Provides software interface to the Sparton SP3003D AHRS. More...

#include <AHRS_sp3003D.h>

Inheritance diagram for AHRS_sp3003D:

Collaboration diagram for AHRS_sp3003D:

Public Types
enum	CalibrateSpartonMode { CAL_OFF, CAL_RESET, CAL_AUTOVAR, CAL_MANUAL, CAL_AUTO }

Public Types inherited from Component
enum	ComponentState { BLOCK_CONTINUOUS, BLOCK_PERIODIC, BLOCK_NORMAL, BLOCK_COMPLETED, BLOCK_UNKNOWN }
	In this model, the component has basically two states: wanting to run, and completed (no longer needing to run). More...

enum	ComponentType { COMPONENT_ASYNC, COMPONENT_CONFIG, COMPONENT_BEHAVIOR, COMPONENT_SYNC }
	Components can indicate how they want to be handled by their type. More...

enum	RunState { NO_RUN_STATE = 0, START, STARTING, RUNNABLE, SATISFIED, PAUSE, PAUSING, PAUSED, RESUME, RESUMING, RESETTING, STOP, STOPPING, STOPPED }

Public Member Functions
	AHRS_sp3003D (const Module *module)

virtual	~AHRS_sp3003D ()

virtual void	run ()
	The actual "payload" of the component. More...

virtual RunState	start ()
	Do what needs to be done to run Similar to initialize, in old init/run/uninit sequence. More...

virtual RunState	starting ()
	Might follow a STOP...START sequence. More...

virtual RunState	pause ()
	Pause for a short period (indicated by pauseTime) More...

virtual RunState	paused ()
	Should eventually follow a PAUSE request: should set continueTime. More...

virtual RunState	resume ()
	Resume from PAUSE. More...

virtual RunState	resuming ()
	Might follow a PAUSE...RESUME sequence. More...

virtual RunState	runnable ()
	Should eventually follow a START request or RESETTING. More...

virtual RunState	resetting ()
	Might occur in case of Error. More...

virtual RunState	stop ()
	Initial state – can be later followed by START. More...

virtual RunState	stopping ()
	Might follow a STOP request. More...

virtual RunState	stopped ()
	Initial state – can be later followed by START. More...

virtual void	uninitialize ()
	Provide a space for uninitialization. More...

virtual ConfigURI	getConfigURI (ConfigOption configOption) const
	Should return [myNamespace]::SIMULATE_HARDWARE, or [myNamespace]::POWER, etc. More...

Public Member Functions inherited from SyncComponent
CycleOrder	getCycleOrder (void)
	Getter function for controlThreadOrderPreference. More...

void	setRepeating (bool repeating)

int	getDivisor () const

int	getModulo () const

bool	isRepeater ()

bool	isRepeating ()

Public Member Functions inherited from Component
virtual	~Component ()
	Destructor cleans up readers_ and writers_. More...

void	registerReader (DataReader *reader)

void	unregisterReader (DataReader *reader)

void	registerWriter (DataWriter *writer)

void	unregisterWriter (DataWriter *writer)

void	disableMetering (void)

FlexArray< DataReader * > &	getReaderList (void)

FlexArray< DataWriter * > &	getWriterList (void)

const Module *	getModule ()

virtual void	initialize ()
	Provide a space for initialization before being run. More...

virtual void	configure ()
	Read (or re-read!) configuration settings. More...

virtual void	execute (void)

bool	isActive () const
	Indicates if the component is active. More...

const CodedStr &	getName (void) const
	Returns the name. More...

const Timestamp &	getTimeOfLastRun (void) const

ComponentState	getState (void)
	Return the component's current state. More...

void	setState (ComponentState state)

RunState	getRunState (void)
	Return the component's run state. More...

bool	isUsingRunState ()
	Return true if using runState. More...

void	requestData (bool requestingData)
	Tell the component to start (or stop) sending data. More...

void	requestStart ()
	Tell the component to start runnning. More...

void	requestPause (const Timespan expectedPauseTime)
	Tell the component to pause runnning. More...

void	requestResume ()
	Tell the component resume from pause. More...

void	requestStop ()
	Tell the component to stop runnning. More...

virtual RunState	satisfied ()
	Possible return value of a Behavior. More...

virtual RunState	pausing ()
	Might follow a PAUSE request. More...

void	setCriticalFailureReported (bool boolVal)

void	setRecoveringFromCritical (bool boolVal)

void	setFailureReported (bool boolVal)

bool	isFailureUninitialized ()

void	setFailureUninitialized (bool boolVal)

void	setRetryTimeout (const Timespan &timeout)

virtual bool	isCompleted (void)
	Query if this component is completed. More...

void	setPeriod (const Timespan &period)
	Set the period of this component... used if it is periodic. More...

const Timespan &	getPeriod (void)
	Returns the component's period (regardless of whether it is periodic) More...

ComponentType	getComponentType ()
	Getter function for ComponentType. More...

virtual bool	isFailed (void) const

virtual FailureMode::FailType	getFailureType (void) const

virtual bool	getCriticalFailureReported (void) const

virtual bool	getFailureReported (void) const

virtual Timespan	getRetryTimeout (void) const

virtual FailureMode::FailType	setFailure (FailureMode::FailType failureType)

virtual int	getFailCount (void) const

virtual bool	isFailureMissionCritical ()

virtual int	getAllowableFailures (void) const

virtual void	setAllowableFailures (int fails)

Logger &	getLogger (void)

virtual int	incrementFailCount (void)

virtual void	resetFailCount (void)

virtual int	getSkippedRunsSinceFail (void) const

virtual int	incrementSkippedRunsSinceFail (void)

virtual void	logVoltage (float voltage, float averageVoltage)

virtual void	logCurrent (float current, float averageCurrent)

const Timestamp &	getWriteTimestamp (void)

void	setWriteTimestamp (const Timestamp &writeTimestamp)

BlobReader *	newBlobReader (const BlobURI &blobURI)

BlobReader *	newBlobReaderFromUniversal (const Str &componentName, const UniversalBlobURI &blobURI)

BlobWriter *	newBlobWriter (const BlobURI &blobURI, Logger::TimePrecisionType timePrecision=Logger::TIME_PRECISION_MILLIS)

ConfigReader *	newConfigReader (const ConfigURI &configURI)

DataReader *	newDataReader (const DataURI &dataURI)

DataReader *	newDataReaderFromUniversal (const Str &componentName, const UniversalURI &universalURI)

DataWriter *	newDataWriter (const DataURI &dataURI, Logger::TimePrecisionType timePrecision=Logger::TIME_PRECISION_MILLIS)

UniversalBlobReader *	newUniversalBlobReader (const UniversalBlobURI &universalURI)

UniversalBlobWriter *	newUniversalBlobWriter (const UniversalBlobURI &universalURI, const Unit &accuracyUnit=Units::NONE, const float accuracy=DataElement::NO_ACCURACY, Logger::TimePrecisionType timePrecision=Logger::TIME_PRECISION_MILLIS)

UniversalDataReader *	newUniversalReader (const UniversalURI &universalURI)

UniversalDataWriter *	newUniversalWriter (const UniversalURI &universalURI, const Unit &accuracyUnit=Units::NONE, const float accuracy=DataElement::NO_ACCURACY, Logger::TimePrecisionType timePrecision=Logger::TIME_PRECISION_MILLIS)

Static Public Member Functions
static bool	SetCalMode (CalibrateSpartonMode calMode)
	Sets the state and commands the Sparton Retuns true if successful. More...

Private Member Functions
	AHRS_sp3003D (const AHRS_sp3003D &old)

bool	isDataRequested ()

bool	tryUartComms (const char textToSend, const char errorPrefix, Syslog::Severity severity=Syslog::ERROR)

void	readConfig ()

float	getCompassHdg ()

float	getTrueHdg ()

void	getPitchRoll (float &pitch, float &roll)

bool	readTransducers (float &compassHeading, float &pitch, float &roll, float &temperature)

void	requestTransducers ()

void	setMountVertical ()

bool	receiveTransducers (float &compassHeading, float &pitch, float &roll, float &temperature)

void	requestHeadingMagBin ()

bool	receiveHeadingMagBin (float &compassHeading)

bool	readHeadingMagBin (float &compassHeading)

void	requestPitchRollBin ()

bool	receivePitchRollBin (float &pitch, float &roll)

bool	readPitchRollBin (float &pitch, float &roll)

bool	readMagnetics (float &mX, float &mY, float &mZ, float &mT)

bool	readMagneticsBin (float &mX, float &mY, float &mZ)

bool	readAccelVec (float &aX, float &aY, float &aZ, float &aT)

bool	readAccelVecBin (float &aX, float &aY, float &aZ, float &aT)

void	setWritersInvalid (bool invalid)
	Sets the fail state of the slate writers during calibration. More...

bool	setCalMode (CalibrateSpartonMode calMode)
	Sets the state and commands the Sparton Retuns true if successful. More...

short	extractShort (char *convertFloat)

Static Private Member Functions
static bool	ParseHCXDR (const char *response, float &compassHeading, float &pitch, float &roll, float &temperature)

static bool	ParsePSPAM (const char *response, float &mX, float &mY, float &mZ, float &mT)

static bool	ParsePSPAA (const char *response, float &aX, float &aY, float &aZ, float &aT)

static bool	ParseMagErr (const char *response, int &magErr)

static int	CalcNMEAChecksum (const char *response)

Private Attributes
CalibrateSpartonMode	calMode_
	The current mode the behavior is in. More...

bool	calibrationFailure_
	If true, bail out of calibration mode and restart. More...

UniversalDataReader *	latitudeReader_

UniversalDataReader *	longitudeReader_

UniversalDataReader *	depthReader_

DataWriter *	compassHeadingWriter_

DataWriter *	compassTemperatureWriter_

DataWriter *	mxWriter_

DataWriter *	myWriter_

DataWriter *	mzWriter_

DataWriter *	mtWriter_

DataWriter *	axWriter_

DataWriter *	ayWriter_

DataWriter *	azWriter_

DataWriter *	atWriter_

UniversalDataWriter *	magneticHeadingWriter_

UniversalDataWriter *	trueHeadingWriter_

UniversalDataWriter *	pitchWriter_

UniversalDataWriter *	rollWriter_

UniversalBlobWriter *	rotationMatrixWriter_

ConfigReader *	readAccelerationsCfgReader_

ConfigReader *	readMagneticsCfgReader_

ConfigReader *	readMountingCfgReader_

ConfigReader *	magDeviationCfgReader_

ConfigReader *	pitchOffsetCfgReader_

ConfigReader *	rollOffsetCfgReader_

bool	debug_

bool	configSet_

int	verbosity_

LoadControl	loadControl_

bool	usingSimWarned_

float	magDeviation_
	Deviation of this compass in the vehicle. More...

float	magVariation_

float	pitchOffset_
	Offset for mounting. In degrees. More...

float	rollOffset_

Timespan	poTimeout_

Timestamp	startTime_

Timestamp	dataTimestamp_

int	readAccelerationsCfg_

int	readMagneticsCfg_

int	readMountingCfg_

char	deviceResponse_ [96]

UartStream	uart_

Matrix3x3	rotationFromVehicleToNavigationFrame_

Static Private Attributes
static AHRS_sp3003D *	Instance_
	Pointer to the singleton-like instance of this component. More...

Additional Inherited Members
Static Public Attributes inherited from SyncComponent
static const int	CYCLE_INCREMENT

static const int	CYCLE_REPEAT_OFFSET

static const CycleOrder	CYCLE_STARTER

static const CycleOrder	CYCLE_SIMULATOR

static const CycleOrder	CYCLE_SENSOR

static const CycleOrder	CYCLE_DERIVATION

static const CycleOrder	CYCLE_ESTIMATION

static const CycleOrder	CYCLE_NAVIGATION

static const CycleOrder	CYCLE_MISSION_MANAGER

static const CycleOrder	CYCLE_MISSION

static const CycleOrder	CYCLE_CONTROL

static const CycleOrder	CYCLE_SERVO

static const CycleOrder	CYCLE_TEST

static const CycleOrder	CYCLE_REPORTER

static const CycleOrder	CYCLE_LOGGER

Protected Types inherited from Component
enum	ConfigOption { CONFIG_SIMULATE_HARDWARE, CONFIG_POWER, CONFIG_FREQUENCY, CONFIG_LATENCY }

Protected Member Functions inherited from SyncSensorComponent
	SyncSensorComponent (const Str &name, const Module *module, int divisor=1, int modulo=0)

Protected Member Functions inherited from SyncComponent
void	setRepeater (bool repeater)

Protected Member Functions inherited from Component
virtual ConfigURI	getConfigURI (ConfigOption configOption, ElementURI forElement) const
	Should return [myNamespace]::POWER_[forElement], [myNamespace]::LATENCY_[forElement], etc. More...

virtual void	setDurationOfLastRun (const Timespan &span)

virtual void	setTimeOfRun (const Timestamp &time)

virtual void	setTimeOfLastRun (const Timestamp &time)

virtual void	setDt (const Timespan &dt)

virtual bool	setEnabled (bool enabled=true)

void	setRunState (const RunState runState)

const Timespan	getPauseTime () const

virtual void	setFailureMissionCritical (bool failureMissionCritical)

bool	simulateHardware ()

Protected Attributes inherited from Component
Logger	logger_

Syslog::Severity	debugLevel_

ComponentState	state_
	Keep track of whether the component has "completed" or should be run again. More...

Timespan	desiredPeriod_

CodedStr &	name_
	Store the component's name (used for logging purposes) More...

Timestamp	timeOfRun_

Timestamp	timeOfLastRun_

Timespan	durationOfLastRun_

Timespan	dt_

Timespan	retryTimeout_

bool	enabled_

bool	failureReported_
	Indicates if the failure has been reported – cuts down on syslog. More...

bool	criticalFailureReported_
	Indicates if a "Critical" failure has been reported – cuts down on syslog. More...

bool	recoveringFromCritical_
	Indicates that a component had a previous critical failure that has been cleared temporarily awaiting final word from the component itself. More...

bool	failureUninitialized_
	Indicates if the failure has resulted in an uninitialize call. More...

int	failCount_
	Number of failures logged by PCaller. More...

bool	failureMissionCritical_
	If true (default), complete failure ends mission. More...

int	allowableFailures_
	Number of failures allowed to occur. More...

int	skippedRunsSinceFail_
	Number of skipped runs since failureMode_ set by failCount_. More...

FailureMode::FailType	failureType_
	Failed status. If failCount_ > 0, then this may be reset. More...

Timestamp	timeOfFailure_
	Time of last failure. Relevant only if failed=true. More...

Timestamp	writeTimestamp_
	Time of last write. More...

FlexArray< DataReader * >	readers_

FlexArray< DataWriter * >	writers_

const Module *	module_

Timespan	pauseTime_

bool	meteringEnabled_
	If true, metering is enabled. More...

DataWriter *	durationOfLastRunWriter_
	Writer for durationOfLastRun. More...

DataWriter *	voltageWriter_

DataWriter *	avgVoltageWriter_

DataWriter *	currentWriter_

DataWriter *	avgCurrentWriter_

bool	persistentPause_
	True if data is persistent while component is paused. More...

Detailed Description

Provides software interface to the Sparton SP3003D AHRS.

Can also use SimSlate to provide simulated AHRS values when they are available.

AHRS_sp3003D.h should only be included by AHRS_sp3003D.cpp Other classes should include AHRS_sp3003DIF.h *** Exception is classCalibrateSparton, which is in the same module.

Constructor & Destructor Documentation

AHRS_sp3003D::AHRS_sp3003D ( const Module * module )

References AHRS_ACCURACY, atWriter_, axWriter_, ayWriter_, azWriter_, compassHeadingWriter_, compassTemperatureWriter_, Units::DEGREE, UniversalURI::DEPTH, depthReader_, Point3D::getMagnitude(), Instance_, UniversalURI::LATITUDE, latitudeReader_, UniversalURI::LONGITUDE, longitudeReader_, magDeviationCfgReader_, magneticHeadingWriter_, mtWriter_, mxWriter_, myWriter_, mzWriter_, Component::newConfigReader(), Component::newDataWriter(), Component::newUniversalBlobWriter(), Component::newUniversalReader(), Component::newUniversalWriter(), Units::NONE, PITCH_ROLL_ACCURACY, pitchOffsetCfgReader_, pitchWriter_, UniversalURI::PLATFORM_MAGNETIC_ORIENTATION, UniversalURI::PLATFORM_ORIENTATION, UniversalURI::PLATFORM_ORIENTATION_MATRIX, UniversalURI::PLATFORM_PITCH_ANGLE, UniversalURI::PLATFORM_ROLL_ANGLE, readAccelerationsCfgReader_, readMagneticsCfgReader_, readMountingCfgReader_, rollOffsetCfgReader_, rollWriter_, rotationMatrixWriter_, Component::setRunState(), Component::START, and trueHeadingWriter_.

AHRS_sp3003D::~AHRS_sp3003D ( )

virtual

References Instance_.

AHRS_sp3003D::AHRS_sp3003D ( const AHRS_sp3003D & old )

private

Member Function Documentation

int AHRS_sp3003D::CalcNMEAChecksum ( const char * response )

staticprivate

Referenced by ParseHCXDR(), ParseMagErr(), ParsePSPAA(), and ParsePSPAM().

short AHRS_sp3003D::extractShort ( char * convertFloat )

private

Referenced by readAccelVecBin(), readMagneticsBin(), receiveHeadingMagBin(), and receivePitchRollBin().

float AHRS_sp3003D::getCompassHdg ( )

private

References deviceResponse_, Syslog::ERROR, Component::logger_, MIN, UartStream::resetStartTimeout(), UartStream::setStartTimeout(), Component::simulateHardware(), Logger::syslog(), tryUartComms(), and uart_.

ConfigURI AHRS_sp3003D::getConfigURI ( ConfigOption configOption ) const

virtual

Should return [myNamespace]::SIMULATE_HARDWARE, or [myNamespace]::POWER, etc.

Reimplemented from Component.

References Component::CONFIG_POWER, Component::CONFIG_SIMULATE_HARDWARE, and ConfigURI::NO_CONFIG_URI.

void AHRS_sp3003D::getPitchRoll	(	float &	pitch,
		float &	roll
	)

private

References deviceResponse_, Syslog::ERROR, Component::logger_, MIN, Component::simulateHardware(), Logger::syslog(), and tryUartComms().

float AHRS_sp3003D::getTrueHdg ( )

private

References deviceResponse_, Syslog::ERROR, Component::logger_, magDeviation_, MIN, Component::simulateHardware(), Logger::syslog(), and tryUartComms().

bool AHRS_sp3003D::isDataRequested ( )

private

References atWriter_, axWriter_, compassHeadingWriter_, DataWriter::isDataRequested(), magneticHeadingWriter_, mtWriter_, mxWriter_, pitchWriter_, rollWriter_, rotationMatrixWriter_, and trueHeadingWriter_.

Referenced by paused(), runnable(), and stopped().

bool AHRS_sp3003D::ParseHCXDR	(	const char *	response,
		float &	compassHeading,
		float &	pitch,
		float &	roll,
		float &	temperature
	)

staticprivate

References CalcNMEAChecksum(), and D2R.

Referenced by readTransducers(), and receiveTransducers().

bool AHRS_sp3003D::ParseMagErr	(	const char *	response,
		int &	magErr
	)

staticprivate

References CalcNMEAChecksum().

Referenced by setCalMode().

bool AHRS_sp3003D::ParsePSPAA	(	const char *	response,
		float &	aX,
		float &	aY,
		float &	aZ,
		float &	aT
	)

staticprivate

References CalcNMEAChecksum().

Referenced by readAccelVec().

bool AHRS_sp3003D::ParsePSPAM	(	const char *	response,
		float &	mX,
		float &	mY,
		float &	mZ,
		float &	mT
	)

staticprivate

References CalcNMEAChecksum().

Referenced by readMagnetics().

Component::RunState AHRS_sp3003D::pause ( )

virtual

Pause for a short period (indicated by pauseTime)

Reimplemented from Component.

References UartStream::close(), debug_, Syslog::FAULT, FailureMode::HARDWARE, Syslog::INFO, LoadControl::isolateLoad(), loadControl_, Component::logger_, Component::PAUSED, Component::setFailure(), Component::simulateHardware(), Component::STOP, Logger::syslog(), and uart_.

Component::RunState AHRS_sp3003D::paused ( )

virtual

Should eventually follow a PAUSE request: should set continueTime.

Reimplemented from Component.

References debug_, Syslog::INFO, isDataRequested(), Component::logger_, Component::PAUSED, resume(), and Logger::syslog().

bool AHRS_sp3003D::readAccelVec	(	float &	aX,
		float &	aY,
		float &	aZ,
		float &	aT
	)

private

References deviceResponse_, ParsePSPAA(), Component::simulateHardware(), and tryUartComms().

bool AHRS_sp3003D::readAccelVecBin	(	float &	aX,
		float &	aY,
		float &	aZ,
		float &	aT
	)

private

References InStream::bytesRead(), deviceResponse_, Syslog::ERROR, UartStream::errorString(), extractShort(), UartStream::flush(), UartStream::hasError(), Component::logger_, UartStream::read(), Component::simulateHardware(), Logger::syslog(), and uart_.

Referenced by runnable().

void AHRS_sp3003D::readConfig ( void )

private

References Units::BOOL, magDeviation_, magDeviationCfgReader_, pitchOffset_, pitchOffsetCfgReader_, Units::RADIAN, DataReader::read(), readAccelerationsCfg_, readAccelerationsCfgReader_, readMagneticsCfg_, readMagneticsCfgReader_, readMountingCfg_, readMountingCfgReader_, rollOffset_, and rollOffsetCfgReader_.

Referenced by resuming(), runnable(), and starting().

bool AHRS_sp3003D::readHeadingMagBin ( float & compassHeading )

private

References receiveHeadingMagBin(), and requestHeadingMagBin().

Referenced by runnable(), and starting().

bool AHRS_sp3003D::readMagnetics	(	float &	mX,
		float &	mY,
		float &	mZ,
		float &	mT
	)

private

References deviceResponse_, ParsePSPAM(), Component::simulateHardware(), and tryUartComms().

bool AHRS_sp3003D::readMagneticsBin	(	float &	mX,
		float &	mY,
		float &	mZ
	)

private

References InStream::bytesRead(), deviceResponse_, Syslog::ERROR, UartStream::errorString(), extractShort(), UartStream::flush(), UartStream::hasError(), Component::logger_, UartStream::read(), Component::simulateHardware(), Logger::syslog(), and uart_.

Referenced by runnable().

bool AHRS_sp3003D::readPitchRollBin	(	float &	pitch,
		float &	roll
	)

private

References receivePitchRollBin(), and requestPitchRollBin().

Referenced by runnable().

bool AHRS_sp3003D::readTransducers	(	float &	compassHeading,
		float &	pitch,
		float &	roll,
		float &	temperature
	)

private

References deviceResponse_, ParseHCXDR(), Component::simulateHardware(), and tryUartComms().

bool AHRS_sp3003D::receiveHeadingMagBin ( float & compassHeading )

private

References InStream::bytesRead(), D2R, deviceResponse_, Syslog::ERROR, UartStream::errorString(), extractShort(), UartStream::hasError(), Component::logger_, UartStream::read(), Component::simulateHardware(), Logger::syslog(), and uart_.

Referenced by readHeadingMagBin(), and runnable().

bool AHRS_sp3003D::receivePitchRollBin	(	float &	pitch,
		float &	roll
	)

private

References InStream::bytesRead(), D2R, deviceResponse_, Syslog::ERROR, UartStream::errorString(), extractShort(), UartStream::hasError(), Component::logger_, UartStream::read(), Component::simulateHardware(), Logger::syslog(), and uart_.

Referenced by readPitchRollBin().

bool AHRS_sp3003D::receiveTransducers	(	float &	compassHeading,
		float &	pitch,
		float &	roll,
		float &	temperature
	)

private

References deviceResponse_, Syslog::ERROR, UartStream::errorString(), UartStream::hasError(), Component::logger_, ParseHCXDR(), UartStream::readLine(), Component::simulateHardware(), Logger::syslog(), and uart_.

void AHRS_sp3003D::requestHeadingMagBin ( )

private

References UartStream::flush(), Component::simulateHardware(), and uart_.

Referenced by readHeadingMagBin(), resuming(), runnable(), and starting().

void AHRS_sp3003D::requestPitchRollBin ( )

private

References UartStream::flush(), Component::simulateHardware(), and uart_.

Referenced by readPitchRollBin().

void AHRS_sp3003D::requestTransducers ( )

private

References UartStream::flush(), Component::simulateHardware(), and uart_.

virtual RunState AHRS_sp3003D::resetting ( )

inlinevirtual

Might occur in case of Error.

Reimplemented from Component.

References stop().

Component::RunState AHRS_sp3003D::resume ( )

virtual

Resume from PAUSE.

Reimplemented from Component.

References FailureMode::COMMUNICATIONS, debug_, UartStream::errorString(), Syslog::FAULT, FailureMode::HARDWARE, UartStream::hasError(), Syslog::INFO, loadControl_, Component::logger_, UartStream::open(), LoadControl::powerUp(), Component::RESUMING, Component::setFailure(), Component::simulateHardware(), Component::STOP, Logger::syslog(), and uart_.

Referenced by paused().

Component::RunState AHRS_sp3003D::resuming ( )

virtual

Might follow a PAUSE...RESUME sequence.

Reimplemented from Component.

References debug_, Syslog::INFO, Component::logger_, readAccelerationsCfg_, readConfig(), readMagneticsCfg_, requestHeadingMagBin(), Component::RUNNABLE, and Logger::syslog().

void AHRS_sp3003D::run ( void )

virtual

The actual "payload" of the component.

Reimplemented from Component.

Component::RunState AHRS_sp3003D::runnable ( )

virtual

Should eventually follow a START request or RESETTING.

Reimplemented from Component.

References atWriter_, axWriter_, ayWriter_, azWriter_, CAL_AUTO, CAL_MANUAL, CAL_OFF, calibrationFailure_, calMode_, Units::CELSIUS, FailureMode::COMMUNICATIONS, compassHeadingWriter_, compassTemperatureWriter_, dataTimestamp_, debug_, Syslog::ERROR, LoadControl::errorString(), Syslog::FAULT, Str::find(), GRAVITY_MILLI_G, FailureMode::HARDWARE, LoadControl::hasError(), SimSlate::HEADING_RADIAN, Syslog::INFO, DataReader::isActive(), isDataRequested(), latitudeReader_, loadControl_, Component::logger_, longitudeReader_, magDeviation_, magneticHeadingWriter_, magVariation_, Units::METER_PER_SECOND_SQUARED, Units::MILLIGAUSS, AuvMath::ModPi(), mtWriter_, mxWriter_, myWriter_, mzWriter_, Units::NONE, Timestamp::Now(), Component::PAUSE, SimSlate::PITCH_RADIAN, pitchOffset_, pitchWriter_, MagneticVariation::Radian(), Units::RADIAN, DataReader::read(), SimSlate::Read(), readAccelerationsCfg_, readAccelVecBin(), readConfig(), readHeadingMagBin(), readMagneticsBin(), readMagneticsCfg_, readPitchRollBin(), receiveHeadingMagBin(), requestHeadingMagBin(), LoadControl::requestVoltageAndCurrent(), Component::resetFailCount(), SimSlate::ROLL_RADIAN, rollOffset_, rollWriter_, rotationFromVehicleToNavigationFrame_, rotationMatrixWriter_, Component::RUNNABLE, Component::setFailure(), setWritersInvalid(), Component::simulateHardware(), Component::STOP, Logger::syslog(), trueHeadingWriter_, verbosity_, DataWriter::write(), and AbstractBlobWriter::write2DClass().

bool AHRS_sp3003D::SetCalMode ( CalibrateSpartonMode calMode )

static

Sets the state and commands the Sparton Retuns true if successful.

References Instance_, and setCalMode().

Referenced by CalibrateSparton::initialize(), CalibrateSparton::preempted(), and CalibrateSparton::uninitialize().

bool AHRS_sp3003D::setCalMode ( CalibrateSpartonMode calMode )

private

Sets the state and commands the Sparton Retuns true if successful.

References Timestamp::asStructTm(), CAL_AUTO, CAL_AUTOVAR, CAL_MANUAL, CAL_OFF, CAL_RESET, calibrationFailure_, calMode_, Syslog::CRITICAL, Units::DEGREE, depthReader_, deviceResponse_, Syslog::IMPORTANT, latitudeReader_, Component::logger_, longitudeReader_, Units::METER, Timestamp::Now(), ParseMagErr(), DataReader::read(), setWritersInvalid(), Component::simulateHardware(), Logger::syslog(), and tryUartComms().

Referenced by SetCalMode().

void AHRS_sp3003D::setMountVertical ( )

private

References uart_.

Referenced by starting().

void AHRS_sp3003D::setWritersInvalid ( bool invalid )

private

Sets the fail state of the slate writers during calibration.

References magneticHeadingWriter_, pitchWriter_, rollWriter_, rotationMatrixWriter_, DataWriter::setInvalid(), and trueHeadingWriter_.

Referenced by runnable(), and setCalMode().

Component::RunState AHRS_sp3003D::start ( )

virtual

Do what needs to be done to run Similar to initialize, in old init/run/uninit sequence.

Reimplemented from Component.

References FailureMode::COMMUNICATIONS, configSet_, debug_, deviceResponse_, UartStream::errorString(), Syslog::FAULT, FailureMode::HARDWARE, UartStream::hasError(), Syslog::INFO, loadControl_, Component::logger_, Timestamp::Now(), UartStream::open(), LoadControl::powerUp(), Component::setAllowableFailures(), Component::setFailure(), Component::setRetryTimeout(), Component::simulateHardware(), Component::START, Component::STARTING, startTime_, Component::STOP, Logger::syslog(), and uart_.

Component::RunState AHRS_sp3003D::starting ( )

virtual

Might follow a STOP...START sequence.

Reimplemented from Component.

References configSet_, debug_, Timestamp::elapsed(), Syslog::ERROR, Syslog::FAULT, FailureMode::HARDWARE, Syslog::INFO, Component::logger_, magVariation_, Timestamp::Now(), SimSlate::PITCH_RADIAN, poTimeout_, MagneticVariation::Radian(), Units::RADIAN, SimSlate::Read(), readAccelerationsCfg_, readConfig(), readHeadingMagBin(), readMagneticsCfg_, readMountingCfg_, Slate::ReadOnce(), requestHeadingMagBin(), Component::RUNNABLE, Component::setFailure(), setMountVertical(), Component::simulateHardware(), Component::STARTING, startTime_, Component::STOP, Logger::syslog(), and usingSimWarned_.

Component::RunState AHRS_sp3003D::stop ( )

virtual

Initial state – can be later followed by START.

Reimplemented from Component.

References debug_, Syslog::INFO, Component::logger_, Timestamp::Now(), startTime_, Component::STOPPING, Logger::syslog(), and uninitialize().

Referenced by resetting(), and stopped().

Component::RunState AHRS_sp3003D::stopped ( )

virtual

Initial state – can be later followed by START.

Reimplemented from Component.

References UartStream::close(), debug_, LoadControl::getPowerState(), Syslog::INFO, isDataRequested(), UartStream::isReadable(), loadControl_, Component::logger_, LoadControl::OFF, LoadControl::POWER_DOWN, Component::simulateHardware(), Component::START, stop(), Component::STOPPED, Logger::syslog(), and uart_.

Component::RunState AHRS_sp3003D::stopping ( )

virtual

Might follow a STOP request.

Reimplemented from Component.

References debug_, Timestamp::elapsed(), LoadControl::errorString(), Syslog::FAULT, FailureMode::HARDWARE, LoadControl::hasError(), Syslog::INFO, loadControl_, Component::logger_, poTimeout_, LoadControl::readFaults(), Component::setFailure(), Component::simulateHardware(), startTime_, Component::STOPPED, Component::STOPPING, and Logger::syslog().

bool AHRS_sp3003D::tryUartComms	(	const char *	textToSend,
		const char *	errorPrefix,
		Syslog::Severity	severity = `Syslog::ERROR`
	)

private

References deviceResponse_, UartStream::errorString(), UartStream::flush(), UartStream::hasError(), Syslog::INFO, Component::logger_, UartStream::readLine(), Component::simulateHardware(), Logger::syslog(), and uart_.

Referenced by getCompassHdg(), getPitchRoll(), getTrueHdg(), readAccelVec(), readMagnetics(), readTransducers(), and setCalMode().

void AHRS_sp3003D::uninitialize ( void )

virtual

Provide a space for uninitialization.

Reimplemented from Component.

References UartStream::close(), debug_, Syslog::FAULT, FailureMode::HARDWARE, Syslog::INFO, LoadControl::isolateLoad(), loadControl_, Component::logger_, Component::setFailure(), Component::simulateHardware(), Logger::syslog(), and uart_.

Referenced by stop().

Member Data Documentation

DataWriter* AHRS_sp3003D::atWriter_

private

Referenced by AHRS_sp3003D(), isDataRequested(), and runnable().

DataWriter* AHRS_sp3003D::axWriter_

private

Referenced by AHRS_sp3003D(), isDataRequested(), and runnable().

DataWriter* AHRS_sp3003D::ayWriter_

private

Referenced by AHRS_sp3003D(), and runnable().

DataWriter* AHRS_sp3003D::azWriter_

private

Referenced by AHRS_sp3003D(), and runnable().

bool AHRS_sp3003D::calibrationFailure_

private

If true, bail out of calibration mode and restart.

Referenced by runnable(), and setCalMode().

CalibrateSpartonMode AHRS_sp3003D::calMode_

private

The current mode the behavior is in.

Referenced by runnable(), and setCalMode().

DataWriter* AHRS_sp3003D::compassHeadingWriter_

private

Referenced by AHRS_sp3003D(), isDataRequested(), and runnable().

DataWriter* AHRS_sp3003D::compassTemperatureWriter_

private

Referenced by AHRS_sp3003D(), and runnable().

bool AHRS_sp3003D::configSet_

private

Referenced by start(), and starting().

Timestamp AHRS_sp3003D::dataTimestamp_

private

Referenced by runnable().

bool AHRS_sp3003D::debug_

private

Referenced by pause(), paused(), resume(), resuming(), runnable(), start(), starting(), stop(), stopped(), stopping(), and uninitialize().

UniversalDataReader* AHRS_sp3003D::depthReader_

private

Referenced by AHRS_sp3003D(), and setCalMode().

char AHRS_sp3003D::deviceResponse_[96]

private

Referenced by getCompassHdg(), getPitchRoll(), getTrueHdg(), readAccelVec(), readAccelVecBin(), readMagnetics(), readMagneticsBin(), readTransducers(), receiveHeadingMagBin(), receivePitchRollBin(), receiveTransducers(), setCalMode(), start(), and tryUartComms().

AHRS_sp3003D * AHRS_sp3003D::Instance_

staticprivate

Pointer to the singleton-like instance of this component.

Referenced by AHRS_sp3003D(), SetCalMode(), and ~AHRS_sp3003D().

UniversalDataReader* AHRS_sp3003D::latitudeReader_

private

Referenced by AHRS_sp3003D(), runnable(), and setCalMode().

LoadControl AHRS_sp3003D::loadControl_

private

Referenced by pause(), resume(), runnable(), start(), stopped(), stopping(), and uninitialize().

UniversalDataReader* AHRS_sp3003D::longitudeReader_

private

Referenced by AHRS_sp3003D(), runnable(), and setCalMode().

float AHRS_sp3003D::magDeviation_

private

Deviation of this compass in the vehicle.

compass orientation +/- deviation due to vehicle = Magnetic orientation magnetic orientation +/- variation from map = True orientation

Referenced by getTrueHdg(), readConfig(), and runnable().

ConfigReader* AHRS_sp3003D::magDeviationCfgReader_

private

Referenced by AHRS_sp3003D(), and readConfig().

UniversalDataWriter* AHRS_sp3003D::magneticHeadingWriter_

private

Referenced by AHRS_sp3003D(), isDataRequested(), runnable(), and setWritersInvalid().

float AHRS_sp3003D::magVariation_

private

Referenced by runnable(), and starting().

DataWriter* AHRS_sp3003D::mtWriter_

private

Referenced by AHRS_sp3003D(), isDataRequested(), and runnable().

DataWriter* AHRS_sp3003D::mxWriter_

private

Referenced by AHRS_sp3003D(), isDataRequested(), and runnable().

DataWriter* AHRS_sp3003D::myWriter_

private

Referenced by AHRS_sp3003D(), and runnable().

DataWriter* AHRS_sp3003D::mzWriter_

private

Referenced by AHRS_sp3003D(), and runnable().

float AHRS_sp3003D::pitchOffset_

private

Offset for mounting. In degrees.

Referenced by readConfig(), and runnable().

ConfigReader* AHRS_sp3003D::pitchOffsetCfgReader_

private

Referenced by AHRS_sp3003D(), and readConfig().

UniversalDataWriter* AHRS_sp3003D::pitchWriter_

private

Referenced by AHRS_sp3003D(), isDataRequested(), runnable(), and setWritersInvalid().

Timespan AHRS_sp3003D::poTimeout_

private

Referenced by starting(), and stopping().

int AHRS_sp3003D::readAccelerationsCfg_

private

Referenced by readConfig(), resuming(), runnable(), and starting().

ConfigReader* AHRS_sp3003D::readAccelerationsCfgReader_

private

Referenced by AHRS_sp3003D(), and readConfig().

int AHRS_sp3003D::readMagneticsCfg_

private

Referenced by readConfig(), resuming(), runnable(), and starting().

ConfigReader* AHRS_sp3003D::readMagneticsCfgReader_

private

Referenced by AHRS_sp3003D(), and readConfig().

int AHRS_sp3003D::readMountingCfg_

private

Referenced by readConfig(), and starting().

ConfigReader* AHRS_sp3003D::readMountingCfgReader_

private

Referenced by AHRS_sp3003D(), and readConfig().

float AHRS_sp3003D::rollOffset_

private

Referenced by readConfig(), and runnable().

ConfigReader* AHRS_sp3003D::rollOffsetCfgReader_

private

Referenced by AHRS_sp3003D(), and readConfig().

UniversalDataWriter* AHRS_sp3003D::rollWriter_

private

Referenced by AHRS_sp3003D(), isDataRequested(), runnable(), and setWritersInvalid().

Matrix3x3 AHRS_sp3003D::rotationFromVehicleToNavigationFrame_

private

Referenced by runnable().

UniversalBlobWriter* AHRS_sp3003D::rotationMatrixWriter_

private

Referenced by AHRS_sp3003D(), isDataRequested(), runnable(), and setWritersInvalid().

Timestamp AHRS_sp3003D::startTime_

private

Referenced by start(), starting(), stop(), and stopping().

UniversalDataWriter* AHRS_sp3003D::trueHeadingWriter_

private

Referenced by AHRS_sp3003D(), isDataRequested(), runnable(), and setWritersInvalid().

UartStream AHRS_sp3003D::uart_

private

Referenced by getCompassHdg(), pause(), readAccelVecBin(), readMagneticsBin(), receiveHeadingMagBin(), receivePitchRollBin(), receiveTransducers(), requestHeadingMagBin(), requestPitchRollBin(), requestTransducers(), resume(), setMountVertical(), start(), stopped(), tryUartComms(), and uninitialize().

bool AHRS_sp3003D::usingSimWarned_

private

Referenced by starting().

int AHRS_sp3003D::verbosity_

private

Referenced by runnable().

The documentation for this class was generated from the following files:

/Volumes/ubuntu_share/lrauv-application/Source/sensorModule/AHRS_sp3003D.h
/Volumes/ubuntu_share/lrauv-application/Source/sensorModule/AHRS_sp3003D.cpp

Public Types

Public Member Functions

Static Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation