Provides software interface to the NAL Research NAL9602 Iridium modem and compass. More...

#include <NAL9602.h>

Inheritance diagram for NAL9602:

Collaboration diagram for NAL9602:

Classes
struct	Fix
	Data structure contains items specified by the NMEA GPS data standard. More...

struct	NmeaUTCDate

struct	NmeaUTCTime

struct	SendPacket

struct	SNRWriters

Public Member Functions
	NAL9602 (const Module *module)

virtual	~NAL9602 ()

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

virtual RunState	pause ()
	Pause for a short period (indicated by pauseTime) 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	runnable ()
	Should eventually follow a START request or RESETTING. 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 ()
	Initial state – can be later followed by START. More...

void	uninitialize ()
	Provide a space for uninitialization. More...

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...

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	initialize ()
	Provide a space for initialization before being run. More...

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	satisfied ()
	Possible return value of a Behavior. More...

virtual RunState	pausing ()
	Might follow a PAUSE 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	CommsState { SLEEPING, WAKING, CMDMODE, AWAKE, NEED_FIX, NEED_GSV, GET_SIG_QUALITY, SENDING_FILL_BUFFER, SENDING_TRANSMIT, SENDING_VERIFY, RECEIVING_1, RECEIVING_2, MTQUEUE_QUALITY, MTQUEUE_SESSION, GO_TO_SLEEP }

enum	DataQuality { INVALID, VALID_ONE, VALID_TWO, DEAD_RECKON }

enum	Hemisphere { NORTHERN_HEMI, SOUTHERN_HEMI, EASTERN_HEMI, WESTERN_HEMI, INVALID_HEMISPHERE }

enum	SentenceType { GPGGA, GPGSA, GPRMC, UNKNOWN_NMEA_TYPE }

Private Member Functions
	NAL9602 (const NAL9602 &old)

void	waking ()
	We define a method for each state of the device. More...

void	cmdMode ()
	CMDMODE. More...

void	awake ()
	AWAKE. More...

void	needFix ()
	NEED_FIX. More...

void	needGSV ()
	needGSV More...

void	getSigQuality ()

void	sendingFillBuffer ()
	SENDING1. More...

void	sendingTransmit ()
	SENDING2. More...

void	sendingVerify ()
	SENDING3. More...

void	receiving1 ()
	RECEIVING1. More...

void	receiving2 ()
	RECEIVING2. More...

void	goToSleep ()
	GO_TO_SLEEP. More...

void	getMTQueueSignalStrength ()

void	sessionMTQueueVerify ()

bool	loadParams (void)

bool	readConfig ()

bool	fillBuffer (const unsigned char *msg, size_t nMsgBytes)
	Send (downlink) a message. More...

bool	initiateSession ()

bool	verifySessionXmit ()

bool	clearMOBuffer ()

bool	retrieveAndQueueIncoming (int nUplinkBytes)
	Retrieve (uplink) message from modem and queue it for clients. More...

bool	isDataRequested ()

void	getReceivedSignalStrength ()
	Stores modem signal quality (0-5), -1 on error. More...

bool	belowSurfaceThreshold (void)

bool	getFix (void)
	Returns position from GPS or an empty string upon error. More...

bool	requestFix (void)
	sends request to get a fix and returns when data is ready or timeout has occured. More...

bool	requestGSV (void)
	sends request to get GSV NMEA string and returns when data is ready or timeout has occured. More...

bool	parseGGAFix (const char *ggaSentence)
	Parse Gps fix from NMEA "GGA sentence". More...

bool	parseRMCFix (const char *rmcSentence)
	Parse Gps fix from NMEA "RMC sentence". More...

bool	parseGSV (void)
	Parses the GSV NMEA string(s) More...

bool	goodGGAFixIndicator (const char *ggaSentence)
	Check to see if a fix has been acquired. More...

bool	goodRMCFixIndicator (const char *rmcSentence)

Hemisphere	char2Hemisphere (unsigned char hem)
	Returns the hemisphere from the NMEA string. More...

Static Private Member Functions
static SentenceType	GetNmeaSentenceType (const char *sentence)
	Returns type of NMEA sentence. More...

static double	ParseLatitude (const char *nmeaString)
	Parse latitude in radians from NMEA standard latitude string. More...

static double	ParseLongitude (const char *nmeaString)
	Parse longitude in radians from NMEA standard longitude string. More...

Private Attributes
UniversalDataReader *	depthReader_

UniversalDataReader *	latitudeReader_

UniversalDataReader *	longitudeReader_

DataWriter *	numSatellitesWriter_

DataWriter *	goodFixWriter_

DataWriter *	sigQualityWriter_

DataWriter *	sogWriter_

DataWriter *	cogWriter_

UniversalDataWriter *	timeFixWriter_

UniversalDataWriter *	latitudeFixWriter_

UniversalDataWriter *	longitudeFixWriter_

UniversalBlobWriter *	locationFixWriter_

UniversalDataWriter *	communicationsWriter_

ConfigReader *	surfaceThresholdCfgReader_
	Configuration readers. More...

ConfigReader *	sendDataToShoreCfgReader_

ConfigReader *	checkMTQueueCfgReader_

ConfigReader *	gpsFailTimeoutCfgReader_

ConfigReader *	iridiumFailTimeoutCfgReader_

ConfigReader *	requestGGACfgReader_

SNRWriters	snrWriters_ [MAX_GPS_SATS_9602]

CommsState	commsState_

char	modemResponse_ [512]
	Stores the response from the modem. More...

char	command_ [512]
	Stores the decrypted command. More...

Timespan	powerDownTimeout_

Timespan	poResetTimeout_

Timespan	requestTimeout_

Timespan	gpsFailTimeout_

Timespan	iridiumMTQueueTimeout_

Timespan	bufferFillTimeout_

Timestamp	startTime_

Timestamp	powerOnTimeStart_

Timestamp	powerOffTimeStart_

Timestamp	needFixStartTime_

Timestamp	utcTime_

Timestamp	needMTQueueStartTime_

bool	gotFix_

bool	gotMTQueue_

FlexArray< int * >	snrData_

bool	ok_

float	surfaceThreshold_
	----------------— vehicle parameters -----------------------—/ More...

bool	sendDataToShore_

bool	checkMTQueue_

StrValue	keyText_

int	requestGGA_

int	uplinkStatus_

int	uplinkSeqNo_

unsigned int	nUplinkBytes_

unsigned int	nPendingUplinks_

bool	communicationsDone_

bool	cmdReceived_

bool	fixRequested_

bool	gpsTimeoutArmed_

bool	iridiumTimeoutArmed_

bool	gsvRequested_

bool	qualityRequested_

bool	debug_

UartStream	uart_

LoadControl	loadControl_

Fix	fix_

short	sigQuality_
	Holds most recent Iridium signal quality. More...

bool	radioEnabled_

char *	resendSBDFilename_
	Name of SBD currently being re-sent to shore. More...

struct NAL9602::SendPacket	sendPacket_

unsigned int	sentIndex_
	Keeps track of how many packets have been sent to shore. More...

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 SyncSensorComponent
	SyncSensorComponent (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 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

Provides software interface to the NAL Research NAL9602 Iridium modem and compass.

NAL9602.h should only be included by NAL9602.cpp Other classes should include NAL9602IF.h

Constructor & Destructor Documentation

NAL9602::NAL9602 ( const Module * module )

References Units::BOOL, checkMTQueueCfgReader_, cogWriter_, communicationsWriter_, Units::COUNT, NAL9602::SendPacket::data_, NAL9602::SendPacket::dataSize_, Units::DEGREE, UniversalURI::DEPTH, depthReader_, Str::EMPTY_STR, goodFixWriter_, gpsFailTimeoutCfgReader_, NAL9602::SendPacket::index_, iridiumFailTimeoutCfgReader_, UniversalURI::LATITUDE, UniversalURI::LATITUDE_FIX, latitudeFixWriter_, latitudeReader_, UniversalURI::LOCATION_FIX, locationFixWriter_, UniversalURI::LONGITUDE, UniversalURI::LONGITUDE_FIX, longitudeFixWriter_, longitudeReader_, MAX_GPS_SATS_9602, Component::newConfigReader(), Component::newDataWriter(), Slate::NewOutputWriter(), Component::newUniversalBlobWriter(), Component::newUniversalReader(), Component::newUniversalWriter(), Timestamp::Now(), numSatellitesWriter_, NAL9602::SendPacket::packetsLeft_, Component::persistentPause_, UniversalURI::PLATFORM_COMMUNICATIONS, powerOnTimeStart_, requestGGACfgReader_, Units::SECOND, sendDataToShoreCfgReader_, NAL9602::SendPacket::sendFilename_, NAL9602::SendPacket::sendFilesize_, sendPacket_, Component::setAllowableFailures(), Component::setRetryTimeout(), Component::setRunState(), sigQualityWriter_, NAL9602::SNRWriters::snrWriter_, snrWriters_, sogWriter_, Component::START, surfaceThresholdCfgReader_, UniversalURI::TIME_FIX, timeFixWriter_, and NAL9602::SendPacket::timeT_.

NAL9602::~NAL9602 ( )

virtual

NAL9602::NAL9602 ( const NAL9602 & old )

private

Member Function Documentation

void NAL9602::awake ( )

private

AWAKE.

References commsState_, communicationsDone_, communicationsWriter_, debug_, GET_SIG_QUALITY, GO_TO_SLEEP, Syslog::INFO, DataReader::isActive(), DataWriter::isDataRequested(), latitudeFixWriter_, latitudeReader_, Component::logger_, longitudeFixWriter_, longitudeReader_, NEED_FIX, Component::resetFailCount(), Logger::syslog(), and timeFixWriter_.

Referenced by runnable().

bool NAL9602::belowSurfaceThreshold ( void )

private

References depthReader_, DataReader::isActive(), Units::METER, DataReader::read(), surfaceThreshold_, and surfaceThresholdCfgReader_.

Referenced by needFix().

NAL9602::Hemisphere NAL9602::char2Hemisphere ( unsigned char hem )

private

Returns the hemisphere from the NMEA string.

References EASTERN_HEMI, Syslog::ERROR, Component::logger_, NORTHERN_HEMI, SOUTHERN_HEMI, Logger::syslog(), and WESTERN_HEMI.

Referenced by parseGGAFix(), and parseRMCFix().

bool NAL9602::clearMOBuffer ( )

private

References UartStream::flush(), UartStream::flushCRLF(), modemResponse_, UartStream::readUntil(), UartStream::resetStartTimeout(), UartStream::setStartTimeout(), Component::simulateHardware(), and uart_.

Referenced by sendingVerify().

void NAL9602::cmdMode ( )

private

CMDMODE.

References AWAKE, UartStream::canReadUntil(), commsState_, FailureMode::COMMUNICATIONS, debug_, Timestamp::elapsed(), Syslog::ERROR, Syslog::INFO, Component::logger_, poResetTimeout_, Component::setFailure(), Component::simulateHardware(), startTime_, Logger::syslog(), and uart_.

Referenced by runnable().

bool NAL9602::fillBuffer	(	const unsigned char *	msg,
		size_t	nMsgBytes
	)

private

Send (downlink) a message.

References UartStream::canReadUntil(), Syslog::ERROR, UartStream::errorString(), UartStream::flush(), UartStream::hasError(), Component::logger_, Timespan::Milliseconds(), modemResponse_, UartStream::read(), sigQuality_, Component::simulateHardware(), Timespan::sleepFor(), Logger::syslog(), uart_, and UartStream::write().

Referenced by sendingFillBuffer().

ConfigURI NAL9602::getConfigURI ( ConfigOption configOption ) const

virtual

Should return [myNamespace]::SIMULATE_HARDWARE, or [myNamespace]::POWER, etc.

Reimplemented from Component.

References Component::CONFIG_POWER, Component::CONFIG_SIMULATE_HARDWARE, and ConfigURI::NO_CONFIG_URI.

ConfigURI NAL9602::getConfigURI	(	ConfigOption	configOption,
		ElementURI	forElement
	)		const

virtual

Should return [myNamespace]::POWER_[forElement], [myNamespace]::LATENCY_[forElement], etc.

Reimplemented from Component.

References Component::CONFIG_POWER, ConfigURI::NO_CONFIG_URI, and UniversalURI::PLATFORM_COMMUNICATIONS.

bool NAL9602::getFix ( void )

private

Returns position from GPS or an empty string upon error.

References Syslog::ERROR, UartStream::errorString(), UartStream::flush(), UartStream::flushCRLF(), goodGGAFixIndicator(), goodRMCFixIndicator(), UartStream::hasError(), Component::logger_, parseGGAFix(), parseRMCFix(), UartStream::readLines(), requestGGA_, UartStream::resetStartTimeout(), UartStream::setStartTimeout(), Component::simulateHardware(), Logger::syslog(), and uart_.

Referenced by needFix().

void NAL9602::getMTQueueSignalStrength ( )

private

NAL9602::SentenceType NAL9602::GetNmeaSentenceType ( const char * sentence )

staticprivate

Returns type of NMEA sentence.

References GGA_PREFIX, GPGGA, GPGSA, GPRMC, GSA_PREFIX, RMC_PREFIX, and UNKNOWN_NMEA_TYPE.

Referenced by goodGGAFixIndicator(), goodRMCFixIndicator(), parseGGAFix(), and parseRMCFix().

void NAL9602::getReceivedSignalStrength ( )

private

Stores modem signal quality (0-5), -1 on error.

References UartStream::canReadUntil(), commsState_, communicationsDone_, Units::COUNT, FailureMode::DATA, debug_, Timestamp::elapsed(), Syslog::ERROR, UartStream::errorString(), Syslog::FAULT, UartStream::flush(), GO_TO_SLEEP, UartStream::hasError(), Syslog::INFO, Component::logger_, modemResponse_, Timestamp::Now(), UartStream::read(), requestTimeout_, SENDING_FILL_BUFFER, Component::setFailure(), sigQuality_, sigQualityWriter_, Component::simulateHardware(), startTime_, Logger::syslog(), uart_, and DataWriter::write().

Referenced by runnable().

void NAL9602::getSigQuality ( )

private

bool NAL9602::goodGGAFixIndicator ( const char * ggaSentence )

private

Check to see if a fix has been acquired.

References Syslog::ERROR, GetNmeaSentenceType(), GPGGA, Component::logger_, MIN, and Logger::syslog().

Referenced by getFix().

bool NAL9602::goodRMCFixIndicator ( const char * rmcSentence )

private

References Syslog::ERROR, GetNmeaSentenceType(), GPRMC, Component::logger_, MIN, and Logger::syslog().

Referenced by getFix().

void NAL9602::goToSleep ( )

private

GO_TO_SLEEP.

References AWAKE, commsState_, communicationsWriter_, debug_, Syslog::INFO, DataReader::isActive(), DataWriter::isDataRequested(), latitudeFixWriter_, latitudeReader_, Component::logger_, longitudeFixWriter_, longitudeReader_, NEED_FIX, Timestamp::Now(), SLEEPING, startTime_, Logger::syslog(), and timeFixWriter_.

Referenced by runnable().

bool NAL9602::initiateSession ( )

private

References Syslog::ERROR, UartStream::errorString(), UartStream::flush(), UartStream::flushCRLF(), UartStream::hasError(), Component::logger_, modemResponse_, UartStream::readLine(), UartStream::readUntil(), UartStream::resetStartTimeout(), UartStream::setStartTimeout(), Component::simulateHardware(), Logger::syslog(), and uart_.

Referenced by sendingTransmit().

bool NAL9602::isDataRequested ( )

private

References communicationsWriter_, DataReader::isActive(), DataWriter::isDataRequested(), latitudeFixWriter_, latitudeReader_, longitudeFixWriter_, longitudeReader_, and timeFixWriter_.

Referenced by pause(), paused(), and stopped().

bool NAL9602::loadParams ( void )

private

References keyText_, Component::logger_, readConfig(), and Slate::ReadOnce().

Referenced by start().

void NAL9602::needFix ( )

private

NEED_FIX.

References Timestamp::asDouble(), belowSurfaceThreshold(), Units::BOOL, NAL9602::NmeaUTCTime::centiSeconds_, NAL9602::Fix::cog_, cogWriter_, commsState_, Units::COUNT, FailureMode::DATA, NAL9602::NmeaUTCDate::day_, DEAD_RECKON, debug_, Units::DEGREE, Timestamp::elapsed(), Units::EPOCH_SECOND, Syslog::ERROR, Syslog::FAULT, fix_, getFix(), goodFixWriter_, gotFix_, gpsFailTimeout_, gpsTimeoutArmed_, NAL9602::NmeaUTCTime::hours_, Syslog::INFO, INVALID, Units::KNOT, NAL9602::Fix::latitude_, SimSlate::LATITUDE_DEGREE, latitudeFixWriter_, locationFixWriter_, Component::logger_, NAL9602::Fix::longitude_, SimSlate::LONGITUDE_DEGREE, longitudeFixWriter_, NAL9602::NmeaUTCTime::minutes_, NAL9602::NmeaUTCDate::month_, NEED_GSV, needFixStartTime_, Timestamp::Now(), NAL9602::Fix::nSatellites_, numSatellitesWriter_, NAL9602::Fix::quality_, Units::RADIAN, SimSlate::Read(), requestFix(), requestGGA_, NAL9602::NmeaUTCTime::seconds_, Component::setFailure(), DataWriter::setInvalid(), Component::simulateHardware(), NAL9602::Fix::sog_, sogWriter_, Logger::syslog(), timeFixWriter_, Timestamp::toSmallString(), NAL9602::Fix::utcdate_, utcTime_, NAL9602::Fix::utctime_, VALID_ONE, VALID_TWO, DataWriter::write(), AbstractBlobWriter::write1DClass(), and NAL9602::NmeaUTCDate::year_.

Referenced by runnable().

void NAL9602::needGSV ( )

private

bool NAL9602::parseGGAFix ( const char * ggaSentence )

private

bool NAL9602::parseGSV ( void )

private

Parses the GSV NMEA string(s)

References Syslog::ERROR, UartStream::errorString(), UartStream::flushCRLF(), UartStream::hasError(), FlexArrayBase::isEmpty(), Component::logger_, MAX_GPS_SATS_9602, MAX_SATS_PER_LINE, FlexArray< T >::pop(), FlexArray< T >::push(), UartStream::readUntil(), UartStream::resetStartTimeout(), UartStream::setStartTimeout(), Component::simulateHardware(), snrData_, Logger::syslog(), and uart_.

Referenced by needGSV().

double NAL9602::ParseLatitude ( const char * nmeaString )

staticprivate

Parse latitude in radians from NMEA standard latitude string.

Referenced by parseGGAFix(), and parseRMCFix().

double NAL9602::ParseLongitude ( const char * nmeaString )

staticprivate

Parse longitude in radians from NMEA standard longitude string.

Referenced by parseGGAFix(), and parseRMCFix().

bool NAL9602::parseRMCFix ( const char * rmcSentence )

private

Component::RunState NAL9602::pause ( )

virtual

Pause for a short period (indicated by pauseTime)

Reimplemented from Component.

References AWAKE, Units::BOOL, cmdReceived_, cogWriter_, commsState_, Units::COUNT, debug_, Units::DEGREE, Timestamp::elapsed(), Syslog::ERROR, goodFixWriter_, gotMTQueue_, Syslog::INFO, isDataRequested(), Units::KNOT, loadControl_, Component::logger_, MAX_GPS_SATS_9602, numSatellitesWriter_, Component::PAUSE, Component::PAUSED, LoadControl::powerDown(), powerDownTimeout_, Component::RUNNABLE, sigQualityWriter_, NAL9602::SNRWriters::snrWriter_, snrWriters_, sogWriter_, startTime_, Logger::syslog(), and DataWriter::write().

Component::RunState NAL9602::paused ( )

virtual

Should eventually follow a PAUSE request: should set continueTime.

Reimplemented from Component.

References debug_, Syslog::ERROR, FailureMode::HARDWARE, Syslog::INFO, isDataRequested(), loadControl_, Component::logger_, Timestamp::Now(), Component::PAUSED, powerOnTimeStart_, LoadControl::powerUp(), Component::setFailure(), Component::simulateHardware(), Component::STARTING, and Logger::syslog().

bool NAL9602::readConfig ( void )

private

References Units::BOOL, checkMTQueue_, checkMTQueueCfgReader_, gpsFailTimeout_, gpsFailTimeoutCfgReader_, iridiumFailTimeoutCfgReader_, iridiumMTQueueTimeout_, Units::METER, DataReader::read(), requestGGA_, requestGGACfgReader_, Units::SECOND, Timespan::Seconds(), sendDataToShore_, sendDataToShoreCfgReader_, surfaceThreshold_, and surfaceThresholdCfgReader_.

Referenced by loadParams(), and runnable().

void NAL9602::receiving1 ( )

private

RECEIVING1.

References cmdReceived_, commsState_, debug_, GO_TO_SLEEP, Syslog::INFO, Component::logger_, nPendingUplinks_, nUplinkBytes_, retrieveAndQueueIncoming(), SENDING_FILL_BUFFER, Component::simulateHardware(), and Logger::syslog().

Referenced by runnable().

void NAL9602::receiving2 ( )

private

RECEIVING2.

Referenced by runnable().

bool NAL9602::requestFix ( void )

private

sends request to get a fix and returns when data is ready or timeout has occured.

References UartStream::dataAvailable(), Timestamp::elapsed(), fixRequested_, UartStream::flush(), Timestamp::Now(), requestGGA_, requestTimeout_, Component::simulateHardware(), startTime_, and uart_.

Referenced by needFix().

bool NAL9602::requestGSV ( void )

private

sends request to get GSV NMEA string and returns when data is ready or timeout has occured.

References UartStream::canReadUntil(), Timestamp::elapsed(), UartStream::flush(), gsvRequested_, Timestamp::Now(), requestTimeout_, Component::simulateHardware(), startTime_, and uart_.

Referenced by needGSV().

virtual RunState NAL9602::resetting ( )

inlinevirtual

Might occur in case of Error.

Reimplemented from Component.

References stop().

Component::RunState NAL9602::resume ( )

virtual

Resume from PAUSE.

Reimplemented from Component.

References debug_, Syslog::INFO, Component::logger_, Component::RESUMING, and Logger::syslog().

Component::RunState NAL9602::resuming ( )

virtual

Might follow a PAUSE...RESUME sequence.

Reimplemented from Component.

References debug_, Syslog::INFO, Component::logger_, Component::RUNNABLE, and Logger::syslog().

bool NAL9602::retrieveAndQueueIncoming ( int nUplinkBytes )

private

Retrieve (uplink) message from modem and queue it for clients.

References StrValue::asString(), Syslog::CRITICAL, Str::cStr(), Syslog::ERROR, UartStream::errorString(), UartStream::flush(), InStream::getBytesRead(), UartStream::hasError(), keyText_, Component::logger_, modemResponse_, UartStream::read(), UartStream::readUntil(), DataReceiver::ReceiveSbd(), UartStream::resetStartTimeout(), UartStream::setStartTimeout(), Component::simulateHardware(), Logger::syslog(), uart_, and OutStream::writeHex().

Referenced by receiving1().

void NAL9602::run ( void )

virtual

The actual "payload" of the component.

Reimplemented from Component.

Component::RunState NAL9602::runnable ( )

virtual

Should eventually follow a START request or RESETTING.

Reimplemented from Component.

References AWAKE, awake(), CMDMODE, cmdMode(), commsState_, debug_, Syslog::ERROR, LoadControl::errorString(), Syslog::FAULT, Str::find(), GET_SIG_QUALITY, getMTQueueSignalStrength(), getReceivedSignalStrength(), GO_TO_SLEEP, goToSleep(), FailureMode::HARDWARE, LoadControl::hasError(), Syslog::INFO, loadControl_, Component::logger_, MTQUEUE_QUALITY, MTQUEUE_SESSION, NEED_FIX, NEED_GSV, needFix(), needGSV(), Component::PAUSE, readConfig(), receiving1(), receiving2(), RECEIVING_1, RECEIVING_2, LoadControl::requestVoltageAndCurrent(), Component::RUNNABLE, SENDING_FILL_BUFFER, SENDING_TRANSMIT, SENDING_VERIFY, sendingFillBuffer(), sendingTransmit(), sendingVerify(), sessionMTQueueVerify(), Component::setFailure(), Component::simulateHardware(), SLEEPING, Component::STOP, Logger::syslog(), WAKING, and waking().

void NAL9602::sendingFillBuffer ( )

private

SENDING1.

References InStream::bytesRead(), commsState_, Syslog::CRITICAL, Str::cStr(), NAL9602::SendPacket::data_, NAL9602::SendPacket::dataSize_, debug_, DOWNLINK_DATA_OFFSET, Str::EMPTY_STR, Syslog::ERROR, Syslog::FAULT, fillBuffer(), UartStream::flush(), Supervisor::GetQueuedSBD(), Supervisor::GetToShoreFilename(), GO_TO_SLEEP, Syslog::IMPORTANT, NAL9602::SendPacket::index_, Syslog::INFO, FileInStream::isReadable(), Str::length(), Component::logger_, MAX_DOWNLINK_DATA_BYTES, Timestamp::Now(), NAL9602::SendPacket::packetsLeft_, FileInStream::read(), resendSBDFilename_, sendDataToShore_, NAL9602::SendPacket::sendFilename_, NAL9602::SendPacket::sendFilesize_, SENDING_TRANSMIT, SENDING_VERIFY, sendPacket_, LogWriter::SERVICE_COURIER, LogWriter::SERVICE_EXPRESS, sigQuality_, Component::simulateHardware(), startTime_, Str::substr(), Logger::syslog(), NAL9602::SendPacket::timeT_, and uart_.

Referenced by runnable().

void NAL9602::sendingTransmit ( )

private

SENDING2.

References Timespan::asFloat(), bufferFillTimeout_, commsState_, UartStream::dataAvailable(), debug_, Timestamp::elapsed(), Syslog::ERROR, Syslog::INFO, initiateSession(), Component::logger_, Timestamp::Now(), SENDING_FILL_BUFFER, SENDING_TRANSMIT, SENDING_VERIFY, Component::simulateHardware(), startTime_, Logger::syslog(), and uart_.

Referenced by runnable().

void NAL9602::sendingVerify ( )

private

SENDING3.

References AWAKE, Units::BOOL, bufferFillTimeout_, UartStream::canReadUntil(), clearMOBuffer(), cmdReceived_, commsState_, communicationsDone_, communicationsWriter_, Str::cStr(), FailureMode::DATA, NAL9602::SendPacket::dataSize_, Syslog::DEBUG, debug_, DOWNLINK_DATA_OFFSET, Timestamp::elapsed(), Str::EMPTY_STR, Syslog::ERROR, Syslog::FAULT, UartStream::flush(), GO_TO_SLEEP, gotFix_, gotMTQueue_, gpsTimeoutArmed_, Supervisor::IncrementShoreFile(), Syslog::INFO, DataWriter::isDataRequested(), Component::logger_, nPendingUplinks_, NAL9602::SendPacket::packetsLeft_, RECEIVING_1, resendSBDFilename_, Component::resetFailCount(), NAL9602::SendPacket::sendFilename_, SENDING_FILL_BUFFER, sendPacket_, Component::setFailure(), Component::simulateHardware(), startTime_, Logger::syslog(), uart_, uplinkStatus_, verifySessionXmit(), and DataWriter::write().

Referenced by runnable().

void NAL9602::sessionMTQueueVerify ( )

private

Component::RunState NAL9602::start ( )

virtual

Do what needs to be done to run Similar to initialize, in old init/run/uninit sequence.

Reimplemented from Component.

References AWAKE, commsState_, FailureMode::COMMUNICATIONS, Syslog::CRITICAL, debug_, Timestamp::elapsed(), UartStream::enableUART(), Syslog::ERROR, UartStream::errorString(), UartStream::hasError(), Syslog::INFO, loadControl_, loadParams(), Component::logger_, modemResponse_, Timestamp::Now(), ok_, UartStream::open(), powerDownTimeout_, powerOnTimeStart_, LoadControl::powerUp(), Component::setFailure(), sigQuality_, Component::simulateHardware(), Component::START, Component::STARTING, startTime_, Component::STOP, Logger::syslog(), and uart_.

Component::RunState NAL9602::starting ( )

virtual

Might follow a STOP...START sequence.

Reimplemented from Component.

References commsState_, debug_, Timestamp::elapsed(), Syslog::INFO, Component::logger_, poResetTimeout_, powerOnTimeStart_, Component::RUNNABLE, Component::simulateHardware(), Component::STARTING, Logger::syslog(), and WAKING.

Component::RunState NAL9602::stop ( )

virtual

Initial state – can be later followed by START.

Reimplemented from Component.

References debug_, Syslog::INFO, Component::logger_, Component::STOPPING, Logger::syslog(), and uninitialize().

Referenced by resetting(), and stopped().

Component::RunState NAL9602::stopped ( )

virtual

Initial state – can be later followed by START.

Reimplemented from Component.

References UartStream::close(), debug_, LoadControl::getPowerState(), Syslog::INFO, isDataRequested(), UartStream::isReadable(), loadControl_, Component::logger_, LoadControl::OFF, LoadControl::POWER_DOWN, Component::simulateHardware(), Component::START, stop(), Component::STOPPED, Logger::syslog(), and uart_.

Component::RunState NAL9602::stopping ( )

virtual

Might follow a STOP request.

Reimplemented from Component.

References debug_, LoadControl::errorString(), Syslog::FAULT, FailureMode::HARDWARE, LoadControl::hasError(), Syslog::INFO, loadControl_, Component::logger_, LoadControl::readFaults(), Component::setFailure(), Component::simulateHardware(), Component::STOPPED, and Logger::syslog().

void NAL9602::uninitialize ( void )

virtual

Provide a space for uninitialization.

Reimplemented from Component.

References UartStream::close(), cmdReceived_, debug_, UartStream::disableUART(), Syslog::ERROR, Syslog::INFO, loadControl_, Component::logger_, Timestamp::Now(), LoadControl::powerDown(), powerOnTimeStart_, Component::simulateHardware(), Logger::syslog(), and uart_.

Referenced by stop().

bool NAL9602::verifySessionXmit ( )

private

void NAL9602::waking ( )

private

We define a method for each state of the device.

WAKING.

References CMDMODE, commsState_, debug_, UartStream::flush(), Syslog::INFO, Component::logger_, Timestamp::Now(), Component::simulateHardware(), startTime_, Logger::syslog(), and uart_.

Referenced by runnable().

Member Data Documentation

Timespan NAL9602::bufferFillTimeout_

private

Referenced by sendingTransmit(), sendingVerify(), and sessionMTQueueVerify().

bool NAL9602::checkMTQueue_

private

Referenced by needGSV(), readConfig(), and verifySessionXmit().

ConfigReader* NAL9602::checkMTQueueCfgReader_

private

Referenced by NAL9602(), and readConfig().

bool NAL9602::cmdReceived_

private

Referenced by pause(), receiving1(), sendingVerify(), and uninitialize().

DataWriter* NAL9602::cogWriter_

private

Referenced by NAL9602(), needFix(), and pause().

char NAL9602::command_[512]

private

Stores the decrypted command.

CommsState NAL9602::commsState_

private

Referenced by awake(), cmdMode(), getMTQueueSignalStrength(), getReceivedSignalStrength(), goToSleep(), needFix(), needGSV(), pause(), receiving1(), runnable(), sendingFillBuffer(), sendingTransmit(), sendingVerify(), sessionMTQueueVerify(), start(), starting(), and waking().

bool NAL9602::communicationsDone_

private

Referenced by awake(), getReceivedSignalStrength(), and sendingVerify().

UniversalDataWriter* NAL9602::communicationsWriter_

private

Referenced by awake(), goToSleep(), isDataRequested(), NAL9602(), needGSV(), and sendingVerify().

bool NAL9602::debug_

private

UniversalDataReader* NAL9602::depthReader_

private

Referenced by belowSurfaceThreshold(), and NAL9602().

Fix NAL9602::fix_

private

Referenced by needFix(), parseGGAFix(), and parseRMCFix().

bool NAL9602::fixRequested_

private

Referenced by requestFix().

DataWriter* NAL9602::goodFixWriter_

private

Referenced by NAL9602(), needFix(), and pause().

bool NAL9602::gotFix_

private

Referenced by needFix(), and sendingVerify().

bool NAL9602::gotMTQueue_

private

Referenced by getMTQueueSignalStrength(), needGSV(), pause(), sendingVerify(), and sessionMTQueueVerify().

Timespan NAL9602::gpsFailTimeout_

private

Referenced by needFix(), and readConfig().

ConfigReader* NAL9602::gpsFailTimeoutCfgReader_

private

Referenced by NAL9602(), and readConfig().

bool NAL9602::gpsTimeoutArmed_

private

Referenced by needFix(), and sendingVerify().

bool NAL9602::gsvRequested_

private

Referenced by requestGSV().

ConfigReader* NAL9602::iridiumFailTimeoutCfgReader_

private

Referenced by NAL9602(), and readConfig().

Timespan NAL9602::iridiumMTQueueTimeout_

private

Referenced by getMTQueueSignalStrength(), and readConfig().

bool NAL9602::iridiumTimeoutArmed_

private

Referenced by getMTQueueSignalStrength(), and sessionMTQueueVerify().

StrValue NAL9602::keyText_

private

Referenced by loadParams(), and retrieveAndQueueIncoming().

UniversalDataWriter* NAL9602::latitudeFixWriter_

private

Referenced by awake(), goToSleep(), isDataRequested(), NAL9602(), and needFix().

UniversalDataReader* NAL9602::latitudeReader_

private

Referenced by awake(), goToSleep(), isDataRequested(), and NAL9602().

LoadControl NAL9602::loadControl_

private

Referenced by pause(), paused(), runnable(), start(), stopped(), stopping(), and uninitialize().

UniversalBlobWriter* NAL9602::locationFixWriter_

private

Referenced by NAL9602(), and needFix().

UniversalDataWriter* NAL9602::longitudeFixWriter_

private

Referenced by awake(), goToSleep(), isDataRequested(), NAL9602(), and needFix().

UniversalDataReader* NAL9602::longitudeReader_

private

Referenced by awake(), goToSleep(), isDataRequested(), and NAL9602().

char NAL9602::modemResponse_[512]

private

Stores the response from the modem.

Referenced by clearMOBuffer(), fillBuffer(), getMTQueueSignalStrength(), getReceivedSignalStrength(), initiateSession(), retrieveAndQueueIncoming(), start(), and verifySessionXmit().

Timestamp NAL9602::needFixStartTime_

private

Referenced by needFix().

Timestamp NAL9602::needMTQueueStartTime_

private

Referenced by getMTQueueSignalStrength().

unsigned int NAL9602::nPendingUplinks_

private

Referenced by receiving1(), sendingVerify(), sessionMTQueueVerify(), and verifySessionXmit().

DataWriter* NAL9602::numSatellitesWriter_

private

Referenced by NAL9602(), needFix(), and pause().

unsigned int NAL9602::nUplinkBytes_

private

Referenced by receiving1(), and verifySessionXmit().

bool NAL9602::ok_

private

Referenced by start().

Timespan NAL9602::poResetTimeout_

private

Referenced by cmdMode(), and starting().

Timespan NAL9602::powerDownTimeout_

private

Referenced by pause(), and start().

Timestamp NAL9602::powerOffTimeStart_

private

Timestamp NAL9602::powerOnTimeStart_

private

Referenced by NAL9602(), paused(), start(), starting(), and uninitialize().

bool NAL9602::qualityRequested_

private

bool NAL9602::radioEnabled_

private

int NAL9602::requestGGA_

private

Referenced by getFix(), needFix(), readConfig(), and requestFix().

ConfigReader* NAL9602::requestGGACfgReader_

private

Referenced by NAL9602(), and readConfig().

Timespan NAL9602::requestTimeout_

private

Referenced by getMTQueueSignalStrength(), getReceivedSignalStrength(), requestFix(), and requestGSV().

char* NAL9602::resendSBDFilename_

private

Name of SBD currently being re-sent to shore.

Referenced by sendingFillBuffer(), sendingVerify(), and verifySessionXmit().

bool NAL9602::sendDataToShore_

private

Referenced by readConfig(), and sendingFillBuffer().

ConfigReader* NAL9602::sendDataToShoreCfgReader_

private

Referenced by NAL9602(), and readConfig().

struct NAL9602::SendPacket NAL9602::sendPacket_

private

Referenced by NAL9602(), sendingFillBuffer(), sendingVerify(), and verifySessionXmit().

unsigned int NAL9602::sentIndex_

private

Keeps track of how many packets have been sent to shore.

short NAL9602::sigQuality_

private

Holds most recent Iridium signal quality.

Referenced by fillBuffer(), getMTQueueSignalStrength(), getReceivedSignalStrength(), sendingFillBuffer(), and start().

DataWriter* NAL9602::sigQualityWriter_

private

Referenced by getMTQueueSignalStrength(), getReceivedSignalStrength(), NAL9602(), and pause().

FlexArray<int*> NAL9602::snrData_

private

Referenced by needGSV(), and parseGSV().

SNRWriters NAL9602::snrWriters_[MAX_GPS_SATS_9602]

private

Referenced by NAL9602(), needGSV(), and pause().

DataWriter* NAL9602::sogWriter_

private

Referenced by NAL9602(), needFix(), and pause().

Timestamp NAL9602::startTime_

private

Referenced by cmdMode(), getMTQueueSignalStrength(), getReceivedSignalStrength(), goToSleep(), pause(), requestFix(), requestGSV(), sendingFillBuffer(), sendingTransmit(), sendingVerify(), sessionMTQueueVerify(), start(), and waking().

float NAL9602::surfaceThreshold_

private

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

Referenced by belowSurfaceThreshold(), and readConfig().

ConfigReader* NAL9602::surfaceThresholdCfgReader_

private

Configuration readers.

Referenced by belowSurfaceThreshold(), NAL9602(), and readConfig().

UniversalDataWriter* NAL9602::timeFixWriter_

private

Referenced by awake(), goToSleep(), isDataRequested(), NAL9602(), and needFix().

UartStream NAL9602::uart_

private

int NAL9602::uplinkSeqNo_

private

Referenced by verifySessionXmit().

int NAL9602::uplinkStatus_

private

Referenced by sendingVerify(), sessionMTQueueVerify(), and verifySessionXmit().

Timestamp NAL9602::utcTime_

private

Referenced by needFix().

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

/Volumes/ubuntu_share/lrauv-application/Source/sensorModule/NAL9602.h
/Volumes/ubuntu_share/lrauv-application/Source/sensorModule/NAL9602.cpp

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