This simulation initializes whenever a location fix is obtained, and simulates the vehicle's trajectory and the output of navigation sensors over an entire dive. More...

#include <InternalSim.h>

Inheritance diagram for InternalSim:

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Collaboration diagram for InternalSim:

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Public Member Functions
	InternalSim (const Module *module)
	Constructor. More...

virtual	~InternalSim ()
	Destructor. More...

virtual void	initialize (void)
	Initialize the simulator. More...

virtual void	run (void)
	Run the simulation. More...

virtual void	uninitialize (void)
	Uninitialize the simulation. 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 Member Functions
	InternalSim (const InternalSim &old)

virtual void	publishState ()

bool	loadParams (void)
	Load VerticalControl parameters. More...

Private Attributes
Simulator	simulator_
	The actual dynamic simulator. More...

bool	ok_
	Indicates whether the internal sim is running. More...

bool	haveFix_
	Indicates whether we have an initial position fix. More...

bool	gotFirstFix_

float	surfaceThreshold_

UniversalDataReader *	densityReader_

UniversalDataReader *	headingReader_

UniversalDataReader *	pitchReader_

UniversalDataReader *	rollReader_

UniversalDataWriter *	headingWriter_

UniversalDataWriter *	pitchWriter_

UniversalDataWriter *	rollWriter_

UniversalDataReader *	depthReader_

UniversalDataWriter *	depthWriter_

UniversalDataReader *	latitudeFixReader_

UniversalDataReader *	longitudeFixReader_

UniversalDataReader *	latitudeReader_

UniversalDataReader *	longitudeReader_

UniversalDataWriter *	latitudeWriter_

UniversalDataWriter *	longitudeWriter_

DataReader *	propOmegaActionReader_

DataReader *	elevatorAngleActionReader_

DataReader *	rudderAngleActionReader_

DataReader *	massPositionActionReader_

UniversalDataWriter *	propOmegaWriter_

UniversalDataWriter *	elevatorAngleWriter_

UniversalDataWriter *	rudderAngleWriter_

UniversalDataWriter *	massPositionWriter_

ConfigReader *	surfaceThresholdCfgReader_
	Configuration readers. More...

SimRunStruct	runParams_

SimResultStruct	results_

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 SyncSimulatorComponent
	SyncSimulatorComponent (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

This simulation initializes whenever a location fix is obtained, and simulates the vehicle's trajectory and the output of navigation sensors over an entire dive.

Todo:: The first X seconds of each dive are used to tune the settings of mass zero position and buoyancy zero gain.

InternalSim.h should only be included by InternalSim.cpp Other classes should include InternalSimIF.h

Constructor & Destructor Documentation

InternalSim::InternalSim ( const Module * module )

Constructor.

References Units::DEGREE, densityReader_, UniversalURI::DEPTH, depthReader_, depthWriter_, elevatorAngleActionReader_, elevatorAngleWriter_, headingReader_, headingWriter_, UniversalURI::LATITUDE, UniversalURI::LATITUDE_FIX, latitudeFixReader_, latitudeReader_, latitudeWriter_, UniversalURI::LONGITUDE, UniversalURI::LONGITUDE_FIX, longitudeFixReader_, longitudeReader_, longitudeWriter_, massPositionActionReader_, massPositionWriter_, Units::METER, Component::newConfigReader(), Component::newDataReader(), Component::newUniversalReader(), Component::newUniversalWriter(), pitchReader_, pitchWriter_, UniversalURI::PLATFORM_ELEVATOR_ANGLE, UniversalURI::PLATFORM_MASS_POSITION, UniversalURI::PLATFORM_ORIENTATION, UniversalURI::PLATFORM_PITCH_ANGLE, UniversalURI::PLATFORM_PROPELLER_ROTATION_RATE, UniversalURI::PLATFORM_ROLL_ANGLE, UniversalURI::PLATFORM_RUDDER_ANGLE, propOmegaActionReader_, propOmegaWriter_, Units::RADIAN_PER_SECOND, rollReader_, rollWriter_, rudderAngleActionReader_, rudderAngleWriter_, UniversalURI::SEA_WATER_DENSITY, Component::setAllowableFailures(), Component::setRetryTimeout(), and surfaceThresholdCfgReader_.

InternalSim::~InternalSim ( )

virtual

Destructor.

InternalSim::InternalSim ( const InternalSim & old )

private

Member Function Documentation

void InternalSim::initialize ( void )

virtual

Initialize the simulator.

Initialize.

Reimplemented from Component.

References Syslog::CRITICAL, Syslog::ERROR, SimResultStruct::errorMessage_, Simulator::initialize(), SimulatorUtils::LoadInit(), loadParams(), Component::logger_, ok_, publishState(), results_, simulator_, and Logger::syslog().

bool InternalSim::loadParams ( void )

private

Load VerticalControl parameters.

Referenced by initialize().

void InternalSim::publishState ( )

privatevirtual

void InternalSim::run ( void )

virtual

Run the simulation.

Run.

Reimplemented from Component.

References Timespan::asDouble(), Component::BLOCK_NORMAL, SimRunStruct::density_, densityReader_, depthReader_, SimRunStruct::dt_, Component::dt_, Timestamp::elapsed(), SimRunStruct::elevatorAngleAction_, elevatorAngleActionReader_, Syslog::ERROR, SimResultStruct::errorMessage_, DataReader::getTimestamp(), gotFirstFix_, haveFix_, headingReader_, Units::KILOGRAM_PER_CUBIC_METER, latitudeFixReader_, latitudeReader_, Component::logger_, longitudeReader_, SimRunStruct::massPositionAction_, massPositionActionReader_, Units::METER, ok_, pitchReader_, SimRunStruct::propOmegaAction_, propOmegaActionReader_, publishState(), Units::RADIAN, Units::RADIAN_PER_SECOND, DataReader::read(), results_, rollReader_, SimRunStruct::rudderAngleAction_, rudderAngleActionReader_, Simulator::run(), runParams_, Simulator::setDepth(), Component::setFailure(), Simulator::setHeading(), Simulator::setLocation(), Simulator::setPitch(), Simulator::setRoll(), Component::setState(), simulator_, FailureMode::SOFTWARE, surfaceThreshold_, surfaceThresholdCfgReader_, Logger::syslog(), and Wgs84::UtmErrorToString().

void InternalSim::uninitialize ( void )

virtual

Uninitialize the simulation.

Deinitialize.

Reimplemented from Component.

Member Data Documentation

UniversalDataReader* InternalSim::densityReader_

private

Referenced by InternalSim(), and run().

UniversalDataReader* InternalSim::depthReader_

private

Referenced by InternalSim(), and run().

UniversalDataWriter* InternalSim::depthWriter_

private

Referenced by InternalSim(), and publishState().

DataReader* InternalSim::elevatorAngleActionReader_

private

Referenced by InternalSim(), and run().

UniversalDataWriter* InternalSim::elevatorAngleWriter_

private

Referenced by InternalSim(), and publishState().

bool InternalSim::gotFirstFix_

private

Referenced by run().

bool InternalSim::haveFix_

private

Indicates whether we have an initial position fix.

Referenced by publishState(), and run().

UniversalDataReader* InternalSim::headingReader_

private

Referenced by InternalSim(), and run().

UniversalDataWriter* InternalSim::headingWriter_

private

Referenced by InternalSim(), and publishState().

UniversalDataReader* InternalSim::latitudeFixReader_

private

Referenced by InternalSim(), and run().

UniversalDataReader* InternalSim::latitudeReader_

private

Referenced by InternalSim(), and run().

UniversalDataWriter* InternalSim::latitudeWriter_

private

Referenced by InternalSim(), and publishState().

UniversalDataReader* InternalSim::longitudeFixReader_

private

Referenced by InternalSim().

UniversalDataReader* InternalSim::longitudeReader_

private

Referenced by InternalSim(), and run().

UniversalDataWriter* InternalSim::longitudeWriter_

private

Referenced by InternalSim(), and publishState().

DataReader* InternalSim::massPositionActionReader_

private

Referenced by InternalSim(), and run().

UniversalDataWriter* InternalSim::massPositionWriter_

private

Referenced by InternalSim(), and publishState().

bool InternalSim::ok_

private

Indicates whether the internal sim is running.

Referenced by initialize(), and run().

UniversalDataReader* InternalSim::pitchReader_

private

Referenced by InternalSim(), and run().

UniversalDataWriter* InternalSim::pitchWriter_

private

Referenced by InternalSim(), and publishState().

DataReader* InternalSim::propOmegaActionReader_

private

Referenced by InternalSim(), and run().

UniversalDataWriter* InternalSim::propOmegaWriter_

private

Referenced by InternalSim(), and publishState().

SimResultStruct InternalSim::results_

private

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

UniversalDataReader* InternalSim::rollReader_

private

Referenced by InternalSim(), and run().

UniversalDataWriter* InternalSim::rollWriter_

private

Referenced by InternalSim(), and publishState().

DataReader* InternalSim::rudderAngleActionReader_

private

Referenced by InternalSim(), and run().

UniversalDataWriter* InternalSim::rudderAngleWriter_

private

Referenced by InternalSim(), and publishState().

SimRunStruct InternalSim::runParams_

private

Referenced by run().

Simulator InternalSim::simulator_

private

The actual dynamic simulator.

Referenced by initialize(), and run().

float InternalSim::surfaceThreshold_

private

Referenced by run().

ConfigReader* InternalSim::surfaceThresholdCfgReader_

private

Configuration readers.

Referenced by InternalSim(), and run().

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

/Volumes/ubuntu_share/lrauv-application/Source/simulatorModule/InternalSim.h
/Volumes/ubuntu_share/lrauv-application/Source/simulatorModule/InternalSim.cpp

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation