IBIT Class Reference

The IBIT built-in-test component provides monitoring of vehicle health on demand. More...

#include <IBIT.h>

Inheritance diagram for IBIT:

Collaboration diagram for IBIT:

Public Member Functions
	IBIT (const Module *module)
virtual	~IBIT ()
void	initialize (void)
	Initialize function. More...
void	run ()
	The actual "payload" of the component. More...
void	uninitialize (void)
	Uninit function. 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)
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)

Private Types
enum	IBITState {   START, CTRLHI, CTRLLO, CTRLCTR,   COMMS, BATT, ENV, DONE,   IDLE }

Private Member Functions
bool	readConfig (void)
bool	ctrlSurfaceCheckPos (float elevExpect, float ruddExpect)

Private Attributes
bool	ok_
bool	ibitPass_
DataWriter *	ibitRunningStateWriter_
DataWriter *	elevatorAngleCmdWriter_
DataWriter *	verticalModeWriter_
DataWriter *	horizontalModeWriter_
DataWriter *	rudderAngleCmdWriter_
DataReader *	elevatorAngleReader_
DataReader *	rudderAngleReader_
DataReader *	sBITRunningReader_
DataReader *	sigQualityReader_
DataReader *	goodFixReader_
DataReader *	timeFixReader_
DataReader *	latitudeFixReader_
DataReader *	longitudeFixReader_
DataReader *	batteryChargeReader_
DataReader *	batteryVoltageReader_
DataReader *	pressureReader_
DataReader *	humidityReader_
ConfigReader *	batteryCapacityThresholdCfgReader_
	Configuration Readers. More...
ConfigReader *	batteryVoltageThresholdCfgReader_
ConfigReader *	abortDepthCfgReader_
ConfigReader *	stopDepthCfgReader_
ConfigReader *	humidityThresholdCfgReader_
ConfigReader *	pressureThresholdCfgReader_
ConfigReader *	buoyancyNeutralCfgReader_
ConfigReader *	elevatorLimitCfgReader_
ConfigReader *	rudderLimitCfgReader_
ConfigReader *	surfaceThresholdCfgReader_
ConfigReader *	massDefaultCfgReader_
ConfigReader *	ruddDeviationCfgReader_
ConfigReader *	elevDeviationCfgReader_
float	surfaceThreshold_
	*----------------— vehicle parameters -----------------------—*/ More...
float	batteryCapacityThreshold_
float	batteryVoltageThreshold_
float	abortDepth_
float	stopDepth_
float	bitHumidityThreshold_
float	bitPressureThreshold_
float	buoyancyNeutral_
float	massDefault_
float	elevatorLimit_
float	rudderLimit_
float	ruddDeviation_
float	elevDeviation_
Timespan	ctrlTimeout_
Timespan	commsTimeout_
Timestamp	startTime_
int	sigQuality_
bool	goodFix_
IBITState	ibitState_

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 }
Protected Member Functions inherited from SyncTestComponent
	SyncTestComponent (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 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...

Detailed Description

The IBIT built-in-test component provides monitoring of vehicle health on demand.

If it sees a fault, it will write to a fault flag.

IBIT.h should only be included by IBIT.cpp Other classes should include IBITIF.h

Constructor & Destructor Documentation

IBIT::IBIT

(

const Module *

module

)

References abortDepthCfgReader_, batteryCapacityThresholdCfgReader_, batteryChargeReader_, batteryVoltageReader_, batteryVoltageThresholdCfgReader_, buoyancyNeutralCfgReader_, elevatorAngleCmdWriter_, elevatorAngleReader_, elevatorLimitCfgReader_, elevDeviationCfgReader_, goodFixReader_, horizontalModeWriter_, humidityReader_, humidityThresholdCfgReader_, ibitRunningStateWriter_, UniversalURI::LATITUDE_FIX, latitudeFixReader_, Component::logger_, UniversalURI::LONGITUDE_FIX, longitudeFixReader_, massDefaultCfgReader_, Component::newConfigReader(), Component::newDataReader(), Component::newDataWriter(), Component::newUniversalReader(), UniversalURI::PLATFORM_BATTERY_CHARGE, UniversalURI::PLATFORM_BATTERY_VOLTAGE, UniversalURI::PLATFORM_ELEVATOR_ANGLE, UniversalURI::PLATFORM_RUDDER_ANGLE, pressureReader_, pressureThresholdCfgReader_, ruddDeviationCfgReader_, rudderAngleCmdWriter_, rudderAngleReader_, rudderLimitCfgReader_, sBITRunningReader_, sigQualityReader_, stopDepthCfgReader_, surfaceThresholdCfgReader_, Logger::syslog(), UniversalURI::TIME_FIX, timeFixReader_, and verticalModeWriter_.

IBIT::~IBIT ( )

virtual

Member Function Documentation

bool IBIT::ctrlSurfaceCheckPos ( float  elevExpect, float  ruddExpect  )

private

References Units::DEGREE, elevatorAngleReader_, elevDeviation_, Syslog::FAULT, Component::logger_, DataReader::read(), ruddDeviation_, rudderAngleReader_, and Logger::syslog().

Referenced by run().

void IBIT::initialize ( void  )

virtual

Initialize function.

Reimplemented from Component.

References Units::BOOL, Syslog::CRITICAL, ibitRunningStateWriter_, Syslog::INFO, Component::logger_, ok_, readConfig(), Component::setAllowableFailures(), Logger::syslog(), and DataWriter::write().

bool IBIT::readConfig ( void  )

private

References abortDepth_, abortDepthCfgReader_, Units::AMPERE_HOUR, Units::ANGULAR_DEGREE, batteryCapacityThreshold_, batteryCapacityThresholdCfgReader_, batteryVoltageThreshold_, batteryVoltageThresholdCfgReader_, bitHumidityThreshold_, bitPressureThreshold_, buoyancyNeutral_, buoyancyNeutralCfgReader_, Units::CENTIMETER, Units::CUBIC_CENTIMETER, Units::DEGREE, elevatorLimit_, elevatorLimitCfgReader_, elevDeviation_, elevDeviationCfgReader_, humidityThresholdCfgReader_, massDefault_, massDefaultCfgReader_, Units::METER, Units::PERCENT, Units::POUND_PER_SQUARE_INCH, pressureThresholdCfgReader_, DataReader::read(), ruddDeviation_, ruddDeviationCfgReader_, rudderLimit_, rudderLimitCfgReader_, stopDepth_, stopDepthCfgReader_, surfaceThreshold_, surfaceThresholdCfgReader_, and Units::VOLT.

Referenced by initialize(), and run().

void IBIT::run ( void  )

virtual

The actual "payload" of the component.

Reimplemented from Component.

References abortDepth_, Units::AMPERE_HOUR, ATMOSPHERE_PSI, BATT, batteryCapacityThreshold_, batteryChargeReader_, batteryVoltageReader_, batteryVoltageThreshold_, bitHumidityThreshold_, bitPressureThreshold_, Units::BOOL, buoyancyNeutral_, COMMS, commsTimeout_, Units::COUNT, CTRLCTR, CTRLHI, CTRLLO, ctrlSurfaceCheckPos(), ctrlTimeout_, Units::DEGREE, DONE, Timestamp::elapsed(), elevatorAngleCmdWriter_, elevatorLimit_, Units::ENUM, ENV, Syslog::ERROR, Syslog::FAULT, goodFix_, goodFixReader_, horizontalModeWriter_, humidityReader_, ibitPass_, ibitRunningStateWriter_, ibitState_, IDLE, Syslog::IMPORTANT, DataReader::isActive(), DataWriter::isDataRequested(), latitudeFixReader_, Component::logger_, longitudeFixReader_, VerticalControlIF::MASS_AND_ELEVATOR, massDefault_, Timestamp::Now(), Units::PERCENT, Units::POUND_PER_SQUARE_INCH, pressureReader_, DataReader::read(), readConfig(), DataReader::requestData(), HorizontalControlIF::RUDDER_ANGLE, rudderAngleCmdWriter_, rudderLimit_, sBITRunningReader_, CBIT::SetGFScanForce(), sigQuality_, sigQualityReader_, START, startTime_, stopDepth_, surfaceThreshold_, Logger::syslog(), timeFixReader_, verticalModeWriter_, Units::VOLT, and DataWriter::write().

void IBIT::uninitialize ( void  )

virtual

Uninit function.

Reimplemented from Component.

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

Member Data Documentation

float IBIT::abortDepth_

private

Referenced by readConfig(), and run().

ConfigReader* IBIT::abortDepthCfgReader_

private

Referenced by IBIT(), and readConfig().

float IBIT::batteryCapacityThreshold_

private

Referenced by readConfig(), and run().

ConfigReader* IBIT::batteryCapacityThresholdCfgReader_

private

Configuration Readers.

Referenced by IBIT(), and readConfig().

DataReader* IBIT::batteryChargeReader_

private

Referenced by IBIT(), and run().

DataReader* IBIT::batteryVoltageReader_

private

Referenced by IBIT(), and run().

float IBIT::batteryVoltageThreshold_

private

Referenced by readConfig(), and run().

ConfigReader* IBIT::batteryVoltageThresholdCfgReader_

private

Referenced by IBIT(), and readConfig().

float IBIT::bitHumidityThreshold_

private

Referenced by readConfig(), and run().

float IBIT::bitPressureThreshold_

private

Referenced by readConfig(), and run().

float IBIT::buoyancyNeutral_

private

Referenced by readConfig(), and run().

ConfigReader* IBIT::buoyancyNeutralCfgReader_

private

Referenced by IBIT(), and readConfig().

Timespan IBIT::commsTimeout_

private

Referenced by run().

Timespan IBIT::ctrlTimeout_

private

Referenced by run().

DataWriter* IBIT::elevatorAngleCmdWriter_

private

Referenced by IBIT(), and run().

DataReader* IBIT::elevatorAngleReader_

private

Referenced by ctrlSurfaceCheckPos(), and IBIT().

float IBIT::elevatorLimit_

private

Referenced by readConfig(), and run().

ConfigReader* IBIT::elevatorLimitCfgReader_

private

Referenced by IBIT(), and readConfig().

float IBIT::elevDeviation_

private

Referenced by ctrlSurfaceCheckPos(), and readConfig().

ConfigReader* IBIT::elevDeviationCfgReader_

private

Referenced by IBIT(), and readConfig().

bool IBIT::goodFix_

private

Referenced by run().

DataReader* IBIT::goodFixReader_

private

Referenced by IBIT(), and run().

DataWriter* IBIT::horizontalModeWriter_

private

Referenced by IBIT(), and run().

DataReader* IBIT::humidityReader_

private

Referenced by IBIT(), and run().

ConfigReader* IBIT::humidityThresholdCfgReader_

private

Referenced by IBIT(), and readConfig().

bool IBIT::ibitPass_

private

Referenced by run().

DataWriter* IBIT::ibitRunningStateWriter_

private

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

IBITState IBIT::ibitState_

private

Referenced by run().

DataReader* IBIT::latitudeFixReader_

private

Referenced by IBIT(), and run().

DataReader* IBIT::longitudeFixReader_

private

Referenced by IBIT(), and run().

float IBIT::massDefault_

private

Referenced by readConfig(), and run().

ConfigReader* IBIT::massDefaultCfgReader_

private

Referenced by IBIT(), and readConfig().

bool IBIT::ok_

private

Referenced by initialize().

DataReader* IBIT::pressureReader_

private

Referenced by IBIT(), and run().

ConfigReader* IBIT::pressureThresholdCfgReader_

private

Referenced by IBIT(), and readConfig().

float IBIT::ruddDeviation_

private

Referenced by ctrlSurfaceCheckPos(), and readConfig().

ConfigReader* IBIT::ruddDeviationCfgReader_

private

Referenced by IBIT(), and readConfig().

DataWriter* IBIT::rudderAngleCmdWriter_

private

Referenced by IBIT(), and run().

DataReader* IBIT::rudderAngleReader_

private

Referenced by ctrlSurfaceCheckPos(), and IBIT().

float IBIT::rudderLimit_

private

Referenced by readConfig(), and run().

ConfigReader* IBIT::rudderLimitCfgReader_

private

Referenced by IBIT(), and readConfig().

DataReader* IBIT::sBITRunningReader_

private

Referenced by IBIT(), and run().

int IBIT::sigQuality_

private

Referenced by run().

DataReader* IBIT::sigQualityReader_

private

Referenced by IBIT(), and run().

Timestamp IBIT::startTime_

private

Referenced by run().

float IBIT::stopDepth_

private

Referenced by readConfig(), and run().

ConfigReader* IBIT::stopDepthCfgReader_

private

Referenced by IBIT(), and readConfig().

float IBIT::surfaceThreshold_

private

*----------------— vehicle parameters -----------------------—*/

Referenced by readConfig(), and run().

ConfigReader* IBIT::surfaceThresholdCfgReader_

private

Referenced by IBIT(), and readConfig().

DataReader* IBIT::timeFixReader_

private

Referenced by IBIT(), and run().

DataWriter* IBIT::verticalModeWriter_

private

Referenced by IBIT(), and run().

---

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

• /Volumes/ubuntu_share/lrauv-application/Source/bitModule/IBIT.h
• /Volumes/ubuntu_share/lrauv-application/Source/bitModule/IBIT.cpp