DVL_micro Class Reference

#include <DVL_micro.h>

Inheritance diagram for DVL_micro:

Collaboration diagram for DVL_micro:

Public Member Functions
	DVL_micro (const Module *module)
virtual	~DVL_micro ()
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 ()
	Should eventually follow a STOP request. More...
void	uninitialize ()
	Provide a space for uninitialization. More...
void	logVoltageAndCurrent ()
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
	DVL_micro (const DVL_micro &old)
void	readConfig ()
void	startPing ()
void	endPing ()
bool	simNQ1 (void)
bool	readNQ1 (void)
bool	parseNQ1 (const char *nq1)
void	processNQ1 (void)
void	writeData (void)
void	setAcousticWritersInvalid (bool invalid)
bool	isDataRequested ()
bool	isAHRSRequested ()
bool	isPingRequested ()

Private Attributes
bool	hasNQ1_
bool	nq1Requested_
Timespan	dvlTimeout_
Timespan	dvlFailTimeout_
Timestamp	startTime_
Timestamp	dvlFailTime_
UniversalDataWriter *	altitudeWriter_
UniversalDataWriter *	headingWriter_
UniversalDataWriter *	magneticHeadingWriter_
UniversalDataWriter *	pitchWriter_
UniversalDataWriter *	rollWriter_
UniversalBlobWriter *	orientationMatrixWriter_
UniversalBlobWriter *	velocityWrtGroundWriter_
UniversalDataWriter *	xVelWrtGroundWriter_
UniversalDataWriter *	yVelWrtGroundWriter_
UniversalDataWriter *	zVelWrtGroundWriter_
UniversalBlobWriter *	velocityWrtSeaWriter_
UniversalDataWriter *	xVelWrtSeaWriter_
UniversalDataWriter *	yVelWrtSeaWriter_
UniversalDataWriter *	zVelWrtSeaWriter_
UniversalDataWriter *	xVelCurrentWriter_
UniversalDataWriter *	yVelCurrentWriter_
UniversalDataWriter *	zVelCurrentWriter_
DataWriter *	statusWriter_
DataWriter *	beam1Writer_
DataWriter *	beam2Writer_
DataWriter *	beam3Writer_
DataWriter *	beam4Writer_
DataWriter *	alt1Writer_
DataWriter *	alt2Writer_
DataWriter *	alt3Writer_
DataWriter *	alt4Writer_
DataWriter *	veloInstFlagWriter_
DataWriter *	wVeloInstFlagWriter_
UniversalDataReader *	latitudeReader_
UniversalDataReader *	longitudeReader_
UniversalDataReader *	depthReader_
UniversalDataReader *	pitchReader_
UniversalDataReader *	headingReader_
UniversalDataReader *	rollReader_
ConfigReader *	magDeviationCfgReader_
ConfigReader *	pitchOffsetCfgReader_
ConfigReader *	rollOffsetCfgReader_
bool	debug_
bool	pingRequested_
bool	dvlTimeoutArmed_
char	deviceResponse_ [UART_BUFSIZE]
UartStream	uart_
LoadControl	loadControl_
int	status_
int	beam1_
int	beam2_
int	beam3_
int	beam4_
float	altitude1_
float	altitude2_
float	altitude3_
float	altitude4_
double	veloRad1_
double	veloRad2_
double	veloRad3_
double	veloRad4_
double	wveloRad1_
double	wveloRad2_
double	wveloRad3_
double	wveloRad4_
float	wveloCredit1_
float	wveloCredit2_
float	wveloCredit3_
float	wveloCredit4_
Point3D	veloInst_
double	veloInstX_
double	veloInstY_
double	veloInstZ_
int	veloInstFlag_
double	veloEarthN_
double	veloEarthE_
double	veloEarthD_
int	veloEarthFlag_
Point3D	wVeloInst_
double	wVeloInstX_
double	wVeloInstY_
double	wVeloInstZ_
int	wVeloInstFlag_
double	wVeloEarthN_
double	wVeloEarthE_
double	wVeloEarthD_
int	wVeloEarthFlag_
double	magDeviationDeg_
double	magVariationDeg_
double	rollOffset_
double	pitchOffset_
double	rollDeg_
double	pitchDeg_
double	compassHeadingDeg_
double	magneticHeadingDeg_
double	headingDeg_
Point6D	orientationVector_
Matrix3x3	orientationMatrix_
double	altEstimate_
float	temp_
float	press_
float	salinity_
float	sndSpeed_
int	cksum_
float	speedGnd_
float	speedWater_

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...

Constructor & Destructor Documentation

DVL_micro::DVL_micro

(

const Module *

module

)

References alt1Writer_, alt2Writer_, alt3Writer_, alt4Writer_, altitudeWriter_, beam1Writer_, beam2Writer_, beam3Writer_, beam4Writer_, Units::DEGREE, UniversalURI::DEPTH, depthReader_, DVL_M_ACCURACY, DVL_RPH_ACCURACY, Point3D::getMagnitude(), headingReader_, headingWriter_, UniversalURI::HEIGHT_ABOVE_SEA_FLOOR, UniversalURI::LATITUDE, latitudeReader_, UniversalURI::LONGITUDE, longitudeReader_, magDeviationCfgReader_, magneticHeadingWriter_, Units::METER, Units::METER_PER_SECOND, Component::newConfigReader(), Component::newDataWriter(), Component::newUniversalBlobWriter(), Component::newUniversalReader(), Component::newUniversalWriter(), Units::NONE, orientationMatrixWriter_, pitchOffsetCfgReader_, pitchReader_, pitchWriter_, UniversalURI::PLATFORM_MAGNETIC_ORIENTATION, UniversalURI::PLATFORM_ORIENTATION, UniversalURI::PLATFORM_ORIENTATION_MATRIX, UniversalURI::PLATFORM_PITCH_ANGLE, UniversalURI::PLATFORM_ROLL_ANGLE, UniversalURI::PLATFORM_VELOCITY_WRT_GROUND, UniversalURI::PLATFORM_VELOCITY_WRT_SEA_WATER, UniversalURI::PLATFORM_X_VELOCITY_CURRENT, UniversalURI::PLATFORM_X_VELOCITY_WRT_GROUND, UniversalURI::PLATFORM_X_VELOCITY_WRT_SEA_WATER, UniversalURI::PLATFORM_Y_VELOCITY_CURRENT, UniversalURI::PLATFORM_Y_VELOCITY_WRT_GROUND, UniversalURI::PLATFORM_Y_VELOCITY_WRT_SEA_WATER, UniversalURI::PLATFORM_Z_VELOCITY_CURRENT, UniversalURI::PLATFORM_Z_VELOCITY_WRT_GROUND, UniversalURI::PLATFORM_Z_VELOCITY_WRT_SEA_WATER, rollOffsetCfgReader_, rollReader_, rollWriter_, Component::setRunState(), Component::START, statusWriter_, velocityWrtGroundWriter_, velocityWrtSeaWriter_, veloInstFlagWriter_, wVeloInstFlagWriter_, xVelCurrentWriter_, xVelWrtGroundWriter_, xVelWrtSeaWriter_, yVelCurrentWriter_, yVelWrtGroundWriter_, yVelWrtSeaWriter_, zVelCurrentWriter_, zVelWrtGroundWriter_, and zVelWrtSeaWriter_.

DVL_micro::~DVL_micro ( )

virtual

DVL_micro::DVL_micro ( const DVL_micro &  old )

private

Member Function Documentation

void DVL_micro::endPing ( )

private

References debug_, UartStream::flush(), Syslog::INFO, Component::logger_, pingRequested_, Component::simulateHardware(), Logger::syslog(), and uart_.

Referenced by pause(), readNQ1(), start(), starting(), and uninitialize().

ConfigURI DVL_micro::getConfigURI ( ConfigOption  configOption ) const

virtual

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

Reimplemented from Component.

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

bool DVL_micro::isAHRSRequested ( )

private

References headingWriter_, DataWriter::isDataRequested(), magneticHeadingWriter_, pitchWriter_, and rollWriter_.

Referenced by isDataRequested().

bool DVL_micro::isDataRequested ( )

private

References isAHRSRequested(), isPingRequested(), and nq1Requested_.

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

bool DVL_micro::isPingRequested ( )

private

References altitudeWriter_, DataWriter::isDataRequested(), orientationMatrixWriter_, velocityWrtGroundWriter_, velocityWrtSeaWriter_, xVelWrtGroundWriter_, xVelWrtSeaWriter_, yVelWrtGroundWriter_, yVelWrtSeaWriter_, zVelWrtGroundWriter_, and zVelWrtSeaWriter_.

Referenced by isDataRequested().

void DVL_micro::logVoltageAndCurrent

(

)

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 DVL_micro::parseNQ1 ( const char *  nq1 )

private

References altEstimate_, altitude1_, altitude2_, altitude3_, altitude4_, beam1_, beam2_, beam3_, beam4_, cksum_, compassHeadingDeg_, DVL_DATA_ITEMS, Syslog::ERROR, Component::logger_, pitchDeg_, press_, rollDeg_, salinity_, sndSpeed_, status_, Logger::syslog(), temp_, veloEarthD_, veloEarthE_, veloEarthFlag_, veloEarthN_, veloInstFlag_, veloInstX_, veloInstY_, veloInstZ_, veloRad1_, veloRad2_, veloRad3_, veloRad4_, wveloCredit1_, wveloCredit2_, wveloCredit3_, wveloCredit4_, wVeloEarthD_, wVeloEarthE_, wVeloEarthFlag_, wVeloEarthN_, wVeloInstFlag_, wVeloInstX_, wVeloInstY_, wVeloInstZ_, wveloRad1_, wveloRad2_, wveloRad3_, and wveloRad4_.

Referenced by readNQ1().

Component::RunState DVL_micro::pause ( )

virtual

Pause for a short period (indicated by pauseTime)

Reimplemented from Component.

References altitudeWriter_, UartStream::close(), debug_, endPing(), Syslog::FAULT, FailureMode::HARDWARE, headingWriter_, Syslog::INFO, loadControl_, Component::logger_, magneticHeadingWriter_, Component::PAUSED, pitchWriter_, LoadControl::powerDown(), rollWriter_, setAcousticWritersInvalid(), Component::setFailure(), DataWriter::setInvalid(), Component::simulateHardware(), Component::STOP, Logger::syslog(), and uart_.

Component::RunState DVL_micro::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 DVL_micro::processNQ1 ( void  )

private

References altEstimate_, altitudeWriter_, beam1_, beam2_, beam3_, beam4_, compassHeadingDeg_, D2R, Syslog::DEBUG, MagneticVariation::Degree(), Units::DEGREE, dvlTimeoutArmed_, headingDeg_, headingWriter_, DataReader::isActive(), latitudeReader_, Component::logger_, longitudeReader_, magDeviationDeg_, magneticHeadingDeg_, magneticHeadingWriter_, magVariationDeg_, orientationMatrix_, orientationMatrixWriter_, orientationVector_, pitchDeg_, pitchOffset_, pitchWriter_, DataReader::read(), rollDeg_, rollOffset_, rollWriter_, setAcousticWritersInvalid(), DataWriter::setInvalid(), Point3D::setU(), Point3D::setV(), Point3D::setW(), startTime_, status_, Logger::syslog(), velocityWrtGroundWriter_, velocityWrtSeaWriter_, veloEarthD_, veloEarthE_, veloEarthN_, veloInst_, veloInstFlag_, veloInstX_, veloInstY_, veloInstZ_, wVeloEarthD_, wVeloEarthE_, wVeloEarthN_, wVeloInst_, wVeloInstFlag_, wVeloInstX_, wVeloInstY_, wVeloInstZ_, xVelCurrentWriter_, xVelWrtGroundWriter_, xVelWrtSeaWriter_, yVelCurrentWriter_, yVelWrtGroundWriter_, yVelWrtSeaWriter_, zVelCurrentWriter_, zVelWrtGroundWriter_, and zVelWrtSeaWriter_.

Referenced by runnable().

void DVL_micro::readConfig ( void  )

private

References Units::DEGREE, magDeviationCfgReader_, magDeviationDeg_, pitchOffset_, pitchOffsetCfgReader_, DataReader::read(), rollOffset_, and rollOffsetCfgReader_.

Referenced by runnable(), and start().

bool DVL_micro::readNQ1 ( void  )

private

References UartStream::canReadUntil(), FailureMode::COMMUNICATIONS, deviceResponse_, endPing(), Syslog::ERROR, UartStream::errorString(), UartStream::hasError(), Component::logger_, NQ1_MSG, parseNQ1(), UartStream::readLine(), setAcousticWritersInvalid(), Component::setFailure(), Component::setRunState(), stop(), Logger::syslog(), and uart_.

Referenced by runnable().

virtual RunState DVL_micro::resetting ( )

inlinevirtual

Might occur in case of Error.

Reimplemented from Component.

References stop().

Component::RunState DVL_micro::resume ( )

virtual

Resume from PAUSE.

Reimplemented from Component.

References FailureMode::COMMUNICATIONS, debug_, UartStream::enableUART(), Syslog::ERROR, UartStream::errorString(), Syslog::FAULT, UartStream::flush(), FailureMode::HARDWARE, UartStream::hasError(), Syslog::INFO, loadControl_, Component::logger_, UartStream::open(), LoadControl::powerUp(), Component::RESUMING, Component::setFailure(), Component::simulateHardware(), Component::STOP, Logger::syslog(), and uart_.

Component::RunState DVL_micro::resuming ( )

virtual

Might follow a PAUSE...RESUME sequence.

Reimplemented from Component.

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

void DVL_micro::run ( void  )

virtual

The actual "payload" of the component.

Reimplemented from Component.

Component::RunState DVL_micro::runnable ( )

virtual

Should eventually follow a START request or RESETTING.

Reimplemented from Component.

References FailureMode::COMMUNICATIONS, FailureMode::DATA, debug_, dvlFailTime_, dvlFailTimeout_, dvlTimeout_, dvlTimeoutArmed_, Timestamp::elapsed(), Syslog::ERROR, Syslog::FAULT, hasNQ1_, Syslog::INFO, isDataRequested(), Component::logger_, logVoltageAndCurrent(), Timestamp::Now(), Component::PAUSE, pingRequested_, processNQ1(), readConfig(), readNQ1(), Component::resetFailCount(), Component::RUNNABLE, Component::setFailure(), simNQ1(), Component::simulateHardware(), startPing(), startTime_, Component::STOP, Logger::syslog(), and writeData().

void DVL_micro::setAcousticWritersInvalid ( bool  invalid )

private

References alt1Writer_, alt2Writer_, alt3Writer_, alt4Writer_, beam1Writer_, beam2Writer_, beam3Writer_, beam4Writer_, DataWriter::setInvalid(), statusWriter_, velocityWrtGroundWriter_, velocityWrtSeaWriter_, veloInstFlagWriter_, wVeloInstFlagWriter_, xVelCurrentWriter_, xVelWrtGroundWriter_, xVelWrtSeaWriter_, yVelCurrentWriter_, yVelWrtGroundWriter_, yVelWrtSeaWriter_, zVelCurrentWriter_, zVelWrtGroundWriter_, and zVelWrtSeaWriter_.

Referenced by pause(), processNQ1(), readNQ1(), and stop().

bool DVL_micro::simNQ1 ( void  )

private

References altEstimate_, SimSlate::ALTITUDE_METER, beam1_, beam2_, beam3_, beam4_, compassHeadingDeg_, dvlTimeoutArmed_, SimSlate::HEADING_RADIAN, magDeviationDeg_, magVariationDeg_, SimSlate::PITCH_RADIAN, pitchDeg_, pitchOffset_, AuvMath::RAD_TO_DEG, SimSlate::Read(), SimSlate::ROLL_RADIAN, rollDeg_, rollOffset_, SimSlate::VELOCITY_X_WRT_GROUND_METER_PER_SECOND, SimSlate::VELOCITY_Y_WRT_GROUND_METER_PER_SECOND, SimSlate::VELOCITY_Z_WRT_GROUND_METER_PER_SECOND, veloInstFlag_, veloInstX_, veloInstY_, veloInstZ_, SimSlate::WATER_VELOCITY_X_METER_PER_SECOND, SimSlate::WATER_VELOCITY_Y_METER_PER_SECOND, SimSlate::WATER_VELOCITY_Z_METER_PER_SECOND, wVeloInstFlag_, wVeloInstX_, wVeloInstY_, and wVeloInstZ_.

Referenced by runnable().

Component::RunState DVL_micro::start ( )

virtual

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

Reimplemented from Component.

References FailureMode::COMMUNICATIONS, debug_, MagneticVariation::Degree(), Units::DEGREE, deviceResponse_, UartStream::enableUART(), endPing(), Syslog::ERROR, UartStream::errorString(), Syslog::FAULT, UartStream::flush(), FailureMode::HARDWARE, UartStream::hasError(), Syslog::INFO, isDataRequested(), loadControl_, Component::logger_, magVariationDeg_, Timestamp::Now(), UartStream::open(), Component::PAUSE, LoadControl::powerUp(), readConfig(), Slate::ReadOnce(), Component::setAllowableFailures(), Component::setFailure(), Component::setRetryTimeout(), Component::simulateHardware(), Component::START, Component::STARTING, Component::STOP, Logger::syslog(), and uart_.

Referenced by stopped().

Component::RunState DVL_micro::starting ( )

virtual

Might follow a STOP...START sequence.

Reimplemented from Component.

References FailureMode::COMMUNICATIONS, UartStream::dataAvailable(), debug_, dvlTimeout_, Timestamp::elapsed(), endPing(), Syslog::ERROR, Syslog::INFO, Component::logger_, pingRequested_, Component::RUNNABLE, Component::setFailure(), Component::simulateHardware(), Component::STARTING, startPing(), startTime_, Component::STOP, Logger::syslog(), and uart_.

void DVL_micro::startPing ( )

private

References debug_, UartStream::flush(), Syslog::INFO, Component::logger_, Timestamp::Now(), pingRequested_, Component::simulateHardware(), startTime_, Logger::syslog(), and uart_.

Referenced by resuming(), runnable(), and starting().

Component::RunState DVL_micro::stop ( )

virtual

Initial state – can be later followed by START.

Reimplemented from Component.

References altitudeWriter_, debug_, headingWriter_, Syslog::INFO, Component::logger_, magneticHeadingWriter_, pitchWriter_, rollWriter_, setAcousticWritersInvalid(), DataWriter::setInvalid(), Component::STOPPING, Logger::syslog(), and uninitialize().

Referenced by logVoltageAndCurrent(), readNQ1(), resetting(), and stopped().

Component::RunState DVL_micro::stopped ( )

virtual

Should eventually follow a STOP request.

Reimplemented from Component.

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

Component::RunState DVL_micro::stopping ( )

virtual

Might follow a STOP request.

Reimplemented from Component.

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

void DVL_micro::uninitialize ( void  )

virtual

Provide a space for uninitialization.

Reimplemented from Component.

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

Referenced by stop().

void DVL_micro::writeData ( void  )

private

References alt1Writer_, alt2Writer_, alt3Writer_, alt4Writer_, altEstimate_, altitude1_, altitude2_, altitude3_, altitude4_, altitudeWriter_, beam1_, beam1Writer_, beam2_, beam2Writer_, beam3_, beam3Writer_, beam4_, beam4Writer_, Units::COUNT, Units::DEGREE, headingDeg_, headingWriter_, magneticHeadingDeg_, magneticHeadingWriter_, Units::METER, Units::MILLIMETER_PER_SECOND, Units::NONE, Timestamp::Now(), orientationMatrix_, orientationMatrixWriter_, pitchDeg_, pitchWriter_, rollDeg_, rollWriter_, startTime_, status_, statusWriter_, velocityWrtGroundWriter_, velocityWrtSeaWriter_, veloInst_, veloInstFlag_, veloInstFlagWriter_, veloInstX_, veloInstY_, veloInstZ_, DataWriter::write(), AbstractBlobWriter::write1DClass(), AbstractBlobWriter::write2DClass(), wVeloInst_, wVeloInstFlag_, wVeloInstFlagWriter_, wVeloInstX_, wVeloInstY_, wVeloInstZ_, xVelCurrentWriter_, xVelWrtGroundWriter_, xVelWrtSeaWriter_, yVelCurrentWriter_, yVelWrtGroundWriter_, yVelWrtSeaWriter_, zVelCurrentWriter_, zVelWrtGroundWriter_, and zVelWrtSeaWriter_.

Referenced by runnable().

Member Data Documentation

DataWriter* DVL_micro::alt1Writer_

private

Referenced by DVL_micro(), setAcousticWritersInvalid(), and writeData().

DataWriter* DVL_micro::alt2Writer_

private

Referenced by DVL_micro(), setAcousticWritersInvalid(), and writeData().

DataWriter* DVL_micro::alt3Writer_

private

Referenced by DVL_micro(), setAcousticWritersInvalid(), and writeData().

DataWriter* DVL_micro::alt4Writer_

private

Referenced by DVL_micro(), setAcousticWritersInvalid(), and writeData().

double DVL_micro::altEstimate_

private

Referenced by parseNQ1(), processNQ1(), simNQ1(), and writeData().

float DVL_micro::altitude1_

private

Referenced by parseNQ1(), and writeData().

float DVL_micro::altitude2_

private

Referenced by parseNQ1(), and writeData().

float DVL_micro::altitude3_

private

Referenced by parseNQ1(), and writeData().

float DVL_micro::altitude4_

private

Referenced by parseNQ1(), and writeData().

UniversalDataWriter* DVL_micro::altitudeWriter_

private

Referenced by DVL_micro(), isPingRequested(), pause(), processNQ1(), stop(), and writeData().

int DVL_micro::beam1_

private

Referenced by parseNQ1(), processNQ1(), simNQ1(), and writeData().

DataWriter* DVL_micro::beam1Writer_

private

Referenced by DVL_micro(), setAcousticWritersInvalid(), and writeData().

int DVL_micro::beam2_

private

Referenced by parseNQ1(), processNQ1(), simNQ1(), and writeData().

DataWriter* DVL_micro::beam2Writer_

private

Referenced by DVL_micro(), setAcousticWritersInvalid(), and writeData().

int DVL_micro::beam3_

private

Referenced by parseNQ1(), processNQ1(), simNQ1(), and writeData().

DataWriter* DVL_micro::beam3Writer_

private

Referenced by DVL_micro(), setAcousticWritersInvalid(), and writeData().

int DVL_micro::beam4_

private

Referenced by parseNQ1(), processNQ1(), simNQ1(), and writeData().

DataWriter* DVL_micro::beam4Writer_

private

Referenced by DVL_micro(), setAcousticWritersInvalid(), and writeData().

int DVL_micro::cksum_

private

Referenced by parseNQ1().

double DVL_micro::compassHeadingDeg_

private

Referenced by parseNQ1(), processNQ1(), and simNQ1().

bool DVL_micro::debug_

private

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

UniversalDataReader* DVL_micro::depthReader_

private

Referenced by DVL_micro().

char DVL_micro::deviceResponse_[UART_BUFSIZE]

private

Referenced by readNQ1(), and start().

Timestamp DVL_micro::dvlFailTime_

private

Referenced by runnable().

Timespan DVL_micro::dvlFailTimeout_

private

Referenced by runnable().

Timespan DVL_micro::dvlTimeout_

private

Referenced by runnable(), and starting().

bool DVL_micro::dvlTimeoutArmed_

private

Referenced by processNQ1(), runnable(), and simNQ1().

bool DVL_micro::hasNQ1_

private

Referenced by runnable().

double DVL_micro::headingDeg_

private

Referenced by processNQ1(), and writeData().

UniversalDataReader* DVL_micro::headingReader_

private

Referenced by DVL_micro().

UniversalDataWriter* DVL_micro::headingWriter_

private

Referenced by DVL_micro(), isAHRSRequested(), pause(), processNQ1(), stop(), and writeData().

UniversalDataReader* DVL_micro::latitudeReader_

private

Referenced by DVL_micro(), and processNQ1().

LoadControl DVL_micro::loadControl_

private

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

UniversalDataReader* DVL_micro::longitudeReader_

private

Referenced by DVL_micro(), and processNQ1().

ConfigReader* DVL_micro::magDeviationCfgReader_

private

Referenced by DVL_micro(), and readConfig().

double DVL_micro::magDeviationDeg_

private

Referenced by processNQ1(), readConfig(), and simNQ1().

double DVL_micro::magneticHeadingDeg_

private

Referenced by processNQ1(), and writeData().

UniversalDataWriter* DVL_micro::magneticHeadingWriter_

private

Referenced by DVL_micro(), isAHRSRequested(), pause(), processNQ1(), stop(), and writeData().

double DVL_micro::magVariationDeg_

private

Referenced by processNQ1(), simNQ1(), and start().

bool DVL_micro::nq1Requested_

private

Referenced by isDataRequested().

Matrix3x3 DVL_micro::orientationMatrix_

private

Referenced by processNQ1(), and writeData().

UniversalBlobWriter* DVL_micro::orientationMatrixWriter_

private

Referenced by DVL_micro(), isPingRequested(), processNQ1(), and writeData().

Point6D DVL_micro::orientationVector_

private

Referenced by processNQ1().

bool DVL_micro::pingRequested_

private

Referenced by endPing(), runnable(), starting(), and startPing().

double DVL_micro::pitchDeg_

private

Referenced by parseNQ1(), processNQ1(), simNQ1(), and writeData().

double DVL_micro::pitchOffset_

private

Referenced by processNQ1(), readConfig(), and simNQ1().

ConfigReader* DVL_micro::pitchOffsetCfgReader_

private

Referenced by DVL_micro(), and readConfig().

UniversalDataReader* DVL_micro::pitchReader_

private

Referenced by DVL_micro().

UniversalDataWriter* DVL_micro::pitchWriter_

private

Referenced by DVL_micro(), isAHRSRequested(), pause(), processNQ1(), stop(), and writeData().

float DVL_micro::press_

private

Referenced by parseNQ1().

double DVL_micro::rollDeg_

private

Referenced by parseNQ1(), processNQ1(), simNQ1(), and writeData().

double DVL_micro::rollOffset_

private

Referenced by processNQ1(), readConfig(), and simNQ1().

ConfigReader* DVL_micro::rollOffsetCfgReader_

private

Referenced by DVL_micro(), and readConfig().

UniversalDataReader* DVL_micro::rollReader_

private

Referenced by DVL_micro().

UniversalDataWriter* DVL_micro::rollWriter_

private

Referenced by DVL_micro(), isAHRSRequested(), pause(), processNQ1(), stop(), and writeData().

float DVL_micro::salinity_

private

Referenced by parseNQ1().

float DVL_micro::sndSpeed_

private

Referenced by parseNQ1().

float DVL_micro::speedGnd_

private

float DVL_micro::speedWater_

private

Timestamp DVL_micro::startTime_

private

Referenced by processNQ1(), runnable(), starting(), startPing(), and writeData().

int DVL_micro::status_

private

Referenced by parseNQ1(), processNQ1(), and writeData().

DataWriter* DVL_micro::statusWriter_

private

Referenced by DVL_micro(), setAcousticWritersInvalid(), and writeData().

float DVL_micro::temp_

private

Referenced by parseNQ1().

UartStream DVL_micro::uart_

private

Referenced by endPing(), pause(), readNQ1(), resume(), start(), starting(), startPing(), stopped(), and uninitialize().

UniversalBlobWriter* DVL_micro::velocityWrtGroundWriter_

private

Referenced by DVL_micro(), isPingRequested(), processNQ1(), setAcousticWritersInvalid(), and writeData().

UniversalBlobWriter* DVL_micro::velocityWrtSeaWriter_

private

Referenced by DVL_micro(), isPingRequested(), processNQ1(), setAcousticWritersInvalid(), and writeData().

double DVL_micro::veloEarthD_

private

Referenced by parseNQ1(), and processNQ1().

double DVL_micro::veloEarthE_

private

Referenced by parseNQ1(), and processNQ1().

int DVL_micro::veloEarthFlag_

private

Referenced by parseNQ1().

double DVL_micro::veloEarthN_

private

Referenced by parseNQ1(), and processNQ1().

Point3D DVL_micro::veloInst_

private

Referenced by processNQ1(), and writeData().

int DVL_micro::veloInstFlag_

private

Referenced by parseNQ1(), processNQ1(), simNQ1(), and writeData().

DataWriter* DVL_micro::veloInstFlagWriter_

private

Referenced by DVL_micro(), setAcousticWritersInvalid(), and writeData().

double DVL_micro::veloInstX_

private

Referenced by parseNQ1(), processNQ1(), simNQ1(), and writeData().

double DVL_micro::veloInstY_

private

Referenced by parseNQ1(), processNQ1(), simNQ1(), and writeData().

double DVL_micro::veloInstZ_

private

Referenced by parseNQ1(), processNQ1(), simNQ1(), and writeData().

double DVL_micro::veloRad1_

private

Referenced by parseNQ1().

double DVL_micro::veloRad2_

private

Referenced by parseNQ1().

double DVL_micro::veloRad3_

private

Referenced by parseNQ1().

double DVL_micro::veloRad4_

private

Referenced by parseNQ1().

float DVL_micro::wveloCredit1_

private

Referenced by parseNQ1().

float DVL_micro::wveloCredit2_

private

Referenced by parseNQ1().

float DVL_micro::wveloCredit3_

private

Referenced by parseNQ1().

float DVL_micro::wveloCredit4_

private

Referenced by parseNQ1().

double DVL_micro::wVeloEarthD_

private

Referenced by parseNQ1(), and processNQ1().

double DVL_micro::wVeloEarthE_

private

Referenced by parseNQ1(), and processNQ1().

int DVL_micro::wVeloEarthFlag_

private

Referenced by parseNQ1().

double DVL_micro::wVeloEarthN_

private

Referenced by parseNQ1(), and processNQ1().

Point3D DVL_micro::wVeloInst_

private

Referenced by processNQ1(), and writeData().

int DVL_micro::wVeloInstFlag_

private

Referenced by parseNQ1(), processNQ1(), simNQ1(), and writeData().

DataWriter* DVL_micro::wVeloInstFlagWriter_

private

Referenced by DVL_micro(), setAcousticWritersInvalid(), and writeData().

double DVL_micro::wVeloInstX_

private

Referenced by parseNQ1(), processNQ1(), simNQ1(), and writeData().

double DVL_micro::wVeloInstY_

private

Referenced by parseNQ1(), processNQ1(), simNQ1(), and writeData().

double DVL_micro::wVeloInstZ_

private

Referenced by parseNQ1(), processNQ1(), simNQ1(), and writeData().

double DVL_micro::wveloRad1_

private

Referenced by parseNQ1().

double DVL_micro::wveloRad2_

private

Referenced by parseNQ1().

double DVL_micro::wveloRad3_

private

Referenced by parseNQ1().

double DVL_micro::wveloRad4_

private

Referenced by parseNQ1().

UniversalDataWriter* DVL_micro::xVelCurrentWriter_

private

Referenced by DVL_micro(), processNQ1(), setAcousticWritersInvalid(), and writeData().

UniversalDataWriter* DVL_micro::xVelWrtGroundWriter_

private

Referenced by DVL_micro(), isPingRequested(), processNQ1(), setAcousticWritersInvalid(), and writeData().

UniversalDataWriter* DVL_micro::xVelWrtSeaWriter_

private

Referenced by DVL_micro(), isPingRequested(), processNQ1(), setAcousticWritersInvalid(), and writeData().

UniversalDataWriter* DVL_micro::yVelCurrentWriter_

private

Referenced by DVL_micro(), processNQ1(), setAcousticWritersInvalid(), and writeData().

UniversalDataWriter* DVL_micro::yVelWrtGroundWriter_

private

Referenced by DVL_micro(), isPingRequested(), processNQ1(), setAcousticWritersInvalid(), and writeData().

UniversalDataWriter* DVL_micro::yVelWrtSeaWriter_

private

Referenced by DVL_micro(), isPingRequested(), processNQ1(), setAcousticWritersInvalid(), and writeData().

UniversalDataWriter* DVL_micro::zVelCurrentWriter_

private

Referenced by DVL_micro(), processNQ1(), setAcousticWritersInvalid(), and writeData().

UniversalDataWriter* DVL_micro::zVelWrtGroundWriter_

private

Referenced by DVL_micro(), isPingRequested(), processNQ1(), setAcousticWritersInvalid(), and writeData().

UniversalDataWriter* DVL_micro::zVelWrtSeaWriter_

private

Referenced by DVL_micro(), isPingRequested(), processNQ1(), setAcousticWritersInvalid(), and writeData().

---

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

• /Volumes/ubuntu_share/lrauv-application/Source/sensorModule/DVL_micro.h
• /Volumes/ubuntu_share/lrauv-application/Source/sensorModule/DVL_micro.cpp