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

#include <HFRCMVirtualSurfaceDrifter.h>

Inheritance diagram for HFRCMVirtualSurfaceDrifter:

Collaboration diagram for HFRCMVirtualSurfaceDrifter:

Public Member Functions
	HFRCMVirtualSurfaceDrifter (const Module *module)

virtual	~HFRCMVirtualSurfaceDrifter ()

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

void	run ()
	The actual "payload" of the component. 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 bool	Reinitialize (double latitude0rad, double longitude0rad)
	Reinitialize function (used by ReinitializeHFRCMVirtualSurfaceDrifter behavior to set/reset the initial location of the drifter) More...

Protected Member Functions
bool	setLocation (double latitude0rad, double longitude0rad)
	set the location of the drifter More...

bool	lookupExpansionCoefficients (void)
	Look up the expansion coefficients at the current time. More...

bool	lookupEmpiricalOrthogonalFunctions (void)
	Look up the empirical orthogonal functions at the specified location. More...

void	reproject (void)
	Calculate the estimated velocities at the specified location and time. More...

void	advect (void)
	Calculate the new location of the drifter. More...

void	writeData (void)
	Write the pertinent data out to the slate. More...

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_

Mtx	eastEmpiricalOrthogonalFunctionsHere_

Mtx	northEmpiricalOrthogonalFunctionsHere_

float	eastEnsembleMeanHere_

float	northEnsembleMeanHere_

float	eastScalingFactor_

float	northScalingFactor_

Mtx	expansionCoefficientsNow_

Timestamp	calculationTime_

double	elapsedTime_

double	eastVelocity_

double	northVelocity_

double	velocityAccuracy_

double	easting_

double	northing_

double	course_

double	horizontalDisplacement_

double	latitude_

double	longitude_

double	locationAccuracy_

DataWriter *	eastVelocityWriter_

DataWriter *	northVelocityWriter_

DataWriter *	latitudeWriter_

DataWriter *	longitudeWriter_

DataWriter *	initialLatitudeWriter_

DataWriter *	initialLongitudeWriter_

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 HFRCMVirtualSurfaceDrifter *	Instance_
	Pointer to the singleton-like instance of this component. More...

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

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

Constructor & Destructor Documentation

HFRCMVirtualSurfaceDrifter::HFRCMVirtualSurfaceDrifter ( const Module * module )

References eastVelocityWriter_, initialLatitudeWriter_, initialLongitudeWriter_, Instance_, latitudeWriter_, longitudeWriter_, Component::newDataWriter(), and northVelocityWriter_.

HFRCMVirtualSurfaceDrifter::~HFRCMVirtualSurfaceDrifter ( )

virtual

References Instance_.

HFRCMVirtualSurfaceDrifter::HFRCMVirtualSurfaceDrifter ( const HFRCMVirtualSurfaceDrifter & old )

private

Member Function Documentation

void HFRCMVirtualSurfaceDrifter::advect ( void )

protected

Calculate the new location of the drifter.

References Timespan::asDouble(), Location::AtBearing(), Units::CENTIMETER_PER_SECOND, course_, Component::dt_, Location::EARTH_RADIUS_INVERTED, easting_, eastVelocity_, elapsedTime_, horizontalDisplacement_, latitude_, locationAccuracy_, longitude_, AuvMath::NanZero(), northing_, northVelocity_, DataReader::read(), velocityAccuracy_, and velocityAccuracyConfigReader_.

Referenced by run().

void HFRCMVirtualSurfaceDrifter::initialize ( void )

virtual

Initialize function.

Reimplemented from Component.

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

bool HFRCMVirtualSurfaceDrifter::lookupEmpiricalOrthogonalFunctions ( void )

protected

Look up the empirical orthogonal functions at the specified location.

References eastEmpiricalOrthogonalFunctionsHere_, eastEnsembleMeanHere_, eastScalingFactor_, HFRCMSpaceInterpolator::Instance(), latitude_, longitude_, HFRCMSpaceInterpolator::lookupEmpiricalOrthogonalFunctions(), northEmpiricalOrthogonalFunctionsHere_, northEnsembleMeanHere_, northScalingFactor_, and R2D.

Referenced by run().

bool HFRCMVirtualSurfaceDrifter::lookupExpansionCoefficients ( void )

protected

Look up the expansion coefficients at the current time.

References expansionCoefficientsNow_, HFRCMTimeInterpolator::Instance(), HFRCMTimeInterpolator::lookupExpansionCoefficients(), and Timestamp::Now().

Referenced by run().

bool HFRCMVirtualSurfaceDrifter::Reinitialize	(	double	latitude0rad,
		double	longitude0rad
	)

static

Reinitialize function (used by ReinitializeHFRCMVirtualSurfaceDrifter behavior to set/reset the initial location of the drifter)

References Instance_, and setLocation().

Referenced by ReinitializeHFRCMVirtualSurfaceDrifter::run().

void HFRCMVirtualSurfaceDrifter::reproject ( void )

protected

Calculate the estimated velocities at the specified location and time.

References eastEmpiricalOrthogonalFunctionsHere_, eastEnsembleMeanHere_, eastScalingFactor_, eastVelocity_, expansionCoefficientsNow_, northEmpiricalOrthogonalFunctionsHere_, northEnsembleMeanHere_, northScalingFactor_, and northVelocity_.

Referenced by run().

void HFRCMVirtualSurfaceDrifter::run ( void )

virtual

The actual "payload" of the component.

Reimplemented from Component.

References advect(), calculationTime_, eastVelocity_, eastVelocityWriter_, Syslog::INFO, latitude_, latitudeWriter_, Component::logger_, longitude_, longitudeWriter_, lookupEmpiricalOrthogonalFunctions(), lookupExpansionCoefficients(), northVelocity_, northVelocityWriter_, Timestamp::Now(), R2D, reproject(), DataWriter::setInvalid(), Logger::syslog(), Timestamp::toString(), verbosity_, and writeData().

bool HFRCMVirtualSurfaceDrifter::setLocation	(	double	latitude0rad,
		double	longitude0rad
	)

protected

set the location of the drifter

References Syslog::INFO, initialLatitudeWriter_, initialLongitudeWriter_, latitude_, Component::logger_, longitude_, Timestamp::Now(), R2D, Units::RADIAN, Logger::syslog(), and DataWriter::write().

Referenced by Reinitialize().

void HFRCMVirtualSurfaceDrifter::writeData ( void )

protected

Write the pertinent data out to the slate.

References calculationTime_, Units::CENTIMETER_PER_SECOND, eastVelocity_, eastVelocityWriter_, latitude_, latitudeWriter_, longitude_, longitudeWriter_, northVelocity_, northVelocityWriter_, Units::RADIAN, and DataWriter::write().

Referenced by run().

Member Data Documentation

Timestamp HFRCMVirtualSurfaceDrifter::calculationTime_

protected

Referenced by run(), and writeData().

double HFRCMVirtualSurfaceDrifter::course_

protected

Referenced by advect().

Mtx HFRCMVirtualSurfaceDrifter::eastEmpiricalOrthogonalFunctionsHere_

protected

Referenced by lookupEmpiricalOrthogonalFunctions(), and reproject().

float HFRCMVirtualSurfaceDrifter::eastEnsembleMeanHere_

protected

Referenced by lookupEmpiricalOrthogonalFunctions(), and reproject().

double HFRCMVirtualSurfaceDrifter::easting_

protected

Referenced by advect().

float HFRCMVirtualSurfaceDrifter::eastScalingFactor_

protected

Referenced by lookupEmpiricalOrthogonalFunctions(), and reproject().

double HFRCMVirtualSurfaceDrifter::eastVelocity_

protected

Referenced by advect(), reproject(), run(), and writeData().

DataWriter* HFRCMVirtualSurfaceDrifter::eastVelocityWriter_

protected

Referenced by HFRCMVirtualSurfaceDrifter(), run(), and writeData().

double HFRCMVirtualSurfaceDrifter::elapsedTime_

protected

Referenced by advect().

Mtx HFRCMVirtualSurfaceDrifter::expansionCoefficientsNow_

protected

Referenced by lookupExpansionCoefficients(), and reproject().

double HFRCMVirtualSurfaceDrifter::horizontalDisplacement_

protected

Referenced by advect().

DataWriter* HFRCMVirtualSurfaceDrifter::initialLatitudeWriter_

protected

Referenced by HFRCMVirtualSurfaceDrifter(), and setLocation().

DataWriter* HFRCMVirtualSurfaceDrifter::initialLongitudeWriter_

protected

Referenced by HFRCMVirtualSurfaceDrifter(), and setLocation().

HFRCMVirtualSurfaceDrifter * HFRCMVirtualSurfaceDrifter::Instance_

staticprotected

Pointer to the singleton-like instance of this component.

Referenced by HFRCMVirtualSurfaceDrifter(), Reinitialize(), and ~HFRCMVirtualSurfaceDrifter().

double HFRCMVirtualSurfaceDrifter::latitude_

protected

Referenced by advect(), lookupEmpiricalOrthogonalFunctions(), run(), setLocation(), and writeData().

DataWriter* HFRCMVirtualSurfaceDrifter::latitudeWriter_

protected

Referenced by HFRCMVirtualSurfaceDrifter(), run(), and writeData().

double HFRCMVirtualSurfaceDrifter::locationAccuracy_

protected

Referenced by advect().

double HFRCMVirtualSurfaceDrifter::longitude_

protected

Referenced by advect(), lookupEmpiricalOrthogonalFunctions(), run(), setLocation(), and writeData().

DataWriter* HFRCMVirtualSurfaceDrifter::longitudeWriter_

protected

Referenced by HFRCMVirtualSurfaceDrifter(), run(), and writeData().

Mtx HFRCMVirtualSurfaceDrifter::northEmpiricalOrthogonalFunctionsHere_

protected

Referenced by lookupEmpiricalOrthogonalFunctions(), and reproject().

float HFRCMVirtualSurfaceDrifter::northEnsembleMeanHere_

protected

Referenced by lookupEmpiricalOrthogonalFunctions(), and reproject().

double HFRCMVirtualSurfaceDrifter::northing_

protected

Referenced by advect().

float HFRCMVirtualSurfaceDrifter::northScalingFactor_

protected

Referenced by lookupEmpiricalOrthogonalFunctions(), and reproject().

double HFRCMVirtualSurfaceDrifter::northVelocity_

protected

Referenced by advect(), reproject(), run(), and writeData().

DataWriter* HFRCMVirtualSurfaceDrifter::northVelocityWriter_

protected

Referenced by HFRCMVirtualSurfaceDrifter(), run(), and writeData().

double HFRCMVirtualSurfaceDrifter::velocityAccuracy_

protected

Referenced by advect().

ConfigReader* HFRCMVirtualSurfaceDrifter::velocityAccuracyConfigReader_

protected

Referenced by advect().

int HFRCMVirtualSurfaceDrifter::verbosity_

protected

Referenced by run().

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

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