Contains the AltitudeEnvelope Behavior/Command If the vehicle's altitude is within the specified max/min envelope, the command is satisfied. More...

#include <AltitudeEnvelope.h>

Inheritance diagram for AltitudeEnvelope:

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Collaboration diagram for AltitudeEnvelope:

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Public Member Functions
	AltitudeEnvelope (const Str &prefix, const Module *module)

virtual	~AltitudeEnvelope ()

void	initialize (void)
	Initialize function. More...

void	run ()
	Just do the run: ignore the results of the satisfied. More...

bool	isSatisfied ()
	Just do the satisfied: return true if envelope "satisfied". More...

bool	runIfUnsatisfied ()
	Do the run, and return true if envelope "satisfied". More...

void	uninitialize (void)
	Uninit function. More...

Public Member Functions inherited from Behavior
virtual	~Behavior ()

bool	executeIfUnsatisfied ()
	Combined run and test with metrics generation. More...

virtual void	preempted ()

virtual bool	isRunnable ()

virtual bool	isSatisfiable ()

virtual bool	isCommand ()

BehaviorState	getBehaviorState () const

void	setBehaviorState (BehaviorState behaviorState)

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

SettingReader *	findSettingReader (const Str &settingURI)

SettingReader *	addValueClause (const Str &uriPart, ValueClause *valueClause)

void	addArgWriter (const Str &uriPart, DataWriter *argWriter)

const Timespan &	getTimeout ()

void	setTimeout (const Timespan &timeout)

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	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	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 Subseqent. More...

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

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

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

virtual RunState	pausing ()
	Might follow a PAUSE request. 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	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 ()
	Should eventually follow a STOP 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)

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 Behavior *	CreateBehavior (const Str &prefix, const Module *module)
	Mission Component factory interface. More...

Protected Member Functions
bool	readParams (float &altitude)
	Read in the parameters for satisfied or runSatisfied: return true if OK. More...

bool	calcSatisfied (const float &altitude)
	Perform the satisfied: return true if envelope "satisfied". More...

void	readConfig ()

void	readSettings (bool force)

float	adjustDepthRate (float depthRate, bool goDown)

Protected Member Functions inherited from Behavior
	Behavior (const Str &name, const Module *module, const bool runnable, const bool satisfiable)
	Protected constructor for abstract base class. More...

	Behavior (const Behavior &old)

SettingReader *	newSettingReader (const Str &uriPart, const DataValue *defaultValue, bool deleteDefaultValue=true)

SettingReader *	newSettingReader (const SettingURI &uriPart)

DataWriter *	findArgWriter (const OutputURI &uriPart)

Protected Member Functions inherited from Component
virtual ConfigURI	getConfigURI (ConfigOption configOption) const
	Should return [myNamespace]::SIMULATE_HARDWARE, or [myNamespace]::POWER, etc. More...

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
ConfigReader *	pitchLimitCfgReader_
	Config setting readers. More...

ConfigReader *	maxDiveRateCfgReader_

ConfigReader *	maxBuoyDiveRateCfgReader_

DataReader *	verticalModeReader_
	Current vertical control depth mode. More...

DataReader *	speedCmdReader_
	Current speed control speed command. More...

SettingReader *	minAltitudeSettingReader_
	Desired minimum height above sea floor for the vehicle. More...

SettingReader *	maxAltitudeSettingReader_
	Desired maximum height above sea floor for the vehicle. More...

SettingReader *	depthRateSettingReader_
	Desired up/down depthRate of the vehicle. More...

SettingReader *	upDepthRateSettingReader_
	Desired up depthRate of the vehicle. More...

SettingReader *	downDepthRateSettingReader_
	Desired down depthRate of the vehicle. More...

SettingReader *	pitchSettingReader_
	Desired up/down pitch of the vehicle. More...

SettingReader *	upPitchSettingReader_
	Desired up pitch of the vehicle. More...

SettingReader *	downPitchSettingReader_
	Desired down pitch of the vehicle. More...

UniversalDataReader *	altitudeReader_
	Current height above sea floor. More...

UniversalDataReader *	depthReader_
	Current depth (in meter from sea surface – positive down) More...

DataWriter *	verticalModeWriter_
	Sets the vertical mode for vertical control. More...

DataWriter *	elevatorAngleCmdWriter_

DataWriter *	massPositionCmdWriter_

DataWriter *	depthRateCmdWriter_
	Sets the depth rate for Vertical Control. More...

DataWriter *	pitchCmdWriter_
	Sets the pitch for Vertical Control. More...

float	minAltitude_

float	maxAltitude_

float	downDepthRateSetting_
	Desired down depthRate of the vehicle. More...

float	upDepthRateSetting_
	Desired up depthRate of the vehicle. More...

float	downPitchSetting_
	Desired down pitch of the vehicle. More...

float	upPitchSetting_
	Desired up pitch of the vehicle. More...

float	maxDiveRate_
	Maximum dive rate of the vehicle. More...

float	maxBuoyDiveRate_
	Maximum dive rate of the vehicle under only buoyancy control. More...

float	speedCmd_
	Current speed cmd. More...

int	inactiveAltitudeCount_
	True if altitude is inactive. More...

Protected Attributes inherited from Behavior
bool	runnable_

bool	satisfiable_

BehaviorState	behaviorState_

Timespan	timeout_
	Time before this behavior must end – defaults no timeout. More...

FastMap< const Str, SettingReader * > *	settingReaderMap_

FastMap< const Str, DataWriter * > *	argWriterMap_

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...

Private Member Functions
	AltitudeEnvelope (const AltitudeEnvelope &old)

Additional Inherited Members
Public Types inherited from Behavior
enum	BehaviorState { BEHAVIOR_INACTIVE, BEHAVIOR_CALLED, BEHAVIOR_ACTIVE, BEHAVIOR_TIMEOUT, BEHAVIOR_COMPLETED }

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 }

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

Detailed Description

Contains the AltitudeEnvelope Behavior/Command If the vehicle's altitude is within the specified max/min envelope, the command is satisfied.

Otherwise, the vehicle is sent to a depth where its altitude should be within the specified max/min envelope.

AltitudeEnvelope.h should only be included by AltitudeEnvelope.cpp Other classes should include AltitudeEnvelopeIF.h

Constructor & Destructor Documentation

AltitudeEnvelope::AltitudeEnvelope	(	const Str &	prefix,
		const Module *	module
	)

AltitudeEnvelope::~AltitudeEnvelope ( )

virtual

AltitudeEnvelope::AltitudeEnvelope ( const AltitudeEnvelope & old )

private

Member Function Documentation

float AltitudeEnvelope::adjustDepthRate	(	float	depthRate,
		bool	goDown
	)

protected

References maxBuoyDiveRate_, maxDiveRate_, and speedCmd_.

Referenced by runIfUnsatisfied().

bool AltitudeEnvelope::calcSatisfied ( const float & altitude )

protected

Perform the satisfied: return true if envelope "satisfied".

References maxAltitude_, and minAltitude_.

Referenced by isSatisfied(), and runIfUnsatisfied().

Behavior * AltitudeEnvelope::CreateBehavior	(	const Str &	prefix,
		const Module *	module
	)

static

Mission Component factory interface.

References AltitudeEnvelope().

Referenced by GuidanceModule::loadComponents().

void AltitudeEnvelope::initialize ( void )

virtual

Initialize function.

Reimplemented from Component.

References altitudeReader_, depthReader_, downDepthRateSetting_, downPitchSetting_, Component::logger_, maxAltitude_, maxBuoyDiveRate_, maxDiveRate_, minAltitude_, readSettings(), UniversalDataReader::requestData(), Logger::syslog(), upDepthRateSetting_, and upPitchSetting_.

bool AltitudeEnvelope::isSatisfied ( )

virtual

Just do the satisfied: return true if envelope "satisfied".

Reimplemented from Behavior.

References calcSatisfied(), and readParams().

void AltitudeEnvelope::readConfig ( void )

protected

References downPitchSetting_, maxBuoyDiveRate_, maxBuoyDiveRateCfgReader_, maxDiveRate_, maxDiveRateCfgReader_, Units::METER_PER_SECOND, pitchLimitCfgReader_, Units::RADIAN, DataReader::read(), and upPitchSetting_.

Referenced by AltitudeEnvelope(), and readParams().

bool AltitudeEnvelope::readParams ( float & altitude )

protected

Read in the parameters for satisfied or runSatisfied: return true if OK.

Read in the parameters for satisfied or runIfUnsatisfied: return true if OK.

References altitudeReader_, Syslog::ERROR, inactiveAltitudeCount_, DataReader::isActive(), Component::logger_, Units::METER, Units::METER_PER_SECOND, DataReader::read(), readConfig(), readSettings(), speedCmd_, speedCmdReader_, Logger::syslog(), and DataReader::wasTouchedSinceLastRun().

Referenced by isSatisfied(), and runIfUnsatisfied().

void AltitudeEnvelope::readSettings ( bool force )

protected

void AltitudeEnvelope::run ( void )

virtual

Just do the run: ignore the results of the satisfied.

Reimplemented from Component.

References runIfUnsatisfied().

bool AltitudeEnvelope::runIfUnsatisfied ( void )

virtual

Do the run, and return true if envelope "satisfied".

Reimplemented from Behavior.

Referenced by run().

void AltitudeEnvelope::uninitialize ( void )

virtual

Uninit function.

Reimplemented from Component.

References altitudeReader_, depthReader_, Component::logger_, UniversalDataReader::requestData(), and Logger::syslog().

Member Data Documentation

UniversalDataReader* AltitudeEnvelope::altitudeReader_

protected

Current height above sea floor.

Referenced by AltitudeEnvelope(), initialize(), readParams(), and uninitialize().

DataWriter* AltitudeEnvelope::depthRateCmdWriter_

protected

Sets the depth rate for Vertical Control.

Referenced by AltitudeEnvelope(), and runIfUnsatisfied().

SettingReader* AltitudeEnvelope::depthRateSettingReader_

protected

Desired up/down depthRate of the vehicle.

Referenced by AltitudeEnvelope(), readSettings(), and runIfUnsatisfied().

UniversalDataReader* AltitudeEnvelope::depthReader_

protected

Current depth (in meter from sea surface – positive down)

Referenced by AltitudeEnvelope(), initialize(), runIfUnsatisfied(), and uninitialize().

float AltitudeEnvelope::downDepthRateSetting_

protected

Desired down depthRate of the vehicle.

Referenced by initialize(), readSettings(), and runIfUnsatisfied().

SettingReader* AltitudeEnvelope::downDepthRateSettingReader_

protected

Desired down depthRate of the vehicle.

Referenced by AltitudeEnvelope(), readSettings(), and runIfUnsatisfied().

float AltitudeEnvelope::downPitchSetting_

protected

Desired down pitch of the vehicle.

Referenced by initialize(), readConfig(), readSettings(), and runIfUnsatisfied().

SettingReader* AltitudeEnvelope::downPitchSettingReader_

protected

Desired down pitch of the vehicle.

Referenced by AltitudeEnvelope(), readSettings(), and runIfUnsatisfied().

DataWriter* AltitudeEnvelope::elevatorAngleCmdWriter_

protected

Referenced by AltitudeEnvelope(), and runIfUnsatisfied().

int AltitudeEnvelope::inactiveAltitudeCount_

protected

True if altitude is inactive.

Referenced by readParams().

DataWriter* AltitudeEnvelope::massPositionCmdWriter_

protected

Referenced by AltitudeEnvelope(), and runIfUnsatisfied().

float AltitudeEnvelope::maxAltitude_

protected

Referenced by calcSatisfied(), initialize(), readSettings(), and runIfUnsatisfied().

SettingReader* AltitudeEnvelope::maxAltitudeSettingReader_

protected

Desired maximum height above sea floor for the vehicle.

Referenced by AltitudeEnvelope(), and readSettings().

float AltitudeEnvelope::maxBuoyDiveRate_

protected

Maximum dive rate of the vehicle under only buoyancy control.

Referenced by adjustDepthRate(), initialize(), and readConfig().

ConfigReader* AltitudeEnvelope::maxBuoyDiveRateCfgReader_

protected

Referenced by AltitudeEnvelope(), and readConfig().

float AltitudeEnvelope::maxDiveRate_

protected

Maximum dive rate of the vehicle.

Referenced by adjustDepthRate(), initialize(), and readConfig().

ConfigReader* AltitudeEnvelope::maxDiveRateCfgReader_

protected

Referenced by AltitudeEnvelope(), and readConfig().

float AltitudeEnvelope::minAltitude_

protected

Referenced by calcSatisfied(), initialize(), readSettings(), and runIfUnsatisfied().

SettingReader* AltitudeEnvelope::minAltitudeSettingReader_

protected

Desired minimum height above sea floor for the vehicle.

Referenced by AltitudeEnvelope(), and readSettings().

DataWriter* AltitudeEnvelope::pitchCmdWriter_

protected

Sets the pitch for Vertical Control.

Referenced by AltitudeEnvelope(), and runIfUnsatisfied().

ConfigReader* AltitudeEnvelope::pitchLimitCfgReader_

protected

Config setting readers.

Referenced by AltitudeEnvelope(), and readConfig().

SettingReader* AltitudeEnvelope::pitchSettingReader_

protected

Desired up/down pitch of the vehicle.

Referenced by AltitudeEnvelope(), readSettings(), and runIfUnsatisfied().

float AltitudeEnvelope::speedCmd_

protected

Current speed cmd.

Referenced by adjustDepthRate(), readParams(), and runIfUnsatisfied().

DataReader* AltitudeEnvelope::speedCmdReader_

protected

Current speed control speed command.

Referenced by AltitudeEnvelope(), and readParams().

float AltitudeEnvelope::upDepthRateSetting_

protected

Desired up depthRate of the vehicle.

Referenced by initialize(), readSettings(), and runIfUnsatisfied().

SettingReader* AltitudeEnvelope::upDepthRateSettingReader_

protected

Desired up depthRate of the vehicle.

Referenced by AltitudeEnvelope(), readSettings(), and runIfUnsatisfied().

float AltitudeEnvelope::upPitchSetting_

protected

Desired up pitch of the vehicle.

Referenced by initialize(), readConfig(), readSettings(), and runIfUnsatisfied().

SettingReader* AltitudeEnvelope::upPitchSettingReader_

protected

Desired up pitch of the vehicle.

Referenced by AltitudeEnvelope(), readSettings(), and runIfUnsatisfied().

DataReader* AltitudeEnvelope::verticalModeReader_

protected

Current vertical control depth mode.

Referenced by AltitudeEnvelope(), and runIfUnsatisfied().

DataWriter* AltitudeEnvelope::verticalModeWriter_

protected

Sets the vertical mode for vertical control.

Referenced by AltitudeEnvelope(), and runIfUnsatisfied().

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

/Volumes/ubuntu_share/lrauv-application/Source/guidanceModule/AltitudeEnvelope.h
/Volumes/ubuntu_share/lrauv-application/Source/guidanceModule/AltitudeEnvelope.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation