PNI_TCM Class Reference

Provides software interface to the PNI TCM compass. More...

#include <PNI_TCM.h>

Inheritance diagram for PNI_TCM:

Collaboration diagram for PNI_TCM:

Public Member Functions
	PNI_TCM (const Module *module)
virtual	~PNI_TCM ()
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...
virtual void	uninitialize ()
	Provide a space for uninitialization. More...
virtual ConfigURI	getConfigURI (ConfigOption configOption) const
	Should return [myNamespace]::SIMULATE_HARDWARE, or [myNamespace]::POWER, 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	StartupSequence {   SETDATA, MOUNTING, ENDIAN, PARAMS,   PARAMRESPONSE, DONE }

Private Member Functions
	PNI_TCM (const PNI_TCM &old)
void	readConfig ()
bool	isDataRequested ()
bool	receiveGetDataResp (void)
void	processData (void)
void	writeData (void)
bool	parseCalScore (float &magScore, float &distError, float &tiltError, float &tiltRange)
unsigned short	CRC (const char *data, unsigned int len)
float	extractFloat (char *convertFloat)
unsigned short	extractShort (char *convertFloat)
void	setWritersInvalid (bool invalid)
void	getMagneticVariation ()

Private Attributes
UniversalDataReader *	latitudeReader_
UniversalDataReader *	longitudeReader_
UniversalDataReader *	depthReader_
DataWriter *	compassHeadingWriter_
DataWriter *	compassTemperatureWriter_
DataWriter *	mxWriter_
DataWriter *	myWriter_
DataWriter *	mzWriter_
UniversalDataWriter *	magneticHeadingWriter_
UniversalDataWriter *	trueHeadingWriter_
UniversalDataWriter *	pitchWriter_
UniversalDataWriter *	rollWriter_
UniversalBlobWriter *	rotationMatrixWriter_
ConfigReader *	verbosityCfgReader_
ConfigReader *	magDeviationCfgReader_
ConfigReader *	pitchOffsetCfgReader_
ConfigReader *	rollOffsetCfgReader_
StartupSequence	startup_
bool	debug_
int	verbosity_
LoadControl	loadControl_
bool	checksum_matches_
float	heading_
float	pitch_
float	roll_
float	magHeading_
float	trueHeading_
float	mX_
float	mY_
float	mZ_
float	temperature_
Matrix3x3	rotationFromVehicleToNavigationFrame_
float	magDeviation_
	Deviation of this compass in the vehicle. More...
float	magVariation_
float	pitchOffset_
	Offset for mounting. In degrees. More...
float	rollOffset_
Timespan	poTimeout_
Timespan	validTimeout_
Timestamp	startTime_
int	readAccelerationsCfg_
int	readMagneticsCfg_
char	deviceResponse_ [96]
UartStream	uart_

Static Private Attributes
static PNI_TCM *	Instance_
	Pointer to the singleton-like instance of this component. More...
static const unsigned int	CMD_SIZE = 24
static const unsigned int	DATA_RESP_SIZE = 41
static char	setConfigAutoCal_ [CMD_SIZE] = "\x00\x07\x06\x0D\x01\x85\xF0"
static char	setConfigCalNumPts_ [CMD_SIZE] = "\x00\x07\x06\x0C\x20\x82\x82"
static char	setConfigMagCoeff_ [CMD_SIZE] = "\x00\x07\x06\x12\x01\x96\xBD"
static char	setConfigMountingRef_ [CMD_SIZE] = "\x00\x07\x06\x0A\x02\x2C\x04"
static char	setConfigBaudRate_ [CMD_SIZE] = "\x00\x07\x06\x0E\x0C\x01\x0E"
static char	setBigEndian_ [CMD_SIZE] = "\x00\x07\x06\x06\x01\x59\0Ax"
static char	setDataComponents_ [CMD_SIZE] = "\x00\x0D\x03\x07\x05\x18\x19\x1B\x1C\x1D\x07\x96\x52"
static char	startCalFullRange_ [CMD_SIZE] = "\x00\x09\x0A\x00\x00\x00\x0A\xAF\x06"
static char	startContinuousMode_ [CMD_SIZE] = "\x00\x05\x15\xBD\x61"
static char	stopContinuousMode_ [CMD_SIZE] = "\x00\x05\x16\x8D\x02"
static char	setAcqParams_ [CMD_SIZE] = "\x00\x0F\x18\x00\x00\x00\x00\x00\x00\x3E\xCC\xCC\xCD\x62\xAD"
static char	save_ [CMD_SIZE] = "\x00\x05\x09\x6E\xDC"
static const float	HEADING_LIMIT [] = { -M_2PI, M_2PI}
static const float	PITCH_LIMIT [] = { -M_PI, M_PI}
static const float	ROLL_LIMIT [] = { -M_PI, M_PI}

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 ConfigURI	getConfigURI (ConfigOption configOption, ElementURI forElement) const
	Should return [myNamespace]::POWER_[forElement], [myNamespace]::LATENCY_[forElement], etc. More...
virtual void	setDurationOfLastRun (const Timespan &span)
virtual void	setTimeOfRun (const Timestamp &time)
virtual void	setTimeOfLastRun (const Timestamp &time)
virtual void	setDt (const Timespan &dt)
virtual bool	setEnabled (bool enabled=true)
void	setRunState (const RunState runState)
const Timespan	getPauseTime () const
virtual void	setFailureMissionCritical (bool failureMissionCritical)
bool	simulateHardware ()
Protected Attributes inherited from Component
Logger	logger_
Syslog::Severity	debugLevel_
ComponentState	state_
	Keep track of whether the component has "completed" or should be run again. More...
Timespan	desiredPeriod_
CodedStr &	name_
	Store the component's name (used for logging purposes) More...
Timestamp	timeOfRun_
Timestamp	timeOfLastRun_
Timespan	durationOfLastRun_
Timespan	dt_
Timespan	retryTimeout_
bool	enabled_
bool	failureReported_
	Indicates if the failure has been reported – cuts down on syslog. More...
bool	criticalFailureReported_
	Indicates if a "Critical" failure has been reported – cuts down on syslog. More...
bool	recoveringFromCritical_
	Indicates that a component had a previous critical failure that has been cleared temporarily awaiting final word from the component itself. More...
bool	failureUninitialized_
	Indicates if the failure has resulted in an uninitialize call. More...
int	failCount_
	Number of failures logged by PCaller. More...
bool	failureMissionCritical_
	If true (default), complete failure ends mission. More...
int	allowableFailures_
	Number of failures allowed to occur. More...
int	skippedRunsSinceFail_
	Number of skipped runs since failureMode_ set by failCount_. More...
FailureMode::FailType	failureType_
	Failed status. If failCount_ > 0, then this may be reset. More...
Timestamp	timeOfFailure_
	Time of last failure. Relevant only if failed=true. More...
Timestamp	writeTimestamp_
	Time of last write. More...
FlexArray< DataReader * >	readers_
FlexArray< DataWriter * >	writers_
const Module *	module_
Timespan	pauseTime_
bool	meteringEnabled_
	If true, metering is enabled. More...
DataWriter *	durationOfLastRunWriter_
	Writer for durationOfLastRun. More...
DataWriter *	voltageWriter_
DataWriter *	avgVoltageWriter_
DataWriter *	currentWriter_
DataWriter *	avgCurrentWriter_
bool	persistentPause_
	True if data is persistent while component is paused. More...

Detailed Description

Provides software interface to the PNI TCM compass.

Can also use SimSlate to provide simulated PNI values when they are available.

PNI_TCM.h should only be included by PNI_TCM.cpp Other classes should include PNI_TCMIF.h

Constructor & Destructor Documentation

PNI_TCM::PNI_TCM

(

const Module *

module

)

References AHRS_ACCURACY, compassHeadingWriter_, compassTemperatureWriter_, UniversalURI::DEPTH, depthReader_, Point3D::getMagnitude(), Instance_, UniversalURI::LATITUDE, latitudeReader_, UniversalURI::LONGITUDE, longitudeReader_, magDeviationCfgReader_, magneticHeadingWriter_, mxWriter_, myWriter_, mzWriter_, Component::newConfigReader(), Component::newDataWriter(), Component::newUniversalBlobWriter(), Component::newUniversalReader(), Component::newUniversalWriter(), Units::NONE, PITCH_ROLL_ACCURACY, pitchOffsetCfgReader_, pitchWriter_, UniversalURI::PLATFORM_MAGNETIC_ORIENTATION, UniversalURI::PLATFORM_ORIENTATION, UniversalURI::PLATFORM_ORIENTATION_MATRIX, UniversalURI::PLATFORM_PITCH_ANGLE, UniversalURI::PLATFORM_ROLL_ANGLE, Units::RADIAN, rollOffsetCfgReader_, rollWriter_, rotationMatrixWriter_, Component::setRunState(), Component::START, trueHeadingWriter_, and verbosityCfgReader_.

PNI_TCM::~PNI_TCM ( )

virtual

References Instance_.

PNI_TCM::PNI_TCM ( const PNI_TCM &  old )

private

Member Function Documentation

unsigned short PNI_TCM::CRC ( const char *  data, unsigned int  len  )

private

Referenced by receiveGetDataResp().

float PNI_TCM::extractFloat ( char *  convertFloat )

private

Referenced by receiveGetDataResp().

unsigned short PNI_TCM::extractShort ( char *  convertFloat )

private

Referenced by receiveGetDataResp().

ConfigURI PNI_TCM::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.

void PNI_TCM::getMagneticVariation ( )

private

References Syslog::FAULT, DataReader::isActive(), latitudeReader_, Component::logger_, longitudeReader_, magVariation_, Timestamp::Now(), MagneticVariation::Radian(), Units::RADIAN, DataReader::read(), Slate::ReadOnce(), and Logger::syslog().

Referenced by runnable().

bool PNI_TCM::isDataRequested ( )

private

References compassHeadingWriter_, DataWriter::isDataRequested(), magneticHeadingWriter_, mxWriter_, myWriter_, mzWriter_, pitchWriter_, rollWriter_, rotationMatrixWriter_, and trueHeadingWriter_.

Referenced by paused(), and stopped().

bool PNI_TCM::parseCalScore ( float &  magScore, float &  distError, float &  tiltError, float &  tiltRange  )

private

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

Component::RunState PNI_TCM::pause ( )

virtual

Pause for a short period (indicated by pauseTime)

Reimplemented from Component.

References UartStream::close(), debug_, Syslog::FAULT, FailureMode::HARDWARE, Syslog::INFO, loadControl_, Component::logger_, Component::PAUSED, LoadControl::powerDown(), Component::setFailure(), Component::simulateHardware(), Component::STOP, Logger::syslog(), and uart_.

Component::RunState PNI_TCM::paused ( )

virtual

Should eventually follow a PAUSE request: should set continueTime.

Reimplemented from Component.

References debug_, Syslog::INFO, isDataRequested(), Component::logger_, Component::PAUSED, resume(), and Logger::syslog().

void PNI_TCM::processData ( void  )

private

References heading_, magDeviation_, magHeading_, magVariation_, AuvMath::ModPi(), pitch_, pitchOffset_, roll_, rollOffset_, rotationFromVehicleToNavigationFrame_, and trueHeading_.

Referenced by runnable().

void PNI_TCM::readConfig ( void  )

private

References Units::COUNT, magDeviation_, magDeviationCfgReader_, pitchOffset_, pitchOffsetCfgReader_, Units::RADIAN, DataReader::read(), rollOffset_, rollOffsetCfgReader_, verbosity_, and verbosityCfgReader_.

Referenced by resuming(), runnable(), and starting().

bool PNI_TCM::receiveGetDataResp ( void  )

private

References InStream::bytesRead(), checksum_matches_, CRC(), D2R, DATA_RESP_SIZE, UartStream::dataAvailable(), deviceResponse_, Syslog::ERROR, UartStream::errorString(), extractFloat(), extractShort(), UartStream::flush(), UartStream::hasError(), heading_, SimSlate::HEADING_RADIAN, Component::logger_, magDeviation_, magHeading_, magVariation_, mX_, mY_, mZ_, pitch_, SimSlate::PITCH_RADIAN, pitchOffset_, SimSlate::Read(), UartStream::read(), roll_, SimSlate::ROLL_RADIAN, rollOffset_, Component::simulateHardware(), Logger::syslog(), temperature_, trueHeading_, and uart_.

Referenced by runnable().

virtual RunState PNI_TCM::resetting ( )

inlinevirtual

Might occur in case of Error.

Reimplemented from Component.

References stop().

Component::RunState PNI_TCM::resume ( )

virtual

Resume from PAUSE.

Reimplemented from Component.

References FailureMode::COMMUNICATIONS, debug_, Syslog::ERROR, UartStream::errorString(), Syslog::FAULT, FailureMode::HARDWARE, UartStream::hasError(), Syslog::INFO, loadControl_, Component::logger_, Timestamp::Now(), UartStream::open(), LoadControl::powerUp(), Component::RESUMING, Component::setFailure(), Component::simulateHardware(), startTime_, Component::STOP, Logger::syslog(), and uart_.

Referenced by paused().

Component::RunState PNI_TCM::resuming ( )

virtual

Might follow a PAUSE...RESUME sequence.

Reimplemented from Component.

References debug_, Timestamp::elapsed(), UartStream::flush(), Syslog::INFO, Component::logger_, Timestamp::Now(), poTimeout_, readConfig(), Component::RESUMING, Component::RUNNABLE, Component::simulateHardware(), startContinuousMode_, startTime_, Logger::syslog(), uart_, and UartStream::write().

void PNI_TCM::run ( void  )

virtual

The actual "payload" of the component.

Reimplemented from Component.

Component::RunState PNI_TCM::runnable ( )

virtual

Should eventually follow a START request or RESETTING.

Reimplemented from Component.

References FailureMode::DATA, Syslog::DEBUG, debug_, Timestamp::elapsed(), LoadControl::errorString(), Syslog::FAULT, Str::find(), getMagneticVariation(), FailureMode::HARDWARE, LoadControl::hasError(), heading_, HEADING_LIMIT, Syslog::INFO, AuvMath::InLimit(), loadControl_, Component::logger_, Timestamp::Now(), pitch_, PITCH_LIMIT, processData(), readConfig(), receiveGetDataResp(), LoadControl::requestVoltageAndCurrent(), Component::resetFailCount(), roll_, ROLL_LIMIT, Component::RUNNABLE, Component::setFailure(), setWritersInvalid(), Component::simulateHardware(), startTime_, Component::STOP, Logger::syslog(), validTimeout_, and writeData().

void PNI_TCM::setWritersInvalid ( bool  invalid )

private

References magneticHeadingWriter_, mxWriter_, myWriter_, mzWriter_, pitchWriter_, rollWriter_, rotationMatrixWriter_, DataWriter::setInvalid(), and trueHeadingWriter_.

Referenced by runnable().

Component::RunState PNI_TCM::start ( )

virtual

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

Reimplemented from Component.

References FailureMode::COMMUNICATIONS, debug_, deviceResponse_, Syslog::ERROR, UartStream::errorString(), Syslog::FAULT, FailureMode::HARDWARE, UartStream::hasError(), Syslog::INFO, loadControl_, Component::logger_, Timestamp::Now(), UartStream::open(), LoadControl::powerUp(), Component::setAllowableFailures(), Component::setFailure(), Component::setRetryTimeout(), Component::simulateHardware(), Component::START, Component::STARTING, startTime_, Component::STOP, Logger::syslog(), and uart_.

Component::RunState PNI_TCM::starting ( )

virtual

Might follow a STOP...START sequence.

Reimplemented from Component.

References InStream::bytesRead(), FailureMode::DATA, UartStream::dataAvailable(), debug_, deviceResponse_, DONE, Timestamp::elapsed(), ENDIAN, Syslog::ERROR, UartStream::errorString(), Syslog::FAULT, UartStream::flush(), UartStream::hasError(), Syslog::INFO, Component::logger_, MOUNTING, Timestamp::Now(), PARAMRESPONSE, PARAMS, poTimeout_, UartStream::read(), readConfig(), Component::RESUMING, Component::RUNNABLE, setAcqParams_, setBigEndian_, setConfigMountingRef_, SETDATA, setDataComponents_, Component::setFailure(), Component::simulateHardware(), startContinuousMode_, Component::STARTING, startTime_, startup_, Component::STOP, Logger::syslog(), uart_, validTimeout_, and UartStream::write().

Component::RunState PNI_TCM::stop ( )

virtual

Initial state – can be later followed by START.

Reimplemented from Component.

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

Referenced by resetting(), and stopped().

Component::RunState PNI_TCM::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 PNI_TCM::stopping ( )

virtual

Might follow a STOP request.

Reimplemented from Component.

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

void PNI_TCM::uninitialize ( void  )

virtual

Provide a space for uninitialization.

Reimplemented from Component.

References UartStream::close(), debug_, Syslog::FAULT, FailureMode::HARDWARE, Syslog::INFO, loadControl_, Component::logger_, LoadControl::powerDown(), SETDATA, Component::setFailure(), Component::simulateHardware(), startup_, Logger::syslog(), and uart_.

Referenced by stop().

void PNI_TCM::writeData ( void  )

private

References Units::CELSIUS, compassTemperatureWriter_, Syslog::INFO, Component::logger_, magHeading_, magneticHeadingWriter_, Units::MICROTESLA, mX_, mxWriter_, mY_, myWriter_, mZ_, mzWriter_, Units::NONE, pitch_, pitchWriter_, Units::RADIAN, roll_, rollWriter_, rotationFromVehicleToNavigationFrame_, rotationMatrixWriter_, startTime_, Logger::syslog(), temperature_, trueHeading_, trueHeadingWriter_, verbosity_, DataWriter::write(), and AbstractBlobWriter::write2DClass().

Referenced by runnable().

Member Data Documentation

bool PNI_TCM::checksum_matches_

private

Referenced by receiveGetDataResp().

const unsigned int PNI_TCM::CMD_SIZE = 24

staticprivate

DataWriter* PNI_TCM::compassHeadingWriter_

private

Referenced by isDataRequested(), and PNI_TCM().

DataWriter* PNI_TCM::compassTemperatureWriter_

private

Referenced by PNI_TCM(), and writeData().

const unsigned int PNI_TCM::DATA_RESP_SIZE = 41

staticprivate

Referenced by receiveGetDataResp().

bool PNI_TCM::debug_

private

Referenced by pause(), paused(), resume(), resuming(), runnable(), start(), starting(), stop(), stopped(), stopping(), and uninitialize().

UniversalDataReader* PNI_TCM::depthReader_

private

Referenced by PNI_TCM().

char PNI_TCM::deviceResponse_[96]

private

Referenced by receiveGetDataResp(), start(), and starting().

float PNI_TCM::heading_

private

Referenced by processData(), receiveGetDataResp(), and runnable().

const float PNI_TCM::HEADING_LIMIT = { -M_2PI, M_2PI}

staticprivate

Referenced by runnable().

PNI_TCM * PNI_TCM::Instance_

staticprivate

Pointer to the singleton-like instance of this component.

Referenced by PNI_TCM(), and ~PNI_TCM().

UniversalDataReader* PNI_TCM::latitudeReader_

private

Referenced by getMagneticVariation(), and PNI_TCM().

LoadControl PNI_TCM::loadControl_

private

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

UniversalDataReader* PNI_TCM::longitudeReader_

private

Referenced by getMagneticVariation(), and PNI_TCM().

float PNI_TCM::magDeviation_

private

Deviation of this compass in the vehicle.

compass orientation +/- deviation due to vehicle = Magnetic orientation magnetic orientation +/- variation from map = True orientation

Referenced by processData(), readConfig(), and receiveGetDataResp().

ConfigReader* PNI_TCM::magDeviationCfgReader_

private

Referenced by PNI_TCM(), and readConfig().

float PNI_TCM::magHeading_

private

Referenced by processData(), receiveGetDataResp(), and writeData().

UniversalDataWriter* PNI_TCM::magneticHeadingWriter_

private

Referenced by isDataRequested(), PNI_TCM(), setWritersInvalid(), and writeData().

float PNI_TCM::magVariation_

private

Referenced by getMagneticVariation(), processData(), and receiveGetDataResp().

float PNI_TCM::mX_

private

Referenced by receiveGetDataResp(), and writeData().

DataWriter* PNI_TCM::mxWriter_

private

Referenced by isDataRequested(), PNI_TCM(), setWritersInvalid(), and writeData().

float PNI_TCM::mY_

private

Referenced by receiveGetDataResp(), and writeData().

DataWriter* PNI_TCM::myWriter_

private

Referenced by isDataRequested(), PNI_TCM(), setWritersInvalid(), and writeData().

float PNI_TCM::mZ_

private

Referenced by receiveGetDataResp(), and writeData().

DataWriter* PNI_TCM::mzWriter_

private

Referenced by isDataRequested(), PNI_TCM(), setWritersInvalid(), and writeData().

float PNI_TCM::pitch_

private

Referenced by processData(), receiveGetDataResp(), runnable(), and writeData().

const float PNI_TCM::PITCH_LIMIT = { -M_PI, M_PI}

staticprivate

Referenced by runnable().

float PNI_TCM::pitchOffset_

private

Offset for mounting. In degrees.

Referenced by processData(), readConfig(), and receiveGetDataResp().

ConfigReader* PNI_TCM::pitchOffsetCfgReader_

private

Referenced by PNI_TCM(), and readConfig().

UniversalDataWriter* PNI_TCM::pitchWriter_

private

Referenced by isDataRequested(), PNI_TCM(), setWritersInvalid(), and writeData().

Timespan PNI_TCM::poTimeout_

private

Referenced by resuming(), starting(), and stopping().

int PNI_TCM::readAccelerationsCfg_

private

int PNI_TCM::readMagneticsCfg_

private

float PNI_TCM::roll_

private

Referenced by processData(), receiveGetDataResp(), runnable(), and writeData().

const float PNI_TCM::ROLL_LIMIT = { -M_PI, M_PI}

staticprivate

Referenced by runnable().

float PNI_TCM::rollOffset_

private

Referenced by processData(), readConfig(), and receiveGetDataResp().

ConfigReader* PNI_TCM::rollOffsetCfgReader_

private

Referenced by PNI_TCM(), and readConfig().

UniversalDataWriter* PNI_TCM::rollWriter_

private

Referenced by isDataRequested(), PNI_TCM(), setWritersInvalid(), and writeData().

Matrix3x3 PNI_TCM::rotationFromVehicleToNavigationFrame_

private

Referenced by processData(), and writeData().

UniversalBlobWriter* PNI_TCM::rotationMatrixWriter_

private

Referenced by isDataRequested(), PNI_TCM(), setWritersInvalid(), and writeData().

char PNI_TCM::save_ = "\x00\x05\x09\x6E\xDC"

staticprivate

char PNI_TCM::setAcqParams_ = "\x00\x0F\x18\x00\x00\x00\x00\x00\x00\x3E\xCC\xCC\xCD\x62\xAD"

staticprivate

Referenced by starting().

char PNI_TCM::setBigEndian_ = "\x00\x07\x06\x06\x01\x59\0Ax"

staticprivate

Referenced by starting().

char PNI_TCM::setConfigAutoCal_ = "\x00\x07\x06\x0D\x01\x85\xF0"

staticprivate

char PNI_TCM::setConfigBaudRate_ = "\x00\x07\x06\x0E\x0C\x01\x0E"

staticprivate

char PNI_TCM::setConfigCalNumPts_ = "\x00\x07\x06\x0C\x20\x82\x82"

staticprivate

char PNI_TCM::setConfigMagCoeff_ = "\x00\x07\x06\x12\x01\x96\xBD"

staticprivate

char PNI_TCM::setConfigMountingRef_ = "\x00\x07\x06\x0A\x02\x2C\x04"

staticprivate

Referenced by starting().

char PNI_TCM::setDataComponents_ = "\x00\x0D\x03\x07\x05\x18\x19\x1B\x1C\x1D\x07\x96\x52"

staticprivate

Referenced by starting().

char PNI_TCM::startCalFullRange_ = "\x00\x09\x0A\x00\x00\x00\x0A\xAF\x06"

staticprivate

char PNI_TCM::startContinuousMode_ = "\x00\x05\x15\xBD\x61"

staticprivate

Referenced by resuming(), and starting().

Timestamp PNI_TCM::startTime_

private

Referenced by resume(), resuming(), runnable(), start(), starting(), stop(), stopping(), and writeData().

StartupSequence PNI_TCM::startup_

private

Referenced by starting(), and uninitialize().

char PNI_TCM::stopContinuousMode_ = "\x00\x05\x16\x8D\x02"

staticprivate

float PNI_TCM::temperature_

private

Referenced by receiveGetDataResp(), and writeData().

float PNI_TCM::trueHeading_

private

Referenced by processData(), receiveGetDataResp(), and writeData().

UniversalDataWriter* PNI_TCM::trueHeadingWriter_

private

Referenced by isDataRequested(), PNI_TCM(), setWritersInvalid(), and writeData().

UartStream PNI_TCM::uart_

private

Referenced by pause(), receiveGetDataResp(), resume(), resuming(), start(), starting(), stopped(), and uninitialize().

Timespan PNI_TCM::validTimeout_

private

Referenced by runnable(), and starting().

int PNI_TCM::verbosity_

private

Referenced by readConfig(), and writeData().

ConfigReader* PNI_TCM::verbosityCfgReader_

private

Referenced by PNI_TCM(), and readConfig().

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

• /Volumes/ubuntu_share/lrauv-application/Source/sensorModule/PNI_TCM.h
• /Volumes/ubuntu_share/lrauv-application/Source/sensorModule/PNI_TCM.cpp