DVL_micro.h

Go to the documentation of this file.

#ifndef DVL_MICRO_H
#define DVL_MICRO_H

#include "DVL_microIF.h"

#include "component/SyncComponent.h"
#include "io/LoadControl.h"
#include "io/UartStream.h"
#include "logger/Logger.h"

#include "data/Point3D.h"
#include "data/Point6D.h"
#include "data/Matrix3x3.h"

class UniversalDataReader;
class UniversalDataWriter;

#define UART_BUFSIZE 10240L

class DVL_micro : public SyncSensorComponent
{
public:

    DVL_micro( const Module* module );

    virtual ~DVL_micro();

    virtual void run();
    virtual RunState start();
    virtual RunState starting();
    virtual RunState pause();
    virtual RunState paused();
    virtual RunState resume();
    virtual RunState resuming();
    virtual RunState runnable();

    virtual RunState resetting()
    {
        return stop();
    }

    virtual RunState stop();
    virtual RunState stopping();
    virtual RunState stopped();
    void uninitialize();
    void logVoltageAndCurrent();
    virtual ConfigURI getConfigURI( ConfigOption configOption ) const;

private:
    DVL_micro( const DVL_micro& old );

    // scan configuraiton settings
    void readConfig();

    void startPing();
    void endPing();
    bool simNQ1( void );
    bool readNQ1( void );
    bool parseNQ1( const char* nq1 );
    void processNQ1( void );
    void writeData( void );
    void setAcousticWritersInvalid( bool invalid );

    bool hasNQ1_;

    bool nq1Requested_;

    Timespan dvlTimeout_;
    Timespan dvlFailTimeout_; // How long we can go without valid data
    Timestamp startTime_, dvlFailTime_;

    UniversalDataWriter* altitudeWriter_;
    UniversalDataWriter* headingWriter_;
    UniversalDataWriter* magneticHeadingWriter_;
    UniversalDataWriter* pitchWriter_;
    UniversalDataWriter* rollWriter_;
    UniversalBlobWriter* orientationMatrixWriter_;
    UniversalBlobWriter* velocityWrtGroundWriter_;
    UniversalDataWriter* xVelWrtGroundWriter_;
    UniversalDataWriter* yVelWrtGroundWriter_;
    UniversalDataWriter* zVelWrtGroundWriter_;
    UniversalBlobWriter* velocityWrtSeaWriter_;
    UniversalDataWriter* xVelWrtSeaWriter_;
    UniversalDataWriter* yVelWrtSeaWriter_;
    UniversalDataWriter* zVelWrtSeaWriter_;
    UniversalDataWriter* xVelCurrentWriter_;
    UniversalDataWriter* yVelCurrentWriter_;
    UniversalDataWriter* zVelCurrentWriter_;
    DataWriter* statusWriter_;
    DataWriter* beam1Writer_;
    DataWriter* beam2Writer_;
    DataWriter* beam3Writer_;
    DataWriter* beam4Writer_;
    DataWriter* alt1Writer_;
    DataWriter* alt2Writer_;
    DataWriter* alt3Writer_;
    DataWriter* alt4Writer_;
    DataWriter* veloInstFlagWriter_;
    DataWriter* wVeloInstFlagWriter_;

    UniversalDataReader* latitudeReader_;
    UniversalDataReader* longitudeReader_;
    UniversalDataReader* depthReader_;
    UniversalDataReader* pitchReader_;
    UniversalDataReader* headingReader_;
    UniversalDataReader* rollReader_;

    ConfigReader* magDeviationCfgReader_;
    ConfigReader* pitchOffsetCfgReader_;
    ConfigReader* rollOffsetCfgReader_;

    bool isDataRequested();
    bool isAHRSRequested();
    bool isPingRequested();

    bool debug_;
    bool pingRequested_;
    bool dvlTimeoutArmed_;
    char deviceResponse_[UART_BUFSIZE];
    UartStream uart_;
    LoadControl loadControl_;

    int status_;

    int beam1_;
    int beam2_;
    int beam3_;
    int beam4_;

    float altitude1_;
    float altitude2_;
    float altitude3_;
    float altitude4_;

    double veloRad1_;
    double veloRad2_;
    double veloRad3_;
    double veloRad4_;

    double wveloRad1_;
    double wveloRad2_;
    double wveloRad3_;
    double wveloRad4_;

    float wveloCredit1_;
    float wveloCredit2_;
    float wveloCredit3_;
    float wveloCredit4_;

    Point3D veloInst_;
    double veloInstX_;
    double veloInstY_;
    double veloInstZ_;
    int veloInstFlag_;

    double veloEarthN_;
    double veloEarthE_;
    double veloEarthD_;
    int veloEarthFlag_;

    Point3D wVeloInst_;
    double wVeloInstX_;
    double wVeloInstY_;
    double wVeloInstZ_;
    int wVeloInstFlag_;

    double wVeloEarthN_;
    double wVeloEarthE_;
    double wVeloEarthD_;
    int wVeloEarthFlag_;

    double magDeviationDeg_;
    double magVariationDeg_;

    double rollOffset_;
    double pitchOffset_;
//    double headingOffset_;

    double rollDeg_;
    double pitchDeg_;
    double compassHeadingDeg_;
    double magneticHeadingDeg_;
    double headingDeg_;
    Point6D orientationVector_;
    Matrix3x3 orientationMatrix_;

    double altEstimate_;

    float temp_;
    float press_;
    float salinity_;
    float sndSpeed_;

    int cksum_;

    float speedGnd_;
    float speedWater_;

};
#endif /*DVL_MICRO_H*/