Contains the GoToSurface Behavior/Command. More...

#include <GoToSurface.h>

Inheritance diagram for GoToSurface:

Collaboration diagram for GoToSurface:

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

virtual	~GoToSurface ()

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

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

bool	calcSatisfied (const float depth)
	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 *	depthRateSettingReader_
	Setting Readers. More...

SettingReader *	pitchSettingReader_

SettingReader *	speedSettingReader_

SettingReader *	pitchTimeoutSettingReader_

SettingReader *	surfaceTimeoutSettingReader_

UniversalDataReader *	depthReader_

UniversalDataReader *	altitudeReader_

UniversalDataReader *	pitchReader_

DataWriter *	verticalModeWriter_

DataWriter *	elevatorAngleCmdWriter_

DataWriter *	massPositionCmdWriter_

DataWriter *	depthRateCmdWriter_

DataWriter *	pitchCmdWriter_

DataWriter *	speedCmdWriter_

ConfigReader *	surfaceThresholdCfgReader_

ConfigReader *	pitchLimitCfgReader_

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
	GoToSurface (const GoToSurface &old)

bool	loadParams (void)

bool	checkPitchAndAltitude (void)

void	resetTimeouts (void)

Private Attributes
bool	ok_

bool	surfaceTimeoutReported_

bool	pitchTimeoutReported_

float	surfaceThreshold_
	----------------— vehicle parameters -----------------------—/ More...

float	pitchLimit_

float	depthRateSetting_
	Settings. More...

float	pitchSetting_

float	speedSetting_

float	pitchTimeoutSetting_

float	surfacingTimeoutSetting_

Timestamp	surfaceStartTime_

Timestamp	pitchStartTime_

Timespan	pitchTimeout_

Timespan	surfacingTimeout_

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 ()