CBIT Class Reference

The CBIT built-in-test (CBIT) component provides monitoring of vehicle health during a mission. More...

#include <CBIT.h>

Inheritance diagram for CBIT:

Collaboration diagram for CBIT:

Classes
struct	BattPack

Public Member Functions
	CBIT (const Module *module)
virtual	~CBIT ()
void	initialize (void)
	Initialize function. More...
void	run ()
	The actual "payload" of the component. More...
void	uninitialize (void)
	Uninit function. 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	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)
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)

Protected Attributes
DataReader *	clearFaultCmdReader_
	When true (non-zero), clears the generic fault flag. More...
DataReader *	clearLeakFaultCmdReader_
	When true (non-zero), clears the leak fault flag. More...
DataReader *	pressureReader_
DataReader *	humidityReader_
DataReader *	temperatureReader_
DataReader *	speedCmdReader_
DataReader *	verticalModeReader_
DataReader *	empiricalFaultElevOffsetReader_
UniversalDataReader *	depthReader_
	Platform depth, lat/lon. More...
UniversalDataReader *	depthRateReader_
UniversalDataReader *	elevatorAngleReader_
UniversalDataReader *	latitudeReader_
UniversalDataReader *	longitudeReader_
UniversalDataReader *	pitchReader_
UniversalDataWriter *	faultWriter_
	Sets the generic fault flag. More...
UniversalDataWriter *	leakFaultWriter_
	Sets the leak fault flag. More...
DataWriter *	shorepowerWriter_
DataWriter *	gfScanActiveWriter_
DataWriter *	gfChan0CurrentWriter_
DataWriter *	gfChan1CurrentWriter_
DataWriter *	gfChan2CurrentWriter_
DataWriter *	gfChan4CurrentWriter_
DataWriter *	gfChan5CurrentWriter_
DataWriter *	gfChanOpenCurrentWriter_
DataWriter *	empericalFaultDetectedWriter_
DataWriter *	binnedDepthRateWriter_
DataWriter *	empiricalFaultElevOffsetWriter_
ConfigReader *	abortDepthCfgReader_
ConfigReader *	stopDepthCfgReader_
ConfigReader *	humidityThresholdCfgReader_
ConfigReader *	pressureThresholdCfgReader_
ConfigReader *	tempThresholdCfgReader_
ConfigReader *	vehicleOpenCfgReader_
ConfigReader *	abortDepthTimeoutCfgReader_
ConfigReader *	battFailReportCfgReader_
ConfigReader *	envTimeoutCfgReader_
ConfigReader *	faultClassifierCfgReader_
ConfigReader *	elevOffsetCalcCfgReader_
ConfigReader *	battTempThresholdCfgReader_
ConfigReader *	gfChan0ThresholdCfgReader_
ConfigReader *	gfChan1ThresholdCfgReader_
ConfigReader *	gfChan2ThresholdCfgReader_
ConfigReader *	gfChan4ThresholdCfgReader_
ConfigReader *	gfChan5ThresholdCfgReader_
ConfigReader *	gfScanTimeoutCfgReader_
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 Types
enum	GFSequence {   CHAN_5_SCAN, CHAN_4_SCAN, CHAN_3_SCAN, CHAN_2_SCAN,   CHAN_1_SCAN, CHAN_0_SCAN, OPEN_SCAN, CALCULATE }

Private Member Functions
	CBIT (const CBIT &old)
void	empiricalFaultClassification (void)
bool	readConfig (void)
void	assertVitals (void)
void	checkBackplanePower (void)
void	checkCriticals (void)
void	checkDepth (void)
void	checkLeak (void)
void	checkLocation (void)
void	checkMainBattery (void)
void	handleComponentFaults (void)
void	monitorBatteryTemps (void)
void	monitorCFCard (void)
void	monitorEnvironmentals (void)
void	monitorShorePower (void)
void	scanGFChan (void)
void	reportGFFault (Str faultTxt)

Static Private Member Functions
static void	SetGFScanForce (bool forceVal)

Private Attributes
bool	wdtInitialized_
Timestamp	abortStartTime_
Timestamp	stopDepthStartTime_
Timespan	abortDepthTimeout_
Timestamp	envFailStartTime_
Timespan	envFailTimeout_
Timestamp	battThresholdFailStartTime_
Timespan	battThresholdFailTimeout_
Timestamp	gfStartTime_
Timespan	gfScanTimeout_
Timespan	gfChanSetupTimeout_
Timestamp	locationCheckStartTime_
Timespan	locationCheckTimeout_
bool	nanLocationActive_
bool	nanLocationReported_
bool	useHardware_
bool	abortDepthActive_
bool	previouslyBelowAbort_
bool	stopDepthActive_
bool	previouslyBelowStop_
bool	waterDetectedCriticalSet_
int	waterDetectionCount_
bool	batteryFailed_
bool	backplaneFailed_
int	battFailCounts_
int	battFailReport_
bool	envFailed_
bool	envExcursionFault_
bool	battThresholdFailed_
float	avgHumidity_
float	samples_
bool	cfMissing_
bool	gfScanInProgress_
bool	gfReported_
GFSequence	gfScan_
LPC3Reg::GFChan	gfChan_
AnalogToDigital	adGFCurrent_
Timestamp	debugEFCTimestamp_
Timespan	debugEFCTimeout_
bool	runFaultClassifier_
bool	runElevOffsetCalc_
int	empiricalFaultCounter_
float	empiricalFaultBinSum_
float	empiricalFaultEleTmp_
float	empiricalFaultPitchTmp_
double	empiricalFaultDepth_
int	empiricalFaultPositiveFlagCount_
Timestamp	empiricalFaultTimestamp_
int	elevOffsetCounter_
bool	clearCounterEOM_
float	elevOffsetEleTmp_
float	gfCurrent5_
float	gfCurrent4_
float	gfCurrent3_
float	gfCurrent2_
float	gfCurrent1_
float	gfCurrent0_
float	gfCurrentOpen_
DataReader *	tmpTempReader_
BattPack	battPacks_ [NUM_BATTSA+NUM_BATTSB]
float	abortDepth_
	*----------------— vehicle parameters -----------------------—*/ More...
float	stopDepth_
double	bitHumidityThreshold_
double	bitPressureThreshold_
double	bitTempThreshold_
double	battTempThreshold_
bool	cbitVehicleOpen_
float	gfChan0Threshold_
float	gfChan1Threshold_
float	gfChan2Threshold_
float	gfChan4Threshold_
float	gfChan5Threshold_

Static Private Attributes
static bool	GFScanForce_

Friends
class	IBIT
class	SBIT

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 SyncTestComponent
	SyncTestComponent (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 ()

Detailed Description

The CBIT built-in-test (CBIT) component provides monitoring of vehicle health during a mission.

If it sees a fault, it will write to a fault flag.

CBIT.h should only be included by CBIT.cpp Other classes should include CBITIF.h

Constructor & Destructor Documentation

CBIT::CBIT

(

const Module *

module

)

References abortDepthCfgReader_, abortDepthTimeoutCfgReader_, battFailReportCfgReader_, battPacks_, CBIT::BattPack::battTempReader_, battTempThresholdCfgReader_, binnedDepthRateWriter_, Units::CELSIUS, clearFaultCmdReader_, clearLeakFaultCmdReader_, UniversalURI::DEPTH, UniversalURI::DEPTH_RATE, depthRateReader_, depthReader_, elevatorAngleReader_, elevOffsetCalcCfgReader_, empericalFaultDetectedWriter_, empiricalFaultElevOffsetReader_, empiricalFaultElevOffsetWriter_, Units::ENUM, envTimeoutCfgReader_, faultClassifierCfgReader_, faultWriter_, gfChan0CurrentWriter_, gfChan0ThresholdCfgReader_, gfChan1CurrentWriter_, gfChan1ThresholdCfgReader_, gfChan2CurrentWriter_, gfChan2ThresholdCfgReader_, gfChan4CurrentWriter_, gfChan4ThresholdCfgReader_, gfChan5CurrentWriter_, gfChan5ThresholdCfgReader_, gfChanOpenCurrentWriter_, gfScanActiveWriter_, gfScanTimeoutCfgReader_, humidityReader_, humidityThresholdCfgReader_, UniversalURI::LATITUDE, latitudeReader_, leakFaultWriter_, Component::logger_, UniversalURI::LONGITUDE, longitudeReader_, Component::newConfigReader(), Component::newDataReader(), Component::newDataWriter(), Slate::NewReader(), Component::newUniversalReader(), Component::newUniversalWriter(), NUM_BATTSA, NUM_BATTSB, pitchReader_, UniversalURI::PLATFORM_ELEVATOR_ANGLE, UniversalURI::PLATFORM_FAULT, UniversalURI::PLATFORM_FAULT_LEAK, UniversalURI::PLATFORM_PITCH_ANGLE, pressureReader_, pressureThresholdCfgReader_, shorepowerWriter_, speedCmdReader_, stopDepthCfgReader_, Logger::syslog(), temperatureReader_, tempThresholdCfgReader_, vehicleOpenCfgReader_, and verticalModeReader_.

CBIT::~CBIT ( )

virtual

CBIT::CBIT ( const CBIT &  old )

private

Member Function Documentation

void CBIT::assertVitals ( void  )

private

References Syslog::DEBUG, Component::logger_, Component::simulateHardware(), LPC3Reg::StrobeHBC(), LPC3Reg::StrobeWDT(), Logger::syslog(), and wdtInitialized_.

Referenced by run().

void CBIT::checkBackplanePower ( void  )

private

References backplaneFailed_, Syslog::CRITICAL, Syslog::FAULT, Syslog::IMPORTANT, Component::logger_, LPC3Reg::PowerOnLoads(), LPC3Reg::QueryBackplanePower(), Component::simulateHardware(), LPC3Reg::SWReset(), and Logger::syslog().

Referenced by run().

void CBIT::checkCriticals ( void  )

private

References Logger::ClearCrtiticalErrorReceived(), CommandLine::DoSchedulePause(), Syslog::FAULT, Supervisor::Instance_, Logger::LastCriticalErrorReceived(), Timestamp::NOT_SET_TIME, and Supervisor::stopMission().

Referenced by run().

void CBIT::checkDepth ( void  )

private

References abortDepth_, abortDepthActive_, abortDepthTimeout_, abortStartTime_, LPC3Reg::ActivateBurnwire(), Syslog::CRITICAL, depthReader_, Timestamp::elapsed(), Supervisor::Instance_, DataReader::isActive(), Component::logger_, Units::METER, Timestamp::Now(), previouslyBelowAbort_, previouslyBelowStop_, DataReader::read(), stopDepth_, stopDepthActive_, stopDepthStartTime_, Supervisor::stopMission(), Logger::syslog(), and DataReader::wasTouchedSinceLastRun().

Referenced by run().

void CBIT::checkLeak ( void  )

private

References LPC3Reg::ActivateBurnwire(), Syslog::CRITICAL, Syslog::ERROR, Supervisor::Instance_, Component::logger_, Component::simulateHardware(), Supervisor::stopMission(), Logger::syslog(), WATER_DETECTION_THRESHOLD, LPC3Reg::WaterDetected(), waterDetectedCriticalSet_, and waterDetectionCount_.

Referenced by run().

void CBIT::checkLocation ( void  )

private

References Syslog::CRITICAL, Timestamp::elapsed(), Syslog::IMPORTANT, latitudeReader_, locationCheckStartTime_, locationCheckTimeout_, Component::logger_, longitudeReader_, nanLocationActive_, nanLocationReported_, Timestamp::Now(), Units::RADIAN, DataReader::read(), and Logger::syslog().

void CBIT::checkMainBattery ( void  )

private

References batteryFailed_, battFailCounts_, battFailReport_, Syslog::FAULT, Component::logger_, LPC3Reg::QueryBattPower(), Component::simulateHardware(), and Logger::syslog().

Referenced by run().

void CBIT::empiricalFaultClassification ( void  )

private

References binnedDepthRateWriter_, clearCounterEOM_, Syslog::DEBUG, debugEFCTimeout_, debugEFCTimestamp_, depthRateReader_, depthReader_, Timestamp::elapsed(), elevatorAngleReader_, elevOffsetCounter_, elevOffsetEleTmp_, empericalFaultDetectedWriter_, empiricalFaultBinSum_, empiricalFaultCounter_, empiricalFaultDepth_, empiricalFaultEleTmp_, empiricalFaultElevOffsetReader_, empiricalFaultElevOffsetWriter_, empiricalFaultPitchTmp_, empiricalFaultPositiveFlagCount_, empiricalFaultTimestamp_, Units::ENUM, Syslog::IMPORTANT, Syslog::INFO, DataReader::isActive(), Component::logger_, Units::METER, Units::METER_PER_SECOND, Timestamp::Now(), pitchReader_, Units::RADIAN, DataReader::read(), runElevOffsetCalc_, speedCmdReader_, Logger::syslog(), verticalModeReader_, and DataWriter::write().

Referenced by run().

ConfigURI CBIT::getConfigURI ( ConfigOption  configOption ) const

virtual

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

Reimplemented from Component.

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

void CBIT::handleComponentFaults ( void  )

private

References DataReader::asInt(), clearFaultCmdReader_, clearLeakFaultCmdReader_, Syslog::CRITICAL, Timestamp::elapsed(), Units::ENUM, Syslog::ERROR, Syslog::FAULT, faultWriter_, Component::getAllowableFailures(), Component::getCriticalFailureReported(), ComponentRegistry::GetEntryCount(), Component::getFailCount(), Component::getFailureReported(), Component::getFailureType(), ComponentRegistry::GetIndexed(), Component::getName(), Component::getRetryTimeout(), Component::getTimeOfFailure(), Syslog::INFO, DataReader::isActive(), Component::isFailed(), Component::isFailureMissionCritical(), Component::isFailureUninitialized(), Component::logger_, FailureMode::NONE, Component::resetFailCount(), Component::setCriticalFailureReported(), Component::setFailure(), Component::setFailureReported(), Component::setRecoveringFromCritical(), Logger::syslog(), FailureMode::ToString(), DataReader::wasTouchedSinceLastRun(), and DataWriter::write().

Referenced by run().

void CBIT::initialize ( void  )

virtual

Initialize function.

Reimplemented from Component.

References abortStartTime_, battThresholdFailStartTime_, Syslog::CRITICAL, LPC3Reg::DeactivateBurnwire(), LPC3Reg::DeactivateRadio(), debugEFCTimestamp_, Units::ENUM, envFailStartTime_, Syslog::ERROR, Syslog::FAULT, faultWriter_, ComponentRegistry::GetEntryCount(), gfStartTime_, FailureMode::HARDWARE, Syslog::INFO, LPC3Reg::InitializeHBC(), LPC3Reg::InitializeWDT(), Component::logger_, Timestamp::Now(), samples_, Component::setAllowableFailures(), Component::setFailure(), Component::simulateHardware(), stopDepthStartTime_, Logger::syslog(), Supervisor::WasRunning(), LPC3Reg::WDTimRes_, wdtInitialized_, and DataWriter::write().

void CBIT::monitorBatteryTemps ( void  )

private

References battPacks_, CBIT::BattPack::battTempReader_, battTempThreshold_, battThresholdFailed_, battThresholdFailStartTime_, battThresholdFailTimeout_, Units::CELSIUS, Syslog::CRITICAL, Timestamp::elapsed(), Syslog::IMPORTANT, Component::logger_, Timestamp::Now(), NUM_BATTSA, NUM_BATTSB, DataReader::read(), Logger::syslog(), and DataReader::wasTouchedSinceLastRun().

Referenced by run().

void CBIT::monitorCFCard ( void  )

private

References LPC3Reg::CFMissing(), cfMissing_, Syslog::CRITICAL, Component::logger_, Component::simulateHardware(), and Logger::syslog().

Referenced by run().

void CBIT::monitorEnvironmentals ( void  )

private

References ATMOSPHERE_PSI, avgHumidity_, bitHumidityThreshold_, bitPressureThreshold_, bitTempThreshold_, cbitVehicleOpen_, Units::CELSIUS, Syslog::CRITICAL, Timestamp::elapsed(), envExcursionFault_, envFailed_, envFailStartTime_, envFailTimeout_, Syslog::FAULT, humidityReader_, Supervisor::Instance_, Component::logger_, Timestamp::Now(), Units::PERCENT, Units::POUND_PER_SQUARE_INCH, pressureReader_, DataReader::read(), samples_, Supervisor::stopMission(), Logger::syslog(), and temperatureReader_.

Referenced by run().

void CBIT::monitorShorePower ( void  )

private

References Units::BOOL, LPC3Reg::QueryShorepower(), shorepowerWriter_, Component::simulateHardware(), and DataWriter::write().

Referenced by run().

bool CBIT::readConfig ( void  )

private

References abortDepth_, abortDepthCfgReader_, abortDepthTimeout_, abortDepthTimeoutCfgReader_, battFailReport_, battFailReportCfgReader_, battTempThreshold_, battTempThresholdCfgReader_, bitHumidityThreshold_, bitPressureThreshold_, bitTempThreshold_, Units::BOOL, cbitVehicleOpen_, Units::CELSIUS, Units::COUNT, elevOffsetCalcCfgReader_, envFailTimeout_, envTimeoutCfgReader_, faultClassifierCfgReader_, gfScanTimeout_, gfScanTimeoutCfgReader_, humidityThresholdCfgReader_, Units::METER, Units::PERCENT, Units::POUND_PER_SQUARE_INCH, pressureThresholdCfgReader_, DataReader::read(), runElevOffsetCalc_, runFaultClassifier_, Units::SECOND, stopDepth_, stopDepthCfgReader_, tempThresholdCfgReader_, and vehicleOpenCfgReader_.

Referenced by run().

void CBIT::reportGFFault ( Str  faultTxt )

private

References Syslog::FAULT, gfCurrent0_, gfCurrent1_, gfCurrent2_, gfCurrent4_, gfCurrent5_, gfCurrentOpen_, gfReported_, GFScanForce_, Component::logger_, and Logger::syslog().

Referenced by scanGFChan().

void CBIT::run ( void  )

virtual

The actual "payload" of the component.

Reimplemented from Component.

References assertVitals(), checkBackplanePower(), checkCriticals(), checkDepth(), checkLeak(), checkMainBattery(), empiricalFaultClassification(), handleComponentFaults(), monitorBatteryTemps(), monitorCFCard(), monitorEnvironmentals(), monitorShorePower(), readConfig(), runFaultClassifier_, and scanGFChan().

void CBIT::scanGFChan ( void  )

private

References LPC3Reg::ActivateGF(), adGFCurrent_, Units::BOOL, CALCULATE, LPC3Reg::CHAN_0, CHAN_0_SCAN, LPC3Reg::CHAN_1, CHAN_1_SCAN, LPC3Reg::CHAN_2, CHAN_2_SCAN, CHAN_3_SCAN, LPC3Reg::CHAN_4, CHAN_4_SCAN, LPC3Reg::CHAN_5, CHAN_5_SCAN, LPC3Reg::DeactivateGF(), Timestamp::elapsed(), gfChan0CurrentWriter_, gfChan0Threshold_, gfChan0ThresholdCfgReader_, gfChan1CurrentWriter_, gfChan1Threshold_, gfChan1ThresholdCfgReader_, gfChan2CurrentWriter_, gfChan2Threshold_, gfChan2ThresholdCfgReader_, gfChan4CurrentWriter_, gfChan4Threshold_, gfChan4ThresholdCfgReader_, gfChan5CurrentWriter_, gfChan5Threshold_, gfChan5ThresholdCfgReader_, gfChan_, gfChanOpenCurrentWriter_, gfChanSetupTimeout_, gfCurrent0_, gfCurrent1_, gfCurrent2_, gfCurrent4_, gfCurrent5_, gfCurrentOpen_, gfReported_, gfScan_, gfScanActiveWriter_, GFScanForce_, gfScanInProgress_, gfScanTimeout_, gfStartTime_, Syslog::IMPORTANT, Syslog::INFO, DataWriter::isDataRequested(), Component::logger_, Units::MILLIAMPERE, Timestamp::Now(), OPEN_SCAN, DataReader::read(), AnalogToDigital::readVolts(), reportGFFault(), Component::simulateHardware(), Logger::syslog(), and DataWriter::write().

Referenced by run().

void CBIT::SetGFScanForce ( bool  forceVal )

staticprivate

References GFScanForce_.

Referenced by IBIT::run(), and SBIT::run().

void CBIT::uninitialize ( void  )

virtual

Uninit function.

Reimplemented from Component.

References LPC3Reg::CHAN_0, LPC3Reg::CHAN_1, LPC3Reg::CHAN_2, LPC3Reg::CHAN_4, LPC3Reg::CHAN_5, Syslog::CRITICAL, LPC3Reg::DeactivateGF(), Component::logger_, LPC3Reg::PowerOffLoads(), Component::simulateHardware(), Logger::syslog(), and LPC3Reg::UninitializeWDT().

Friends And Related Function Documentation

friend class IBIT

friend

friend class SBIT

friend

Member Data Documentation

float CBIT::abortDepth_

private

*----------------— vehicle parameters -----------------------—*/

Referenced by checkDepth(), and readConfig().

bool CBIT::abortDepthActive_

private

Referenced by checkDepth().

ConfigReader* CBIT::abortDepthCfgReader_

protected

Referenced by CBIT(), and readConfig().

Timespan CBIT::abortDepthTimeout_

private

Referenced by checkDepth(), and readConfig().

ConfigReader* CBIT::abortDepthTimeoutCfgReader_

protected

Referenced by CBIT(), and readConfig().

Timestamp CBIT::abortStartTime_

private

Referenced by checkDepth(), and initialize().

AnalogToDigital CBIT::adGFCurrent_

private

Referenced by scanGFChan().

float CBIT::avgHumidity_

private

Referenced by monitorEnvironmentals().

bool CBIT::backplaneFailed_

private

Referenced by checkBackplanePower().

bool CBIT::batteryFailed_

private

Referenced by checkMainBattery().

int CBIT::battFailCounts_

private

Referenced by checkMainBattery().

int CBIT::battFailReport_

private

Referenced by checkMainBattery(), and readConfig().

ConfigReader* CBIT::battFailReportCfgReader_

protected

Referenced by CBIT(), and readConfig().

BattPack CBIT::battPacks_[NUM_BATTSA+NUM_BATTSB]

private

Referenced by CBIT(), and monitorBatteryTemps().

double CBIT::battTempThreshold_

private

Referenced by monitorBatteryTemps(), and readConfig().

ConfigReader* CBIT::battTempThresholdCfgReader_

protected

Referenced by CBIT(), and readConfig().

bool CBIT::battThresholdFailed_

private

Referenced by monitorBatteryTemps().

Timestamp CBIT::battThresholdFailStartTime_

private

Referenced by initialize(), and monitorBatteryTemps().

Timespan CBIT::battThresholdFailTimeout_

private

Referenced by monitorBatteryTemps().

DataWriter* CBIT::binnedDepthRateWriter_

protected

Referenced by CBIT(), and empiricalFaultClassification().

double CBIT::bitHumidityThreshold_

private

Referenced by monitorEnvironmentals(), and readConfig().

double CBIT::bitPressureThreshold_

private

Referenced by monitorEnvironmentals(), and readConfig().

double CBIT::bitTempThreshold_

private

Referenced by monitorEnvironmentals(), and readConfig().

bool CBIT::cbitVehicleOpen_

private

Referenced by monitorEnvironmentals(), and readConfig().

bool CBIT::cfMissing_

private

Referenced by monitorCFCard().

bool CBIT::clearCounterEOM_

private

Referenced by empiricalFaultClassification().

DataReader* CBIT::clearFaultCmdReader_

protected

When true (non-zero), clears the generic fault flag.

Referenced by CBIT(), and handleComponentFaults().

DataReader* CBIT::clearLeakFaultCmdReader_

protected

When true (non-zero), clears the leak fault flag.

Referenced by CBIT(), and handleComponentFaults().

Timespan CBIT::debugEFCTimeout_

private

Referenced by empiricalFaultClassification().

Timestamp CBIT::debugEFCTimestamp_

private

Referenced by empiricalFaultClassification(), and initialize().

UniversalDataReader* CBIT::depthRateReader_

protected

Referenced by CBIT(), and empiricalFaultClassification().

UniversalDataReader* CBIT::depthReader_

protected

Platform depth, lat/lon.

Referenced by CBIT(), checkDepth(), and empiricalFaultClassification().

UniversalDataReader* CBIT::elevatorAngleReader_

protected

Referenced by CBIT(), and empiricalFaultClassification().

ConfigReader* CBIT::elevOffsetCalcCfgReader_

protected

Referenced by CBIT(), and readConfig().

int CBIT::elevOffsetCounter_

private

Referenced by empiricalFaultClassification().

float CBIT::elevOffsetEleTmp_

private

Referenced by empiricalFaultClassification().

DataWriter* CBIT::empericalFaultDetectedWriter_

protected

Referenced by CBIT(), and empiricalFaultClassification().

float CBIT::empiricalFaultBinSum_

private

Referenced by empiricalFaultClassification().

int CBIT::empiricalFaultCounter_

private

Referenced by empiricalFaultClassification().

double CBIT::empiricalFaultDepth_

private

Referenced by empiricalFaultClassification().

float CBIT::empiricalFaultEleTmp_

private

Referenced by empiricalFaultClassification().

DataReader* CBIT::empiricalFaultElevOffsetReader_

protected

Referenced by CBIT(), and empiricalFaultClassification().

DataWriter* CBIT::empiricalFaultElevOffsetWriter_

protected

Referenced by CBIT(), and empiricalFaultClassification().

float CBIT::empiricalFaultPitchTmp_

private

Referenced by empiricalFaultClassification().

int CBIT::empiricalFaultPositiveFlagCount_

private

Referenced by empiricalFaultClassification().

Timestamp CBIT::empiricalFaultTimestamp_

private

Referenced by empiricalFaultClassification().

bool CBIT::envExcursionFault_

private

Referenced by monitorEnvironmentals().

bool CBIT::envFailed_

private

Referenced by monitorEnvironmentals().

Timestamp CBIT::envFailStartTime_

private

Referenced by initialize(), and monitorEnvironmentals().

Timespan CBIT::envFailTimeout_

private

Referenced by monitorEnvironmentals(), and readConfig().

ConfigReader* CBIT::envTimeoutCfgReader_

protected

Referenced by CBIT(), and readConfig().

ConfigReader* CBIT::faultClassifierCfgReader_

protected

Referenced by CBIT(), and readConfig().

UniversalDataWriter* CBIT::faultWriter_

protected

Sets the generic fault flag.

Referenced by CBIT(), handleComponentFaults(), and initialize().

DataWriter* CBIT::gfChan0CurrentWriter_

protected

Referenced by CBIT(), and scanGFChan().

float CBIT::gfChan0Threshold_

private

Referenced by scanGFChan().

ConfigReader* CBIT::gfChan0ThresholdCfgReader_

protected

Referenced by CBIT(), and scanGFChan().

DataWriter* CBIT::gfChan1CurrentWriter_

protected

Referenced by CBIT(), and scanGFChan().

float CBIT::gfChan1Threshold_

private

Referenced by scanGFChan().

ConfigReader* CBIT::gfChan1ThresholdCfgReader_

protected

Referenced by CBIT(), and scanGFChan().

DataWriter* CBIT::gfChan2CurrentWriter_

protected

Referenced by CBIT(), and scanGFChan().

float CBIT::gfChan2Threshold_

private

Referenced by scanGFChan().

ConfigReader* CBIT::gfChan2ThresholdCfgReader_

protected

Referenced by CBIT(), and scanGFChan().

DataWriter* CBIT::gfChan4CurrentWriter_

protected

Referenced by CBIT(), and scanGFChan().

float CBIT::gfChan4Threshold_

private

Referenced by scanGFChan().

ConfigReader* CBIT::gfChan4ThresholdCfgReader_

protected

Referenced by CBIT(), and scanGFChan().

DataWriter* CBIT::gfChan5CurrentWriter_

protected

Referenced by CBIT(), and scanGFChan().

float CBIT::gfChan5Threshold_

private

Referenced by scanGFChan().

ConfigReader* CBIT::gfChan5ThresholdCfgReader_

protected

Referenced by CBIT(), and scanGFChan().

LPC3Reg::GFChan CBIT::gfChan_

private

Referenced by scanGFChan().

DataWriter* CBIT::gfChanOpenCurrentWriter_

protected

Referenced by CBIT(), and scanGFChan().

Timespan CBIT::gfChanSetupTimeout_

private

Referenced by scanGFChan().

float CBIT::gfCurrent0_

private

Referenced by reportGFFault(), and scanGFChan().

float CBIT::gfCurrent1_

private

Referenced by reportGFFault(), and scanGFChan().

float CBIT::gfCurrent2_

private

Referenced by reportGFFault(), and scanGFChan().

float CBIT::gfCurrent3_

private

float CBIT::gfCurrent4_

private

Referenced by reportGFFault(), and scanGFChan().

float CBIT::gfCurrent5_

private

Referenced by reportGFFault(), and scanGFChan().

float CBIT::gfCurrentOpen_

private

Referenced by reportGFFault(), and scanGFChan().

bool CBIT::gfReported_

private

Referenced by reportGFFault(), and scanGFChan().

GFSequence CBIT::gfScan_

private

Referenced by scanGFChan().

DataWriter* CBIT::gfScanActiveWriter_

protected

Referenced by CBIT(), and scanGFChan().

bool CBIT::GFScanForce_

staticprivate

Referenced by reportGFFault(), scanGFChan(), and SetGFScanForce().

bool CBIT::gfScanInProgress_

private

Referenced by scanGFChan().

Timespan CBIT::gfScanTimeout_

private

Referenced by readConfig(), and scanGFChan().

ConfigReader* CBIT::gfScanTimeoutCfgReader_

protected

Referenced by CBIT(), and readConfig().

Timestamp CBIT::gfStartTime_

private

Referenced by initialize(), and scanGFChan().

DataReader* CBIT::humidityReader_

protected

Referenced by CBIT(), and monitorEnvironmentals().

ConfigReader* CBIT::humidityThresholdCfgReader_

protected

Referenced by CBIT(), and readConfig().

UniversalDataReader* CBIT::latitudeReader_

protected

Referenced by CBIT(), and checkLocation().

UniversalDataWriter* CBIT::leakFaultWriter_

protected

Sets the leak fault flag.

Referenced by CBIT().

Timestamp CBIT::locationCheckStartTime_

private

Referenced by checkLocation().

Timespan CBIT::locationCheckTimeout_

private

Referenced by checkLocation().

UniversalDataReader* CBIT::longitudeReader_

protected

Referenced by CBIT(), and checkLocation().

bool CBIT::nanLocationActive_

private

Referenced by checkLocation().

bool CBIT::nanLocationReported_

private

Referenced by checkLocation().

UniversalDataReader* CBIT::pitchReader_

protected

Referenced by CBIT(), and empiricalFaultClassification().

DataReader* CBIT::pressureReader_

protected

Referenced by CBIT(), and monitorEnvironmentals().

ConfigReader* CBIT::pressureThresholdCfgReader_

protected

Referenced by CBIT(), and readConfig().

bool CBIT::previouslyBelowAbort_

private

Referenced by checkDepth().

bool CBIT::previouslyBelowStop_

private

Referenced by checkDepth().

bool CBIT::runElevOffsetCalc_

private

Referenced by empiricalFaultClassification(), and readConfig().

bool CBIT::runFaultClassifier_

private

Referenced by readConfig(), and run().

float CBIT::samples_

private

Referenced by initialize(), and monitorEnvironmentals().

DataWriter* CBIT::shorepowerWriter_

protected

Referenced by CBIT(), and monitorShorePower().

DataReader* CBIT::speedCmdReader_

protected

Referenced by CBIT(), and empiricalFaultClassification().

float CBIT::stopDepth_

private

Referenced by checkDepth(), and readConfig().

bool CBIT::stopDepthActive_

private

Referenced by checkDepth().

ConfigReader* CBIT::stopDepthCfgReader_

protected

Referenced by CBIT(), and readConfig().

Timestamp CBIT::stopDepthStartTime_

private

Referenced by checkDepth(), and initialize().

DataReader* CBIT::temperatureReader_

protected

Referenced by CBIT(), and monitorEnvironmentals().

ConfigReader* CBIT::tempThresholdCfgReader_

protected

Referenced by CBIT(), and readConfig().

DataReader* CBIT::tmpTempReader_

private

bool CBIT::useHardware_

private

ConfigReader* CBIT::vehicleOpenCfgReader_

protected

Referenced by CBIT(), and readConfig().

DataReader* CBIT::verticalModeReader_

protected

Referenced by CBIT(), and empiricalFaultClassification().

bool CBIT::waterDetectedCriticalSet_

private

Referenced by checkLeak().

int CBIT::waterDetectionCount_

private

Referenced by checkLeak().

bool CBIT::wdtInitialized_

private

Referenced by assertVitals(), and initialize().

---

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

• /Volumes/ubuntu_share/lrauv-application/Source/bitModule/CBIT.h
• /Volumes/ubuntu_share/lrauv-application/Source/bitModule/CBIT.cpp