Provides software interface to the CANONSampler sensor. More...

#include <CANONSampler.h>

Inheritance diagram for CANONSampler:

Collaboration diagram for CANONSampler:

Public Member Functions
	CANONSampler (const Module *module)

virtual	~CANONSampler ()

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...

void	uninitialize (void)
	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)

Private Types
enum	SampleState { BEGIN, SAMPLING, DONE }

Private Member Functions
	CANONSampler (const CANONSampler &old)

bool	sampleStatus ()

bool	isDataRequested ()

bool	logVoltageAndCurrent ()

bool	readConfig ()

bool	getSimulatedData ()

void	writeData ()

Private Attributes
char	deviceResponse_ [396]

UartStream	uart_
	Holds the communications device. More...

LoadControl	loadControl_
	Power and comms in this case. More...

ConfigReader *	sampleTimeoutCfgReader_
	Config readers. More...

DataWriter *	samplingActiveWriter_

DataWriter *	sampleNumberWriter_

bool	debug_
	Debugging outputs. More...

Timestamp	sampleTime_

Timespan	sampleTimeout_

Timespan	poTimeout_

bool	samplingActive_

int	sampleNumber_

SampleState	sampleState_

Additional Inherited Members
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 }

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 CANONSampler sensor.

Constructor & Destructor Documentation

CANONSampler::CANONSampler ( const Module * module )

References Component::newConfigReader(), Component::newDataWriter(), readConfig(), sampleNumberWriter_, sampleTimeoutCfgReader_, samplingActiveWriter_, Component::setAllowableFailures(), Component::setFailureMissionCritical(), Component::setRetryTimeout(), Component::setRunState(), and Component::STOP.

CANONSampler::~CANONSampler ( )

virtual

CANONSampler::CANONSampler ( const CANONSampler & old )

private

Member Function Documentation

ConfigURI CANONSampler::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.

bool CANONSampler::getSimulatedData ( )

private

References Timestamp::elapsed(), Syslog::ERROR, Component::logger_, Timestamp::Now(), sampleNumber_, sampleTime_, sampleTimeout_, samplingActive_, and Logger::syslog().

Referenced by runnable().

bool CANONSampler::isDataRequested ( )

private

References DataWriter::isDataRequested(), and samplingActiveWriter_.

Referenced by runnable(), and stopped().

bool CANONSampler::logVoltageAndCurrent ( )

private

References LoadControl::errorString(), Syslog::FAULT, Str::find(), FailureMode::HARDWARE, LoadControl::hasError(), loadControl_, Component::logger_, LoadControl::requestVoltageAndCurrent(), Component::setFailure(), and Logger::syslog().

Referenced by runnable(), and starting().

Component::RunState CANONSampler::pause ( )

virtual

Pause for a short period (indicated by pauseTime)

Reimplemented from Component.

References debug_, Syslog::INFO, Component::logger_, Component::STOP, and Logger::syslog().

Component::RunState CANONSampler::paused ( )

virtual

Should eventually follow a PAUSE request: should set continueTime.

Reimplemented from Component.

References debug_, Syslog::INFO, Component::logger_, Component::STOP, and Logger::syslog().

bool CANONSampler::readConfig ( void )

private

References DataReader::read(), sampleTimeout_, and sampleTimeoutCfgReader_.

Referenced by CANONSampler(), and runnable().

virtual RunState CANONSampler::resetting ( )

inlinevirtual

Might occur in case of Error.

Reimplemented from Component.

References start().

Component::RunState CANONSampler::resume ( )

virtual

Resume from PAUSE.

Reimplemented from Component.

References debug_, Syslog::INFO, Component::logger_, Component::START, and Logger::syslog().

Component::RunState CANONSampler::resuming ( )

virtual

Might follow a PAUSE...RESUME sequence.

Reimplemented from Component.

References debug_, Syslog::INFO, Component::logger_, Component::START, and Logger::syslog().

void CANONSampler::run ( void )

virtual

The actual "payload" of the component.

Reimplemented from Component.

Component::RunState CANONSampler::runnable ( )

virtual

Should eventually follow a START request or RESETTING.

Reimplemented from Component.

References BEGIN, Units::BOOL, UartStream::canReadUntil(), debug_, deviceResponse_, DONE, Timestamp::elapsed(), Syslog::ERROR, Syslog::FAULT, getSimulatedData(), FailureMode::HARDWARE, Syslog::IMPORTANT, Syslog::INFO, isDataRequested(), Component::logger_, logVoltageAndCurrent(), Timestamp::Now(), poTimeout_, readConfig(), UartStream::readUntil(), Component::resetFailCount(), Component::RUNNABLE, sampleState_, sampleStatus(), sampleTime_, sampleTimeout_, SAMPLING, samplingActive_, samplingActiveWriter_, Component::setFailure(), Component::simulateHardware(), Component::STOP, Logger::syslog(), uart_, DataWriter::write(), and writeData().

bool CANONSampler::sampleStatus ( )

private

References UartStream::canReadUntil(), debug_, deviceResponse_, Syslog::IMPORTANT, Syslog::INFO, Component::logger_, UartStream::readUntil(), sampleNumber_, Logger::syslog(), and uart_.

Referenced by runnable().

Component::RunState CANONSampler::start ( )

virtual

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

Reimplemented from Component.

References UartStream::close(), debug_, UartStream::enableUART(), UartStream::errorString(), Syslog::FAULT, FailureMode::HARDWARE, UartStream::hasError(), Syslog::INFO, UartStream::isReadable(), loadControl_, Component::logger_, UartStream::open(), LoadControl::powerUp(), Component::setFailure(), Component::simulateHardware(), Component::START, Component::STARTING, Component::STOPPED, Logger::syslog(), and uart_.

Referenced by resetting().

Component::RunState CANONSampler::starting ( )

virtual

Might follow a STOP...START sequence.

Reimplemented from Component.

References debug_, Syslog::INFO, Component::logger_, logVoltageAndCurrent(), Component::RUNNABLE, Component::simulateHardware(), Component::STOP, and Logger::syslog().

Component::RunState CANONSampler::stop ( )

virtual

Initial state – can be later followed by START.

Reimplemented from Component.

References UartStream::close(), debug_, DONE, Syslog::FAULT, FailureMode::HARDWARE, Syslog::INFO, loadControl_, Component::logger_, Timestamp::Now(), LoadControl::powerDown(), sampleState_, sampleTime_, samplingActive_, Component::setFailure(), Component::simulateHardware(), Component::STOPPING, Logger::syslog(), and uart_.

Component::RunState CANONSampler::stopped ( )

virtual

Initial state – can be later followed by START.

Reimplemented from Component.

References debug_, Syslog::INFO, isDataRequested(), Component::logger_, Component::START, Component::STOPPED, and Logger::syslog().

Component::RunState CANONSampler::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(), sampleTime_, Component::setFailure(), Component::simulateHardware(), Component::STOPPED, Component::STOPPING, and Logger::syslog().

void CANONSampler::uninitialize ( void )

virtual

Provide a space for uninitialization.

Reimplemented from Component.

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

void CANONSampler::writeData ( void )

private

References Units::BOOL, Units::COUNT, sampleNumber_, sampleNumberWriter_, sampleTime_, samplingActive_, samplingActiveWriter_, and DataWriter::write().

Referenced by runnable().

Member Data Documentation

bool CANONSampler::debug_

private

Debugging outputs.

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

char CANONSampler::deviceResponse_[396]

private

Referenced by runnable(), and sampleStatus().

LoadControl CANONSampler::loadControl_

private

Power and comms in this case.

Referenced by logVoltageAndCurrent(), start(), stop(), stopping(), and uninitialize().

Timespan CANONSampler::poTimeout_

private

Referenced by runnable(), and stopping().

int CANONSampler::sampleNumber_

private

Referenced by getSimulatedData(), sampleStatus(), and writeData().

DataWriter* CANONSampler::sampleNumberWriter_

private

Referenced by CANONSampler(), and writeData().

SampleState CANONSampler::sampleState_

private

Referenced by runnable(), and stop().

Timestamp CANONSampler::sampleTime_

private

Referenced by getSimulatedData(), runnable(), stop(), stopping(), and writeData().

Timespan CANONSampler::sampleTimeout_

private

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

ConfigReader* CANONSampler::sampleTimeoutCfgReader_

private

Config readers.

Referenced by CANONSampler(), and readConfig().

bool CANONSampler::samplingActive_

private

Referenced by getSimulatedData(), runnable(), stop(), and writeData().

DataWriter* CANONSampler::samplingActiveWriter_

private

Referenced by CANONSampler(), isDataRequested(), runnable(), and writeData().

UartStream CANONSampler::uart_

private

Holds the communications device.

Referenced by runnable(), sampleStatus(), start(), stop(), and uninitialize().

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

/Volumes/ubuntu_share/lrauv-application/Source/scienceModule/CANONSampler.h
/Volumes/ubuntu_share/lrauv-application/Source/scienceModule/CANONSampler.cpp

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation