Contains the Pitch Behavior/Command. More...

#include <Pitch.h>

Inheritance diagram for Pitch:

Collaboration diagram for Pitch:

Public Member Functions
	Pitch (const Str &prefix, const Module *module)

virtual	~Pitch ()

void	initialize ()
	Initialize function. More...

void	readSettings ()

bool	readParams ()
	Read in the parameters for satisfied or runIfUnsatisfied: return true if OK. More...

bool	calcSatisfied ()
	Perform the satisfied: return true if envelope "satisfied". More...

void	run ()
	Just do the run: ignore the results of the satisfied. More...

bool	isSatisfied ()
	Just do the satisfied: return true if envelope "satisfied". More...

bool	runIfUnsatisfied ()
	Do the run, and return true if envelope "satisfied". More...

void	uninitialize ()
	Uninit function. More...

Public Member Functions inherited from Behavior
virtual	~Behavior ()

bool	executeIfUnsatisfied ()
	Combined run and test with metrics generation. More...

virtual void	preempted ()

virtual bool	isRunnable ()

virtual bool	isSatisfiable ()

virtual bool	isCommand ()

BehaviorState	getBehaviorState () const

void	setBehaviorState (BehaviorState behaviorState)

virtual bool	isCompleted (void)
	Query if this component is completed. More...

SettingReader *	findSettingReader (const Str &settingURI)

SettingReader *	addValueClause (const Str &uriPart, ValueClause *valueClause)

void	addArgWriter (const Str &uriPart, DataWriter *argWriter)

const Timespan &	getTimeout ()

void	setTimeout (const Timespan &timeout)

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)

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 Behavior *	CreateBehavior (const Str &prefix, const Module *module)
	Mission Component factory interface. More...

Protected Attributes
SettingReader *	depthSettingReader_
	Desired depth to direct the vehicle to. More...

SettingReader *	depthRateSettingReader_
	Desired depth rate for the vehicle. More...

SettingReader *	elevatorAngleSettingReader_
	Desired elevator angle for the vehicle. More...

SettingReader *	massPositionSettingReader_
	Desired massPosition for the vehicle. More...

SettingReader *	pitchSettingReader_
	Desired pitch of the vehicle. More...

SettingReader *	pitchRateSettingReader_
	Desired pitch rate of the vehicle. More...

UniversalDataReader *	depthReader_
	Current depth of the vehicle. More...

DataWriter *	verticalModeWriter_
	Sets the mode for Depth Control. More...

DataWriter *	depthCmdWriter_
	Sets the specified depth for Depth Control. More...

DataWriter *	depthRateCmdWriter_
	Sets the specified depth rate for Depth Control. More...

DataWriter *	elevatorAngleCmdWriter_
	Sets the elevator angle for Depth Control. More...

DataWriter *	massPositionCmdWriter_
	Sets the massPosition for Depth Control. More...

DataWriter *	pitchCmdWriter_
	Sets the specified pitch for Depth Control. More...

DataWriter *	pitchRateCmdWriter_
	Sets the specified pitch for Depth Control. More...

float	depthSetting_
	Desired depth of the vehicle. More...

float	depthRateSetting_
	Desired depthRate of the vehicle. More...

float	elevatorAngleSetting_
	Desired elevator angle of the vehicle. More...

float	massPositionSetting_
	Desired massPosition of the vehicle. More...

float	pitchSetting_
	Desired pitch of the vehicle. More...

float	pitchRateSetting_
	Desired pitch rate of the vehicle. More...

float	initialDepth_
	Initial depth of the vehicle. More...

float	depth_
	Current depth of the vehicle. More...

bool	initialized_
	Have we learned all our initial settings? More...

Protected Attributes inherited from Behavior
bool	runnable_

bool	satisfiable_

BehaviorState	behaviorState_

Timespan	timeout_
	Time before this behavior must end – defaults no timeout. More...

FastMap< const Str, SettingReader * > *	settingReaderMap_

FastMap< const Str, DataWriter * > *	argWriterMap_

Protected Attributes inherited from Component
Logger	logger_

Syslog::Severity	debugLevel_

ComponentState	state_
	Keep track of whether the component has "completed" or should be run again. More...

Timespan	desiredPeriod_

CodedStr &	name_
	Store the component's name (used for logging purposes) More...

Timestamp	timeOfRun_

Timestamp	timeOfLastRun_

Timespan	durationOfLastRun_

Timespan	dt_

Timespan	retryTimeout_

bool	enabled_

bool	failureReported_
	Indicates if the failure has been reported – cuts down on syslog. More...

bool	criticalFailureReported_
	Indicates if a "Critical" failure has been reported – cuts down on syslog. More...

bool	recoveringFromCritical_
	Indicates that a component had a previous critical failure that has been cleared temporarily awaiting final word from the component itself. More...

bool	failureUninitialized_
	Indicates if the failure has resulted in an uninitialize call. More...

int	failCount_
	Number of failures logged by PCaller. More...

bool	failureMissionCritical_
	If true (default), complete failure ends mission. More...

int	allowableFailures_
	Number of failures allowed to occur. More...

int	skippedRunsSinceFail_
	Number of skipped runs since failureMode_ set by failCount_. More...

FailureMode::FailType	failureType_
	Failed status. If failCount_ > 0, then this may be reset. More...

Timestamp	timeOfFailure_
	Time of last failure. Relevant only if failed=true. More...

Timestamp	writeTimestamp_
	Time of last write. More...

FlexArray< DataReader * >	readers_

FlexArray< DataWriter * >	writers_

const Module *	module_

Timespan	pauseTime_

bool	meteringEnabled_
	If true, metering is enabled. More...

DataWriter *	durationOfLastRunWriter_
	Writer for durationOfLastRun. More...

DataWriter *	voltageWriter_

DataWriter *	avgVoltageWriter_

DataWriter *	currentWriter_

DataWriter *	avgCurrentWriter_

bool	persistentPause_
	True if data is persistent while component is paused. More...

Private Member Functions
	Pitch (const Pitch &old)

Additional Inherited Members
Public Types inherited from Behavior
enum	BehaviorState { BEHAVIOR_INACTIVE, BEHAVIOR_CALLED, BEHAVIOR_ACTIVE, BEHAVIOR_TIMEOUT, BEHAVIOR_COMPLETED }

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 Behavior
	Behavior (const Str &name, const Module *module, const bool runnable, const bool satisfiable)
	Protected constructor for abstract base class. More...

	Behavior (const Behavior &old)

SettingReader *	newSettingReader (const Str &uriPart, const DataValue *defaultValue, bool deleteDefaultValue=true)

SettingReader *	newSettingReader (const SettingURI &uriPart)

DataWriter *	findArgWriter (const OutputURI &uriPart)

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 ()

Detailed Description

Contains the Pitch Behavior/Command.

Can point towards a depth, and be satisifed when the depth is achieved.

Pitch.h should only be included by Pitch.cpp Other classes should include PitchIF.h

Constructor & Destructor Documentation

Pitch::Pitch	(	const Str &	prefix,
		const Module *	module
	)

Pitch::~Pitch ( )

virtual

Pitch::Pitch ( const Pitch & old )

private

Member Function Documentation

bool Pitch::calcSatisfied ( )

Perform the satisfied: return true if envelope "satisfied".

References depth_, depthSetting_, initialDepth_, and pitchSetting_.

Referenced by isSatisfied(), and runIfUnsatisfied().

Behavior * Pitch::CreateBehavior	(	const Str &	prefix,
		const Module *	module
	)

static

Mission Component factory interface.

References Pitch().

Referenced by GuidanceModule::loadComponents().

void Pitch::initialize ( void )

virtual

Initialize function.

Reimplemented from Component.

References depthRateSetting_, depthReader_, depthSetting_, elevatorAngleSetting_, initialDepth_, Component::logger_, massPositionSetting_, pitchRateSetting_, pitchSetting_, readSettings(), UniversalDataReader::requestData(), and Logger::syslog().

bool Pitch::isSatisfied ( )

virtual

Just do the satisfied: return true if envelope "satisfied".

Reimplemented from Behavior.

References calcSatisfied(), and readParams().

bool Pitch::readParams ( )

Read in the parameters for satisfied or runIfUnsatisfied: return true if OK.

References depth_, depthReader_, depthSetting_, initialized_, Units::METER, DataReader::read(), and readSettings().

Referenced by isSatisfied(), and runIfUnsatisfied().

void Pitch::readSettings ( void )

void Pitch::run ( void )

virtual

Just do the run: ignore the results of the satisfied.

Just do the run.

Reimplemented from Component.

References runIfUnsatisfied().

bool Pitch::runIfUnsatisfied ( void )

virtual

Do the run, and return true if envelope "satisfied".

Reimplemented from Behavior.

References calcSatisfied(), VerticalControlIF::DEPTH, VerticalControlIF::DEPTH_RATE, depthCmdWriter_, depthRateCmdWriter_, depthRateSetting_, depthSetting_, elevatorAngleCmdWriter_, elevatorAngleSetting_, Units::ENUM, VerticalControlIF::MASS_AND_ELEVATOR, massPositionCmdWriter_, massPositionSetting_, Units::METER, Units::METER_PER_SECOND, VerticalControlIF::PITCH, VerticalControlIF::PITCH_RATE, VerticalControlIF::PITCH_ZERO, pitchCmdWriter_, pitchRateCmdWriter_, pitchRateSetting_, pitchSetting_, Units::RADIAN, Units::RADIAN_PER_SECOND, readParams(), verticalModeWriter_, and DataWriter::write().

Referenced by run().

void Pitch::uninitialize ( void )

virtual

Uninit function.

Reimplemented from Component.

References depthReader_, initialized_, and UniversalDataReader::requestData().

Member Data Documentation

float Pitch::depth_

protected

Current depth of the vehicle.

Referenced by calcSatisfied(), and readParams().

DataWriter* Pitch::depthCmdWriter_

protected

Sets the specified depth for Depth Control.

Referenced by Pitch(), and runIfUnsatisfied().

DataWriter* Pitch::depthRateCmdWriter_

protected

Sets the specified depth rate for Depth Control.

Referenced by Pitch(), and runIfUnsatisfied().

float Pitch::depthRateSetting_

protected

Desired depthRate of the vehicle.

Referenced by initialize(), readSettings(), and runIfUnsatisfied().

SettingReader* Pitch::depthRateSettingReader_

protected

Desired depth rate for the vehicle.

Can be specified alone, or with Depth. Overrides Pitch and PitchRate settings

Referenced by Pitch(), and readSettings().

UniversalDataReader* Pitch::depthReader_

protected

Current depth of the vehicle.

Referenced by initialize(), Pitch(), readParams(), readSettings(), and uninitialize().

float Pitch::depthSetting_

protected

Desired depth of the vehicle.

Referenced by calcSatisfied(), initialize(), readParams(), readSettings(), and runIfUnsatisfied().

SettingReader* Pitch::depthSettingReader_

protected

Desired depth to direct the vehicle to.

If specified with Pitch, only the absolute value of Pitch is used.

Referenced by Pitch(), and readSettings().

DataWriter* Pitch::elevatorAngleCmdWriter_

protected

Sets the elevator angle for Depth Control.

Referenced by Pitch(), and runIfUnsatisfied().

float Pitch::elevatorAngleSetting_

protected

Desired elevator angle of the vehicle.

Referenced by initialize(), readSettings(), and runIfUnsatisfied().

SettingReader* Pitch::elevatorAngleSettingReader_

protected

Desired elevator angle for the vehicle.

Overrides all other settings except massPosition

Referenced by Pitch(), and readSettings().

float Pitch::initialDepth_

protected

Initial depth of the vehicle.

Referenced by calcSatisfied(), initialize(), and readSettings().

bool Pitch::initialized_

protected

Have we learned all our initial settings?

Referenced by readParams(), readSettings(), and uninitialize().

DataWriter* Pitch::massPositionCmdWriter_

protected

Sets the massPosition for Depth Control.

Referenced by Pitch(), and runIfUnsatisfied().

float Pitch::massPositionSetting_

protected

Desired massPosition of the vehicle.

Referenced by initialize(), readSettings(), and runIfUnsatisfied().

SettingReader* Pitch::massPositionSettingReader_

protected

Desired massPosition for the vehicle.

Overrides all other settings except ElevatorAngle

Referenced by Pitch(), and readSettings().

DataWriter* Pitch::pitchCmdWriter_

protected

Sets the specified pitch for Depth Control.

Referenced by Pitch(), and runIfUnsatisfied().

DataWriter* Pitch::pitchRateCmdWriter_

protected

Sets the specified pitch for Depth Control.

Referenced by Pitch(), and runIfUnsatisfied().

float Pitch::pitchRateSetting_

protected

Desired pitch rate of the vehicle.

Referenced by initialize(), readSettings(), and runIfUnsatisfied().

SettingReader* Pitch::pitchRateSettingReader_

protected

Desired pitch rate of the vehicle.

Valid until the vehicle reaches its maximum pitch If specified with Pitch, only the absolute value of PitchRate is used.

Referenced by Pitch(), and readSettings().

float Pitch::pitchSetting_

protected

Desired pitch of the vehicle.

Referenced by calcSatisfied(), initialize(), readSettings(), and runIfUnsatisfied().

SettingReader* Pitch::pitchSettingReader_

protected

Desired pitch of the vehicle.

If specified with PitchRate only the absolute value of PitchRate is used. If specified with Depth, only the absolute value of Pitch is used.

Referenced by Pitch(), and readSettings().

DataWriter* Pitch::verticalModeWriter_

protected

Sets the mode for Depth Control.

Referenced by Pitch(), and runIfUnsatisfied().

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

/Volumes/ubuntu_share/lrauv-application/Source/guidanceModule/Pitch.h
/Volumes/ubuntu_share/lrauv-application/Source/guidanceModule/Pitch.cpp

Public Member Functions

Static Public Member Functions

Protected Attributes

Private Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation