Dead Reckoning navigator using multiple sources for velocity: More...

#include <DeadReckonUsingMultipleVelocitySources.h>

Inheritance diagram for DeadReckonUsingMultipleVelocitySources:

Collaboration diagram for DeadReckonUsingMultipleVelocitySources:

Public Member Functions
	DeadReckonUsingMultipleVelocitySources (const Module *module)

virtual	~DeadReckonUsingMultipleVelocitySources ()

void	initialize (void)
	Provide a space for initialization before being run. More...

Public Member Functions inherited from DeadReckoner
	DeadReckoner (const Str &name, const Module *module)

virtual	~DeadReckoner ()

void	run (void)
	The actual "payload" of the component. More...

Public Member Functions inherited from Navigator
	Navigator (const Str &name, const Module *module)

virtual	~Navigator ()

Public Member Functions inherited from SyncComponent
CycleOrder	getCycleOrder (void)
	Getter function for controlThreadOrderPreference. More...

void	setRepeating (bool repeating)

int	getDivisor () const

int	getModulo () const

bool	isRepeater ()

bool	isRepeating ()

Public Member Functions inherited from Component
virtual	~Component ()
	Destructor cleans up readers_ and writers_. More...

void	registerReader (DataReader *reader)

void	unregisterReader (DataReader *reader)

void	registerWriter (DataWriter *writer)

void	unregisterWriter (DataWriter *writer)

void	disableMetering (void)

FlexArray< DataReader * > &	getReaderList (void)

FlexArray< DataWriter * > &	getWriterList (void)

const Module *	getModule ()

virtual void	configure ()
	Read (or re-read!) configuration settings. More...

virtual void	execute (void)

virtual void	uninitialize ()
	Provide a space for uninitialization. More...

bool	isActive () const
	Indicates if the component is active. More...

const CodedStr &	getName (void) const
	Returns the name. More...

const Timestamp &	getTimeOfLastRun (void) const

ComponentState	getState (void)
	Return the component's current state. More...

void	setState (ComponentState state)

RunState	getRunState (void)
	Return the component's run state. More...

bool	isUsingRunState ()
	Return true if using runState. More...

void	requestData (bool requestingData)
	Tell the component to start (or stop) sending data. More...

void	requestStart ()
	Tell the component to start runnning. More...

void	requestPause (const Timespan expectedPauseTime)
	Tell the component to pause runnning. More...

void	requestResume ()
	Tell the component resume from pause. More...

void	requestStop ()
	Tell the component to stop runnning. More...

virtual RunState	start ()
	Do what needs to be done to run Similar to initialize, in old init/run/uninit sequence. More...

virtual RunState	starting ()
	Might follow a STOP...START sequence Subseqent. More...

virtual RunState	runnable ()
	Should eventually follow a START request or RESETTING. More...

virtual RunState	satisfied ()
	Possible return value of a Behavior. More...

virtual RunState	pause ()
	Pause for a short period (indicated by pauseTime) More...

virtual RunState	pausing ()
	Might follow a PAUSE request. More...

virtual RunState	paused ()
	Should eventually follow a PAUSE request: should set continueTime. More...

virtual RunState	resume ()
	Resume from PAUSE. More...

virtual RunState	resuming ()
	Might follow a PAUSE...RESUME sequence. More...

virtual RunState	resetting ()
	Might occur in case of Error. More...

virtual RunState	stop ()
	Initial state – can be later followed by START. More...

virtual RunState	stopping ()
	Might follow a STOP request. More...

virtual RunState	stopped ()
	Should eventually follow a STOP request. More...

void	setCriticalFailureReported (bool boolVal)

void	setRecoveringFromCritical (bool boolVal)

void	setFailureReported (bool boolVal)

bool	isFailureUninitialized ()

void	setFailureUninitialized (bool boolVal)

void	setRetryTimeout (const Timespan &timeout)

virtual bool	isCompleted (void)
	Query if this component is completed. More...

void	setPeriod (const Timespan &period)
	Set the period of this component... used if it is periodic. More...

const Timespan &	getPeriod (void)
	Returns the component's period (regardless of whether it is periodic) More...

ComponentType	getComponentType ()
	Getter function for ComponentType. More...

virtual bool	isFailed (void) const

virtual FailureMode::FailType	getFailureType (void) const

virtual bool	getCriticalFailureReported (void) const

virtual bool	getFailureReported (void) const

virtual Timespan	getRetryTimeout (void) const

virtual FailureMode::FailType	setFailure (FailureMode::FailType failureType)

virtual int	getFailCount (void) const

virtual bool	isFailureMissionCritical ()

virtual int	getAllowableFailures (void) const

virtual void	setAllowableFailures (int fails)

Logger &	getLogger (void)

virtual int	incrementFailCount (void)

virtual void	resetFailCount (void)

virtual int	getSkippedRunsSinceFail (void) const

virtual int	incrementSkippedRunsSinceFail (void)

virtual void	logVoltage (float voltage, float averageVoltage)

virtual void	logCurrent (float current, float averageCurrent)

const Timestamp &	getWriteTimestamp (void)

void	setWriteTimestamp (const Timestamp &writeTimestamp)

BlobReader *	newBlobReader (const BlobURI &blobURI)

BlobReader *	newBlobReaderFromUniversal (const Str &componentName, const UniversalBlobURI &blobURI)

BlobWriter *	newBlobWriter (const BlobURI &blobURI, Logger::TimePrecisionType timePrecision=Logger::TIME_PRECISION_MILLIS)

ConfigReader *	newConfigReader (const ConfigURI &configURI)

DataReader *	newDataReader (const DataURI &dataURI)

DataReader *	newDataReaderFromUniversal (const Str &componentName, const UniversalURI &universalURI)

DataWriter *	newDataWriter (const DataURI &dataURI, Logger::TimePrecisionType timePrecision=Logger::TIME_PRECISION_MILLIS)

UniversalBlobReader *	newUniversalBlobReader (const UniversalBlobURI &universalURI)

UniversalBlobWriter *	newUniversalBlobWriter (const UniversalBlobURI &universalURI, const Unit &accuracyUnit=Units::NONE, const float accuracy=DataElement::NO_ACCURACY, Logger::TimePrecisionType timePrecision=Logger::TIME_PRECISION_MILLIS)

UniversalDataReader *	newUniversalReader (const UniversalURI &universalURI)

UniversalDataWriter *	newUniversalWriter (const UniversalURI &universalURI, const Unit &accuracyUnit=Units::NONE, const float accuracy=DataElement::NO_ACCURACY, Logger::TimePrecisionType timePrecision=Logger::TIME_PRECISION_MILLIS)

Protected Member Functions
void	readVehicleVelocity (void)

Protected Member Functions inherited from DeadReckoner
virtual void	deadReckon (void)

Protected Member Functions inherited from Navigator
void	readConfigs (void)

void	readExternalFix (void)

void	readVehicleOrientation (void)

void	writeVehiclePosition (void)

void	evaluateAndRecordFixResidual (void)

Protected Member Functions inherited from SyncNavigationComponent
	SyncNavigationComponent (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) 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 ()

Protected Attributes
UniversalBlobReader *	velocityBottomReader_

UniversalBlobReader *	velocityWaterReader_

UniversalDataReader *	speedWaterReader_

DataReader *	speedCalculatorReader_

DataWriter *	velocitySourceWriter_

DataWriter *	cyclesSinceSuccessfulReadWriter_

int	velocitySource_

int	cyclesSinceSuccessfulRead_

int	maxCyclesToUseSameData_

Protected Attributes inherited from DeadReckoner
double	elapsedTime_

double	course_

double	speed_

double	speedAccuracy_

double	distance_

double	northing_

double	easting_

double	horizontalDisplacement_

Protected Attributes inherited from Navigator
ConfigReader *	verbosityLevelConfigReader_

ConfigReader *	allowableFailuresConfigReader_

ConfigReader *	accuracyPremultiplierConfigReader_

ConfigReader *	orientationStaleAfterConfigReader_

ConfigReader *	velocityStaleAfterConfigReader_

UniversalDataReader *	timeFixReader_

UniversalDataReader *	latitudeFixReader_

UniversalDataReader *	longitudeFixReader_

UniversalBlobReader *	vehicleOrientationReader_

UniversalDataWriter *	latitudeWriter_

UniversalDataWriter *	longitudeWriter_

UniversalDataWriter *	depthWriter_

UniversalDataWriter *	horizontalPathLengthSinceLastFixWriter_

UniversalDataWriter *	fixDistanceMadeGoodWriter_

UniversalDataWriter *	fixHorizontalPathLengthSinceLastFixWriter_

UniversalDataWriter *	fixResidualDistanceWriter_

UniversalDataWriter *	fixResidualBearingWriter_

UniversalDataWriter *	fixResidualPercentDistanceTraveledWriter_

DataWriter *	elapsedSinceOrientationReadWriter_

DataWriter *	elapsedSinceVelocityReadWriter_

int	verbosity_

int	allowableFailures_

double	accuracyPremultiplier_

int	inputMeasurementStartupAllowance_

Timestamp	startTime_

Timestamp	navTimeStamp_

Timestamp	orientationReadTime_

Timestamp	velocityReadTime_

Timespan	orientationStaleAfter_

Timespan	velocityStaleAfter_

double	timeFix_

double	latitudeFix_

double	longitudeFix_

double	lastTimeFix_

double	lastLatitudeFix_

double	lastLongitudeFix_

double	horizontalPathLengthSinceLastFix_

Point3D	velocityRelativeToGroundInVehicleFrame_

Matrix3x3	rotationFromVehicleToNavigationFrame_

Point3D	velocityRelativeToGroundInNavigationFrame_

Point3D	displacementRelativeToGroundInNavigationFrame_

double	latitude_

double	longitude_

double	depth_

double	lastLatitude_

double	lastLongitude_

double	lastDepth_

double	timeAccuracy_

double	latitudeAccuracy_

double	longitudeAccuracy_

double	depthAccuracy_

double	horizontalPathLengthSinceLastFixAccuracy_

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...

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 }

Detailed Description

Dead Reckoning navigator using multiple sources for velocity:

first choice: UniversalURI::PLATFORM_VELOCITY_WRT_GROUND second choice: UniversalURI::PLATFORM_VELOCITY_WRT_SEA_WATER third choice: (deprecated) fourth choice: SpeedCalculator::PLATFORM_SPEED_WRT_SEA_WATER

TODO: In future, consider letting this navigation method account for water current relative to bottom, if there is an accurate and trusted source for that data. (See DeadReckonUsingCompactModelForecast component.)

DeadReckonUsingMultipleVelocitySources.h should only be included by DeadReckonUsingMultipleVelocitySources.cpp Other classes should include DeadReckonUsingMultipleVelocitySources.h

Constructor & Destructor Documentation

DeadReckonUsingMultipleVelocitySources::DeadReckonUsingMultipleVelocitySources ( const Module * module )

References Navigator::accuracyPremultiplierConfigReader_, Navigator::allowableFailuresConfigReader_, Navigator::elapsedSinceOrientationReadWriter_, Navigator::elapsedSinceVelocityReadWriter_, Component::newConfigReader(), Component::newDataReaderFromUniversal(), Component::newDataWriter(), Component::newUniversalBlobReader(), Navigator::orientationStaleAfterConfigReader_, UniversalURI::PLATFORM_SPEED_WRT_SEA_WATER, UniversalURI::PLATFORM_VELOCITY_WRT_GROUND, UniversalURI::PLATFORM_VELOCITY_WRT_SEA_WATER, speedCalculatorReader_, velocityBottomReader_, velocitySourceWriter_, Navigator::velocityStaleAfterConfigReader_, velocityWaterReader_, and Navigator::verbosityLevelConfigReader_.

DeadReckonUsingMultipleVelocitySources::~DeadReckonUsingMultipleVelocitySources ( )

virtual

Member Function Documentation

void DeadReckonUsingMultipleVelocitySources::initialize ( void )

virtual

Provide a space for initialization before being run.

Reimplemented from Navigator.

References Navigator::allowableFailures_, Component::logger_, Timestamp::Now(), Navigator::readConfigs(), UniversalDataReader::requestData(), DataReader::requestData(), Component::setAllowableFailures(), Component::setFailureMissionCritical(), speedCalculatorReader_, Navigator::startTime_, Logger::syslog(), Navigator::vehicleOrientationReader_, velocityBottomReader_, velocitySource_, and velocityWaterReader_.

void DeadReckonUsingMultipleVelocitySources::readVehicleVelocity ( void )

protectedvirtual

Member Data Documentation

int DeadReckonUsingMultipleVelocitySources::cyclesSinceSuccessfulRead_

protected

DataWriter* DeadReckonUsingMultipleVelocitySources::cyclesSinceSuccessfulReadWriter_

protected

int DeadReckonUsingMultipleVelocitySources::maxCyclesToUseSameData_

protected

DataReader* DeadReckonUsingMultipleVelocitySources::speedCalculatorReader_

protected

Referenced by DeadReckonUsingMultipleVelocitySources(), initialize(), and readVehicleVelocity().

UniversalDataReader* DeadReckonUsingMultipleVelocitySources::speedWaterReader_

protected

UniversalBlobReader* DeadReckonUsingMultipleVelocitySources::velocityBottomReader_

protected

Referenced by DeadReckonUsingMultipleVelocitySources(), initialize(), and readVehicleVelocity().

int DeadReckonUsingMultipleVelocitySources::velocitySource_

protected

Referenced by initialize(), and readVehicleVelocity().

DataWriter* DeadReckonUsingMultipleVelocitySources::velocitySourceWriter_

protected

Referenced by DeadReckonUsingMultipleVelocitySources(), and readVehicleVelocity().

UniversalBlobReader* DeadReckonUsingMultipleVelocitySources::velocityWaterReader_

protected

Referenced by DeadReckonUsingMultipleVelocitySources(), initialize(), and readVehicleVelocity().

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

/Volumes/ubuntu_share/lrauv-application/Source/navigationModule/DeadReckonUsingMultipleVelocitySources.h
/Volumes/ubuntu_share/lrauv-application/Source/navigationModule/DeadReckonUsingMultipleVelocitySources.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation