LRAUV  revA
Public Member Functions | Private Member Functions | Private Attributes | List of all members
DAT Class Reference
Loadable Module: Sensor

Provides software interface to the Benthos DAT. More...

#include <DAT.h>

Inheritance diagram for DAT:
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Collaboration diagram for DAT:
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Public Member Functions

 DAT (const Module *module)
 
virtual ~DAT ()
 
virtual void run ()
 The actual "payload" of the component. More...
 
virtual RunState start ()
 Do what needs to be done to run Similar to initialize, in old init/run/uninit sequence. More...
 
virtual RunState starting ()
 Might follow a STOP...START sequence. More...
 
virtual RunState pause ()
 Pause for a short period (indicated by pauseTime) More...
 
virtual RunState paused ()
 Should eventually follow a PAUSE request: should set continueTime. More...
 
virtual RunState resume ()
 Resume from PAUSE. More...
 
virtual RunState resuming ()
 Might follow a PAUSE...RESUME sequence. More...
 
virtual RunState runnable ()
 Should eventually follow a START request or RESETTING. More...
 
virtual RunState resetting ()
 Might occur in case of Error. More...
 
virtual RunState stop ()
 Initial state – can be later followed by START. More...
 
virtual RunState stopping ()
 Might follow a STOP request. More...
 
virtual RunState stopped ()
 Initial state – can be later followed by START. More...
 
virtual void uninitialize ()
 Provide a space for uninitialization. More...
 
virtual ConfigURI getConfigURI (ConfigOption configOption) const
 Should return [myNamespace]::SIMULATE_HARDWARE, or [myNamespace]::POWER, etc. More...
 
- Public Member Functions inherited from SyncComponent
CycleOrder getCycleOrder (void)
 Getter function for controlThreadOrderPreference. More...
 
void setRepeating (bool repeating)
 
int getDivisor () const
 
int getModulo () const
 
bool isRepeater ()
 
bool isRepeating ()
 
- Public Member Functions inherited from Component
virtual ~Component ()
 Destructor cleans up readers_ and writers_. More...
 
void registerReader (DataReader *reader)
 
void unregisterReader (DataReader *reader)
 
void registerWriter (DataWriter *writer)
 
void unregisterWriter (DataWriter *writer)
 
void disableMetering (void)
 
FlexArray< DataReader * > & getReaderList (void)
 
FlexArray< DataWriter * > & getWriterList (void)
 
const Module * getModule ()
 
virtual void initialize ()
 Provide a space for initialization before being run. More...
 
virtual void configure ()
 Read (or re-read!) configuration settings. More...
 
virtual void execute (void)
 
bool isActive () const
 Indicates if the component is active. More...
 
const CodedStr & getName (void) const
 Returns the name. More...
 
const Timestamp & getTimeOfLastRun (void) const
 
ComponentState getState (void)
 Return the component's current state. More...
 
void setState (ComponentState state)
 
RunState getRunState (void)
 Return the component's run state. More...
 
bool isUsingRunState ()
 Return true if using runState. More...
 
void requestData (bool requestingData)
 Tell the component to start (or stop) sending data. More...
 
void requestStart ()
 Tell the component to start runnning. More...
 
void requestPause (const Timespan expectedPauseTime)
 Tell the component to pause runnning. More...
 
void requestResume ()
 Tell the component resume from pause. More...
 
void requestStop ()
 Tell the component to stop runnning. More...
 
virtual RunState satisfied ()
 Possible return value of a Behavior. More...
 
virtual RunState pausing ()
 Might follow a PAUSE request. More...
 
void setCriticalFailureReported (bool boolVal)
 
void setRecoveringFromCritical (bool boolVal)
 
void setFailureReported (bool boolVal)
 
bool isFailureUninitialized ()
 
void setFailureUninitialized (bool boolVal)
 
void setRetryTimeout (const Timespan &timeout)
 
virtual bool isCompleted (void)
 Query if this component is completed. More...
 
void setPeriod (const Timespan &period)
 Set the period of this component... used if it is periodic. More...
 
const Timespan & getPeriod (void)
 Returns the component's period (regardless of whether it is periodic) More...
 
ComponentType getComponentType ()
 Getter function for ComponentType. More...
 
virtual bool isFailed (void) const
 
virtual FailureMode::FailType getFailureType (void) const
 
virtual bool getCriticalFailureReported (void) const
 
virtual bool getFailureReported (void) const
 
virtual Timespan getRetryTimeout (void) const
 
virtual FailureMode::FailType setFailure (FailureMode::FailType failureType)
 
virtual int getFailCount (void) const
 
virtual bool isFailureMissionCritical ()
 
virtual int getAllowableFailures (void) const
 
virtual void setAllowableFailures (int fails)
 
Logger & getLogger (void)
 
virtual int incrementFailCount (void)
 
virtual void resetFailCount (void)
 
virtual int getSkippedRunsSinceFail (void) const
 
virtual int incrementSkippedRunsSinceFail (void)
 
virtual void logVoltage (float voltage, float averageVoltage)
 
virtual void logCurrent (float current, float averageCurrent)
 
const Timestamp & getWriteTimestamp (void)
 
void setWriteTimestamp (const Timestamp &writeTimestamp)
 
BlobReader * newBlobReader (const BlobURI &blobURI)
 
BlobReader * newBlobReaderFromUniversal (const Str &componentName, const UniversalBlobURI &blobURI)
 
BlobWriter * newBlobWriter (const BlobURI &blobURI, Logger::TimePrecisionType timePrecision=Logger::TIME_PRECISION_MILLIS)
 
ConfigReader * newConfigReader (const ConfigURI &configURI)
 
DataReader * newDataReader (const DataURI &dataURI)
 
DataReader * newDataReaderFromUniversal (const Str &componentName, const UniversalURI &universalURI)
 
DataWriter * newDataWriter (const DataURI &dataURI, Logger::TimePrecisionType timePrecision=Logger::TIME_PRECISION_MILLIS)
 
UniversalBlobReader * newUniversalBlobReader (const UniversalBlobURI &universalURI)
 
UniversalBlobWriter * newUniversalBlobWriter (const UniversalBlobURI &universalURI, const Unit &accuracyUnit=Units::NONE, const float accuracy=DataElement::NO_ACCURACY, Logger::TimePrecisionType timePrecision=Logger::TIME_PRECISION_MILLIS)
 
UniversalDataReader * newUniversalReader (const UniversalURI &universalURI)
 
UniversalDataWriter * newUniversalWriter (const UniversalURI &universalURI, const Unit &accuracyUnit=Units::NONE, const float accuracy=DataElement::NO_ACCURACY, Logger::TimePrecisionType timePrecision=Logger::TIME_PRECISION_MILLIS)
 

Private Member Functions

 DAT (const DAT &old)
 
void readConfig ()
 
void logVoltageAndCurrent ()
 
bool isDataRequested ()
 
bool gotNewQuery (void)
 
Timestamp requestRange (const int remoteAddress, const int numPings)
 
int clearUserPrompt (void)
 
void readAndParseResponses (void)
 
void parseResponses (void)
 
void cleanResponse (void)
 
bool parseDirectionMessage (void)
 
bool parseRangeMessage (void)
 
void publishData (void)
 
Point3D phaseToUnitVector (const double phaseA, const double phaseB, const double phaseC, const double phaseD)
 
void unitVectorToAzimuthAndElevation (Point3D &uhat, float &azimuth, float &elevation) __attribute__((deprecated))
 
void azimuthAndElevationToUnitVector (float &azimuth, float &elevation, Point3D &uhat) __attribute__((deprecated))
 
void phasesToDirectionInVehicleFrame (void)
 
void directionsToAngles (void)
 
bool getSimulatedMeasurements (void)
 

Private Attributes

ConfigReader * localAddressCfgReader_
 
DataReader * queryAddressRequestedReader_
 
DataReader * numberOfPingsRequestedReader_
 
UniversalDataWriter * rxTimeWriter_
 
UniversalDataWriter * txTimeWriter_
 
DataWriter * lvl1Writer_
 
DataWriter * lvl2Writer_
 
DataWriter * lvl3Writer_
 
DataWriter * lvl4Writer_
 
DataWriter * agcWriter_
 
DataWriter * idxPeakWriter_
 
DataWriter * idxFitWriter_
 
DataWriter * idxPhaseWriter_
 
DataWriter * phaseAWriter_
 
DataWriter * phaseBWriter_
 
DataWriter * phaseCWriter_
 
DataWriter * vectorMagnitudeWriter_
 
DataWriter * rawAzimuthWriter_
 
DataWriter * rawElevationWriter_
 
DataWriter * calibratedAzimuthWriter_
 
DataWriter * calibratedElevationWriter_
 
DataWriter * rotatedAzimuthWriter_
 
DataWriter * rotatedElevationWriter_
 
DataWriter * remoteAddressWriter_
 
DataWriter * localAddressWriter_
 
DataWriter * rangeWriter_
 
DataWriter * onewayCmdWriter_
 
DataWriter * tAzimuthWriter_
 
DataWriter * tElevationWriter_
 
DataWriter * vAzimuthWriter_
 
DataWriter * vElevationWriter_
 
BlobWriter * tDirectionWriter_
 
BlobWriter * vDirectionWriter_
 
bool debug_
 
int verbosity_
 
char deviceResponse_ [396]
 
Matrix3x3 transformationFromTetrahedronToVehicleFrame_
 
Matrix3x3 transformationFromVehicleToTetrahedronFrame_
 
LoadControl loadControl_
 
Timestamp startTime_
 
Timestamp powerOffTimeStart_
 
Timespan poTimeout_
 
Timespan powerDownTimeout_
 
UartStream uart_
 
int localAddressCfgSetting_
 
bool commandModeSent_
 
bool commandModeAcknowledged_
 
bool localAddressSettingSent_
 
bool localAddressSettingAcknowledged_
 
Timespan acousticResponseTimeout_
 
int remoteAddressRequested_
 
int numPingsRequested_
 
int numPingsReceived_
 
bool gotResponseNotReceived_
 
bool gotRangeMessage_
 
bool gotDirectionMessage_
 
int commRate_
 
double range_
 
double phaseA_
 
double phaseB_
 
double phaseC_
 
Timestamp transmitPingTime_
 
Timestamp receivePingTime_
 
int levelA_
 
int levelB_
 
int levelC_
 
int levelD_
 
int agc_
 
int idxPeak_
 
float idxFit_
 
float idxPhase_
 
float vectorMagnitude_
 
float rawAzimuth_
 
float rawElevation_
 
float calibratedAzimuth_
 
float calibratedElevation_
 
float rotatedAzimuth_
 
float rotatedElevation_
 
int remoteAddress_
 
int localAddress_
 
Point3D directionInTetrahedronFrame_
 
Point3D directionInVehicleFrame_
 
float azimuthInTetrahedronFrame_
 
float elevationInTetrahedronFrame_
 
float azimuthInVehicleFrame_
 
float elevationInVehicleFrame_
 

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 Benthos DAT.

DAT.h should only be included by DAT.cpp Other classes should include DATIF.h

Constructor & Destructor Documentation

DAT::DAT ( const Module *  module)

References UniversalURI::ACOUSTIC_RECEIVE_TIME, UniversalURI::ACOUSTIC_TRANSMIT_TIME, agcWriter_, calibratedAzimuthWriter_, calibratedElevationWriter_, deviceResponse_, idxFitWriter_, idxPeakWriter_, idxPhaseWriter_, localAddressCfgReader_, localAddressWriter_, lvl1Writer_, lvl2Writer_, lvl3Writer_, lvl4Writer_, Component::newBlobWriter(), Component::newConfigReader(), Component::newDataReader(), Component::newDataWriter(), Component::newUniversalWriter(), numberOfPingsRequestedReader_, phaseAWriter_, phaseBWriter_, phaseCWriter_, queryAddressRequestedReader_, rangeWriter_, rawAzimuthWriter_, rawElevationWriter_, remoteAddressWriter_, rotatedAzimuthWriter_, rotatedElevationWriter_, rxTimeWriter_, Units::SECOND, Component::setRunState(), Component::START, tAzimuthWriter_, tDirectionWriter_, tElevationWriter_, txTimeWriter_, vAzimuthWriter_, vDirectionWriter_, vectorMagnitudeWriter_, and vElevationWriter_.

DAT::~DAT ( )
virtual
DAT::DAT ( const DAT &  old)
private

Member Function Documentation

void DAT::azimuthAndElevationToUnitVector ( float &  azimuth,
float &  elevation,
Point3D &  uhat 
)
private
void DAT::cleanResponse ( void  )
private

References deviceResponse_.

Referenced by parseResponses().

int DAT::clearUserPrompt ( void  )
private

References UartStream::canReadUntil(), Syslog::DEBUG, deviceResponse_, UartStream::flushCRLF(), Component::logger_, UartStream::readUntil(), Logger::syslog(), and uart_.

Referenced by readAndParseResponses(), requestRange(), and starting().

void DAT::directionsToAngles ( void  )
private

References azimuthInTetrahedronFrame_, azimuthInVehicleFrame_, directionInTetrahedronFrame_, directionInVehicleFrame_, elevationInTetrahedronFrame_, elevationInVehicleFrame_, and AuvMath::UnitVectorToAzimuthAndElevation().

Referenced by runnable().

ConfigURI DAT::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.

bool DAT::getSimulatedMeasurements ( void  )
private

References Point3D::addProduct(), AuvMath::AzimuthAndElevationToUnitVector(), azimuthInVehicleFrame_, directionInTetrahedronFrame_, directionInVehicleFrame_, elevationInVehicleFrame_, gotDirectionMessage_, gotRangeMessage_, SimSlate::HOMING_SENSOR_AZIM_RAD, SimSlate::HOMING_SENSOR_ELEV_RAD, SimSlate::HOMING_SENSOR_RANGE_M, Timestamp::Now(), numPingsReceived_, range_, SimSlate::Read(), receivePingTime_, and transformationFromVehicleToTetrahedronFrame_.

Referenced by runnable().

bool DAT::gotNewQuery ( void  )
private

References acousticResponseTimeout_, Timespan::asFloat(), Units::COUNT, Timestamp::elapsed(), Syslog::INFO, Component::logger_, numberOfPingsRequestedReader_, numPingsReceived_, numPingsRequested_, queryAddressRequestedReader_, DataReader::read(), remoteAddressRequested_, Logger::syslog(), transmitPingTime_, verbosity_, and DataReader::wasTouchedSinceLastRun().

Referenced by runnable().

bool DAT::isDataRequested ( )
private

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

void DAT::logVoltageAndCurrent ( )
private

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

Referenced by runnable().

bool DAT::parseDirectionMessage ( void  )
private

References agc_, calibratedAzimuth_, calibratedElevation_, deviceResponse_, idxFit_, idxPeak_, idxPhase_, levelA_, levelB_, levelC_, levelD_, phaseA_, phaseB_, phaseC_, rawAzimuth_, rawElevation_, rotatedAzimuth_, rotatedElevation_, and vectorMagnitude_.

Referenced by parseResponses().

bool DAT::parseRangeMessage ( void  )
private

References deviceResponse_, localAddress_, range_, and remoteAddress_.

Referenced by parseResponses().

void DAT::parseResponses ( void  )
private

References cleanResponse(), FailureMode::COMMUNICATIONS, Syslog::DEBUG, deviceResponse_, Syslog::FAULT, gotDirectionMessage_, gotRangeMessage_, gotResponseNotReceived_, Component::logger_, parseDirectionMessage(), parseRangeMessage(), Component::setFailure(), and Logger::syslog().

Referenced by readAndParseResponses().

Component::RunState DAT::pause ( )
virtual

Pause for a short period (indicated by pauseTime)

Pause.

Reimplemented from Component.

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

Component::RunState DAT::paused ( )
virtual

Should eventually follow a PAUSE request: should set continueTime.

Reimplemented from Component.

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

void DAT::phasesToDirectionInVehicleFrame ( void  )
private

References Point3D::addProduct(), directionInTetrahedronFrame_, directionInVehicleFrame_, Point3D::getX(), Point3D::getY(), Point3D::getZ(), Syslog::INFO, Component::logger_, phaseA_, phaseB_, phaseC_, phaseToUnitVector(), Logger::syslog(), transformationFromTetrahedronToVehicleFrame_, and verbosity_.

Referenced by runnable().

Point3D DAT::phaseToUnitVector ( const double  phaseA = 0.0,
const double  phaseB = 0.0,
const double  phaseC = 0.0,
const double  phaseD = 0.0 
)
private

References Point3D::getMagnitude().

Referenced by phasesToDirectionInVehicleFrame().

void DAT::publishData ( void  )
private

References agc_, agcWriter_, Timestamp::asDouble(), azimuthInTetrahedronFrame_, azimuthInVehicleFrame_, calibratedAzimuth_, calibratedAzimuthWriter_, calibratedElevation_, calibratedElevationWriter_, Units::COUNT, Units::DEGREE, directionInTetrahedronFrame_, directionInVehicleFrame_, elevationInTetrahedronFrame_, elevationInVehicleFrame_, Units::EPOCH_SECOND, idxFit_, idxFitWriter_, idxPeak_, idxPeakWriter_, idxPhase_, idxPhaseWriter_, levelA_, levelB_, levelC_, levelD_, localAddress_, localAddressWriter_, lvl1Writer_, lvl2Writer_, lvl3Writer_, lvl4Writer_, Units::METER, Units::NONE, phaseA_, phaseAWriter_, phaseB_, phaseBWriter_, phaseC_, phaseCWriter_, Units::RADIAN, range_, rangeWriter_, rawAzimuth_, rawAzimuthWriter_, rawElevation_, rawElevationWriter_, receivePingTime_, remoteAddress_, remoteAddressWriter_, rotatedAzimuth_, rotatedAzimuthWriter_, rotatedElevation_, rotatedElevationWriter_, rxTimeWriter_, tAzimuthWriter_, tDirectionWriter_, tElevationWriter_, transmitPingTime_, txTimeWriter_, vAzimuthWriter_, vDirectionWriter_, vectorMagnitude_, vectorMagnitudeWriter_, vElevationWriter_, DataWriter::write(), and AbstractBlobWriter::write1DClass().

Referenced by runnable().

void DAT::readAndParseResponses ( void  )
private

References UartStream::canReadUntil(), clearUserPrompt(), FailureMode::COMMUNICATIONS, deviceResponse_, UartStream::errorString(), Syslog::FAULT, UartStream::hasError(), Component::logger_, parseResponses(), UartStream::readUntil(), Component::setFailure(), Logger::syslog(), and uart_.

Referenced by runnable().

void DAT::readConfig ( void  )
private

References Units::COUNT, Syslog::ERROR, localAddressCfgReader_, localAddressCfgSetting_, Component::logger_, DataReader::read(), Logger::syslog(), transformationFromTetrahedronToVehicleFrame_, transformationFromVehicleToTetrahedronFrame_, and Matrix3x3::transpose().

Referenced by starting().

Timestamp DAT::requestRange ( const int  remoteAddress,
const int  numPings = 1 
)
private

References clearUserPrompt(), Syslog::DEBUG, Syslog::INFO, Component::logger_, Timestamp::Now(), Component::simulateHardware(), Logger::syslog(), uart_, and verbosity_.

Referenced by runnable().

virtual RunState DAT::resetting ( )
inlinevirtual

Might occur in case of Error.

Reimplemented from Component.

References stop().

Component::RunState DAT::resume ( )
virtual

Resume from PAUSE.

Reimplemented from Component.

References Syslog::DEBUG, debug_, Syslog::INFO, Component::logger_, Timestamp::Now(), Component::RESUMING, Component::simulateHardware(), startTime_, and Logger::syslog().

Component::RunState DAT::resuming ( )
virtual

Might follow a PAUSE...RESUME sequence.

Reimplemented from Component.

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

void DAT::run ( void  )
virtual

The actual "payload" of the component.

Reimplemented from Component.

Component::RunState DAT::runnable ( )
virtual

Should eventually follow a START request or RESETTING.

Reimplemented from Component.

References acousticResponseTimeout_, Timespan::asDouble(), Syslog::DEBUG, debug_, directionsToAngles(), Timestamp::elapsed(), Syslog::ERROR, getSimulatedMeasurements(), gotDirectionMessage_, gotNewQuery(), gotRangeMessage_, gotResponseNotReceived_, Syslog::INFO, isDataRequested(), Component::logger_, logVoltageAndCurrent(), Timestamp::Now(), numPingsReceived_, numPingsRequested_, Component::PAUSE, phasesToDirectionInVehicleFrame(), publishData(), range_, readAndParseResponses(), receivePingTime_, remoteAddressRequested_, requestRange(), Component::resetFailCount(), Component::RUNNABLE, Component::simulateHardware(), Logger::syslog(), and transmitPingTime_.

Component::RunState DAT::start ( )
virtual

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

Reimplemented from Component.

References commandModeAcknowledged_, commandModeSent_, commRate_, FailureMode::COMMUNICATIONS, debug_, deviceResponse_, Timestamp::elapsed(), UartStream::enableUART(), Syslog::ERROR, UartStream::errorString(), Syslog::FAULT, UartStream::flush(), FailureMode::HARDWARE, UartStream::hasError(), Syslog::INFO, loadControl_, localAddressSettingAcknowledged_, localAddressSettingSent_, Component::logger_, Timestamp::Now(), UartStream::open(), powerDownTimeout_, powerOffTimeStart_, LoadControl::powerUp(), Component::setAllowableFailures(), Component::setFailure(), Component::setRetryTimeout(), Component::simulateHardware(), Component::START, Component::STARTING, startTime_, Component::STOP, Logger::syslog(), and uart_.

Component::RunState DAT::starting ( )
virtual

Might follow a STOP...START sequence.

Reimplemented from Component.

References UartStream::canReadUntil(), clearUserPrompt(), commandModeAcknowledged_, commandModeSent_, commRate_, FailureMode::COMMUNICATIONS, UartStream::dataAvailable(), Syslog::DEBUG, debug_, deviceResponse_, Timestamp::elapsed(), Syslog::ERROR, Syslog::FAULT, UartStream::flushCRLF(), Syslog::INFO, localAddress_, localAddressCfgSetting_, localAddressSettingAcknowledged_, localAddressSettingSent_, Component::logger_, poTimeout_, UartStream::read(), readConfig(), UartStream::readUntil(), Component::RUNNABLE, Component::setFailure(), Component::simulateHardware(), Component::STARTING, startTime_, Component::STOP, Logger::syslog(), and uart_.

Component::RunState DAT::stop ( )
virtual

Initial state – can be later followed by START.

Reimplemented from Component.

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

Referenced by logVoltageAndCurrent(), resetting(), and stopped().

Component::RunState DAT::stopped ( )
virtual

Initial state – can be later followed by START.

Reimplemented from Component.

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

Component::RunState DAT::stopping ( )
virtual

Might follow a STOP request.

Reimplemented from Component.

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

void DAT::uninitialize ( void  )
virtual

Provide a space for uninitialization.

Reimplemented from Component.

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

Referenced by stop().

void DAT::unitVectorToAzimuthAndElevation ( Point3D &  uhat,
float &  azimuth,
float &  elevation 
)
private

Member Data Documentation

Timespan DAT::acousticResponseTimeout_
private

Referenced by gotNewQuery(), and runnable().

int DAT::agc_
private

Referenced by parseDirectionMessage(), and publishData().

DataWriter* DAT::agcWriter_
private

Referenced by DAT(), and publishData().

float DAT::azimuthInTetrahedronFrame_
private

Referenced by directionsToAngles(), and publishData().

float DAT::azimuthInVehicleFrame_
private

Referenced by directionsToAngles(), getSimulatedMeasurements(), and publishData().

float DAT::calibratedAzimuth_
private

Referenced by parseDirectionMessage(), and publishData().

DataWriter* DAT::calibratedAzimuthWriter_
private

Referenced by DAT(), and publishData().

float DAT::calibratedElevation_
private

Referenced by parseDirectionMessage(), and publishData().

DataWriter* DAT::calibratedElevationWriter_
private

Referenced by DAT(), and publishData().

bool DAT::commandModeAcknowledged_
private

Referenced by start(), and starting().

bool DAT::commandModeSent_
private

Referenced by start(), and starting().

int DAT::commRate_
private

Referenced by start(), and starting().

bool DAT::debug_
private

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

char DAT::deviceResponse_[396]
private

Referenced by cleanResponse(), clearUserPrompt(), DAT(), parseDirectionMessage(), parseRangeMessage(), parseResponses(), readAndParseResponses(), start(), and starting().

Point3D DAT::directionInTetrahedronFrame_
private

Referenced by directionsToAngles(), getSimulatedMeasurements(), phasesToDirectionInVehicleFrame(), and publishData().

Point3D DAT::directionInVehicleFrame_
private

Referenced by directionsToAngles(), getSimulatedMeasurements(), phasesToDirectionInVehicleFrame(), and publishData().

float DAT::elevationInTetrahedronFrame_
private

Referenced by directionsToAngles(), and publishData().

float DAT::elevationInVehicleFrame_
private

Referenced by directionsToAngles(), getSimulatedMeasurements(), and publishData().

bool DAT::gotDirectionMessage_
private

Referenced by getSimulatedMeasurements(), parseResponses(), and runnable().

bool DAT::gotRangeMessage_
private

Referenced by getSimulatedMeasurements(), parseResponses(), and runnable().

bool DAT::gotResponseNotReceived_
private

Referenced by parseResponses(), and runnable().

float DAT::idxFit_
private

Referenced by parseDirectionMessage(), and publishData().

DataWriter* DAT::idxFitWriter_
private

Referenced by DAT(), and publishData().

int DAT::idxPeak_
private

Referenced by parseDirectionMessage(), and publishData().

DataWriter* DAT::idxPeakWriter_
private

Referenced by DAT(), and publishData().

float DAT::idxPhase_
private

Referenced by parseDirectionMessage(), and publishData().

DataWriter* DAT::idxPhaseWriter_
private

Referenced by DAT(), and publishData().

int DAT::levelA_
private

Referenced by parseDirectionMessage(), and publishData().

int DAT::levelB_
private

Referenced by parseDirectionMessage(), and publishData().

int DAT::levelC_
private

Referenced by parseDirectionMessage(), and publishData().

int DAT::levelD_
private

Referenced by parseDirectionMessage(), and publishData().

LoadControl DAT::loadControl_
private

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

int DAT::localAddress_
private

Referenced by parseRangeMessage(), publishData(), and starting().

ConfigReader* DAT::localAddressCfgReader_
private

Referenced by DAT(), and readConfig().

int DAT::localAddressCfgSetting_
private

Referenced by readConfig(), and starting().

bool DAT::localAddressSettingAcknowledged_
private

Referenced by start(), and starting().

bool DAT::localAddressSettingSent_
private

Referenced by start(), and starting().

DataWriter* DAT::localAddressWriter_
private

Referenced by DAT(), and publishData().

DataWriter* DAT::lvl1Writer_
private

Referenced by DAT(), and publishData().

DataWriter* DAT::lvl2Writer_
private

Referenced by DAT(), and publishData().

DataWriter* DAT::lvl3Writer_
private

Referenced by DAT(), and publishData().

DataWriter* DAT::lvl4Writer_
private

Referenced by DAT(), and publishData().

DataReader* DAT::numberOfPingsRequestedReader_
private

Referenced by DAT(), and gotNewQuery().

int DAT::numPingsReceived_
private

Referenced by getSimulatedMeasurements(), gotNewQuery(), and runnable().

int DAT::numPingsRequested_
private

Referenced by gotNewQuery(), and runnable().

DataWriter* DAT::onewayCmdWriter_
private
double DAT::phaseA_
private

Referenced by parseDirectionMessage(), phasesToDirectionInVehicleFrame(), and publishData().

DataWriter* DAT::phaseAWriter_
private

Referenced by DAT(), and publishData().

double DAT::phaseB_
private

Referenced by parseDirectionMessage(), phasesToDirectionInVehicleFrame(), and publishData().

DataWriter* DAT::phaseBWriter_
private

Referenced by DAT(), and publishData().

double DAT::phaseC_
private

Referenced by parseDirectionMessage(), phasesToDirectionInVehicleFrame(), and publishData().

DataWriter* DAT::phaseCWriter_
private

Referenced by DAT(), and publishData().

Timespan DAT::poTimeout_
private

Referenced by starting().

Timespan DAT::powerDownTimeout_
private

Referenced by start().

Timestamp DAT::powerOffTimeStart_
private

Referenced by start(), and uninitialize().

DataReader* DAT::queryAddressRequestedReader_
private

Referenced by DAT(), and gotNewQuery().

double DAT::range_
private

Referenced by getSimulatedMeasurements(), parseRangeMessage(), publishData(), and runnable().

DataWriter* DAT::rangeWriter_
private

Referenced by DAT(), and publishData().

float DAT::rawAzimuth_
private

Referenced by parseDirectionMessage(), and publishData().

DataWriter* DAT::rawAzimuthWriter_
private

Referenced by DAT(), and publishData().

float DAT::rawElevation_
private

Referenced by parseDirectionMessage(), and publishData().

DataWriter* DAT::rawElevationWriter_
private

Referenced by DAT(), and publishData().

Timestamp DAT::receivePingTime_
private

Referenced by getSimulatedMeasurements(), publishData(), and runnable().

int DAT::remoteAddress_
private

Referenced by parseRangeMessage(), and publishData().

int DAT::remoteAddressRequested_
private

Referenced by gotNewQuery(), and runnable().

DataWriter* DAT::remoteAddressWriter_
private

Referenced by DAT(), and publishData().

float DAT::rotatedAzimuth_
private

Referenced by parseDirectionMessage(), and publishData().

DataWriter* DAT::rotatedAzimuthWriter_
private

Referenced by DAT(), and publishData().

float DAT::rotatedElevation_
private

Referenced by parseDirectionMessage(), and publishData().

DataWriter* DAT::rotatedElevationWriter_
private

Referenced by DAT(), and publishData().

UniversalDataWriter* DAT::rxTimeWriter_
private

Referenced by DAT(), and publishData().

Timestamp DAT::startTime_
private

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

DataWriter* DAT::tAzimuthWriter_
private

Referenced by DAT(), and publishData().

BlobWriter* DAT::tDirectionWriter_
private

Referenced by DAT(), and publishData().

DataWriter* DAT::tElevationWriter_
private

Referenced by DAT(), and publishData().

Matrix3x3 DAT::transformationFromTetrahedronToVehicleFrame_
private

Referenced by phasesToDirectionInVehicleFrame(), and readConfig().

Matrix3x3 DAT::transformationFromVehicleToTetrahedronFrame_
private

Referenced by getSimulatedMeasurements(), and readConfig().

Timestamp DAT::transmitPingTime_
private

Referenced by gotNewQuery(), publishData(), and runnable().

UniversalDataWriter* DAT::txTimeWriter_
private

Referenced by DAT(), and publishData().

UartStream DAT::uart_
private

Referenced by clearUserPrompt(), readAndParseResponses(), requestRange(), start(), starting(), stopped(), and uninitialize().

DataWriter* DAT::vAzimuthWriter_
private

Referenced by DAT(), and publishData().

BlobWriter* DAT::vDirectionWriter_
private

Referenced by DAT(), and publishData().

float DAT::vectorMagnitude_
private

Referenced by parseDirectionMessage(), and publishData().

DataWriter* DAT::vectorMagnitudeWriter_
private

Referenced by DAT(), and publishData().

DataWriter* DAT::vElevationWriter_
private

Referenced by DAT(), and publishData().

int DAT::verbosity_
private

Referenced by gotNewQuery(), phasesToDirectionInVehicleFrame(), and requestRange().

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