal.subtype = Goal::GO2POINT_FA_HDG;

                        goal.T1.point.x = north1;
                        goal.T1.point.y = east1;
                        goal.T1.point.z = 0;
                        goal.T2.point.x = north2;
                        goal.T2.point.y = east2;
                        goal.T2.point.z = 0;
                        goal.heading = heading;
                        goal.speed = speed;
                        goal.victory_radius = radius;

                        Go2Point.start(goal);
                }
                else
                {
                        Go2Point.stop();
                }
        }

        /*
         * Course keeping fully actuated primitive
         */
        void PrimitiveManager::go2point_FA(bool enable, double north1, double east1, double north2, double east2, double speed, double radius)
        {
                typedef navcon_msgs::GoToPointGoal Goal;
                if(enable)
                {
                        Goal goal;

                        goal.ref_type = Goal::CONSTANT;
                        goal.subtype = Goal::GO2POINT_FA;

                        goal.T1.point.x = north1;
                        goal.T1.point.y = east1;
                        goal.T1.point.z = 0;
                        goal.T2.point.x = north2;
                        goal.T2.point.y = east2;
                        goal.T2.point.z = 0;
                        goal.heading = atan2(east2-east1,north2-north1);;
                        goal.speed = speed;
                        goal.victory_radius = radius;


                        LLcfg.LL_VELconfigure(true,2,2,0,0,0,2);
                        Go2Point.start(goal);
                }
                else
                {
                        Go2Point.stop();
                        LLcfg.LL_VELconfigure(false,1,1,0,0,0,1);

                }
        }

        /*
         * Course keeping underactuated primitive
         */
        void PrimitiveManager::go2point_UA(bool enable, double north1, double east1, double north2, double east2, double speed, double radius)
        {
                typedef navcon_msgs::GoToPointGoal Goal;
                if(enable)
                {
                        Goal goal;

                        goal.ref_type = Goal::CONSTANT;
                        goal.subtype = Goal::GO2POINT_UA;

                        goal.T1.point.x = north1;
                        goal.T1.point.y = east1;
                        goal.T1.point.z = 0;
                        goal.T2.point.x = north2;
                        goal.T2.point.y = east2;
                        goal.T2.point.z = 0;
                        goal.heading = atan2(east2-east1,north2-north1);;
                        goal.speed = speed;
                        goal.victory_radius = radius;

                        Go2Point.start(goal);
                }
                else
                {
                        Go2Point.stop();
                }
        }

        void PrimitiveManager::dynamic_positioning(bool enable, double north, double east, double heading)
        {
                typedef navcon_msgs::DynamicPositioningGoal Goal;
                if(enable)
                {
                        Goal goal;

                        //goal.ref_type = Goal::CONSTANT;
                        //goal.subtype = Goal::GO2POINT_UA;

                        goal.T1.point.x = north;
                        goal.T1.point.y = east;
                        goal.T1.point.z = 0;
                        goal.yaw = heading;

                        LLcfg.LL_VELconfigure(true,2,2,0,0,0,2);
                        DynamicPositioning.start(goal);
                }
                else
                {

                        DynamicPositioning.stop();
                        LLcfg.LL_VELconfigure(false,2,2,0,0,0,2);

                }
        }

        /*
         * Course keeping fully actuated primitive
         */
        void PrimitiveManager::course_keeping_FA(bool enable, double course, double speed, double heading)
        {
                typedef navcon_msgs::CourseKeepingGoal Goal;
                if(enable)
                {
                        Goal goal;

                        goal.ref_type = Goal::CONSTANT;
                        goal.subtype = Goal::COURSE_KEEPING_FA;

                        goal.course = course;
                        goal.speed = speed;
                        goal.yaw = heading;

                        CourseKeeping.start(goal);
                }
                else
                {
                        CourseKeeping.stop();
                }
        }

        /*
         * Course keeping underactuated primitive
         */
        void PrimitiveManager::course_keeping_UA(bool enable, double course, double speed)
        {
                typedef navcon_msgs::CourseKeepingGoal Goal;
                if(enable)
                {
                        Goal goal;

                        goal.ref_type = Goal::CONSTANT;
                        goal.subtype = Goal::COURSE_KEEPING_UA;

                        goal.course = course;
                        goal.speed = speed;
                        goal.yaw = 0;

                        CourseKeeping.start(goal);
                }
                else
                {
                        CourseKeeping.stop();
                }
        }

//      void PrimitiveManager::ISOprimitive(bool enable, int dof, double command, double hysteresis, double reference, double sampling_rate){
//
//              if(enable){
//
//                      //self.velconName = rospy.get_param("~velcon_name","velcon")
//                      //self.model_update = rospy.Publisher("model_update", ModelParamsUpdate)
//                      ros::NodeHandle nh, ph("~");
//                      string velconName;
//                      ph.param<string>("velcon_name",velconName,"velcon");
//
//            const char *names[7] = {"Surge", "Sway", "Heave", "Roll", "Pitch", "Yaw", "Altitude"};
//
//                      /* configure velocity controller for identification */
//                      int velcon[6] = {0,0,0,0,0,0};
//                      if(dof == navcon_msgs::DOFIdentificationGoal::Altitude){
//                              velcon[navcon_msgs::DOFIdentificationGoal::Heave] = 3;
//                      } else {
//                              velcon[dof] = 3;
//                      }
//
//                      string tmp = velconName + "/" + names[dof] + "_ident_amplitude";
//                      nh.setParam(tmp.c_str(), command);
//                      tmp.assign(velconName + "/" + names[dof] + "_ident_hysteresis");
//                      nh.setParam(tmp.c_str(), hysteresis);
//                      tmp.assign(velconName + "/" + names[dof] + "_ident_ref");
//                      nh.setParam(tmp.c_str(), reference);
//
//                      LLcfg.LL_VELconfigure(true,velcon[0], velcon[1], velcon[2], velcon[3], velcon[4], velcon[5]);
//
//                      //ROS_ERROR("DOF = %d, command = %f, hysteresis = %f, reference = %f, sampling_rate = %f", dof, command, hysteresis, reference, sampling_rate);
//
//                      navcon_msgs::DOFIdentificationGoal goal;
//                      goal.command = command;
//                      goal.dof = dof;
//                      goal.hysteresis = hysteresis;
//                      goal.reference = reference;
//                      goal.sampling_rate = sampling_rate;
//
//                      DOFIdentification.start(goal);
//
//              } else {
//
//                      DOFIdentification.stop();
//                      //LLcfg.LL_VELconfigure(false,1,1,0,0,0,1);
//              }
//
//      }


#endif /* PRIMITIVEMANAGER_HPP_ */