BalanceForceComponent.h

/*
 * This file is part of LSST M1M3 support system package.
 *
 * Developed for the Vera C. Rubin Telescope and Site System.
 * This product includes software developed by the LSST Project
 * (https://www.lsst.org).
 * See the COPYRIGHT file at the top-level directory of this distribution
 * for details of code ownership.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */
 
#ifndef LSST_M1M3_SS_FORCECONTROLLER_BALANCEFORCECOMPONENT_H_
#define LSST_M1M3_SS_FORCECONTROLLER_BALANCEFORCECOMPONENT_H_
 
#include <SAL_MTM1M3C.h>
 
#include <ForceActuatorApplicationSettings.h>
#include <ForceComponent.h>
#include <PID.h>
#include <SafetyController.h>
 
namespace LSST {
namespace M1M3 {
namespace SS {

class BalanceForceComponent : public ForceComponent {
public:
    BalanceForceComponent(ForceActuatorApplicationSettings *forceActuatorApplicationSettings);
 
    void applyBalanceForces(float *x, float *y, float *z, bool check = true);

    void applyBalanceForcesByMirrorForces(float xForce, float yForce, float zForce, float xMoment,
                                          float yMoment, float zMoment);
    bool applyFreezedForces();
 
    void updatePID(int id, PIDParameters parameters);
    void resetPID(int id);
    void resetPIDs();
 
    void freezePIDs();
    void thawPIDs();
 
    void postEnableDisableActions() override;
 
protected:
    void postUpdateActions() override;
 
private:
    PID *_idToPID(int id);
 
    SafetyController *_safetyController;
    ForceActuatorApplicationSettings *_forceActuatorApplicationSettings;
 
    PID _fx;
    PID _fy;
    PID _fz;
    PID _mx;
    PID _my;
    PID _mz;
 
    MTM1M3_logevent_forceSetpointWarningC *_forceSetpointWarning;
    MTM1M3_appliedBalanceForcesC *_appliedBalanceForces;
    MTM1M3_logevent_preclippedBalanceForcesC *_preclippedBalanceForces;
};
 
} /* namespace SS */
} /* namespace M1M3 */
} /* namespace LSST */
 
#endif /* LSST_M1M3_SS_FORCECONTROLLER_BALANCEFORCECOMPONENT_H_ */