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

#include <HFRCMSpaceInterpolator.h>

Inheritance diagram for HFRCMSpaceInterpolator:

Collaboration diagram for HFRCMSpaceInterpolator:

Public Member Functions
	HFRCMSpaceInterpolator (const Module *module)

virtual	~HFRCMSpaceInterpolator ()

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

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

bool	lookupEmpiricalOrthogonalFunctions (Mtx &eastEOFs, Mtx &northEOFs, float &eastEM, float &northEM, float &eastSF, float &northSF, const float latDeg, const float lonDeg)
	interpolate EOFs at specified location 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 HFRCMSpaceInterpolator *	Instance ()
	Return the singleton. More...

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

float	interpolateRaveledTwoDimensionalGrid (const Mtx z, const float latitude_degrees, const float longitude_degrees, const int latitude_index, const int longitude_index, const int starting_offset=0, const int layer=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
int	verbosity_
	TODO: should these public methods be defined in the IF header? More...

const Mtx	eofs_

const Mtx	ensMean_

const Mtx	gridIdxRev_

const Mtx	gridLon_

const Mtx	gridLat_

const Mtx	scalingFactors_

Mtx	gridIdx_

const int	numLocations_

const int	numModes_

UniversalDataReader *	latitudeReader_

UniversalDataReader *	longitudeReader_

ConfigReader *	verbosityLevelConfigReader_

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 HFRCMSpaceInterpolator *	Instance_

Private Member Functions
	HFRCMSpaceInterpolator (const HFRCMSpaceInterpolator &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 HFRCMSpaceInterpolator component in the EstimationModule.

HFRCMSpaceInterpolator.h should only be included by HFRCMSpaceInterpolator.cpp Other classes should include HFRCMSpaceInterpolatorIF.h

Constructor & Destructor Documentation

HFRCMSpaceInterpolator::HFRCMSpaceInterpolator ( const Module * module )

References Instance_.

HFRCMSpaceInterpolator::~HFRCMSpaceInterpolator ( )

virtual

HFRCMSpaceInterpolator::HFRCMSpaceInterpolator ( const HFRCMSpaceInterpolator & old )

private

Member Function Documentation

bool HFRCMSpaceInterpolator::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 lookupEmpiricalOrthogonalFunctions().

void HFRCMSpaceInterpolator::initialize ( void )

virtual

Initialize function.

Reimplemented from Component.

References Units::COUNT, Mtx::getM(), Mtx::getN(), gridIdx_, gridIdxRev_, gridLat_, gridLon_, Syslog::INFO, Component::logger_, DataReader::read(), Logger::syslog(), verbosity_, and verbosityLevelConfigReader_.

static HFRCMSpaceInterpolator* HFRCMSpaceInterpolator::Instance ( )

inlinestatic

Return the singleton.

References Instance_.

Referenced by HFRCMSurfaceCurrentAtVehicleLocation::lookupEmpiricalOrthogonalFunctions(), and HFRCMVirtualSurfaceDrifter::lookupEmpiricalOrthogonalFunctions().

float HFRCMSpaceInterpolator::interpolateRaveledTwoDimensionalGrid	(	const Mtx	z,
		const float	latitude_degrees,
		const float	longitude_degrees,
		const int	latitude_index,
		const int	longitude_index,
		const int	starting_offset = `0`,
		const int	layer = `0`
	)

protected

References gridIdx_, gridLat_, gridLon_, and AuvMath::Interpolate2D().

Referenced by lookupEmpiricalOrthogonalFunctions().

bool HFRCMSpaceInterpolator::lookupEmpiricalOrthogonalFunctions	(	Mtx &	eastEOFs,
		Mtx &	northEOFs,
		float &	eastEM,
		float &	northEM,
		float &	eastSF,
		float &	northSF,
		const float	latDeg,
		const float	lonDeg
	)

interpolate EOFs at specified location

References Syslog::DEBUG, ensMean_, eofs_, getLowerLeftCorner(), Mtx::getM(), Mtx::getN(), gridIdx_, Syslog::INFO, interpolateRaveledTwoDimensionalGrid(), Component::logger_, numLocations_, numModes_, scalingFactors_, Mtx::set(), Logger::syslog(), and verbosity_.

Referenced by HFRCMSurfaceCurrentAtVehicleLocation::lookupEmpiricalOrthogonalFunctions(), and HFRCMVirtualSurfaceDrifter::lookupEmpiricalOrthogonalFunctions().

void HFRCMSpaceInterpolator::run ( void )

virtual

The actual "payload" of the component.

Reimplemented from Component.

Member Data Documentation

const Mtx HFRCMSpaceInterpolator::ensMean_

protected

Referenced by lookupEmpiricalOrthogonalFunctions().

const Mtx HFRCMSpaceInterpolator::eofs_

protected

Referenced by lookupEmpiricalOrthogonalFunctions().

Mtx HFRCMSpaceInterpolator::gridIdx_

protected

Referenced by initialize(), interpolateRaveledTwoDimensionalGrid(), and lookupEmpiricalOrthogonalFunctions().

const Mtx HFRCMSpaceInterpolator::gridIdxRev_

protected

Referenced by initialize().

const Mtx HFRCMSpaceInterpolator::gridLat_

protected

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

const Mtx HFRCMSpaceInterpolator::gridLon_

protected

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

HFRCMSpaceInterpolator * HFRCMSpaceInterpolator::Instance_

staticprotected

Referenced by HFRCMSpaceInterpolator(), and Instance().

UniversalDataReader* HFRCMSpaceInterpolator::latitudeReader_

protected

UniversalDataReader* HFRCMSpaceInterpolator::longitudeReader_

protected

const int HFRCMSpaceInterpolator::numLocations_

protected

Referenced by lookupEmpiricalOrthogonalFunctions().

const int HFRCMSpaceInterpolator::numModes_

protected

Referenced by lookupEmpiricalOrthogonalFunctions().

const Mtx HFRCMSpaceInterpolator::scalingFactors_

protected

Referenced by lookupEmpiricalOrthogonalFunctions().

int HFRCMSpaceInterpolator::verbosity_

protected

TODO: should these public methods be defined in the IF header?

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

ConfigReader* HFRCMSpaceInterpolator::verbosityLevelConfigReader_

protected

Referenced by initialize().

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

/Volumes/ubuntu_share/lrauv-application/Source/estimationModule/HFRCMSpaceInterpolator.h
/Volumes/ubuntu_share/lrauv-application/Source/estimationModule/HFRCMSpaceInterpolator.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