Contains the DepthServo Behavior/Command Uses depth, or the specified surrogate for depth to control the depth of the vehicle such that the vehicle stays at a constant depth, or other variable (if specified). More...

#include <DepthServo.h>

Inheritance diagram for DepthServo:

[legend]

Collaboration diagram for DepthServo:

[legend]

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

virtual	~DepthServo ()

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

bool	readConfig ()
	Read in relevant configuration values. More...

bool	readSettings (float &measuredValue)
	Read in settings. More...

bool	readParams ()
	Read in the parameters for satisfied or runIfUnsatisfied: return true if OK. More...

bool	calcSatisfied (const float measuredValue)
	Perform the satisfied: return true if envelope "satisfied". More...

void	run ()
	Just do the run: ignore the results of the satisfied. More...

bool	isSatisfied ()
	Just do the satisfied: return true if envelope "satisfied". More...

bool	runIfUnsatisfied ()
	Do the run, and return true if envelope "satisfied". More...

void	uninitialize (void)
	Uninit function. More...

Public Member Functions inherited from Behavior
virtual	~Behavior ()

bool	executeIfUnsatisfied ()
	Combined run and test with metrics generation. More...

virtual void	preempted ()

virtual bool	isRunnable ()

virtual bool	isSatisfiable ()

virtual bool	isCommand ()

BehaviorState	getBehaviorState () const

void	setBehaviorState (BehaviorState behaviorState)

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

SettingReader *	findSettingReader (const Str &settingURI)

SettingReader *	addValueClause (const Str &uriPart, ValueClause *valueClause)

void	addArgWriter (const Str &uriPart, DataWriter *argWriter)

const Timespan &	getTimeout ()

void	setTimeout (const Timespan &timeout)

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

void	registerReader (DataReader *reader)

void	unregisterReader (DataReader *reader)

void	registerWriter (DataWriter *writer)

void	unregisterWriter (DataWriter *writer)

void	disableMetering (void)

FlexArray< DataReader * > &	getReaderList (void)

FlexArray< DataWriter * > &	getWriterList (void)

const Module *	getModule ()

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

virtual void	execute (void)

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

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

const Timestamp &	getTimeOfLastRun (void) const

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

void	setState (ComponentState state)

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

void	setCriticalFailureReported (bool boolVal)

void	setRecoveringFromCritical (bool boolVal)

void	setFailureReported (bool boolVal)

bool	isFailureUninitialized ()

void	setFailureUninitialized (bool boolVal)

void	setRetryTimeout (const Timespan &timeout)

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

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

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

virtual bool	isFailed (void) const

virtual FailureMode::FailType	getFailureType (void) const

virtual bool	getCriticalFailureReported (void) const

virtual bool	getFailureReported (void) const

virtual Timespan	getRetryTimeout (void) const

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

virtual int	getFailCount (void) const

virtual bool	isFailureMissionCritical ()

virtual int	getAllowableFailures (void) const

virtual void	setAllowableFailures (int fails)

Logger &	getLogger (void)

virtual int	incrementFailCount (void)

virtual void	resetFailCount (void)

virtual int	getSkippedRunsSinceFail (void) const

virtual int	incrementSkippedRunsSinceFail (void)

virtual void	logVoltage (float voltage, float averageVoltage)

virtual void	logCurrent (float current, float averageCurrent)

const Timestamp &	getWriteTimestamp (void)

void	setWriteTimestamp (const Timestamp &writeTimestamp)

BlobReader *	newBlobReader (const BlobURI &blobURI)

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

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

ConfigReader *	newConfigReader (const ConfigURI &configURI)

DataReader *	newDataReader (const DataURI &dataURI)

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

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

UniversalBlobReader *	newUniversalBlobReader (const UniversalBlobURI &universalURI)

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

UniversalDataReader *	newUniversalReader (const UniversalURI &universalURI)

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

Static Public Member Functions
static Behavior *	CreateBehavior (const Str &prefix, const Module *module)
	Mission Component factory interface. More...

Protected Attributes
SettingReader *	holdValueSettingReader_
	Desired depth of the vehicle, or surrogate for depth. More...

SettingReader *	inputSettingReader_
	Input variable to control. More...

SettingReader *	proportionalGainSettingReader_
	Specifies PID loop proportional gain – required if DepthSurrogate specified. More...

SettingReader *	integralGainSettingReader_
	Specifies PID loop integral gain – required if DepthSurrogate specified. More...

SettingReader *	derivativeGainSettingReader_
	Specifies PID loop derivative gain – required if DepthSurrogate specified. More...

SettingReader *	changePerMeterSettingReader_
	Specifies approximate change per meter depth. More...

ConfigReader *	abortDepthCfgReader_
	Configuration Readers. More...

DataReader *	speedCmdReader_
	Speed being fed to speed Control. More...

ConfigReader *	maxDiveRateCfgReader_
	From Vertical Control, get max dive rate. More...

ConfigReader *	maxBuoyDiveRateCfgReader_
	From Vertical Control, get max dive rate under buoy control. More...

ConfigReader *	maxDiveAccelCfgReader_
	From Vertical Control, get max dive accel. More...

ConfigReader *	maxBuoyDiveAccelCfgReader_
	From Vertical Control, get max dive accel under buoy control. More...

DataWriter *	verticalModeWriter_
	Sets the depth mode for dynamic control. More...

DataWriter *	depthCmdWriter_
	Sets the depth specification for Vertical Control. More...

float	holdValueSetting_
	Desired depth of the vehicle, or surrogate for depth. More...

float	proportionalGainSetting_
	Specifies PID loop proportional gain. More...

float	integralGainSetting_
	Specifies PID loop integral gain. More...

float	derivativeGainSetting_
	Specifies PID loop derivative gain. More...

float	changePerMeterSetting_
	Used in state estimation. More...

float	holdValueIntegral_
	Actual integral of depth (or its surrogate) More...

float	lastMeasuredValue_
	Used to determine rate of change in hold value. More...

Trajectory	trajectory_
	Estimator for depth or its surrogate. More...

float	maxDiveRate_
	Used in estimating maxChangeRate_. More...

float	maxBuoyDiveRate_

float	maxDiveAccel_

float	maxBuoyDiveAccel_

float	abortDepth_
	Stores the abort depth of the vehicle. More...

float	speedCmd_
	Current speedCmd. More...

bool	startBelowSetting_
	Indicates difference between setting and position at initialization. More...

Protected Attributes inherited from Behavior
bool	runnable_

bool	satisfiable_

BehaviorState	behaviorState_

Timespan	timeout_
	Time before this behavior must end – defaults no timeout. More...

FastMap< const Str, SettingReader * > *	settingReaderMap_

FastMap< const Str, DataWriter * > *	argWriterMap_

Protected Attributes inherited from Component
Logger	logger_

Syslog::Severity	debugLevel_

ComponentState	state_
	Keep track of whether the component has "completed" or should be run again. More...

Timespan	desiredPeriod_

CodedStr &	name_
	Store the component's name (used for logging purposes) More...

Timestamp	timeOfRun_

Timestamp	timeOfLastRun_

Timespan	durationOfLastRun_

Timespan	dt_

Timespan	retryTimeout_

bool	enabled_

bool	failureReported_
	Indicates if the failure has been reported – cuts down on syslog. More...

bool	criticalFailureReported_
	Indicates if a "Critical" failure has been reported – cuts down on syslog. More...

bool	recoveringFromCritical_
	Indicates that a component had a previous critical failure that has been cleared temporarily awaiting final word from the component itself. More...

bool	failureUninitialized_
	Indicates if the failure has resulted in an uninitialize call. More...

int	failCount_
	Number of failures logged by PCaller. More...

bool	failureMissionCritical_
	If true (default), complete failure ends mission. More...

int	allowableFailures_
	Number of failures allowed to occur. More...

int	skippedRunsSinceFail_
	Number of skipped runs since failureMode_ set by failCount_. More...

FailureMode::FailType	failureType_
	Failed status. If failCount_ > 0, then this may be reset. More...

Timestamp	timeOfFailure_
	Time of last failure. Relevant only if failed=true. More...

Timestamp	writeTimestamp_
	Time of last write. More...

FlexArray< DataReader * >	readers_

FlexArray< DataWriter * >	writers_

const Module *	module_

Timespan	pauseTime_

bool	meteringEnabled_
	If true, metering is enabled. More...

DataWriter *	durationOfLastRunWriter_
	Writer for durationOfLastRun. More...

DataWriter *	voltageWriter_

DataWriter *	avgVoltageWriter_

DataWriter *	currentWriter_

DataWriter *	avgCurrentWriter_

bool	persistentPause_
	True if data is persistent while component is paused. More...

Private Member Functions
	DepthServo (const DepthServo &old)

Additional Inherited Members
Public Types inherited from Behavior
enum	BehaviorState { BEHAVIOR_INACTIVE, BEHAVIOR_CALLED, BEHAVIOR_ACTIVE, BEHAVIOR_TIMEOUT, BEHAVIOR_COMPLETED }

Public Types inherited from Component
enum	ComponentState { BLOCK_CONTINUOUS, BLOCK_PERIODIC, BLOCK_NORMAL, BLOCK_COMPLETED, BLOCK_UNKNOWN }
	In this model, the component has basically two states: wanting to run, and completed (no longer needing to run). More...

enum	ComponentType { COMPONENT_ASYNC, COMPONENT_CONFIG, COMPONENT_BEHAVIOR, COMPONENT_SYNC }
	Components can indicate how they want to be handled by their type. More...

enum	RunState { NO_RUN_STATE = 0, START, STARTING, RUNNABLE, SATISFIED, PAUSE, PAUSING, PAUSED, RESUME, RESUMING, RESETTING, STOP, STOPPING, STOPPED }

Protected Types inherited from Component
enum	ConfigOption { CONFIG_SIMULATE_HARDWARE, CONFIG_POWER, CONFIG_FREQUENCY, CONFIG_LATENCY }

Protected Member Functions inherited from Behavior
	Behavior (const Str &name, const Module *module, const bool runnable, const bool satisfiable)
	Protected constructor for abstract base class. More...

	Behavior (const Behavior &old)

SettingReader *	newSettingReader (const Str &uriPart, const DataValue *defaultValue, bool deleteDefaultValue=true)

SettingReader *	newSettingReader (const SettingURI &uriPart)

DataWriter *	findArgWriter (const OutputURI &uriPart)

Protected Member Functions inherited from Component
virtual ConfigURI	getConfigURI (ConfigOption configOption) const
	Should return [myNamespace]::SIMULATE_HARDWARE, or [myNamespace]::POWER, etc. More...

virtual ConfigURI	getConfigURI (ConfigOption configOption, ElementURI forElement) const
	Should return [myNamespace]::POWER_[forElement], [myNamespace]::LATENCY_[forElement], etc. More...

virtual void	setDurationOfLastRun (const Timespan &span)

virtual void	setTimeOfRun (const Timestamp &time)

virtual void	setTimeOfLastRun (const Timestamp &time)

virtual void	setDt (const Timespan &dt)

virtual bool	setEnabled (bool enabled=true)

void	setRunState (const RunState runState)

const Timespan	getPauseTime () const

virtual void	setFailureMissionCritical (bool failureMissionCritical)

bool	simulateHardware ()

Detailed Description

Contains the DepthServo Behavior/Command Uses depth, or the specified surrogate for depth to control the depth of the vehicle such that the vehicle stays at a constant depth, or other variable (if specified).

If a variable other than depth (i.e., a surrogate) is specified, PID loop constants must also be supplied.

DepthServo.h should only be included by DepthServo.cpp Other classes should include DepthServoIF.h

Constructor & Destructor Documentation

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

DepthServo::~DepthServo ( )

virtual

DepthServo::DepthServo ( const DepthServo & old )

private

Member Function Documentation

bool DepthServo::calcSatisfied ( const float measuredValue )

Perform the satisfied: return true if envelope "satisfied".

References holdValueSetting_, and startBelowSetting_.

Referenced by isSatisfied(), and runIfUnsatisfied().

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

static

Mission Component factory interface.

References DepthServo().

Referenced by GuidanceModule::loadComponents().

void DepthServo::initialize ( void )

virtual

Initialize function.

Reimplemented from Component.

References changePerMeterSetting_, derivativeGainSetting_, holdValueIntegral_, holdValueSetting_, Syslog::INFO, integralGainSetting_, lastMeasuredValue_, Component::logger_, proportionalGainSetting_, readConfig(), readSettings(), startBelowSetting_, and Logger::syslog().

bool DepthServo::isSatisfied ( )

virtual

Just do the satisfied: return true if envelope "satisfied".

Reimplemented from Behavior.

References calcSatisfied(), readConfig(), readParams(), and readSettings().

bool DepthServo::readConfig ( void )

Read in relevant configuration values.

References maxBuoyDiveAccel_, maxBuoyDiveAccelCfgReader_, maxBuoyDiveRate_, maxBuoyDiveRateCfgReader_, maxDiveAccel_, maxDiveAccelCfgReader_, maxDiveRate_, maxDiveRateCfgReader_, Units::NONE, and DataReader::read().

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

bool DepthServo::readParams ( )

Read in the parameters for satisfied or runIfUnsatisfied: return true if OK.

References Units::METER_PER_SECOND, DataReader::read(), speedCmd_, speedCmdReader_, and DataReader::wasTouchedSinceLastRun().

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

bool DepthServo::readSettings ( float & measuredValue )

void DepthServo::run ( void )

virtual

Just do the run: ignore the results of the satisfied.

Reimplemented from Component.

References abortDepth_, abortDepthCfgReader_, Timespan::asDouble(), changePerMeterSetting_, VerticalControlIF::DEPTH, depthCmdWriter_, derivativeGainSetting_, dt, Component::dt_, Units::ENUM, holdValueIntegral_, holdValueSetting_, integralGainSetting_, lastMeasuredValue_, AuvMath::Limit(), maxBuoyDiveAccel_, maxBuoyDiveRate_, maxDiveAccel_, maxDiveRate_, Units::METER, AuvMath::NanZero(), Trajectory::project(), proportionalGainSetting_, Units::RADIAN, DataReader::read(), readConfig(), readParams(), readSettings(), speedCmd_, trajectory_, verticalModeWriter_, and DataWriter::write().

Referenced by runIfUnsatisfied().

bool DepthServo::runIfUnsatisfied ( void )

virtual

Do the run, and return true if envelope "satisfied".

Reimplemented from Behavior.

References calcSatisfied(), lastMeasuredValue_, readConfig(), readParams(), readSettings(), and run().

void DepthServo::uninitialize ( void )

virtual

Uninit function.

Reimplemented from Component.

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

Member Data Documentation

float DepthServo::abortDepth_

protected

Stores the abort depth of the vehicle.

Referenced by run().

ConfigReader* DepthServo::abortDepthCfgReader_

protected

Configuration Readers.

Depth at which we drop the weight. Should be greater than all depth envelopes

Referenced by DepthServo(), and run().

float DepthServo::changePerMeterSetting_

protected

Used in state estimation.

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

SettingReader* DepthServo::changePerMeterSettingReader_

protected

Specifies approximate change per meter depth.

Referenced by DepthServo(), and readSettings().

DataWriter* DepthServo::depthCmdWriter_

protected

Sets the depth specification for Vertical Control.

Referenced by DepthServo(), and run().

float DepthServo::derivativeGainSetting_

protected

Specifies PID loop derivative gain.

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

SettingReader* DepthServo::derivativeGainSettingReader_

protected

Specifies PID loop derivative gain – required if DepthSurrogate specified.

Referenced by DepthServo(), and readSettings().

float DepthServo::holdValueIntegral_

protected

Actual integral of depth (or its surrogate)

Referenced by initialize(), and run().

float DepthServo::holdValueSetting_

protected

Desired depth of the vehicle, or surrogate for depth.

Referenced by calcSatisfied(), initialize(), readSettings(), and run().

SettingReader* DepthServo::holdValueSettingReader_

protected

Desired depth of the vehicle, or surrogate for depth.

Referenced by DepthServo(), and readSettings().

SettingReader* DepthServo::inputSettingReader_

protected

Input variable to control.

Referenced by DepthServo(), and readSettings().

float DepthServo::integralGainSetting_

protected

Specifies PID loop integral gain.

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

SettingReader* DepthServo::integralGainSettingReader_

protected

Specifies PID loop integral gain – required if DepthSurrogate specified.

Referenced by DepthServo(), and readSettings().

float DepthServo::lastMeasuredValue_

protected

Used to determine rate of change in hold value.

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

float DepthServo::maxBuoyDiveAccel_

protected

Referenced by readConfig(), and run().

ConfigReader* DepthServo::maxBuoyDiveAccelCfgReader_

protected

From Vertical Control, get max dive accel under buoy control.

Referenced by DepthServo(), and readConfig().

float DepthServo::maxBuoyDiveRate_

protected

Referenced by readConfig(), and run().

ConfigReader* DepthServo::maxBuoyDiveRateCfgReader_

protected

From Vertical Control, get max dive rate under buoy control.

Referenced by DepthServo(), and readConfig().

float DepthServo::maxDiveAccel_

protected

Referenced by readConfig(), and run().

ConfigReader* DepthServo::maxDiveAccelCfgReader_

protected

From Vertical Control, get max dive accel.

Referenced by DepthServo(), and readConfig().

float DepthServo::maxDiveRate_

protected

Used in estimating maxChangeRate_.

Referenced by readConfig(), and run().

ConfigReader* DepthServo::maxDiveRateCfgReader_

protected

From Vertical Control, get max dive rate.

Referenced by DepthServo(), and readConfig().

float DepthServo::proportionalGainSetting_

protected

Specifies PID loop proportional gain.

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

SettingReader* DepthServo::proportionalGainSettingReader_

protected

Specifies PID loop proportional gain – required if DepthSurrogate specified.

Referenced by DepthServo(), and readSettings().

float DepthServo::speedCmd_

protected

Current speedCmd.

Referenced by readParams(), and run().

DataReader* DepthServo::speedCmdReader_

protected

Speed being fed to speed Control.

Referenced by DepthServo(), and readParams().

bool DepthServo::startBelowSetting_

protected

Indicates difference between setting and position at initialization.

Referenced by calcSatisfied(), and initialize().

Trajectory DepthServo::trajectory_

protected

Estimator for depth or its surrogate.

Referenced by run().

DataWriter* DepthServo::verticalModeWriter_

protected

Sets the depth mode for dynamic control.

Referenced by DepthServo(), and run().

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

/Volumes/ubuntu_share/lrauv-application/Source/guidanceModule/DepthServo.h
/Volumes/ubuntu_share/lrauv-application/Source/guidanceModule/DepthServo.cpp

Public Member Functions

Static Public Member Functions

Protected Attributes

Private Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation