MissionManager Class Reference

MissionManager is the computation cycle component that contains the main mission stack and manages its execution. More...

#include <MissionManager.h>

Inheritance diagram for MissionManager:

Collaboration diagram for MissionManager:

Public Member Functions
	MissionManager ()
	Private constructor for use only by Aggregate. More...
virtual	~MissionManager ()
	Destructor. More...
MissionItem *	loadFromFile (const char *filename)
	Loads a mission from a file. More...
bool	runLoadedMission (bool quitAtEnd=false)
	Loads a mission from a file. More...
bool	resumeLoadedMission ()
	Resumes the contained mission stack. More...
void	run ()
	Runs the contained mission stack. More...
void	initialize ()
	Reads the configuration settings. More...
void	uninitialize ()
	Uninitialize the mission stacks. More...
void	logStack ()
	Display the currently running stack to Syslog. More...
bool	isMissionRunning ()
	Returns true if a mission is running. More...
MissionItem *	getRunningMission ()
	Returns the currently running mission, or NULL if none (or in startup) More...
const Str &	getLoadedMissionFilename ()
	Returns the filename name of the most recent loaded mission. 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)

Static Public Member Functions
static MissionNode *	LoadRootNode (const char *filename, bool insert, Logger &logger)
	Load a mission node from a file. More...
static MissionNode *	FindTopNode (MissionNode *rootNode, Logger &logger)
	Finds a mission node within a root node. More...
static void	LogMission (const char *filename, Logger &logger)
	Logs the mission to the syslog. More...
static MissionManager *	GetInstance ()

Protected Member Functions
MissionItem *	missionFromFile (const char *filename)
	Loads a mission from a file. More...
Protected Member Functions inherited from SyncMissionComponent
	SyncMissionComponent (const Str &name, const Module *module)
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
MissionItem *	loadedMissionItem_
Str	loadedMissionFilename_
bool	okToRun_
bool	quitAtEnd_
MissionItem *	startupMissionItem_
MissionItem *	defaultMissionItem_
Mutex	stackModMutex_
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...

Private Member Functions
	MissionManager (const MissionManager &old)
void	uninitializeMission (MissionItem *missionItem)
	Uninitialize a mission stack. More...

Private Attributes
DataReader *	sBITRunningReader_
DataReader *	iBITRunningReader_
UniversalDataWriter *	missionStartedWriter_

Static Private Attributes
static MissionManager *	Instance_

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

MissionManager is the computation cycle component that contains the main mission stack and manages its execution.

Constructor & Destructor Documentation

MissionManager::MissionManager

(

)

Private constructor for use only by Aggregate.

Constructor.

References Units::COUNT, iBITRunningReader_, Instance_, UniversalURI::MISSION_STARTED, missionStartedWriter_, Component::newDataReader(), Component::newUniversalWriter(), sBITRunningReader_, Component::setAllowableFailures(), and Component::setRetryTimeout().

MissionManager::~MissionManager ( )

virtual

Destructor.

References Instance_.

MissionManager::MissionManager ( const MissionManager &  old )

private

Member Function Documentation

MissionNode * MissionManager::FindTopNode ( MissionNode *  rootNode, Logger &  logger  )

static

Finds a mission node within a root node.

References Syslog::ERROR, MissionNode::getChild(), MissionNode::getName(), MissionNode::hasChildNodes(), and Logger::syslog().

Referenced by MissionItem::initializeFromScript(), and missionFromFile().

MissionManager * MissionManager::GetInstance ( )

static

References Instance_.

const Str& MissionManager::getLoadedMissionFilename ( )

inline

Returns the filename name of the most recent loaded mission.

References loadedMissionFilename_.

MissionItem* MissionManager::getRunningMission ( )

inline

Returns the currently running mission, or NULL if none (or in startup)

References isMissionRunning(), and loadedMissionItem_.

void MissionManager::initialize ( void  )

virtual

Reads the configuration settings.

Initialize the mission manager.

Reimplemented from Component.

References StrValue::asString(), Str::cStr(), defaultMissionItem_, Syslog::ERROR, Component::logger_, missionFromFile(), Slate::ReadOnce(), startupMissionItem_, and Logger::syslog().

bool MissionManager::isMissionRunning ( )

inline

Returns true if a mission is running.

References loadedMissionItem_, okToRun_, and startupMissionItem_.

Referenced by getRunningMission(), and Supervisor::IsMissionRunning().

MissionItem * MissionManager::loadFromFile

(

const char *

filename

)

Loads a mission from a file.

References MissionStateLogger::ClearStates(), loadedMissionFilename_, loadedMissionItem_, missionFromFile(), okToRun_, and uninitializeMission().

Referenced by Supervisor::loadMission(), resumeLoadedMission(), Supervisor::resumeMission(), and Supervisor::runMission().

MissionNode * MissionManager::LoadRootNode ( const char *  filename, bool  insert, Logger &  logger  )

static

Load a mission node from a file.

Loads a mission from a file.

References Syslog::CRITICAL, Str::cStr(), Syslog::ERROR, MissionAPIRegistry::FindByExtension(), Syslog::INFO, MissionAPI::loadMissionFile(), Str::startsWith(), and Logger::syslog().

Referenced by MissionItem::initializeFromScript(), and missionFromFile().

void MissionManager::LogMission ( const char *  filename, Logger &  logger  )

static

Logs the mission to the syslog.

References InStream::bytesRead(), Syslog::DEBUG, FileInStream::eof(), Str::length(), FileInStream::read(), FileInStream::seek(), and Logger::syslog().

Referenced by MissionItem::initializeFromScript(), and missionFromFile().

void MissionManager::logStack

(

)

Display the currently running stack to Syslog.

References defaultMissionItem_, MissionItem::getAggregate(), Syslog::IMPORTANT, loadedMissionItem_, Component::logger_, Aggregate::logStack(), okToRun_, stackModMutex_, startupMissionItem_, and Logger::syslog().

Referenced by Supervisor::showStack().

MissionItem * MissionManager::missionFromFile ( const char *  filename )

protected

Loads a mission from a file.

References Component::BLOCK_NORMAL, FindTopNode(), MissionItem::Instance(), LoadRootNode(), Component::logger_, LogMission(), Component::setState(), and stackModMutex_.

Referenced by initialize(), and loadFromFile().

bool MissionManager::resumeLoadedMission

(

)

Resumes the contained mission stack.

Calls initialize on the mission stack if needed.

References Str::cStr(), Str::EMPTY_STR, Syslog::ERROR, MissionStateLogger::GetActive(), Aggregate::getChild(), MissionItem::getComponent(), Component::getName(), MissionItem::isAggregate(), loadedMissionFilename_, loadedMissionItem_, loadFromFile(), Component::logger_, MissionStateLogger::NewResume(), okToRun_, MissionItem::setRepeatIndex(), Aggregate::setResumeItem(), MissionStateLogger::ShowMissionState(), and Logger::syslog().

Referenced by Supervisor::resumeMission().

void MissionManager::run ( void  )

virtual

Runs the contained mission stack.

Calls initialize on the mission stack if needed.

Reimplemented from Component.

References Units::COUNT, defaultMissionItem_, Syslog::ERROR, MissionItem::getAggregate(), MissionItem::getComponent(), Component::getName(), iBITRunningReader_, Syslog::IMPORTANT, MissionItem::initialize(), Behavior::isCompleted(), Component::isCompleted(), MissionItem::isInitialized(), loadedMissionItem_, Component::logger_, missionStartedWriter_, okToRun_, DataReader::read(), MissionItem::runIfUnsatisfied(), Component::satisfied(), sBITRunningReader_, stackModMutex_, startupMissionItem_, Logger::syslog(), Mutex::tryLock(), MissionItem::uninitialize(), uninitializeMission(), Mutex::unlock(), and DataWriter::write().

bool MissionManager::runLoadedMission

(

bool

quitAtEnd = false

)

Loads a mission from a file.

References loadedMissionFilename_, loadedMissionItem_, MissionStateLogger::NewRun(), okToRun_, and quitAtEnd_.

Referenced by Supervisor::runMission().

void MissionManager::uninitialize ( void  )

virtual

Uninitialize the mission stacks.

Uninitialize all mission stacks.

Reimplemented from Component.

References defaultMissionItem_, loadedMissionItem_, startupMissionItem_, and uninitializeMission().

void MissionManager::uninitializeMission ( MissionItem *  missionItem )

private

Uninitialize a mission stack.

Uninitialize a running mission stack.

References Behavior::BEHAVIOR_INACTIVE, CommandLine::DoCommand(), MissionItem::getAggregate(), Behavior::getBehaviorState(), loadedMissionItem_, quitAtEnd_, stackModMutex_, startupMissionItem_, and MissionItem::uninitialize().

Referenced by loadFromFile(), run(), and uninitialize().

Member Data Documentation

MissionItem* MissionManager::defaultMissionItem_

protected

Referenced by initialize(), logStack(), run(), and uninitialize().

DataReader* MissionManager::iBITRunningReader_

private

Referenced by MissionManager(), and run().

MissionManager * MissionManager::Instance_

staticprivate

Referenced by GetInstance(), MissionManager(), and ~MissionManager().

Str MissionManager::loadedMissionFilename_

protected

Referenced by getLoadedMissionFilename(), loadFromFile(), resumeLoadedMission(), and runLoadedMission().

MissionItem* MissionManager::loadedMissionItem_

protected

Referenced by getRunningMission(), isMissionRunning(), loadFromFile(), logStack(), resumeLoadedMission(), run(), runLoadedMission(), uninitialize(), and uninitializeMission().

UniversalDataWriter* MissionManager::missionStartedWriter_

private

Referenced by MissionManager(), and run().

bool MissionManager::okToRun_

protected

Referenced by isMissionRunning(), loadFromFile(), logStack(), resumeLoadedMission(), run(), and runLoadedMission().

bool MissionManager::quitAtEnd_

protected

Referenced by runLoadedMission(), and uninitializeMission().

DataReader* MissionManager::sBITRunningReader_

private

Referenced by MissionManager(), and run().

Mutex MissionManager::stackModMutex_

protected

Referenced by logStack(), missionFromFile(), run(), and uninitializeMission().

MissionItem* MissionManager::startupMissionItem_

protected

Referenced by initialize(), isMissionRunning(), logStack(), run(), uninitialize(), and uninitializeMission().

---

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

• /Volumes/ubuntu_share/lrauv-application/Source/missionScript/MissionManager.h
• /Volumes/ubuntu_share/lrauv-application/Source/missionScript/MissionManager.cpp