Rowe_600 Class Reference

Provides software interface to the Rowe Rowe_600 DVL. More...

#include <Rowe_600.h>

Inheritance diagram for Rowe_600:

Collaboration diagram for Rowe_600:

Public Member Functions
	Rowe_600 (const Module *module)
virtual	~Rowe_600 ()
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 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	initialize ()
	Provide a space for initialization before being run. More...
virtual void	configure ()
	Read (or re-read!) configuration settings. More...
virtual void	execute (void)
virtual void	run ()
	The actual "payload" of the component. More...
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 Member Functions
	Rowe_600 (const Rowe_600 &old)
bool	loadParams (void)
bool	readConfig (void)
bool	readInterfaceConfigs (void)
bool	readWriterConfigs (void)
bool	readAccuracyConfigs (void)
bool	readOffsetConfigs (void)
bool	isDataRequested (void)
bool	setInstrumentTime (void)
bool	readEnsemble (void)
bool	parseRoweHeader (void)
void	resetMatrixOffsets (const int i=0)
void	processEnsemble (void)
void	logMatrixOffset (int i)
int	readEnsembleDataMatrix (void)
int	readBottomTrackMatrix (void)
int	readAncillaryDataMatrix (void)
void	rotateDataIntoVehicleFrame (void)
void	preprocessData (void)
void	setBottomTrackWritersInvalid (bool invalid)
void	setEnsembleDataWritersInvalid (bool invalid)
void	setWaterReferenceLayerWritersInvalid (bool invalid)
void	writeData (void)
void	appendEnsembleToFile (void)
void	reportBottomTrackComponents (void)
int	readMATv4float32 (Mtx &tgt, const char *mat)

Private Attributes
bool	debug_
int	verbosity_
LoadControl	loadControl_
Timespan	powerOnTimeout_
UartStream	uart_
Timespan	pausePeriod_
Timestamp	dataTimestamp_
Timespan	sampleTime_
Timestamp	startTime_
char	deviceResponse_ [sizeof(RTI_PREAMBLE)+SIZE_OF_RTI_HEADER+Rowe_600IF::MAX_SIZE_OF_ENSEMBLE+SIZE_OF_RTI_CHECKSUM]
bool	hasDeviceResponse_
bool	hasRoweHeader_
int	numberOfBeamsCfg_
int	numberOfBinsCfg_
bool	writeBeamVelocityProfileCfg_
bool	writeInstrumentVelocityProfileCfg_
bool	writeEarthVelocityProfileCfg_
bool	writeAmplitudeProfileCfg_
bool	writeCorrelationProfileCfg_
bool	writeGoodBeamPingsProfileCfg_
bool	writeGoodEarthPingsProfileCfg_
bool	writeRawEnsembleCfg_
float	acousticBlankingDistanceCfg_
float	bottomTrackVelocityAccuracyCfg_
float	waterTrackVelocityAccuracyCfg_
float	altitudeAccuracyCfg_
double	rollOffsetCfg_
double	pitchOffsetCfg_
double	headingOffsetCfg_
float	maxSpeedCfg_
int	waterReferenceLayerBin_
Matrix3x3	rotationFromInstrumentToVehicleFrame_
Matrix3x3	rotationFromVehicleToInstrumentFrame_
char	ens_filename_ [128]
int32_t	ensembleNumber_
int32_t	payloadSize_
Mtx	beamVelocity_
int	beamVelocityOffset_
Mtx	instrumentVelocity_
int	instrumentVelocityOffset_
Mtx	earthVelocity_
int	earthVelocityOffset_
Mtx	amplitude_
int	amplitudeOffset_
Mtx	correlation_
int	correlationOffset_
Mtx	goodBeamPings_
int	goodBeamPingsOffset_
Mtx	goodEarthPings_
int	goodEarthPingsOffset_
int	ensembleData_ [22]
int	ensembleDataOffset_
Mtx	ancillaryData_
int	ancillaryDataOffset_
Mtx	bottomTrack_
int	bottomTrackOffset_
bool	waterReferenceLayerVelocitiesInvalid_
int	numberOfBins_
int	numberOfBeams_
int	numberOfDesiredPings_
int	numberOfAcquiredPings_
int	status_
Timestamp	ensembleTimestamp_
float	firstBottomTrackPingTime_
float	lastBottomTrackPingTime_
float	headingDegrees_
float	pitchDegrees_
float	rollDegrees_
float	waterTemperatureDegreesCelsius_
float	systemTemperatureDegreesCelsius_
float	salinityPPT_
float	pressureBar_
float	depthMeters_
float	soundspeed_
bool	statusOr_
int	numberOfBottomTrackBeams_
int	pingCount_
Mtx	verticalRange_
Mtx	signalToNoiseRatio_
Mtx	bottomTrackAmplitude_
Mtx	bottomTrackCorrelation_
Mtx	bottomTrackBeamVelocity_
Mtx	bottomTrackNumberOfPingsAveraged_
Mtx	bottomTrackInstrumentVelocity_
Mtx	bottomTrackNumberOfInstrumentSolutionsAveraged_
Mtx	bottomTrackEarthVelocity_
Mtx	bottomTrackNumberOfEarthSolutionsAveraged_
float	altitude_
Point3D	velocityRelativeToGroundInVehicleFrame_
Point3D	velocityRelativeToWaterInVehicleFrame_
ConfigReader *	verbosityCfgReader_
ConfigReader *	pausePeriodCfgReader_
ConfigReader *	writeBeamVelocityProfileCfgReader_
ConfigReader *	writeInstrumentVelocityProfileCfgReader_
ConfigReader *	writeEarthVelocityProfileCfgReader_
ConfigReader *	writeAmplitudeProfileCfgReader_
ConfigReader *	writeCorrelationProfileCfgReader_
ConfigReader *	writeGoodBeamPingsProfileCfgReader_
ConfigReader *	writeGoodEarthPingsProfileCfgReader_
ConfigReader *	writeRawEnsembleCfgReader_
ConfigReader *	acousticBlankingDistanceCfgReader_
ConfigReader *	numberOfBeamsCfgReader_
ConfigReader *	numberOfBinsCfgReader_
ConfigReader *	sampleTimeCfgReader_
ConfigReader *	bottomTrackVelocityAccuracyCfgReader_
ConfigReader *	waterTrackVelocityAccuracyCfgReader_
ConfigReader *	altitudeAccuracyCfgReader_
ConfigReader *	rollOffsetCfgReader_
ConfigReader *	pitchOffsetCfgReader_
ConfigReader *	headingOffsetCfgReader_
ConfigReader *	maxSpeedCfgReader_
ConfigReader *	waterReferenceLayerBinCfgReader_
UniversalDataWriter *	altitudeWriter_
UniversalBlobWriter *	velocityWrtGroundWriter_
BlobWriter *	velocityWrtWaterWriter_
DataWriter *	firstBottomTrackPingTimeWriter_
DataWriter *	lastBottomTrackPingTimeWriter_
DataWriter *	headingWriter_
DataWriter *	pitchWriter_
DataWriter *	rollWriter_
DataWriter *	waterTemperatureWriter_
DataWriter *	systemTemperatureWriter_
DataWriter *	salinityWriter_
DataWriter *	pressureWriter_
DataWriter *	depthWriter_
DataWriter *	soundspeedWriter_
DataWriter *	statusOrWriter_
DataWriter *	numberOfBottomTrackBeamsWriter_
DataWriter *	pingCountWriter_
BlobWriter *	verticalRangeWriter_
BlobWriter *	signalToNoiseRatioWriter_
BlobWriter *	bottomTrackAmplitudeWriter_
BlobWriter *	bottomTrackCorrelationWriter_
BlobWriter *	bottomTrackBeamVelocityWriter_
BlobWriter *	bottomTrackNumberOfPingsAveragedWriter_
BlobWriter *	bottomTrackInstrumentVelocityWriter_
BlobWriter *	bottomTrackNumberOfInstrumentSolutionsAveragedWriter_
BlobWriter *	bottomTrackEarthVelocityWriter_
BlobWriter *	bottomTrackNumberOfEarthSolutionsAveragedWriter_
DataWriter *	ensembleNumberWriter_
DataWriter *	payloadSizeWriter_
DataWriter *	numberOfBeamsWriter_
DataWriter *	numberOfBinsWriter_
DataWriter *	numberOfDesiredPingsWriter_
DataWriter *	numberOfAcquiredPingsWriter_
DataWriter *	statusWriter_
DataWriter *	ensembleTimestampWriter_
BlobWriter *	beamVelocityWriter_
BlobWriter *	instrumentVelocityWriter_
BlobWriter *	earthVelocityWriter_
BlobWriter *	amplitudeWriter_
BlobWriter *	correlationWriter_
BlobWriter *	goodBeamPingsWriter_
BlobWriter *	goodEarthPingsWriter_
BlobWriter *	rawEnsembleWriter_

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, 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

Provides software interface to the Rowe Rowe_600 DVL.

Constructor & Destructor Documentation

Rowe_600::Rowe_600

(

const Module *

module

)

References acousticBlankingDistanceCfgReader_, altitude_, altitudeAccuracyCfgReader_, altitudeWriter_, amplitudeWriter_, beamVelocityWriter_, bottomTrackAmplitudeWriter_, bottomTrackBeamVelocityWriter_, bottomTrackCorrelationWriter_, bottomTrackEarthVelocityWriter_, bottomTrackInstrumentVelocityWriter_, bottomTrackNumberOfEarthSolutionsAveragedWriter_, bottomTrackNumberOfInstrumentSolutionsAveragedWriter_, bottomTrackNumberOfPingsAveragedWriter_, bottomTrackVelocityAccuracyCfgReader_, correlationWriter_, depthWriter_, deviceResponse_, earthVelocityWriter_, ensembleData_, ensembleNumberWriter_, ensembleTimestampWriter_, firstBottomTrackPingTimeWriter_, goodBeamPingsWriter_, goodEarthPingsWriter_, headingOffsetCfgReader_, headingWriter_, UniversalURI::HEIGHT_ABOVE_SEA_FLOOR, instrumentVelocityWriter_, lastBottomTrackPingTimeWriter_, maxSpeedCfgReader_, Units::METER, Units::METER_PER_SECOND, Component::newBlobWriter(), Component::newConfigReader(), Component::newDataWriter(), Component::newUniversalBlobWriter(), Component::newUniversalWriter(), numberOfAcquiredPingsWriter_, numberOfBeamsCfgReader_, numberOfBeamsWriter_, numberOfBinsCfgReader_, numberOfBinsWriter_, numberOfBottomTrackBeamsWriter_, numberOfDesiredPingsWriter_, pausePeriodCfgReader_, payloadSizeWriter_, pingCountWriter_, pitchOffsetCfgReader_, pitchWriter_, UniversalURI::PLATFORM_VELOCITY_WRT_GROUND, pressureWriter_, rollOffsetCfgReader_, rollWriter_, salinityWriter_, sampleTimeCfgReader_, Component::setAllowableFailures(), Component::setFailureMissionCritical(), Component::setRetryTimeout(), Component::setRunState(), signalToNoiseRatioWriter_, Component::simulateHardware(), soundspeedWriter_, statusOrWriter_, statusWriter_, Component::STOP, systemTemperatureWriter_, velocityWrtGroundWriter_, velocityWrtWaterWriter_, verbosityCfgReader_, verticalRangeWriter_, waterReferenceLayerBinCfgReader_, waterTemperatureWriter_, waterTrackVelocityAccuracyCfgReader_, writeAmplitudeProfileCfgReader_, writeBeamVelocityProfileCfgReader_, writeCorrelationProfileCfgReader_, writeEarthVelocityProfileCfgReader_, writeGoodBeamPingsProfileCfgReader_, writeGoodEarthPingsProfileCfgReader_, writeInstrumentVelocityProfileCfgReader_, and writeRawEnsembleCfgReader_.

Rowe_600::~Rowe_600 ( )

virtual

Rowe_600::Rowe_600 ( const Rowe_600 &  old )

private

Member Function Documentation

void Rowe_600::appendEnsembleToFile ( void  )

private

References Str::cStr(), dataTimestamp_, deviceResponse_, Syslog::ERROR, Syslog::INFO, Component::logger_, payloadSize_, Component::simulateHardware(), SIZE_OF_RTI_HEADER, Logger::syslog(), Timestamp::toDateHourString(), and Timestamp::toString().

Referenced by writeData().

ConfigURI Rowe_600::getConfigURI ( ConfigOption  configOption ) const

virtual

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

Reimplemented from Component.

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

bool Rowe_600::isDataRequested ( void  )

private

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

bool Rowe_600::loadParams ( void  )

private

void Rowe_600::logMatrixOffset ( int  i )

private

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

Referenced by processEnsemble().

bool Rowe_600::parseRoweHeader ( void  )

private

References deviceResponse_, ensembleNumber_, Syslog::ERROR, Syslog::INFO, Component::logger_, payloadSize_, Logger::syslog(), and verbosity_.

Referenced by readEnsemble().

Component::RunState Rowe_600::pause ( )

virtual

Pause for a short period (indicated by pauseTime)

Reimplemented from Component.

References debug_, deviceResponse_, UartStream::flush(), Syslog::INFO, Component::logger_, Component::PAUSE, Component::PAUSED, UartStream::read(), Component::simulateHardware(), Logger::syslog(), and uart_.

Referenced by stop().

Component::RunState Rowe_600::paused ( )

virtual

Should eventually follow a PAUSE request: should set continueTime.

Reimplemented from Component.

References altitudeWriter_, debug_, Syslog::INFO, DataWriter::isDataRequested(), isDataRequested(), Component::logger_, Component::PAUSED, pausePeriod_, Component::RESUME, Timespan::sleepFor(), and Logger::syslog().

void Rowe_600::preprocessData ( void  )

private

References acousticBlankingDistanceCfg_, altitude_, bottomTrackInstrumentVelocity_, bottomTrackOffset_, Syslog::DEBUG, Syslog::ERROR, Point3D::getMagnitude(), instrumentVelocity_, Component::logger_, maxSpeedCfg_, Logger::syslog(), velocityRelativeToGroundInVehicleFrame_, velocityRelativeToWaterInVehicleFrame_, verbosity_, verticalRange_, waterReferenceLayerBin_, and waterReferenceLayerVelocitiesInvalid_.

Referenced by processEnsemble().

void Rowe_600::processEnsemble ( void  )

private

References Point3D::addProduct(), amplitude_, amplitudeOffset_, ancillaryDataOffset_, beamVelocity_, beamVelocityOffset_, bottomTrackOffset_, correlation_, correlationOffset_, deviceResponse_, earthVelocity_, earthVelocityOffset_, ensembleDataOffset_, Syslog::ERROR, Point3D::getU(), Point3D::getV(), Point3D::getW(), goodBeamPingsOffset_, goodEarthPingsOffset_, instrumentVelocity_, instrumentVelocityOffset_, Component::logger_, logMatrixOffset(), payloadSize_, preprocessData(), SimSlate::Read(), readAncillaryDataMatrix(), readBottomTrackMatrix(), readEnsembleDataMatrix(), readMATv4float32(), resetMatrixOffsets(), rotateDataIntoVehicleFrame(), rotationFromVehicleToInstrumentFrame_, Mtx::set(), Component::simulateHardware(), SIZE_OF_RTI_HEADER, Logger::syslog(), verbosity_, SimSlate::WATER_VELOCITY_X_METER_PER_SECOND, SimSlate::WATER_VELOCITY_Y_METER_PER_SECOND, SimSlate::WATER_VELOCITY_Z_METER_PER_SECOND, waterReferenceLayerBin_, writeAmplitudeProfileCfg_, writeBeamVelocityProfileCfg_, writeCorrelationProfileCfg_, writeEarthVelocityProfileCfg_, writeGoodBeamPingsProfileCfg_, writeGoodEarthPingsProfileCfg_, and writeInstrumentVelocityProfileCfg_.

Referenced by runnable().

bool Rowe_600::readAccuracyConfigs ( void  )

private

References altitudeAccuracyCfg_, altitudeAccuracyCfgReader_, bottomTrackVelocityAccuracyCfg_, bottomTrackVelocityAccuracyCfgReader_, Units::METER, Units::METER_PER_SECOND, DataReader::read(), waterTrackVelocityAccuracyCfg_, and waterTrackVelocityAccuracyCfgReader_.

Referenced by readConfig(), and runnable().

int Rowe_600::readAncillaryDataMatrix ( void  )

private

References ancillaryData_, ancillaryDataOffset_, deviceResponse_, readMATv4float32(), and Component::simulateHardware().

Referenced by processEnsemble().

int Rowe_600::readBottomTrackMatrix ( void  )

private

References Point3D::addProduct(), altitude_, SimSlate::ALTITUDE_METER, bottomTrack_, bottomTrackAmplitude_, bottomTrackBeamVelocity_, bottomTrackCorrelation_, bottomTrackEarthVelocity_, bottomTrackInstrumentVelocity_, bottomTrackNumberOfEarthSolutionsAveraged_, bottomTrackNumberOfInstrumentSolutionsAveraged_, bottomTrackNumberOfPingsAveraged_, bottomTrackOffset_, Syslog::DEBUG, depthMeters_, deviceResponse_, firstBottomTrackPingTime_, Point3D::getU(), Point3D::getV(), Point3D::getW(), SimSlate::HEADING_RADIAN, headingDegrees_, lastBottomTrackPingTime_, Component::logger_, numberOfBottomTrackBeams_, pingCount_, SimSlate::PITCH_RADIAN, pitchDegrees_, pressureBar_, R2D, SimSlate::Read(), readMATv4float32(), SimSlate::ROLL_RADIAN, rollDegrees_, rotationFromVehicleToInstrumentFrame_, salinityPPT_, Mtx::set(), signalToNoiseRatio_, Component::simulateHardware(), soundspeed_, statusOr_, Mtx::subset(), Logger::syslog(), systemTemperatureDegreesCelsius_, SimSlate::VELOCITY_X_WRT_GROUND_METER_PER_SECOND, SimSlate::VELOCITY_Y_WRT_GROUND_METER_PER_SECOND, SimSlate::VELOCITY_Z_WRT_GROUND_METER_PER_SECOND, verbosity_, verticalRange_, and waterTemperatureDegreesCelsius_.

Referenced by processEnsemble().

bool Rowe_600::readConfig ( void  )

private

References acousticBlankingDistanceCfg_, acousticBlankingDistanceCfgReader_, Units::COUNT, headingOffsetCfg_, maxSpeedCfg_, maxSpeedCfgReader_, Units::METER, Units::METER_PER_SECOND, numberOfBeamsCfg_, numberOfBeamsCfgReader_, numberOfBinsCfg_, numberOfBinsCfgReader_, pitchOffsetCfg_, DataReader::read(), readAccuracyConfigs(), readInterfaceConfigs(), readOffsetConfigs(), readWriterConfigs(), rollOffsetCfg_, rotationFromInstrumentToVehicleFrame_, rotationFromVehicleToInstrumentFrame_, Matrix3x3::transpose(), waterReferenceLayerBin_, and waterReferenceLayerBinCfgReader_.

Referenced by start().

bool Rowe_600::readEnsemble ( void  )

private

References UartStream::canReadUntil(), FailureMode::COMMUNICATIONS, UartStream::dataAvailable(), UartStream::dataBuffered(), dataTimestamp_, Syslog::DEBUG, debug_, deviceResponse_, Syslog::ERROR, UartStream::errorString(), UartStream::hasError(), hasRoweHeader_, Syslog::INFO, Component::logger_, Timestamp::Now(), parseRoweHeader(), payloadSize_, UartStream::read(), Component::setFailure(), Component::setRunState(), SIZE_OF_RTI_CHECKSUM, SIZE_OF_RTI_HEADER, stop(), Logger::syslog(), uart_, and verbosity_.

Referenced by runnable().

int Rowe_600::readEnsembleDataMatrix ( void  )

private

References dataTimestamp_, deviceResponse_, ensembleData_, ensembleDataOffset_, ensembleNumber_, ensembleTimestamp_, Syslog::ERROR, Syslog::INFO, Component::logger_, numberOfAcquiredPings_, numberOfBeams_, numberOfBeamsCfg_, numberOfBins_, numberOfBinsCfg_, numberOfDesiredPings_, payloadSize_, Component::simulateHardware(), status_, Logger::syslog(), Timestamp::toString(), and verbosity_.

Referenced by processEnsemble().

bool Rowe_600::readInterfaceConfigs ( void  )

private

References Units::COUNT, pausePeriod_, pausePeriodCfgReader_, DataReader::read(), sampleTime_, sampleTimeCfgReader_, verbosity_, and verbosityCfgReader_.

Referenced by readConfig(), and runnable().

int Rowe_600::readMATv4float32 ( Mtx &  tgt, const char *  mat  )

private

References Syslog::DEBUG, Syslog::ERROR, Mtx::getM(), Mtx::getN(), Syslog::INFO, Component::logger_, Mtx::set(), Mtx::setFromPtr(), Component::simulateHardware(), Logger::syslog(), and verbosity_.

Referenced by processEnsemble(), readAncillaryDataMatrix(), and readBottomTrackMatrix().

bool Rowe_600::readOffsetConfigs ( void  )

private

References headingOffsetCfg_, headingOffsetCfgReader_, pitchOffsetCfg_, pitchOffsetCfgReader_, Units::RADIAN, DataReader::read(), rollOffsetCfg_, and rollOffsetCfgReader_.

Referenced by readConfig(), and runnable().

bool Rowe_600::readWriterConfigs ( void  )

private

References DataReader::read(), writeAmplitudeProfileCfg_, writeAmplitudeProfileCfgReader_, writeBeamVelocityProfileCfg_, writeBeamVelocityProfileCfgReader_, writeCorrelationProfileCfg_, writeCorrelationProfileCfgReader_, writeEarthVelocityProfileCfg_, writeEarthVelocityProfileCfgReader_, writeGoodBeamPingsProfileCfg_, writeGoodBeamPingsProfileCfgReader_, writeGoodEarthPingsProfileCfg_, writeGoodEarthPingsProfileCfgReader_, writeInstrumentVelocityProfileCfg_, writeInstrumentVelocityProfileCfgReader_, writeRawEnsembleCfg_, and writeRawEnsembleCfgReader_.

Referenced by readConfig(), and runnable().

void Rowe_600::reportBottomTrackComponents ( void  )

private

References altitude_, bottomTrackAmplitude_, bottomTrackBeamVelocity_, bottomTrackCorrelation_, bottomTrackInstrumentVelocity_, Point3D::getMagnitude(), Point3D::getU(), Point3D::getV(), Point3D::getW(), Syslog::INFO, Component::logger_, signalToNoiseRatio_, Logger::syslog(), velocityRelativeToGroundInVehicleFrame_, and verticalRange_.

Referenced by runnable().

void Rowe_600::resetMatrixOffsets ( const int  i = 0 )

private

References amplitudeOffset_, ancillaryDataOffset_, beamVelocityOffset_, bottomTrackOffset_, correlationOffset_, earthVelocityOffset_, ensembleDataOffset_, goodBeamPingsOffset_, goodEarthPingsOffset_, and instrumentVelocityOffset_.

Referenced by processEnsemble().

virtual RunState Rowe_600::resetting ( )

inlinevirtual

Might occur in case of Error.

Reimplemented from Component.

References start().

Component::RunState Rowe_600::resume ( )

virtual

Resume from PAUSE.

Reimplemented from Component.

References dataTimestamp_, debug_, UartStream::flush(), Syslog::INFO, Component::logger_, Timestamp::Now(), pausePeriod_, Component::RESUMING, Component::simulateHardware(), Timespan::sleepFor(), Logger::syslog(), and uart_.

Component::RunState Rowe_600::resuming ( )

virtual

Might follow a PAUSE...RESUME sequence.

Reimplemented from Component.

References dataTimestamp_, debug_, deviceResponse_, Syslog::ERROR, Syslog::INFO, Component::logger_, Timestamp::Now(), UartStream::read(), Component::RUNNABLE, Component::simulateHardware(), Component::STOP, Logger::syslog(), and uart_.

void Rowe_600::rotateDataIntoVehicleFrame ( void  )

private

References Point3D::addProduct(), bottomTrackInstrumentVelocity_, bottomTrackOffset_, instrumentVelocity_, instrumentVelocityOffset_, rotationFromInstrumentToVehicleFrame_, velocityRelativeToGroundInVehicleFrame_, velocityRelativeToWaterInVehicleFrame_, and waterReferenceLayerBin_.

Referenced by processEnsemble().

Component::RunState Rowe_600::runnable ( )

virtual

Should eventually follow a START request or RESETTING.

Reimplemented from Component.

References altitude_, FailureMode::COMMUNICATIONS, dataTimestamp_, Syslog::DEBUG, debug_, Timestamp::elapsed(), LoadControl::errorString(), Syslog::FAULT, Str::find(), FailureMode::HARDWARE, hasDeviceResponse_, LoadControl::hasError(), Syslog::INFO, isDataRequested(), loadControl_, Component::logger_, Timestamp::Now(), Component::PAUSE, pausePeriod_, processEnsemble(), readAccuracyConfigs(), readEnsemble(), readInterfaceConfigs(), readOffsetConfigs(), readWriterConfigs(), reportBottomTrackComponents(), LoadControl::requestVoltageAndCurrent(), Component::resetFailCount(), Component::RUNNABLE, sampleTime_, Component::setFailure(), Component::simulateHardware(), Timespan::sleepFor(), soundspeed_, Component::STOP, Logger::syslog(), verbosity_, and writeData().

void Rowe_600::setBottomTrackWritersInvalid ( bool  invalid )

private

References bottomTrackAmplitudeWriter_, bottomTrackBeamVelocityWriter_, bottomTrackCorrelationWriter_, bottomTrackEarthVelocityWriter_, bottomTrackInstrumentVelocityWriter_, bottomTrackNumberOfEarthSolutionsAveragedWriter_, bottomTrackNumberOfInstrumentSolutionsAveragedWriter_, bottomTrackNumberOfPingsAveragedWriter_, depthWriter_, firstBottomTrackPingTimeWriter_, headingWriter_, lastBottomTrackPingTimeWriter_, numberOfBottomTrackBeamsWriter_, pingCountWriter_, pitchWriter_, pressureWriter_, rollWriter_, salinityWriter_, DataWriter::setInvalid(), signalToNoiseRatioWriter_, soundspeedWriter_, statusOrWriter_, systemTemperatureWriter_, velocityWrtGroundWriter_, verticalRangeWriter_, and waterTemperatureWriter_.

Referenced by writeData().

void Rowe_600::setEnsembleDataWritersInvalid ( bool  invalid )

private

Referenced by writeData().

bool Rowe_600::setInstrumentTime ( void  )

private

void Rowe_600::setWaterReferenceLayerWritersInvalid ( bool  invalid )

private

References DataWriter::setInvalid(), and velocityWrtWaterWriter_.

Referenced by writeData().

Component::RunState Rowe_600::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, Syslog::CRITICAL, FailureMode::DATA, dataTimestamp_, debug_, deviceResponse_, Syslog::ERROR, UartStream::errorString(), Syslog::FAULT, UartStream::flush(), FailureMode::HARDWARE, UartStream::hasError(), Syslog::INFO, loadControl_, Component::logger_, Timestamp::Now(), UartStream::open(), pausePeriod_, powerOnTimeout_, LoadControl::powerUp(), readConfig(), sampleTime_, Component::setAllowableFailures(), Component::setFailure(), Component::setRetryTimeout(), Component::simulateHardware(), Timespan::sleepFor(), Component::START, Component::STARTING, startTime_, Component::STOP, Logger::syslog(), and uart_.

Referenced by resetting().

Component::RunState Rowe_600::starting ( )

virtual

Might follow a STOP...START sequence.

Reimplemented from Component.

References debug_, Timestamp::elapsed(), Syslog::INFO, Component::logger_, Component::PAUSE, pausePeriod_, powerOnTimeout_, Component::simulateHardware(), Timespan::sleepFor(), Component::STARTING, startTime_, and Logger::syslog().

Component::RunState Rowe_600::stop ( )

virtual

Initial state – can be later followed by START.

Reimplemented from Component.

References Timespan::asDouble(), UartStream::close(), dataTimestamp_, debug_, Timestamp::elapsed(), Syslog::FAULT, FailureMode::HARDWARE, Syslog::INFO, loadControl_, Component::logger_, pause(), Component::PAUSED, pausePeriod_, LoadControl::powerDown(), powerOnTimeout_, Component::setFailure(), Component::simulateHardware(), Timespan::sleepFor(), Component::STOP, Component::STOPPING, Logger::syslog(), and uart_.

Referenced by readEnsemble().

Component::RunState Rowe_600::stopped ( )

virtual

Initial state – can be later followed by START.

Reimplemented from Component.

References altitudeWriter_, debug_, Syslog::INFO, DataWriter::isDataRequested(), isDataRequested(), Component::logger_, pausePeriod_, Timespan::sleepFor(), Component::START, Component::STOPPED, and Logger::syslog().

Component::RunState Rowe_600::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_, pausePeriod_, LoadControl::readFaults(), Component::setFailure(), Component::simulateHardware(), Timespan::sleepFor(), Component::STOPPED, and Logger::syslog().

void Rowe_600::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(), Component::setFailure(), Component::simulateHardware(), Logger::syslog(), and uart_.

void Rowe_600::writeData ( void  )

private

References altitude_, altitudeAccuracyCfg_, altitudeWriter_, amplitude_, amplitudeOffset_, amplitudeWriter_, appendEnsembleToFile(), Timestamp::asDouble(), beamVelocity_, beamVelocityOffset_, beamVelocityWriter_, Units::BOOL, bottomTrackAmplitude_, bottomTrackAmplitudeWriter_, bottomTrackBeamVelocity_, bottomTrackBeamVelocityWriter_, bottomTrackCorrelation_, bottomTrackCorrelationWriter_, bottomTrackEarthVelocity_, bottomTrackEarthVelocityWriter_, bottomTrackInstrumentVelocity_, bottomTrackInstrumentVelocityWriter_, bottomTrackNumberOfEarthSolutionsAveraged_, bottomTrackNumberOfEarthSolutionsAveragedWriter_, bottomTrackNumberOfInstrumentSolutionsAveraged_, bottomTrackNumberOfInstrumentSolutionsAveragedWriter_, bottomTrackNumberOfPingsAveraged_, bottomTrackNumberOfPingsAveragedWriter_, bottomTrackOffset_, bottomTrackVelocityAccuracyCfg_, Units::BYTE, Units::CELSIUS, correlation_, correlationOffset_, correlationWriter_, Units::COUNT, dataTimestamp_, Syslog::DEBUG, Units::DEGREE, depthMeters_, depthWriter_, earthVelocity_, earthVelocityOffset_, earthVelocityWriter_, ensembleDataOffset_, ensembleNumber_, ensembleNumberWriter_, ensembleTimestamp_, ensembleTimestampWriter_, Units::EPOCH_SECOND, firstBottomTrackPingTime_, firstBottomTrackPingTimeWriter_, goodBeamPings_, goodBeamPingsOffset_, goodBeamPingsWriter_, goodEarthPings_, goodEarthPingsOffset_, goodEarthPingsWriter_, headingDegrees_, headingWriter_, Syslog::INFO, instrumentVelocity_, instrumentVelocityOffset_, instrumentVelocityWriter_, lastBottomTrackPingTime_, lastBottomTrackPingTimeWriter_, Component::logger_, Units::METER, Units::METER_PER_SECOND, Units::NONE, numberOfAcquiredPings_, numberOfAcquiredPingsWriter_, numberOfBeams_, numberOfBeamsWriter_, numberOfBins_, numberOfBinsWriter_, numberOfBottomTrackBeams_, numberOfBottomTrackBeamsWriter_, numberOfDesiredPings_, numberOfDesiredPingsWriter_, Units::PART_PER_THOUSAND, payloadSize_, payloadSizeWriter_, pingCount_, pingCountWriter_, pitchDegrees_, pitchWriter_, pressureBar_, pressureWriter_, rollDegrees_, rollWriter_, salinityPPT_, salinityWriter_, Units::SECOND, UniversalDataWriter::setAccuracy(), setBottomTrackWritersInvalid(), setEnsembleDataWritersInvalid(), DataWriter::setInvalid(), setWaterReferenceLayerWritersInvalid(), signalToNoiseRatio_, signalToNoiseRatioWriter_, soundspeed_, soundspeedWriter_, status_, statusOr_, statusOrWriter_, statusWriter_, Logger::syslog(), systemTemperatureDegreesCelsius_, systemTemperatureWriter_, velocityRelativeToGroundInVehicleFrame_, velocityRelativeToWaterInVehicleFrame_, velocityWrtGroundWriter_, velocityWrtWaterWriter_, verbosity_, verticalRange_, verticalRangeWriter_, waterReferenceLayerVelocitiesInvalid_, waterTemperatureDegreesCelsius_, waterTemperatureWriter_, DataWriter::write(), AbstractBlobWriter::write1DClass(), AbstractBlobWriter::write2DClass(), writeAmplitudeProfileCfg_, writeBeamVelocityProfileCfg_, writeCorrelationProfileCfg_, writeEarthVelocityProfileCfg_, writeGoodBeamPingsProfileCfg_, writeGoodEarthPingsProfileCfg_, writeInstrumentVelocityProfileCfg_, writeRawEnsembleCfg_, and UniversalDataWriter::writeWithAccuracy().

Referenced by runnable().

Member Data Documentation

float Rowe_600::acousticBlankingDistanceCfg_

private

Referenced by preprocessData(), and readConfig().

ConfigReader* Rowe_600::acousticBlankingDistanceCfgReader_

private

Referenced by readConfig(), and Rowe_600().

float Rowe_600::altitude_

private

Referenced by preprocessData(), readBottomTrackMatrix(), reportBottomTrackComponents(), Rowe_600(), runnable(), and writeData().

float Rowe_600::altitudeAccuracyCfg_

private

Referenced by readAccuracyConfigs(), and writeData().

ConfigReader* Rowe_600::altitudeAccuracyCfgReader_

private

Referenced by readAccuracyConfigs(), and Rowe_600().

UniversalDataWriter* Rowe_600::altitudeWriter_

private

Referenced by paused(), Rowe_600(), stopped(), and writeData().

Mtx Rowe_600::amplitude_

private

Referenced by processEnsemble(), and writeData().

int Rowe_600::amplitudeOffset_

private

Referenced by processEnsemble(), resetMatrixOffsets(), and writeData().

BlobWriter* Rowe_600::amplitudeWriter_

private

Referenced by Rowe_600(), and writeData().

Mtx Rowe_600::ancillaryData_

private

Referenced by readAncillaryDataMatrix().

int Rowe_600::ancillaryDataOffset_

private

Referenced by processEnsemble(), readAncillaryDataMatrix(), and resetMatrixOffsets().

Mtx Rowe_600::beamVelocity_

private

Referenced by processEnsemble(), and writeData().

int Rowe_600::beamVelocityOffset_

private

Referenced by processEnsemble(), resetMatrixOffsets(), and writeData().

BlobWriter* Rowe_600::beamVelocityWriter_

private

Referenced by Rowe_600(), and writeData().

Mtx Rowe_600::bottomTrack_

private

Referenced by readBottomTrackMatrix().

Mtx Rowe_600::bottomTrackAmplitude_

private

Referenced by readBottomTrackMatrix(), reportBottomTrackComponents(), and writeData().

BlobWriter* Rowe_600::bottomTrackAmplitudeWriter_

private

Referenced by Rowe_600(), setBottomTrackWritersInvalid(), and writeData().

Mtx Rowe_600::bottomTrackBeamVelocity_

private

Referenced by readBottomTrackMatrix(), reportBottomTrackComponents(), and writeData().

BlobWriter* Rowe_600::bottomTrackBeamVelocityWriter_

private

Referenced by Rowe_600(), setBottomTrackWritersInvalid(), and writeData().

Mtx Rowe_600::bottomTrackCorrelation_

private

Referenced by readBottomTrackMatrix(), reportBottomTrackComponents(), and writeData().

BlobWriter* Rowe_600::bottomTrackCorrelationWriter_

private

Referenced by Rowe_600(), setBottomTrackWritersInvalid(), and writeData().

Mtx Rowe_600::bottomTrackEarthVelocity_

private

Referenced by readBottomTrackMatrix(), and writeData().

BlobWriter* Rowe_600::bottomTrackEarthVelocityWriter_

private

Referenced by Rowe_600(), setBottomTrackWritersInvalid(), and writeData().

Mtx Rowe_600::bottomTrackInstrumentVelocity_

private

Referenced by preprocessData(), readBottomTrackMatrix(), reportBottomTrackComponents(), rotateDataIntoVehicleFrame(), and writeData().

BlobWriter* Rowe_600::bottomTrackInstrumentVelocityWriter_

private

Referenced by Rowe_600(), setBottomTrackWritersInvalid(), and writeData().

Mtx Rowe_600::bottomTrackNumberOfEarthSolutionsAveraged_

private

Referenced by readBottomTrackMatrix(), and writeData().

BlobWriter* Rowe_600::bottomTrackNumberOfEarthSolutionsAveragedWriter_

private

Referenced by Rowe_600(), setBottomTrackWritersInvalid(), and writeData().

Mtx Rowe_600::bottomTrackNumberOfInstrumentSolutionsAveraged_

private

Referenced by readBottomTrackMatrix(), and writeData().

BlobWriter* Rowe_600::bottomTrackNumberOfInstrumentSolutionsAveragedWriter_

private

Referenced by Rowe_600(), setBottomTrackWritersInvalid(), and writeData().

Mtx Rowe_600::bottomTrackNumberOfPingsAveraged_

private

Referenced by readBottomTrackMatrix(), and writeData().

BlobWriter* Rowe_600::bottomTrackNumberOfPingsAveragedWriter_

private

Referenced by Rowe_600(), setBottomTrackWritersInvalid(), and writeData().

int Rowe_600::bottomTrackOffset_

private

Referenced by preprocessData(), processEnsemble(), readBottomTrackMatrix(), resetMatrixOffsets(), rotateDataIntoVehicleFrame(), and writeData().

float Rowe_600::bottomTrackVelocityAccuracyCfg_

private

Referenced by readAccuracyConfigs(), and writeData().

ConfigReader* Rowe_600::bottomTrackVelocityAccuracyCfgReader_

private

Referenced by readAccuracyConfigs(), and Rowe_600().

Mtx Rowe_600::correlation_

private

Referenced by processEnsemble(), and writeData().

int Rowe_600::correlationOffset_

private

Referenced by processEnsemble(), resetMatrixOffsets(), and writeData().

BlobWriter* Rowe_600::correlationWriter_

private

Referenced by Rowe_600(), and writeData().

Timestamp Rowe_600::dataTimestamp_

private

Referenced by appendEnsembleToFile(), readEnsemble(), readEnsembleDataMatrix(), resume(), resuming(), runnable(), start(), stop(), and writeData().

bool Rowe_600::debug_

private

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

float Rowe_600::depthMeters_

private

Referenced by readBottomTrackMatrix(), and writeData().

DataWriter* Rowe_600::depthWriter_

private

Referenced by Rowe_600(), setBottomTrackWritersInvalid(), and writeData().

char Rowe_600::deviceResponse_[sizeof(RTI_PREAMBLE)+SIZE_OF_RTI_HEADER+Rowe_600IF::MAX_SIZE_OF_ENSEMBLE+SIZE_OF_RTI_CHECKSUM]

private

Referenced by appendEnsembleToFile(), logMatrixOffset(), parseRoweHeader(), pause(), processEnsemble(), readAncillaryDataMatrix(), readBottomTrackMatrix(), readEnsemble(), readEnsembleDataMatrix(), resuming(), Rowe_600(), and start().

Mtx Rowe_600::earthVelocity_

private

Referenced by processEnsemble(), and writeData().

int Rowe_600::earthVelocityOffset_

private

Referenced by processEnsemble(), resetMatrixOffsets(), and writeData().

BlobWriter* Rowe_600::earthVelocityWriter_

private

Referenced by Rowe_600(), and writeData().

char Rowe_600::ens_filename_[128]

private

int Rowe_600::ensembleData_[22]

private

Referenced by readEnsembleDataMatrix(), and Rowe_600().

int Rowe_600::ensembleDataOffset_

private

Referenced by processEnsemble(), readEnsembleDataMatrix(), resetMatrixOffsets(), and writeData().

int32_t Rowe_600::ensembleNumber_

private

Referenced by parseRoweHeader(), readEnsembleDataMatrix(), and writeData().

DataWriter* Rowe_600::ensembleNumberWriter_

private

Referenced by Rowe_600(), and writeData().

Timestamp Rowe_600::ensembleTimestamp_

private

Referenced by readEnsembleDataMatrix(), and writeData().

DataWriter* Rowe_600::ensembleTimestampWriter_

private

Referenced by Rowe_600(), and writeData().

float Rowe_600::firstBottomTrackPingTime_

private

Referenced by readBottomTrackMatrix(), and writeData().

DataWriter* Rowe_600::firstBottomTrackPingTimeWriter_

private

Referenced by Rowe_600(), setBottomTrackWritersInvalid(), and writeData().

Mtx Rowe_600::goodBeamPings_

private

Referenced by writeData().

int Rowe_600::goodBeamPingsOffset_

private

Referenced by processEnsemble(), resetMatrixOffsets(), and writeData().

BlobWriter* Rowe_600::goodBeamPingsWriter_

private

Referenced by Rowe_600(), and writeData().

Mtx Rowe_600::goodEarthPings_

private

Referenced by writeData().

int Rowe_600::goodEarthPingsOffset_

private

Referenced by processEnsemble(), resetMatrixOffsets(), and writeData().

BlobWriter* Rowe_600::goodEarthPingsWriter_

private

Referenced by Rowe_600(), and writeData().

bool Rowe_600::hasDeviceResponse_

private

Referenced by runnable().

bool Rowe_600::hasRoweHeader_

private

Referenced by readEnsemble().

float Rowe_600::headingDegrees_

private

Referenced by readBottomTrackMatrix(), and writeData().

double Rowe_600::headingOffsetCfg_

private

Referenced by readConfig(), and readOffsetConfigs().

ConfigReader* Rowe_600::headingOffsetCfgReader_

private

Referenced by readOffsetConfigs(), and Rowe_600().

DataWriter* Rowe_600::headingWriter_

private

Referenced by Rowe_600(), setBottomTrackWritersInvalid(), and writeData().

Mtx Rowe_600::instrumentVelocity_

private

Referenced by preprocessData(), processEnsemble(), rotateDataIntoVehicleFrame(), and writeData().

int Rowe_600::instrumentVelocityOffset_

private

Referenced by processEnsemble(), resetMatrixOffsets(), rotateDataIntoVehicleFrame(), and writeData().

BlobWriter* Rowe_600::instrumentVelocityWriter_

private

Referenced by Rowe_600(), and writeData().

float Rowe_600::lastBottomTrackPingTime_

private

Referenced by readBottomTrackMatrix(), and writeData().

DataWriter* Rowe_600::lastBottomTrackPingTimeWriter_

private

Referenced by Rowe_600(), setBottomTrackWritersInvalid(), and writeData().

LoadControl Rowe_600::loadControl_

private

Referenced by runnable(), start(), stop(), stopping(), and uninitialize().

float Rowe_600::maxSpeedCfg_

private

Referenced by preprocessData(), and readConfig().

ConfigReader* Rowe_600::maxSpeedCfgReader_

private

Referenced by readConfig(), and Rowe_600().

int Rowe_600::numberOfAcquiredPings_

private

Referenced by readEnsembleDataMatrix(), and writeData().

DataWriter* Rowe_600::numberOfAcquiredPingsWriter_

private

Referenced by Rowe_600(), and writeData().

int Rowe_600::numberOfBeams_

private

Referenced by readEnsembleDataMatrix(), and writeData().

int Rowe_600::numberOfBeamsCfg_

private

Referenced by readConfig(), and readEnsembleDataMatrix().

ConfigReader* Rowe_600::numberOfBeamsCfgReader_

private

Referenced by readConfig(), and Rowe_600().

DataWriter* Rowe_600::numberOfBeamsWriter_

private

Referenced by Rowe_600(), and writeData().

int Rowe_600::numberOfBins_

private

Referenced by readEnsembleDataMatrix(), and writeData().

int Rowe_600::numberOfBinsCfg_

private

Referenced by readConfig(), and readEnsembleDataMatrix().

ConfigReader* Rowe_600::numberOfBinsCfgReader_

private

Referenced by readConfig(), and Rowe_600().

DataWriter* Rowe_600::numberOfBinsWriter_

private

Referenced by Rowe_600(), and writeData().

int Rowe_600::numberOfBottomTrackBeams_

private

Referenced by readBottomTrackMatrix(), and writeData().

DataWriter* Rowe_600::numberOfBottomTrackBeamsWriter_

private

Referenced by Rowe_600(), setBottomTrackWritersInvalid(), and writeData().

int Rowe_600::numberOfDesiredPings_

private

Referenced by readEnsembleDataMatrix(), and writeData().

DataWriter* Rowe_600::numberOfDesiredPingsWriter_

private

Referenced by Rowe_600(), and writeData().

Timespan Rowe_600::pausePeriod_

private

Referenced by paused(), readInterfaceConfigs(), resume(), runnable(), start(), starting(), stop(), stopped(), and stopping().

ConfigReader* Rowe_600::pausePeriodCfgReader_

private

Referenced by readInterfaceConfigs(), and Rowe_600().

int32_t Rowe_600::payloadSize_

private

Referenced by appendEnsembleToFile(), parseRoweHeader(), processEnsemble(), readEnsemble(), readEnsembleDataMatrix(), and writeData().

DataWriter* Rowe_600::payloadSizeWriter_

private

Referenced by Rowe_600(), and writeData().

int Rowe_600::pingCount_

private

Referenced by readBottomTrackMatrix(), and writeData().

DataWriter* Rowe_600::pingCountWriter_

private

Referenced by Rowe_600(), setBottomTrackWritersInvalid(), and writeData().

float Rowe_600::pitchDegrees_

private

Referenced by readBottomTrackMatrix(), and writeData().

double Rowe_600::pitchOffsetCfg_

private

Referenced by readConfig(), and readOffsetConfigs().

ConfigReader* Rowe_600::pitchOffsetCfgReader_

private

Referenced by readOffsetConfigs(), and Rowe_600().

DataWriter* Rowe_600::pitchWriter_

private

Referenced by Rowe_600(), setBottomTrackWritersInvalid(), and writeData().

Timespan Rowe_600::powerOnTimeout_

private

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

float Rowe_600::pressureBar_

private

Referenced by readBottomTrackMatrix(), and writeData().

DataWriter* Rowe_600::pressureWriter_

private

Referenced by Rowe_600(), setBottomTrackWritersInvalid(), and writeData().

BlobWriter* Rowe_600::rawEnsembleWriter_

private

float Rowe_600::rollDegrees_

private

Referenced by readBottomTrackMatrix(), and writeData().

double Rowe_600::rollOffsetCfg_

private

Referenced by readConfig(), and readOffsetConfigs().

ConfigReader* Rowe_600::rollOffsetCfgReader_

private

Referenced by readOffsetConfigs(), and Rowe_600().

DataWriter* Rowe_600::rollWriter_

private

Referenced by Rowe_600(), setBottomTrackWritersInvalid(), and writeData().

Matrix3x3 Rowe_600::rotationFromInstrumentToVehicleFrame_

private

Referenced by readConfig(), and rotateDataIntoVehicleFrame().

Matrix3x3 Rowe_600::rotationFromVehicleToInstrumentFrame_

private

Referenced by processEnsemble(), readBottomTrackMatrix(), and readConfig().

float Rowe_600::salinityPPT_

private

Referenced by readBottomTrackMatrix(), and writeData().

DataWriter* Rowe_600::salinityWriter_

private

Referenced by Rowe_600(), setBottomTrackWritersInvalid(), and writeData().

Timespan Rowe_600::sampleTime_

private

Referenced by readInterfaceConfigs(), runnable(), and start().

ConfigReader* Rowe_600::sampleTimeCfgReader_

private

Referenced by readInterfaceConfigs(), and Rowe_600().

Mtx Rowe_600::signalToNoiseRatio_

private

Referenced by readBottomTrackMatrix(), reportBottomTrackComponents(), and writeData().

BlobWriter* Rowe_600::signalToNoiseRatioWriter_

private

Referenced by Rowe_600(), setBottomTrackWritersInvalid(), and writeData().

float Rowe_600::soundspeed_

private

Referenced by readBottomTrackMatrix(), runnable(), and writeData().

DataWriter* Rowe_600::soundspeedWriter_

private

Referenced by Rowe_600(), setBottomTrackWritersInvalid(), and writeData().

Timestamp Rowe_600::startTime_

private

Referenced by start(), and starting().

int Rowe_600::status_

private

Referenced by readEnsembleDataMatrix(), and writeData().

bool Rowe_600::statusOr_

private

Referenced by readBottomTrackMatrix(), and writeData().

DataWriter* Rowe_600::statusOrWriter_

private

Referenced by Rowe_600(), setBottomTrackWritersInvalid(), and writeData().

DataWriter* Rowe_600::statusWriter_

private

Referenced by Rowe_600(), and writeData().

float Rowe_600::systemTemperatureDegreesCelsius_

private

Referenced by readBottomTrackMatrix(), and writeData().

DataWriter* Rowe_600::systemTemperatureWriter_

private

Referenced by Rowe_600(), setBottomTrackWritersInvalid(), and writeData().

UartStream Rowe_600::uart_

private

Referenced by pause(), readEnsemble(), resume(), resuming(), start(), stop(), and uninitialize().

Point3D Rowe_600::velocityRelativeToGroundInVehicleFrame_

private

Referenced by preprocessData(), reportBottomTrackComponents(), rotateDataIntoVehicleFrame(), and writeData().

Point3D Rowe_600::velocityRelativeToWaterInVehicleFrame_

private

Referenced by preprocessData(), rotateDataIntoVehicleFrame(), and writeData().

UniversalBlobWriter* Rowe_600::velocityWrtGroundWriter_

private

Referenced by Rowe_600(), setBottomTrackWritersInvalid(), and writeData().

BlobWriter* Rowe_600::velocityWrtWaterWriter_

private

Referenced by Rowe_600(), setWaterReferenceLayerWritersInvalid(), and writeData().

int Rowe_600::verbosity_

private

Referenced by parseRoweHeader(), preprocessData(), processEnsemble(), readBottomTrackMatrix(), readEnsemble(), readEnsembleDataMatrix(), readInterfaceConfigs(), readMATv4float32(), runnable(), and writeData().

ConfigReader* Rowe_600::verbosityCfgReader_

private

Referenced by readInterfaceConfigs(), and Rowe_600().

Mtx Rowe_600::verticalRange_

private

Referenced by preprocessData(), readBottomTrackMatrix(), reportBottomTrackComponents(), and writeData().

BlobWriter* Rowe_600::verticalRangeWriter_

private

Referenced by Rowe_600(), setBottomTrackWritersInvalid(), and writeData().

int Rowe_600::waterReferenceLayerBin_

private

Referenced by preprocessData(), processEnsemble(), readConfig(), and rotateDataIntoVehicleFrame().

ConfigReader* Rowe_600::waterReferenceLayerBinCfgReader_

private

Referenced by readConfig(), and Rowe_600().

bool Rowe_600::waterReferenceLayerVelocitiesInvalid_

private

Referenced by preprocessData(), and writeData().

float Rowe_600::waterTemperatureDegreesCelsius_

private

Referenced by readBottomTrackMatrix(), and writeData().

DataWriter* Rowe_600::waterTemperatureWriter_

private

Referenced by Rowe_600(), setBottomTrackWritersInvalid(), and writeData().

float Rowe_600::waterTrackVelocityAccuracyCfg_

private

Referenced by readAccuracyConfigs().

ConfigReader* Rowe_600::waterTrackVelocityAccuracyCfgReader_

private

Referenced by readAccuracyConfigs(), and Rowe_600().

bool Rowe_600::writeAmplitudeProfileCfg_

private

Referenced by processEnsemble(), readWriterConfigs(), and writeData().

ConfigReader* Rowe_600::writeAmplitudeProfileCfgReader_

private

Referenced by readWriterConfigs(), and Rowe_600().

bool Rowe_600::writeBeamVelocityProfileCfg_

private

Referenced by processEnsemble(), readWriterConfigs(), and writeData().

ConfigReader* Rowe_600::writeBeamVelocityProfileCfgReader_

private

Referenced by readWriterConfigs(), and Rowe_600().

bool Rowe_600::writeCorrelationProfileCfg_

private

Referenced by processEnsemble(), readWriterConfigs(), and writeData().

ConfigReader* Rowe_600::writeCorrelationProfileCfgReader_

private

Referenced by readWriterConfigs(), and Rowe_600().

bool Rowe_600::writeEarthVelocityProfileCfg_

private

Referenced by processEnsemble(), readWriterConfigs(), and writeData().

ConfigReader* Rowe_600::writeEarthVelocityProfileCfgReader_

private

Referenced by readWriterConfigs(), and Rowe_600().

bool Rowe_600::writeGoodBeamPingsProfileCfg_

private

Referenced by processEnsemble(), readWriterConfigs(), and writeData().

ConfigReader* Rowe_600::writeGoodBeamPingsProfileCfgReader_

private

Referenced by readWriterConfigs(), and Rowe_600().

bool Rowe_600::writeGoodEarthPingsProfileCfg_

private

Referenced by processEnsemble(), readWriterConfigs(), and writeData().

ConfigReader* Rowe_600::writeGoodEarthPingsProfileCfgReader_

private

Referenced by readWriterConfigs(), and Rowe_600().

bool Rowe_600::writeInstrumentVelocityProfileCfg_

private

Referenced by processEnsemble(), readWriterConfigs(), and writeData().

ConfigReader* Rowe_600::writeInstrumentVelocityProfileCfgReader_

private

Referenced by readWriterConfigs(), and Rowe_600().

bool Rowe_600::writeRawEnsembleCfg_

private

Referenced by readWriterConfigs(), and writeData().

ConfigReader* Rowe_600::writeRawEnsembleCfgReader_

private

Referenced by readWriterConfigs(), and Rowe_600().

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

• /Volumes/ubuntu_share/lrauv-application/Source/sensorModule/Rowe_600.h
• /Volumes/ubuntu_share/lrauv-application/Source/sensorModule/Rowe_600.cpp