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comment	@# @;


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1.12
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@interrim update
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text
@#~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
# Benthic Imaging AUV Camera Payload Software Release Notes
#
# Copright 2008, Monterey Bay Aquarium Research Institute.
# Licensed for oceanographic instrumentation demonstration field-of-use.
#
# Intellectual Property Disclaimer
#
# MBARI MAKES NO REPRESENTATIONS OR WARRANTIES, EXPRESS OR IMPLIED.  BY WAY OF 
# EXAMPLE, BUT NOT LIMITATION, MBARI MAKES NO REPRESENTATIONS OR WARRANTIES OF 
# MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR PURPOSE OR THAT THE USE OF THE 
# LICENSED SOFTWARE COMPONENTS OR DOCUMENTATION WILL NOT INFRINGE ANY PATENTS, 
# COPYRIGHTS, TRADEMARKS OR OTHER RIGHTS.  MBARI SHALL NOT BE HELD LIABLE FOR 
# ANY LIABILITY NOR FOR ANY DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH 
# RESPECT TO ANY CLAIM BY RECIPIENT OR ANY THIRD PARTY ON ACCOUNT OF OR 
# ARISING FROM THIS AGREEMENT OR USE OF THE SOFTWARE OR SPECIFICATION.
#
# maintained by:  k. headley, r. mcewen
#~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

This file contains release notes for specific versions of the benthic imaging AUV camera payload software.

Release Info:
$Name:  $
$Id: ReleaseNotes,v 1.11 2009/03/18 17:14:01 headley Exp $

# next release ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
CameraDriver.cc
- fixed bug: altitude being converted to radians and lat not converted
- changed GPIO_2 active level to active LOW
- added logging of GPGGA string at update time

#~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

# mar18_2009 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

CameraDriver.cc
- added support for vicor power supply enable bit on XPort GPIO 2.
- currently active LOW and enabled in the CameraDriver Constructor

CameraDriver.h
- added XPortGPIO vicorEnable member variable

XPortGPIO.cc
- now configures XPort GPIO ActiveLevel and Direction in configure() method that takes an XPort argument

#~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

# feb13_2009 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
CameraDriver.cc
- changed time_t to struct timeval for sub-second NMEA timestrings
- reworked initialization and time updates accordingly
- fixed bug in NMEA update logic; now updates if elapsed time >0.8s
  to ensure that updates happen at 1 Hz Since the loop runs at 200 ms,
  updates would happen every 1.2 s if you compare elapsed time with 
  1.0 s.

#~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

# feb10_2009 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Added support for sub-second resolution. Uses mechanism defined in
sys/time.h [ struct timeval, gettimeofday(), etc.] 

Bicam.h,BicamGPS.cc 
- Added support for sub-second resolution.
- Separated NMEA update into different methods (time, position), 
and provided new methods with timeval arguments instead of struct tm.
- modified some NMEA default initialization arguments that were out of range.
- removed default line termination on NMEA subclass toString (BicamGPS uses 
  NMEA::LineEnd enum to select CRLF style)

bicamTest.cc
- Added support for sub-second resolution (delays in fractional seconds)
- added new support for new command line arguments:
 -n <iterations>     Trigger Iterations (don't stop if <0)
 -t <delaySec>       Delay between triggers (decimal sec)
 -u <delaySec>       Delay between GPS value updates
 -S <delaySec>       Strobe warm-up delay

NMEA.h, GPGGA.cc, GPRMC.cc, NMEA.cc
- Added support for sub-second resolution.
- added struct timeval Field member variable to NMEA w/ supporting methods
- added char buffer to NMEA class to hold toString() output
- reworked implementation of toString to use sprintf instead of c++ streams
- reworked implementation of << operator (now calls new toString())
- added method and member variable to set NMEA timestamp precision using 
  NMEA::TimestampResolution enum type
- added --help command line option
- removed default line termination on NMEA subclass toString methods
- added toString(NMEA::LineEnd) method to select line terminator style.
toString() (no args) uses no line terminator (NOTERM); other options are CRLF 

nmeaTest.cc
- added verbose command line argument; now passed to some methods to provide
  verbose output for some tests
- implemented methods to test toString methods for GPGGA and GPRMC (compare to fixed time)
- added  methods to test toString methods for GPGGA and GPRMC (compare to current time
and uses different precision)...not good unit test, need to refactor
- removed dead code (decimal minutes conversions)
- fixed tests to accomodate NMEA strings w/o CRLF
- changed testGpggaToString(args...) to testGpggaTime(args...) 
- same for Gprmc; now checks that time value and precision are 
correctly set

XPortSim.cc
- added support for verbose (or not, now by default) output

#~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

# feb09_2009 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
- actual tag date is 10 feb 2009
- tag prior to checking in a bunch of changes for easy rollback
#~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

# dec15_2008 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

- XPortGPIO.h,cc: new module
	- easier to configure and perform generic GPIO functions
	- more directly represents the underlying XPort API
	- removed _activeMask,_inactiveMask
	- added _directionMask, _activeLevelMask, _stateMask
	- added some new convenience methods 
	- changed several method names and signatures
	- see XPortGPIO.h for details

- XPort.cc:
	- added masking to prevent parameters from going out of range

- XPort.h:
	- added constants XP_GPIO_ALL_INPUTS,XP_GPIO_ALL_OUTPUTS

- Bicam.cc, BicamTrigger.cc: deprecated

- Bicam.h: 
	- removed BicamGPIO defs (replaced with XPortGPIO.h,cc)
	- deprectated BicamTrigger

- bicamTest.cc
	- include strobe enable feature test
	- implement using XPortGPIO
	- use same GPIO configuration as AUV CameraDriver

- CameraDriver.cc,h: 
	- Implement camera trigger using XPortGPIO instead of BicamTrigger
	- Implemented strobeEnable feature using XPortGPIO (enable strobe before photo sequence, disable after)
	- added _strobeEnableStartDelaySec, a parameter to set the strobe warm-up delay, and implemented the delay in readData()
	- standardized use of brackets on all if statements (some had no brackets and style was inconsistent)

- Utils.h, Utils.cc
	- added delay(double delaySec) method to Utils.h,cc

- GWiz.cc: 
	- Uses XPortGPIO
	- added pin mask to specify pins used
	- Use delay() util in GWiz

- Makefile: 
	- added BicamConsts.h to TAR_SOURCE
	- added references to XPortGPIO.cc
	- removed references to BicamTrigger, Bicam.cc

#~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
# dec12_2008  ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

- added release notes to the auv-qnx repository (ReleaseNotes)
- made linux portability changes to camera driver code:
  NMEA.h:
    A virtual destructor was added to the NMEA class in NMEA.h (stops linux compiler warning)

  qnx_port.h, XPortSim.cc, xportTest.cc:
    A typedef SOCKLEN is used to differentiate variable types used in the method signature for socket.accept() on QNX vs Linux/Cygwin. QNX sys/socket.h doesn't define socklen_t (uses int). The SOCKLEN type is set in qnx_port.h. Calling modules instantiate a SOCKLEN, which is socklen_t for linux/cygwin and int for QNX.

  GWiz.cc:
    Now using nanosleep in GWiz.cc instead of usleep, since QNX doesn't implement usleep. This will enable the gwiz utility to build under QNX.
    Note: GWiz utility still untested w/ XPort hardware

#~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
# Dec 4, 2008 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
(untagged)
- version used for initial sea trial@


1.11
log
@updated for mar18_2009 release
@
text
@d25 9
a33 1
$Id: ReleaseNotes,v 1.10 2009/02/13 19:53:03 headley Exp $
@


1.10
log
@updated for feb13_2009 release
@
text
@d25 15
a39 1
$Id: ReleaseNotes,v 1.9 2009/02/11 02:01:58 headley Exp $
@


1.9
log
@updated for feb10_2009 tag (with additional mods to add in)
@
text
@d25 12
a36 1
$Id: ReleaseNotes,v 1.8 2009/02/11 00:45:12 headley Exp $
@


1.8
log
@updated for feb10_2009 tag
@
text
@d25 1
a25 1
$Id: ReleaseNotes,v 1.7 2009/02/10 21:51:06 headley Exp $
d36 2
d56 3
d67 4
@


1.7
log
@- actual tag date is 10 feb 2009
- tag prior to checking in a bunch of changes for easy rollback
@
text
@d25 1
a25 1
$Id: ReleaseNotes,v 1.6 2008/12/15 20:02:45 headley Exp $
d27 40
@


1.6
log
@- added a number of changes related to packaging (replacing module BicamTrigger with XPortGPIO), minor bug fixes,  and implementation of strobe enable start with start delay
@
text
@d25 7
a31 1
$Id: ReleaseNotes,v 1.5 2008/12/15 18:44:33 headley Exp $
@


1.5
log
@updated with changes related to creating XPortGPIO
@
text
@d25 1
a25 1
$Id: ReleaseNotes,v 1.4 2008/12/12 23:38:21 headley Exp $
d27 1
a27 1
# next_release ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
d58 1
@


1.4
log
@updated with changes for
- BicamGPIO replacement of BicamTrigger and related changes
- new delay() method
- added strobe enable feature
@
text
@d25 1
a25 1
$Id: ReleaseNotes,v 1.3 2008/12/11 21:28:38 headley Exp $
d27 16
a42 1
# Next Release ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
d46 4
a49 2
- BicamGPIO.cc: new module
	- replaces BicamTrigger.cc
d52 1
a52 1
	- implement using BicamGPIO
d56 2
a57 2
	- Implement camera trigger using BicamGPIO instead of BicamTrigger
	- Implemented strobeEnable feature using BicamGPIO (enable strobe before photo sequence, disable after)
d64 2
d70 1
@


1.3
log
@replaced reference to specific tag (tagged camera module only)
@
text
@d25 1
a25 1
$Id: ReleaseNotes,v 1.2 2008/12/11 21:25:31 headley Exp $
d29 24
@


1.2
log
@removed reference to specific tag (will update and tag later)
@
text
@d25 1
a25 1
$Id: ReleaseNotes,v 1.1 2008/12/11 21:11:02 headley Exp $
d29 3
@


1.1
log
@adding release notes doc w/ updates for dec12_2008 tag
@
text
@d25 1
a25 1
$Id:    $
a28 3
#~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
# december11_2008 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

@

