NavChartDb Class Reference

Reads a standard electronic navigation chart (ENC) in S-57 format, stores it in a database, and uses the values in the database to estimate nearest contours, coastline, and soundings of a lat/lon pair. More...

#include <NavChartDb.h>

Inheritance diagram for NavChartDb:

Collaboration diagram for NavChartDb:

Classes
class	ClosePoint
struct	EncInfo

Public Member Functions
	NavChartDb ()
virtual	~NavChartDb ()
virtual void	initialize ()
	Provide a space for initialization before being run. More...
virtual void	run ()
	The actual "payload" of the component. More...
void	updateCurrent (const float latitude, const float longitude, bool gotFix)
	Update the curent latitude/longitude pair (in radians) More...
float	getSeaFloorDepth (const float latitude, const float longitude)
	For a latitude/longitude pair (in radians), return the approximate depth. More...
float	getDistanceFromShore (const float latitude, const float longitude)
	For a given latitude and longitude (in radians), estimates the distance from the shoreline at that location. More...
virtual void	uninitialize ()
	Provide a space for uninitialization. More...
bool	ready ()
void	setOkToUpdateFromDisk ()
void	setChartsCfg (const Str chartsCfg)
Public Member Functions inherited from AsyncComponent
bool	isIdlePriority ()
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 int	CalcGeoIndex (float latitude, float longitude)
	converts a latitude and longitude into a index that covers a small area of the planet (smaller than GEO_GRID_SIZE * GEO_GRID_SIZE ) More...
static int	MakeGeoIndex (int latIndex, int lonIndex)
	Combines latitude index and longitude index into a single index. More...
static int	CalcLatIndex (float latitude)
	converts a latitude into a index that covers a small band around the planet More...
static int	CalcNumLonIndices (int latIndex)
	Returns number of small longitudinal areas in the latIndex band around the planet (each smaller than GEO_GRID_SIZE * GEO_GRID_SIZE) More...
static int	CalcLonIndex (float longitude, int nLons)
	Calculates longitudinal index of small area in the latIndex band around the planet. More...
static NavChartDb *	GetInstance ()

Private Member Functions
	NavChartDb (const NavChartDb &old)
void	wipeOut ()
void	updateClosest ()
	For the current latitude/longitude pair (in radians), update closest point on each contour. More...
bool	initDataDir ()
bool	saveDepths ()
bool	loadDepths ()
bool	createIndices ()
bool	createSoundings ()
bool	createContour (const Str *depthStr)
bool	appendToContour (const Str *depthStr, const int encId, const int resLevel, const float latitude, const float longitude)
bool	appendToSoundings (const float depth, const int encId, const int resLevel, const float latitude, const float longitude)
bool	appendToCoverage (const int encId, const int resLevel, const float x0, const float y0, const float x1, const float y1)
bool	loadCoverage (const int resLevel, EncArea **coverage)
bool	saveEncs ()
bool	loadEncs ()
bool	addEncData (EncInfo *encInfo)
Str *	mapDepth (const float depth)
EncArea *	getCoverage (int resLevel)
float	calcDistFromLineSq (const float x, const float y, const float x1, const float y1, const float x2, const float y2)
void	doIndexing (const Str *depthStr)
void	updateGeoIndices ()

Private Attributes
bool	initialized_
bool	ready_
bool	okToUpdateFromDisk_
int	changeOkToUpdateFromDiskTo_
FastMap< const Str, EncInfo * >	encMap_
FastMap< const float, Str * >	depthMap_
FastMap< const Str *, Str * >	depthMtxNameMap_
FastMap< const Str *, Str * >	depthIdxNameMap_
FastMap< const Str *, FastMap< const int, Mtx * > * >	depthMtxMap_
FastMap< const Str *, Mtx * >	depthIdxMap_
FastMap< const float, ClosePoint * >	closeMap_
FlexArrayBase	currentGeoIndices_
unsigned int	currentGeoIndex_
ClosePoint	workingClosePoints_ [4]
ClosePoint *	closeSoundings_
int	encId_
FlexArray< EncInfo * >	encInfos_
FlexArray< EncArea * >	coverages_
EncReader *	encReader_
ClosePoint	currentPoint_
int	currentCount_
int	insertCount_
float	currentDepth_
Str *	currentDepthStr_
const Str	soundingsStr_
int	indexIndex_
int	depthIndex_
int	nextDepthIndex_
int	changeNextDepthIndexTo_
int	quadrant_
float	latitude_
float	changeLatitudeTo_
float	longitude_
float	changeLongitudeTo_
bool	shoreDone_
bool	mapDone_
StrValue	chartsCfg_
float	cycleTimeoutCfgTmp_
Timespan	cycleTimeoutCfg_
DataWriter *	closestDistanceWriter_
DataWriter *	nextDistanceWriter_
DataWriter *	closestDepthWriter_
DataWriter *	nextDepthWriter_
ConfigReader *	chartsCfgReader_
ConfigReader *	cycleTimeoutCfgReader_
Mutex	currentMutex_

Static Private Attributes
static NavChartDb *	Instance_
static const Str	NAME
static const DataURI	CLOSEST_DISTANCE
static const DataURI	NEXT_DISTANCE
static const DataURI	CLOSEST_DEPTH
static const DataURI	NEXT_DEPTH
static const RestartConfigURI	CHARTS_CFG
static const RestartConfigURI	CYCLE_TIMEOUT_CFG
static const float	NUM_LATS
static const float	LAT_INCREMENT
static const Timespan	PERIOD

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 }
Protected Types inherited from Component
enum	ConfigOption { CONFIG_SIMULATE_HARDWARE, CONFIG_POWER, CONFIG_FREQUENCY, CONFIG_LATENCY }
Protected Member Functions inherited from AsyncComponent
	AsyncComponent (const Str &name, const Module *module, const Timespan period, bool idlePriority=false)
	Protected constructor for components that run in periodic asynchronous threads. More...
	AsyncComponent (const Str &name, const Module *module, bool idlePriority=false)
	Protected constructor for components that run in continuous asynchronous threads. More...
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 AsyncComponent
bool	idlePriority_
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

Reads a standard electronic navigation chart (ENC) in S-57 format, stores it in a database, and uses the values in the database to estimate nearest contours, coastline, and soundings of a lat/lon pair.

Constructor & Destructor Documentation

NavChartDb::NavChartDb

(

)

References CHARTS_CFG, chartsCfgReader_, CLOSEST_DEPTH, CLOSEST_DISTANCE, closestDepthWriter_, closestDistanceWriter_, CYCLE_TIMEOUT_CFG, cycleTimeoutCfgReader_, Instance_, Component::newConfigReader(), Component::newDataWriter(), NEXT_DEPTH, NEXT_DISTANCE, nextDepthWriter_, and nextDistanceWriter_.

NavChartDb::~NavChartDb ( )

virtual

References closeMap_, closeSoundings_, depthIdxMap_, depthIdxNameMap_, depthMap_, depthMtxMap_, depthMtxNameMap_, encMap_, Instance_, FastMap< S, T >::popIndexed(), and FastMap< S, T >::size().

NavChartDb::NavChartDb ( const NavChartDb &  old )

private

Member Function Documentation

bool NavChartDb::addEncData ( EncInfo *  encInfo )

private

References appendToContour(), appendToCoverage(), appendToSoundings(), createContour(), Syslog::CRITICAL, Str::cStr(), currentDepth_, currentDepthStr_, D2R, depthMap_, Component::enabled_, NavChartDb::EncInfo::encId_, encReader_, NavChartDb::EncInfo::filename_, FastMap< S, T >::get(), Syslog::INFO, insertCount_, EncScanPoints::length_, Component::logger_, mapDepth(), EncReader::popCoverage(), NavChartDb::EncInfo::resLevel_, saveDepths(), EncReader::scan(), EncReader::scanDone(), EncArea::segments_, Logger::syslog(), EncReader::uninitialize(), EncArea::x0_, EncArea::x1_, EncScanPoints::x_, EncArea::y0_, EncArea::y1_, EncScanPoints::y_, EncScanPoints::z_, and EncScanPoints::zz_.

Referenced by run().

bool NavChartDb::appendToContour ( const Str *  depthStr, const int  encId, const int  resLevel, const float  latitude, const float  longitude  )

private

References Mtx::append(), AuvMath::AreaContains(), CalcGeoIndex(), Str::cStr(), depthMtxNameMap_, FastMap< S, T >::get(), getCoverage(), Component::logger_, EncArea::segments_, Mtx::setInt(), EncArea::x0_, EncArea::x1_, EncArea::y0_, and EncArea::y1_.

Referenced by addEncData().

bool NavChartDb::appendToCoverage ( const int  encId, const int  resLevel, const float  x0, const float  y0, const float  x1, const float  y1  )

private

References COVERAGE_FILENAME, Mtx::getN(), Component::logger_, and Mtx::write().

Referenced by addEncData().

bool NavChartDb::appendToSoundings ( const float  depth, const int  encId, const int  resLevel, const float  latitude, const float  longitude  )

private

References Mtx::append(), AuvMath::AreaContains(), CalcGeoIndex(), Str::cStr(), depthMtxNameMap_, FastMap< S, T >::get(), getCoverage(), Component::logger_, EncArea::segments_, Mtx::setInt(), soundingsStr_, EncArea::x0_, EncArea::x1_, EncArea::y0_, and EncArea::y1_.

Referenced by addEncData().

float NavChartDb::calcDistFromLineSq ( const float  x, const float  y, const float  x1, const float  y1, const float  x2, const float  y2  )

private

int NavChartDb::CalcGeoIndex ( float  latitude, float  longitude  )

static

converts a latitude and longitude into a index that covers a small area of the planet (smaller than GEO_GRID_SIZE * GEO_GRID_SIZE )

References CalcLatIndex(), CalcLonIndex(), CalcNumLonIndices(), and MakeGeoIndex().

Referenced by appendToContour(), and appendToSoundings().

int NavChartDb::CalcLatIndex ( float  latitude )

static

converts a latitude into a index that covers a small band around the planet

References LAT_INCREMENT.

Referenced by CalcGeoIndex(), and updateGeoIndices().

int NavChartDb::CalcLonIndex ( float  longitude, int  nLons  )

static

Calculates longitudinal index of small area in the latIndex band around the planet.

References M_2PI.

Referenced by CalcGeoIndex(), and updateGeoIndices().

int NavChartDb::CalcNumLonIndices ( int  latIndex )

static

Returns number of small longitudinal areas in the latIndex band around the planet (each smaller than GEO_GRID_SIZE * GEO_GRID_SIZE)

References Location::EARTH_RADIUS, GEO_GRID_SIZE, and LAT_INCREMENT.

Referenced by CalcGeoIndex(), and updateGeoIndices().

bool NavChartDb::createContour ( const Str *  depthStr )

private

References Str::cStr(), depthMtxNameMap_, FastMap< S, T >::get(), Component::logger_, and Mtx::write().

Referenced by addEncData().

bool NavChartDb::createIndices ( )

private

References depthMap_, doIndexing(), FastMap< S, T >::getIndexed(), indexIndex_, FastMap< S, T >::size(), and soundingsStr_.

Referenced by run().

bool NavChartDb::createSoundings ( )

private

References Str::cStr(), depthMtxNameMap_, Component::logger_, NAVCHART_PATH, FastMap< S, T >::put(), soundingsStr_, and Mtx::write().

Referenced by initialize().

void NavChartDb::doIndexing ( const Str *  depthStr )

private

References Mtx::Comp2(), Str::cStr(), depthIdxMap_, depthIdxNameMap_, depthMtxMap_, depthMtxNameMap_, FastMap< S, T >::get(), Syslog::INFO, Component::logger_, NAVCHART_PATH, FastMap< S, T >::put(), Mtx::setInt(), Logger::syslog(), and Mtx::write().

Referenced by createIndices().

EncArea * NavChartDb::getCoverage ( int  resLevel )

private

References coverages_, FlexArray< T >::get(), loadCoverage(), and FlexArray< T >::set().

Referenced by appendToContour(), and appendToSoundings().

float NavChartDb::getDistanceFromShore	(	const float	latitude,
		const float	longitude
	)

For a given latitude and longitude (in radians), estimates the distance from the shoreline at that location.

References closeMap_, Location::EARTH_RADIUS, shoreDone_, and AuvMath::Square().

Referenced by NavChart::run(), and OffshoreEnvelope::runIfUnsatisfied().

static NavChartDb* NavChartDb::GetInstance ( )

inlinestatic

References Instance_.

Referenced by NavChart::run(), OffshoreEnvelope::runIfUnsatisfied(), and WaterDepthEnvelope::runIfUnsatisfied().

float NavChartDb::getSeaFloorDepth	(	const float	latitude,
		const float	longitude
	)

For a latitude/longitude pair (in radians), return the approximate depth.

References closeMap_, closeSoundings_, NavChartDb::ClosePoint::depth_, shoreDone_, and AuvMath::Square().

Referenced by NavChart::run(), and WaterDepthEnvelope::runIfUnsatisfied().

bool NavChartDb::initDataDir ( )

private

References Syslog::CRITICAL, Str::cStr(), Component::logger_, NAVCHART_PATH, and Logger::syslog().

Referenced by initialize(), and run().

void NavChartDb::initialize ( void  )

virtual

Provide a space for initialization before being run.

Reimplemented from Component.

References StrValue::asString(), chartsCfg_, chartsCfgReader_, createSoundings(), Syslog::CRITICAL, cycleTimeoutCfg_, cycleTimeoutCfgReader_, cycleTimeoutCfgTmp_, Str::EMPTY_STR, encInfos_, encMap_, Syslog::IMPORTANT, Syslog::INFO, initDataDir(), initialized_, loadDepths(), loadEncs(), Component::logger_, DataReader::read(), saveEncs(), Units::SECOND, Str::split(), Logger::syslog(), and wipeOut().

Referenced by main(), run(), and OffshoreEnvelope_Test::testRun().

bool NavChartDb::loadCoverage ( const int  resLevel, EncArea **  coverage  )

private

References COVERAGE_FILENAME, Mtx::getM(), Component::logger_, EncArea::segments_, EncArea::x0_, EncArea::x1_, EncArea::y0_, and EncArea::y1_.

Referenced by getCoverage().

bool NavChartDb::loadDepths ( )

private

References DEPTH_FILENAME, Mtx::getM(), Component::logger_, and mapDepth().

Referenced by initialize().

bool NavChartDb::loadEncs ( )

private

References Str::EMPTY_STR, ENC_DAT_FILENAME, ENC_DATA_LINE_LENGTH, encMap_, and NavChartDb::EncInfo::loaded_.

Referenced by initialize().

int NavChartDb::MakeGeoIndex ( int  latIndex, int  lonIndex  )

static

Combines latitude index and longitude index into a single index.

Referenced by CalcGeoIndex(), and updateGeoIndices().

Str * NavChartDb::mapDepth ( const float  depth )

private

References closeMap_, NavChartDb::ClosePoint::depth_, depthMap_, depthMtxNameMap_, NAVCHART_PATH, FastMap< S, T >::put(), and Str::replaceChar().

Referenced by addEncData(), and loadDepths().

bool NavChartDb::ready ( )

inline

References ready_.

Referenced by main(), NavChart::run(), and OffshoreEnvelope_Test::testRun().

void NavChartDb::run ( void  )

virtual

The actual "payload" of the component.

Reimplemented from Component.

References addEncData(), Component::BLOCK_PERIODIC, createIndices(), Str::cStr(), currentDepth_, currentDepthStr_, cycleTimeoutCfg_, depthMap_, Timestamp::elapsed(), encInfos_, encReader_, NavChartDb::EncInfo::filename_, Syslog::IMPORTANT, indexIndex_, initDataDir(), initialize(), initialized_, insertCount_, NavChartDb::EncInfo::loaded_, Component::logger_, Timestamp::Now(), ready_, saveEncs(), Component::setPeriod(), Component::setState(), FastMap< S, T >::size(), Logger::syslog(), and updateClosest().

Referenced by main().

bool NavChartDb::saveDepths ( )

private

References DEPTH_FILENAME, depthMap_, FastMap< S, T >::getIndexedEntry(), MapEntry< S, T >::getKey(), Component::logger_, and FastMap< S, T >::size().

Referenced by addEncData().

bool NavChartDb::saveEncs ( )

private

References Str::cStr(), ENC_DAT_FILENAME, NavChartDb::EncInfo::encId_, encMap_, NavChartDb::EncInfo::filename_, NavChartDb::EncInfo::loaded_, and NavChartDb::EncInfo::resLevel_.

Referenced by initialize(), and run().

void NavChartDb::setChartsCfg

(

const Str

chartsCfg

)

References chartsCfg_, and StrValue::setString().

Referenced by main(), and OffshoreEnvelope_Test::testRun().

void NavChartDb::setOkToUpdateFromDisk ( )

inline

References okToUpdateFromDisk_.

void NavChartDb::uninitialize ( void  )

virtual

Provide a space for uninitialization.

Reimplemented from Component.

References initialized_.

Referenced by OffshoreEnvelope_Test::testRun().

void NavChartDb::updateClosest ( )

private

For the current latitude/longitude pair (in radians), update closest point on each contour.

References NavChartDb::ClosePoint::angle_, NavChartDb::ClosePoint::angleSq_, changeLatitudeTo_, changeLongitudeTo_, changeNextDepthIndexTo_, changeOkToUpdateFromDiskTo_, closeMap_, closeSoundings_, NavChartDb::ClosePoint::cosLat_, Str::cStr(), currentGeoIndex_, currentGeoIndices_, currentMutex_, cycleTimeoutCfg_, NavChartDb::ClosePoint::depth_, depthIdxMap_, depthIndex_, depthMap_, depthMtxMap_, depthMtxNameMap_, Timestamp::elapsed(), FastMap< S, T >::get(), Mtx::get(), FastMap< S, T >::getIndexed(), Mtx::getInt(), Mtx::getN(), NavChartDb::ClosePoint::lat_, latitude_, Mutex::lock(), Component::logger_, NavChartDb::ClosePoint::lon_, longitude_, mapDone_, nextDepthIndex_, Timestamp::Now(), okToUpdateFromDisk_, FlexArrayBase::peek(), FastMap< S, T >::put(), Mtx::set(), shoreDone_, FlexArrayBase::size(), FastMap< S, T >::size(), soundingsStr_, AuvMath::Square(), Mutex::unlock(), updateGeoIndices(), and workingClosePoints_.

Referenced by run(), and updateCurrent().

void NavChartDb::updateCurrent	(	const float	latitude,
		const float	longitude,
		bool	gotFix
	)

Update the curent latitude/longitude pair (in radians)

References changeLatitudeTo_, changeLongitudeTo_, changeNextDepthIndexTo_, changeOkToUpdateFromDiskTo_, currentMutex_, Mutex::lock(), Mutex::unlock(), and updateClosest().

Referenced by NavChart::run().

void NavChartDb::updateGeoIndices ( )

private

References CalcLatIndex(), CalcLonIndex(), CalcNumLonIndices(), FlexArrayBase::clear(), currentGeoIndices_, Location::EARTH_RADIUS, Location::EastingsDelta(), INTEREST_RADIUS, LAT_INCREMENT, latitude_, longitude_, MakeGeoIndex(), Location::NorthingsDelta(), and FlexArrayBase::push().

Referenced by updateClosest().

void NavChartDb::wipeOut ( )

private

References encMap_, Syslog::FAULT, Component::logger_, NAVCHART_PATH, rm(), and Logger::syslog().

Referenced by initialize().

Member Data Documentation

float NavChartDb::changeLatitudeTo_

private

Referenced by updateClosest(), and updateCurrent().

float NavChartDb::changeLongitudeTo_

private

Referenced by updateClosest(), and updateCurrent().

int NavChartDb::changeNextDepthIndexTo_

private

Referenced by updateClosest(), and updateCurrent().

int NavChartDb::changeOkToUpdateFromDiskTo_

private

Referenced by updateClosest(), and updateCurrent().

const RestartConfigURI NavChartDb::CHARTS_CFG

staticprivate

Referenced by NavChartDb().

StrValue NavChartDb::chartsCfg_

private

Referenced by initialize(), and setChartsCfg().

ConfigReader* NavChartDb::chartsCfgReader_

private

Referenced by initialize(), and NavChartDb().

FastMap< const float, ClosePoint* > NavChartDb::closeMap_

private

Referenced by getDistanceFromShore(), getSeaFloorDepth(), mapDepth(), updateClosest(), and ~NavChartDb().

ClosePoint* NavChartDb::closeSoundings_

private

Referenced by getSeaFloorDepth(), updateClosest(), and ~NavChartDb().

const DataURI NavChartDb::CLOSEST_DEPTH

staticprivate

Referenced by NavChartDb().

const DataURI NavChartDb::CLOSEST_DISTANCE

staticprivate

Referenced by NavChartDb().

DataWriter* NavChartDb::closestDepthWriter_

private

Referenced by NavChartDb().

DataWriter* NavChartDb::closestDistanceWriter_

private

Referenced by NavChartDb().

FlexArray< EncArea* > NavChartDb::coverages_

private

Referenced by getCoverage().

int NavChartDb::currentCount_

private

float NavChartDb::currentDepth_

private

Referenced by addEncData(), and run().

Str* NavChartDb::currentDepthStr_

private

Referenced by addEncData(), and run().

unsigned int NavChartDb::currentGeoIndex_

private

Referenced by updateClosest().

FlexArrayBase NavChartDb::currentGeoIndices_

private

Referenced by updateClosest(), and updateGeoIndices().

Mutex NavChartDb::currentMutex_

private

Referenced by updateClosest(), and updateCurrent().

ClosePoint NavChartDb::currentPoint_

private

const RestartConfigURI NavChartDb::CYCLE_TIMEOUT_CFG

staticprivate

Referenced by NavChartDb().

Timespan NavChartDb::cycleTimeoutCfg_

private

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

ConfigReader* NavChartDb::cycleTimeoutCfgReader_

private

Referenced by initialize(), and NavChartDb().

float NavChartDb::cycleTimeoutCfgTmp_

private

Referenced by initialize().

FastMap< const Str*, Mtx* > NavChartDb::depthIdxMap_

private

Referenced by doIndexing(), updateClosest(), and ~NavChartDb().

FastMap< const Str*, Str* > NavChartDb::depthIdxNameMap_

private

Referenced by doIndexing(), and ~NavChartDb().

int NavChartDb::depthIndex_

private

Referenced by updateClosest().

FastMap< const float, Str* > NavChartDb::depthMap_

private

Referenced by addEncData(), createIndices(), mapDepth(), run(), saveDepths(), updateClosest(), and ~NavChartDb().

FastMap< const Str*, FastMap< const int, Mtx*>* > NavChartDb::depthMtxMap_

private

Referenced by doIndexing(), updateClosest(), and ~NavChartDb().

FastMap< const Str*, Str* > NavChartDb::depthMtxNameMap_

private

Referenced by appendToContour(), appendToSoundings(), createContour(), createSoundings(), doIndexing(), mapDepth(), updateClosest(), and ~NavChartDb().

int NavChartDb::encId_

private

FlexArray<EncInfo*> NavChartDb::encInfos_

private

Referenced by initialize(), and run().

FastMap< const Str, EncInfo* > NavChartDb::encMap_

private

Referenced by initialize(), loadEncs(), saveEncs(), wipeOut(), and ~NavChartDb().

EncReader* NavChartDb::encReader_

private

Referenced by addEncData(), and run().

int NavChartDb::indexIndex_

private

Referenced by createIndices(), and run().

bool NavChartDb::initialized_

private

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

int NavChartDb::insertCount_

private

Referenced by addEncData(), and run().

NavChartDb * NavChartDb::Instance_

staticprivate

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

const float NavChartDb::LAT_INCREMENT

staticprivate

Referenced by CalcLatIndex(), CalcNumLonIndices(), and updateGeoIndices().

float NavChartDb::latitude_

private

Referenced by updateClosest(), and updateGeoIndices().

float NavChartDb::longitude_

private

Referenced by updateClosest(), and updateGeoIndices().

bool NavChartDb::mapDone_

private

Referenced by updateClosest().

const Str NavChartDb::NAME

staticprivate

const DataURI NavChartDb::NEXT_DEPTH

staticprivate

Referenced by NavChartDb().

const DataURI NavChartDb::NEXT_DISTANCE

staticprivate

Referenced by NavChartDb().

int NavChartDb::nextDepthIndex_

private

Referenced by updateClosest().

DataWriter* NavChartDb::nextDepthWriter_

private

Referenced by NavChartDb().

DataWriter* NavChartDb::nextDistanceWriter_

private

Referenced by NavChartDb().

const float NavChartDb::NUM_LATS

staticprivate

bool NavChartDb::okToUpdateFromDisk_

private

Referenced by setOkToUpdateFromDisk(), and updateClosest().

const Timespan NavChartDb::PERIOD

staticprivate

int NavChartDb::quadrant_

private

bool NavChartDb::ready_

private

Referenced by ready(), and run().

bool NavChartDb::shoreDone_

private

Referenced by getDistanceFromShore(), getSeaFloorDepth(), and updateClosest().

const Str NavChartDb::soundingsStr_

private

Referenced by appendToSoundings(), createIndices(), createSoundings(), and updateClosest().

ClosePoint NavChartDb::workingClosePoints_[4]

private

Referenced by updateClosest().

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

• /Volumes/ubuntu_share/lrauv-application/Source/io/NavChartDb.h
• /Volumes/ubuntu_share/lrauv-application/Source/io/NavChartDb.cpp