feat: cast type now applied regardless of profile peak. Fix log messa…

…ge in arm_base.

configs/example.yaml

@@ -134,35 +134,35 @@ arm_ifcb:
 arm_chanos:
     tasks:
         dwell_time: 60 # seconds
+        # For continuous movements (no steps), a speed can be specified.
+        continuous_speed: 0.005
+        # must be "stepped" or "continuous"
+        downcast_type: "stepped"
+        upcast_type: "continuous"
         profiler_peak:
             # If true, will use the profiler to find the peak value
-            # Falls back on default_movement values otherwise
+            # Falls back on default_steps otherwise
             enabled: true
             # Minimum level of the profiled sensor data to trigger a sample at depth
             threshold: 0.0
             # seconds since last peak to consider it expired
             peak_expiration: 60
             # Stops to be made relative to profiler_peak
             offset_steps:
-                - -0.5
+                - -0.5 # meters
                 - -0.25
                 - 0.0
                 - 0.25
                 - 0.5
-        default_movement:
-            # Steps will be sorted in direction of movement.
-            absolute_steps:
-                - 0.5
-                - 2.0
-                - 3.0
-                - 4.0
-                - 5.0
-                - 6.5
-            # For continuous movements (no steps), a speed can be specified.
-            continuous_speed: 0.005
-            # must be "stepped" or "continuous"
-            downcast_type: "stepped"
-            upcast_type: "continuous"
+        # Absolute depths to use if profiler_peak not enabeld
+        # Steps will be sorted in direction of movement.
+        default_steps:
+            - 0.5 # meters
+            - 2.0
+            - 3.0
+            - 4.0
+            - 5.0
+            - 6.5
 
     ctd_topic: '/arm_chanos/ctd/depth'
 

src/phyto_arm/src/arm_base.py

@@ -83,7 +83,7 @@ def send_winch_goal(self, depth, speed, callback):
 
         # Safety check: Do not exceed depth bounds
         if depth < rospy.get_param('winch/range/min'):
-            raise ValueError(f'Move aborted: depth {depth} is below min {rospy.get_param("winch/range/max")}')
+            raise ValueError(f'Move aborted: depth {depth} is below min {rospy.get_param("winch/range/min")}')
         elif depth > rospy.get_param('winch/range/max'):
             raise ValueError(f'Move aborted: depth {depth} is above max {rospy.get_param("winch/range/max")}')
 

src/phyto_arm/src/arm_chanos.py

@@ -53,30 +53,29 @@ def get_next_task(self, last_task):
         else: 
             raise ValueError(f'Unexpected last task name: {last_task.name}')
 
-        # If profiler peak is enabled and ready, execute profiler peak
+        # Handle continuous movement cases
+        speed = rospy.get_param('tasks/continuous_speed')
+        if self.is_downcasting and rospy.get_param('tasks/downcast_type') == 'continuous':
+            return Task('downcast_continuous', self.start_next_task, rospy.get_param('winch/range/max'), speed)
+        elif not self.is_downcasting and rospy.get_param('tasks/upcast_type') == 'continuous':
+            return Task('upcast_continuous', self.start_next_task, rospy.get_param('winch/range/min'), speed)
+
+        # If profiler peak is enabled and ready, execute new set of profile steps
         if rospy.get_param('tasks/profiler_peak/enabled') and profiler_peak_ready():
             self.steps = compute_profiler_steps(self.is_downcasting)
             task_name = 'downcast_profile_step' if self.is_downcasting else 'upcast_profile_step'
             next_depth = self.steps.pop(0)
             return Task(task_name, await_sensor, next_depth)
-        
+
         # If no profiler peak, execute default profile
         if self.is_downcasting:
-            if rospy.get_param('tasks/default_movement/downcast_type') == 'continuous':
-                speed = rospy.get_param('tasks/default_movement/continuous_speed')
-                return Task('downcast_continuous', self.start_next_task, rospy.get_param('winch/range/max'), speed)
-            else:
-                self.steps = compute_absolute_steps(self.is_downcasting)
-                next_depth = self.steps.pop(0)
-                return Task('downcast_step', await_sensor, next_depth)
+            self.steps = compute_absolute_steps(self.is_downcasting)
+            next_depth = self.steps.pop(0)
+            return Task('downcast_step', await_sensor, next_depth)
         else:
-            if rospy.get_param('tasks/default_movement/upcast_type') == 'continuous':
-                speed = rospy.get_param('tasks/default_movement/continuous_speed')
-                return Task('upcast_continuous', self.start_next_task, rospy.get_param('winch/range/min'), speed)
-            else:
-                self.steps = compute_absolute_steps(self.is_downcasting)
-                next_depth = self.steps.pop(0)
-                return Task('upcast_step', await_sensor, next_depth)
+            self.steps = compute_absolute_steps(self.is_downcasting)
+            next_depth = self.steps.pop(0)
+            return Task('upcast_step', await_sensor, next_depth)
 
 
 # Global reference to arm state
@@ -119,7 +118,7 @@ def clamp_steps(steps):
 
 
 def compute_absolute_steps(is_downcast):
-    steps = rospy.get_param('tasks/default_movement/absolute_steps')
+    steps = rospy.get_param('tasks/default_steps')
     steps = clamp_steps(steps)
 
     # Sort according to direction.