Specifies the interface details for the HFRCMReconstructedInterpolator component in the EstimationModule. More...

#include <HFRCMReconstructedInterpolator.h>

Inheritance diagram for HFRCMReconstructedInterpolator:

Collaboration diagram for HFRCMReconstructedInterpolator:

Public Member Functions
	HFRCMReconstructedInterpolator (const Module *module)

virtual	~HFRCMReconstructedInterpolator ()

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

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

bool	lookupSurfaceCurrent (float &eastVelocity, float &northVelocity, const double epoch, const float latDeg, const float lonDeg)
	look up the surface current at a specified location and time 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	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)

Static Public Member Functions
static HFRCMReconstructedInterpolator *	Instance ()
	Return the singleton. More...

Protected Member Functions
void	updateExpansionCoefficients (void)

void	reproject (void)

void	publishSurfaceCurrentAtVehicleLocation (void)
	publish the surface current at the present location of the vehicle More...

bool	getPreviousTimeIndex (int &time_index, double es)

bool	getLowerLeftCorner (int &latitude_index, int &longitude_index, const float latitude_degrees, const float longitude_degrees)

float	interpolateRaveledThreeDimensionalGrid (const Mtx z, const float epoch, const float latitude_degrees, const float longitude_degrees, const int time_index, const int latitude_index, const int longitude_index, const int starting_offset=0)

Protected Member Functions inherited from SyncEstimationComponent
	SyncEstimationComponent (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
const bool	debug_

int	verbosity_

const Mtx	eofs_

const Mtx	ensMean_

const Mtx	gridIdxRev_

const Mtx	gridLon_

const Mtx	gridLat_

const Mtx	scalingFactors_

Mtx	gridIdx_

int	numLocations_

int	numModes_

int	numTimes_

double	forecastEpochSeconds_ [HFRadarCompactModelForecasterIF::TOTAL_HOURS]

Timestamp	forecastStart_

Timestamp	forecastEnd_

Mtx	expansionCoefficients_

Mtx	currentField_

float	eastVelocity_

float	northVelocity_

float	velocityAccuracy_

bool	haveValidForecast_

UniversalDataReader *	latitudeReader_

UniversalDataReader *	longitudeReader_

BlobReader *	expansionCoefficientsReader_

BlobReader *	forecastTimesReader_

UniversalDataWriter *	eastVelocityWriter_

UniversalDataWriter *	northVelocityWriter_

ConfigReader *	verbosityLevelConfigReader_

ConfigReader *	velocityAccuracyConfigReader_

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...

Static Protected Attributes
static HFRCMReconstructedInterpolator *	Instance_

Private Member Functions
	HFRCMReconstructedInterpolator (const HFRCMReconstructedInterpolator &old)

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

Specifies the interface details for the HFRCMReconstructedInterpolator component in the EstimationModule.

HFRCMReconstructedInterpolator.h should only be included by HFRCMReconstructedInterpolator.cpp Other classes should include HFRCMReconstructedInterpolatorIF.h

Constructor & Destructor Documentation

HFRCMReconstructedInterpolator::HFRCMReconstructedInterpolator ( const Module * module )

References Instance_.

HFRCMReconstructedInterpolator::~HFRCMReconstructedInterpolator ( )

virtual

HFRCMReconstructedInterpolator::HFRCMReconstructedInterpolator ( const HFRCMReconstructedInterpolator & old )

private

Member Function Documentation

bool HFRCMReconstructedInterpolator::getLowerLeftCorner	(	int &	latitude_index,
		int &	longitude_index,
		const float	latitude_degrees,
		const float	longitude_degrees
	)

protected

References Syslog::DEBUG, Syslog::ERROR, Mtx::getM(), Mtx::getN(), gridLat_, gridLon_, Component::logger_, Logger::syslog(), and verbosity_.

Referenced by lookupSurfaceCurrent().

bool HFRCMReconstructedInterpolator::getPreviousTimeIndex	(	int &	time_index,
		double	es
	)

protected

References Syslog::DEBUG, debug_, Syslog::ERROR, forecastEnd_, forecastEpochSeconds_, forecastStart_, Syslog::INFO, Component::logger_, numTimes_, Logger::syslog(), and Timestamp::toString().

Referenced by lookupSurfaceCurrent().

void HFRCMReconstructedInterpolator::initialize ( void )

virtual

Initialize function.

Reimplemented from Component.

References Units::CENTIMETER_PER_SECOND, expansionCoefficientsReader_, forecastTimesReader_, Mtx::getM(), Mtx::getN(), gridIdx_, gridIdxRev_, gridLat_, gridLon_, Syslog::INFO, latitudeReader_, Component::logger_, longitudeReader_, DataReader::read(), UniversalDataReader::requestData(), DataReader::requestData(), Logger::syslog(), velocityAccuracy_, velocityAccuracyConfigReader_, and verbosity_.

static HFRCMReconstructedInterpolator* HFRCMReconstructedInterpolator::Instance ( )

inlinestatic

Return the singleton.

References Instance_.

float HFRCMReconstructedInterpolator::interpolateRaveledThreeDimensionalGrid	(	const Mtx	z,
		const float	epoch,
		const float	latitude_degrees,
		const float	longitude_degrees,
		const int	time_index,
		const int	latitude_index,
		const int	longitude_index,
		const int	starting_offset = `0`
	)

protected

References forecastEpochSeconds_, gridIdx_, gridLat_, gridLon_, and AuvMath::Interpolate3D().

Referenced by lookupSurfaceCurrent().

bool HFRCMReconstructedInterpolator::lookupSurfaceCurrent	(	float &	eastVelocity,
		float &	northVelocity,
		const double	epoch,
		const float	latDeg,
		const float	lonDeg
	)

look up the surface current at a specified location and time

References currentField_, eastVelocity_, forecastEpochSeconds_, getLowerLeftCorner(), getPreviousTimeIndex(), haveValidForecast_, Syslog::INFO, interpolateRaveledThreeDimensionalGrid(), Component::logger_, northVelocity_, numLocations_, Logger::syslog(), and verbosity_.

Referenced by publishSurfaceCurrentAtVehicleLocation().

void HFRCMReconstructedInterpolator::publishSurfaceCurrentAtVehicleLocation ( void )

protected

publish the surface current at the present location of the vehicle

References Timestamp::asDouble(), Units::CENTIMETER_PER_SECOND, Units::DEGREE, eastVelocity_, eastVelocityWriter_, Syslog::INFO, latitudeReader_, Component::logger_, longitudeReader_, lookupSurfaceCurrent(), northVelocity_, northVelocityWriter_, Timestamp::Now(), DataReader::read(), DataWriter::setInvalid(), Logger::syslog(), velocityAccuracy_, velocityAccuracyConfigReader_, verbosity_, and UniversalDataWriter::writeWithAccuracy().

Referenced by run().

void HFRCMReconstructedInterpolator::reproject ( void )

protected

References currentField_, ensMean_, eofs_, expansionCoefficients_, Mtx::getM(), Mtx::getN(), and scalingFactors_.

Referenced by run().

void HFRCMReconstructedInterpolator::run ( void )

virtual

The actual "payload" of the component.

Reimplemented from Component.

References Syslog::DEBUG, expansionCoefficientsReader_, haveValidForecast_, DataReader::isActive(), Component::logger_, publishSurfaceCurrentAtVehicleLocation(), reproject(), Logger::syslog(), updateExpansionCoefficients(), and DataReader::wasTouchedSinceLastRun().

void HFRCMReconstructedInterpolator::updateExpansionCoefficients ( void )

protected

References Units::EPOCH_SECOND, expansionCoefficients_, expansionCoefficientsReader_, forecastEnd_, forecastEpochSeconds_, forecastStart_, forecastTimesReader_, Mtx::getM(), Mtx::getN(), haveValidForecast_, Syslog::IMPORTANT, Component::logger_, Units::NONE, numModes_, numTimes_, AbstractBlobReader::read1DArray(), AbstractBlobReader::read2DClass(), and Logger::syslog().

Referenced by run().

Member Data Documentation

Mtx HFRCMReconstructedInterpolator::currentField_

protected

Referenced by lookupSurfaceCurrent(), and reproject().

const bool HFRCMReconstructedInterpolator::debug_

protected

Referenced by getPreviousTimeIndex().

float HFRCMReconstructedInterpolator::eastVelocity_

protected

Referenced by lookupSurfaceCurrent(), and publishSurfaceCurrentAtVehicleLocation().

UniversalDataWriter* HFRCMReconstructedInterpolator::eastVelocityWriter_

protected

Referenced by publishSurfaceCurrentAtVehicleLocation().

const Mtx HFRCMReconstructedInterpolator::ensMean_

protected

Referenced by reproject().

const Mtx HFRCMReconstructedInterpolator::eofs_

protected

Referenced by reproject().

Mtx HFRCMReconstructedInterpolator::expansionCoefficients_

protected

Referenced by reproject(), and updateExpansionCoefficients().

BlobReader* HFRCMReconstructedInterpolator::expansionCoefficientsReader_

protected

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

Timestamp HFRCMReconstructedInterpolator::forecastEnd_

protected

Referenced by getPreviousTimeIndex(), and updateExpansionCoefficients().

double HFRCMReconstructedInterpolator::forecastEpochSeconds_[HFRadarCompactModelForecasterIF::TOTAL_HOURS]

protected

Referenced by getPreviousTimeIndex(), interpolateRaveledThreeDimensionalGrid(), lookupSurfaceCurrent(), and updateExpansionCoefficients().

Timestamp HFRCMReconstructedInterpolator::forecastStart_

protected

Referenced by getPreviousTimeIndex(), and updateExpansionCoefficients().

BlobReader* HFRCMReconstructedInterpolator::forecastTimesReader_

protected

Referenced by initialize(), and updateExpansionCoefficients().

Mtx HFRCMReconstructedInterpolator::gridIdx_

protected

Referenced by initialize(), and interpolateRaveledThreeDimensionalGrid().

const Mtx HFRCMReconstructedInterpolator::gridIdxRev_

protected

Referenced by initialize().

const Mtx HFRCMReconstructedInterpolator::gridLat_

protected

Referenced by getLowerLeftCorner(), initialize(), and interpolateRaveledThreeDimensionalGrid().

const Mtx HFRCMReconstructedInterpolator::gridLon_

protected

Referenced by getLowerLeftCorner(), initialize(), and interpolateRaveledThreeDimensionalGrid().

bool HFRCMReconstructedInterpolator::haveValidForecast_

protected

Referenced by lookupSurfaceCurrent(), run(), and updateExpansionCoefficients().

HFRCMReconstructedInterpolator * HFRCMReconstructedInterpolator::Instance_

staticprotected

Referenced by HFRCMReconstructedInterpolator(), and Instance().

UniversalDataReader* HFRCMReconstructedInterpolator::latitudeReader_

protected

Referenced by initialize(), and publishSurfaceCurrentAtVehicleLocation().

UniversalDataReader* HFRCMReconstructedInterpolator::longitudeReader_

protected

Referenced by initialize(), and publishSurfaceCurrentAtVehicleLocation().

float HFRCMReconstructedInterpolator::northVelocity_

protected

Referenced by lookupSurfaceCurrent(), and publishSurfaceCurrentAtVehicleLocation().

UniversalDataWriter* HFRCMReconstructedInterpolator::northVelocityWriter_

protected

Referenced by publishSurfaceCurrentAtVehicleLocation().

int HFRCMReconstructedInterpolator::numLocations_

protected

Referenced by lookupSurfaceCurrent().

int HFRCMReconstructedInterpolator::numModes_

protected

Referenced by updateExpansionCoefficients().

int HFRCMReconstructedInterpolator::numTimes_

protected

Referenced by getPreviousTimeIndex(), and updateExpansionCoefficients().

const Mtx HFRCMReconstructedInterpolator::scalingFactors_

protected

Referenced by reproject().

float HFRCMReconstructedInterpolator::velocityAccuracy_

protected

Referenced by initialize(), and publishSurfaceCurrentAtVehicleLocation().

ConfigReader* HFRCMReconstructedInterpolator::velocityAccuracyConfigReader_

protected

Referenced by initialize(), and publishSurfaceCurrentAtVehicleLocation().

int HFRCMReconstructedInterpolator::verbosity_

protected

Referenced by getLowerLeftCorner(), initialize(), lookupSurfaceCurrent(), and publishSurfaceCurrentAtVehicleLocation().

ConfigReader* HFRCMReconstructedInterpolator::verbosityLevelConfigReader_

protected

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

/Volumes/ubuntu_share/lrauv-application/Source/estimationModule/HFRCMReconstructedInterpolator.h
/Volumes/ubuntu_share/lrauv-application/Source/estimationModule/HFRCMReconstructedInterpolator.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Private Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation