#include <Circle.h>

Inheritance diagram for Circle:

Collaboration diagram for Circle:

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

virtual	~Circle ()

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

bool	isSatisfied ()
	Returns true when vehicle has "arrived" within the radius of the waypoint. More...

bool	runIfUnsatisfied ()
	runs only if unsatisfied More...

void	run ()
	The actual "payload" of the component. 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 Attributes
float	startAngle_
	Starting angle of the vehicle around the circle. More...

float	thresholdAngle_
	One we've exceeded this angle around the circle, begin looking for a rotation. More...

bool	passedThreshold_
	True if we have exceeded startAngle + threshold. More...

float	angleSetting_
	Desired Latitude. More...

float	latitudeSetting_
	Desired Latitude. More...

float	longitudeSetting_
	Desired Longitude. More...

float	maxErrorSetting_
	Maximum error. More...

float	radiusSetting_
	Radius of the circle. More...

bool	turnToPortSetting_
	If true, vehicle turns to port around the circle. More...

bool	initialized_
	Indicates initialization success. More...

SettingReader *	angleSettingReader_
	angle of the circle to proceed through More...

SettingReader *	eastingsDeltaSettingReader_
	Desired change in longitude to achieve, expressed as a distance. More...

SettingReader *	latitudeSettingReader_

SettingReader *	latitudeDeltaSettingReader_

SettingReader *	longitudeSettingReader_

SettingReader *	longitudeDeltaSettingReader_

SettingReader *	maxErrorSettingReader_

SettingReader *	northingsDeltaSettingReader_
	Desired change in latitude to achieve, expressed as a distance. More...

SettingReader *	radiusSettingReader_
	radius of the circle More...

SettingReader *	turnToPortSettingReader_
	if true, vehicle turns to port around the circle. More...

UniversalDataReader *	latitudeReader_
	Current platform latitude. More...

UniversalDataReader *	longitudeReader_
	Current platform longitude. More...

DataWriter *	horizontalModeWriter_

DataWriter *	bearingCmdWriter_

DataWriter *	latitudeCmdWriter_

DataWriter *	longitudeCmdWriter_

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
	Circle (const Circle &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 }

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 ()

Detailed Description

Contains the Circle Behavior.

Drives the vehicle in a circle at a set radius from a waypoint.

Circle.h should only be included by Circle.cpp Other classes should include CircleIF.h

Constructor & Destructor Documentation

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

Circle::~Circle ( )

virtual

Circle::Circle ( const Circle & old )

private

Member Function Documentation

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

static

Mission Component factory interface.

References Circle().

Referenced by GuidanceModule::loadComponents().

void Circle::initialize ( void )

virtual

Initialize function.

Reimplemented from Component.

References angleSetting_, angleSettingReader_, Units::BOOL, Syslog::CRITICAL, Location::EastingsDelta(), eastingsDeltaSettingReader_, Location::GetBearing(), initialized_, SettingReader::isActive(), DataReader::isActive(), latitudeDeltaSettingReader_, latitudeReader_, latitudeSetting_, latitudeSettingReader_, Component::logger_, longitudeDeltaSettingReader_, longitudeReader_, longitudeSetting_, longitudeSettingReader_, M_2PI, maxErrorSetting_, maxErrorSettingReader_, Units::METER, AuvMath::Min(), Location::NorthingsDelta(), northingsDeltaSettingReader_, passedThreshold_, Units::RADIAN, radiusSetting_, radiusSettingReader_, SettingReader::read(), DataReader::read(), startAngle_, Logger::syslog(), thresholdAngle_, turnToPortSetting_, and turnToPortSettingReader_.

Referenced by isSatisfied().

bool Circle::isSatisfied ( )

virtual

Returns true when vehicle has "arrived" within the radius of the waypoint.

Reimplemented from Behavior.

References Syslog::CRITICAL, Location::GetBearing(), initialize(), initialized_, DataReader::isActive(), latitudeReader_, latitudeSetting_, Component::logger_, longitudeReader_, longitudeSetting_, AuvMath::ModPi(), passedThreshold_, Units::RADIAN, DataReader::read(), UniversalDataReader::requestData(), startAngle_, Logger::syslog(), thresholdAngle_, and turnToPortSetting_.

Referenced by runIfUnsatisfied().

void Circle::run ( void )

virtual

The actual "payload" of the component.

Reimplemented from Component.

References angleSetting_, angleSettingReader_, Location::AtBearing(), bearingCmdWriter_, Units::BOOL, Syslog::CRITICAL, Location::EastingsDelta(), eastingsDeltaSettingReader_, Units::ENUM, Location::GetBearing(), Location::GetDistance(), horizontalModeWriter_, SettingReader::isActive(), latitudeCmdWriter_, latitudeDeltaSettingReader_, latitudeReader_, latitudeSetting_, latitudeSettingReader_, Component::logger_, longitudeCmdWriter_, longitudeDeltaSettingReader_, longitudeReader_, longitudeSetting_, longitudeSettingReader_, maxErrorSetting_, maxErrorSettingReader_, Units::METER, AuvMath::ModPi(), Location::NorthingsDelta(), northingsDeltaSettingReader_, Units::RADIAN, radiusSetting_, radiusSettingReader_, SettingReader::read(), DataReader::read(), Logger::syslog(), turnToPortSetting_, turnToPortSettingReader_, HorizontalControlIF::WAYPOINT, and DataWriter::write().

Referenced by runIfUnsatisfied().

bool Circle::runIfUnsatisfied ( void )

virtual

runs only if unsatisfied

Reimplemented from Behavior.

References isSatisfied(), and run().

void Circle::uninitialize ( void )

virtual

Uninit function.

Reimplemented from Component.

References initialized_, Component::logger_, and Logger::syslog().

Member Data Documentation

float Circle::angleSetting_

protected

Desired Latitude.

Referenced by initialize(), and run().

SettingReader* Circle::angleSettingReader_

protected

angle of the circle to proceed through

Referenced by Circle(), initialize(), and run().

DataWriter* Circle::bearingCmdWriter_

protected

Referenced by Circle(), and run().

SettingReader* Circle::eastingsDeltaSettingReader_

protected

Desired change in longitude to achieve, expressed as a distance.

If specified with Longitude, added to the specified Longitude Otherwise added to the Longitude at initialization time This variable is used as a test for sequential completion

Referenced by Circle(), initialize(), and run().

DataWriter* Circle::horizontalModeWriter_

protected

Referenced by Circle(), and run().

bool Circle::initialized_

protected

Indicates initialization success.

Referenced by initialize(), isSatisfied(), and uninitialize().

DataWriter* Circle::latitudeCmdWriter_

protected

Referenced by Circle(), and run().

SettingReader* Circle::latitudeDeltaSettingReader_

protected

Referenced by Circle(), initialize(), and run().

UniversalDataReader* Circle::latitudeReader_

protected

Current platform latitude.

Referenced by Circle(), initialize(), isSatisfied(), and run().

float Circle::latitudeSetting_

protected

Desired Latitude.

Referenced by initialize(), isSatisfied(), and run().

SettingReader* Circle::latitudeSettingReader_

protected

Referenced by Circle(), initialize(), and run().

DataWriter* Circle::longitudeCmdWriter_

protected

Referenced by Circle(), and run().

SettingReader* Circle::longitudeDeltaSettingReader_

protected

Referenced by Circle(), initialize(), and run().

UniversalDataReader* Circle::longitudeReader_

protected

Current platform longitude.

Referenced by Circle(), initialize(), isSatisfied(), and run().

float Circle::longitudeSetting_

protected

Desired Longitude.

Referenced by initialize(), isSatisfied(), and run().

SettingReader* Circle::longitudeSettingReader_

protected

Referenced by Circle(), initialize(), and run().

float Circle::maxErrorSetting_

protected

Maximum error.

Referenced by initialize(), and run().

SettingReader* Circle::maxErrorSettingReader_

protected

Referenced by Circle(), initialize(), and run().

SettingReader* Circle::northingsDeltaSettingReader_

protected

Desired change in latitude to achieve, expressed as a distance.

If specified with Latitude, added to the specified Latitude Otherwise added to the Latitude at initialization time This variable is used as a test for sequential completion

Referenced by Circle(), initialize(), and run().

bool Circle::passedThreshold_

protected

True if we have exceeded startAngle + threshold.

Referenced by initialize(), and isSatisfied().

float Circle::radiusSetting_

protected

Radius of the circle.

Referenced by initialize(), and run().

SettingReader* Circle::radiusSettingReader_

protected

radius of the circle