Contains the Tracking component. More...

#include <Tracking.h>

Inheritance diagram for Tracking:

Collaboration diagram for Tracking:

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

virtual	~Tracking ()

void	initialize (void)
	Initialize function. More...

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

void	uninitialize (void)
	Uninit function. More...

Public Member Functions inherited from Behavior
virtual	~Behavior ()

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

virtual bool	runIfUnsatisfied ()
	Combined run and test Called by mission element: behaviorDone_. More...

virtual void	preempted ()

virtual bool	isSatisfied ()

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 *	contactLabelReader_

SettingReader *	numSamplesReader_

SettingReader *	updatePeriodReader_

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
	Tracking (const Tracking &old)

bool	isDataRequested ()

void	requestVehiclePose (bool req)

void	requestAcousticData (bool req)

void	readSettings ()

void	queryDAT ()

bool	readFromDAT ()

bool	processFromDAT ()
	Transform observations into North-East-Down coordinate frame, and (optionally) average several observations. More...

void	writeData ()

void	unitVectorToAzimuthAndElevation (Point3D &uhat, float &azimuth, float &elevation)
	Convert a direction represented as a unit vector to angles of azimuth and elevation. More...

Private Attributes
DataReader *	latitudeReader_

DataReader *	longitudeReader_

DataReader *	depthReader_

UniversalBlobReader *	vehicleOrientationReader_

DataReader *	benthosAddressReader_

DataReader *	rangeToContactReader_

BlobReader *	directionToContactReader_

DataWriter *	contactLabelWriter_

DataWriter *	contactLatitudeWriter_

DataWriter *	contactLongitudeWriter_

DataWriter *	contactDepthWriter_

DataWriter *	rangeToContactWriter_

DataWriter *	azimuthToContactWriter_

DataWriter *	elevationToContactWriter_

DataWriter *	headingToContactWriter_

DataWriter *	eastingsToContactWriter_

DataWriter *	northingsToContactWriter_

BlobWriter *	vDirectionWriter_

BlobWriter *	nDirectionWriter_

BlobWriter *	vRelPosWriter_

BlobWriter *	nRelPosWriter_

DataWriter *	benthosAddressWriter_

DataWriter *	onewayModeRequestedWriter_

DataWriter *	numPingsWriter_

int	verbosity_

Matrix3x3	rotationFromVehicleToNavigationFrame_

int	contactLabel_

int	contactLabelSetting_

int	numberOfSamplesSetting_

int	queryModeSetting_

double	rangeToContact_

double	contactLatitude_

double	contactLongitude_

double	contactDepth_

float	azimuthInFSK_

float	elevationInFSK_

float	azimuthInNED_

float	elevationInNED_

Point3D	directionInFSK_

Point3D	relPosInFSK_

Point3D	directionInNED_

Point3D	relPosInNED_

Timestamp	dataStartTime_

Timespan	updatePeriod_

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 Tracking component.

Initially, this component just transforms DAT measurements from the vehicle frame to the geographic frame. This component outputs the position of each contact to the slate, in both absolute and relative coordinates. Those outputs can then be used by other components of the guidance module. For example, the Homing behavior would drive the LRAUV toward the contact, and the Circle behavior would make the LRAUV circle the contact. Escape or Intercept behaviors might also be useful in the future, but would probably warrant more complete estimation of the contact state to enable reasonable predictions of future contact state.

/todo Add tracking quality metric to output (e.g., mean and variance for a series of multiple measurements from a single contact). /todo Implement tracking of contact with specified label (e.g., DAT address 1). /todo Implement simultaneous tracking of multiple contacts. /todo Implement range-only tracking (e.g., for configurations with acoustic modem installed but without DAT.).

Tracking.h should only be included by Tracking.cpp Other classes should include TrackingIF.h

Constructor & Destructor Documentation

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

References azimuthToContactWriter_, benthosAddressReader_, benthosAddressWriter_, contactDepthWriter_, contactLabelReader_, contactLabelWriter_, contactLatitudeWriter_, contactLongitudeWriter_, UniversalURI::DEPTH, depthReader_, directionInFSK_, directionInNED_, directionToContactReader_, eastingsToContactWriter_, elevationToContactWriter_, headingToContactWriter_, UniversalURI::LATITUDE, latitudeReader_, UniversalURI::LONGITUDE, longitudeReader_, nDirectionWriter_, Component::newBlobReader(), Component::newBlobWriter(), Component::newDataReader(), Component::newDataWriter(), Behavior::newSettingReader(), Component::newUniversalBlobReader(), Component::newUniversalReader(), northingsToContactWriter_, nRelPosWriter_, numPingsWriter_, numSamplesReader_, UniversalURI::PLATFORM_ORIENTATION_MATRIX, rangeToContactReader_, rangeToContactWriter_, relPosInFSK_, relPosInNED_, rotationFromVehicleToNavigationFrame_, updatePeriodReader_, vDirectionWriter_, vehicleOrientationReader_, and vRelPosWriter_.

Referenced by CreateBehavior().

Tracking::~Tracking ( )

virtual

Tracking::Tracking ( const Tracking & old )

private

Member Function Documentation

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

static

Mission Component factory interface.

References Tracking().

Referenced by EstimationModule::loadComponents().

void Tracking::initialize ( void )

virtual

Initialize function.

Reimplemented from Component.

References dataStartTime_, Syslog::INFO, Component::logger_, Timestamp::Now(), requestAcousticData(), requestVehiclePose(), and Logger::syslog().

bool Tracking::isDataRequested ( )

private

bool Tracking::processFromDAT ( )

private

Transform observations into North-East-Down coordinate frame, and (optionally) average several observations.

References Point3D::addProduct(), azimuthInFSK_, azimuthInNED_, contactDepth_, contactLatitude_, contactLongitude_, Syslog::DEBUG, depthReader_, directionInFSK_, directionInNED_, Location::EastingsDelta(), elevationInFSK_, elevationInNED_, Point3D::getX(), Point3D::getY(), Point3D::getZ(), Syslog::INFO, latitudeReader_, Component::logger_, longitudeReader_, Units::METER, Units::NONE, Location::NorthingsDelta(), numberOfSamplesSetting_, Units::RADIAN, rangeToContact_, DataReader::read(), AbstractBlobReader::read2DClass(), relPosInFSK_, relPosInNED_, rotationFromVehicleToNavigationFrame_, Logger::syslog(), unitVectorToAzimuthAndElevation(), vehicleOrientationReader_, and verbosity_.

Referenced by run().

void Tracking::queryDAT ( )

private

References benthosAddressWriter_, contactLabelSetting_, Units::COUNT, dataStartTime_, Syslog::INFO, Component::logger_, Timestamp::Now(), numberOfSamplesSetting_, numPingsWriter_, requestAcousticData(), Logger::syslog(), and DataWriter::write().

Referenced by run().

bool Tracking::readFromDAT ( )

private

void Tracking::readSettings ( void )

private

References contactLabelReader_, contactLabelSetting_, Units::COUNT, Syslog::ERROR, Syslog::INFO, Component::logger_, numberOfSamplesSetting_, numSamplesReader_, SettingReader::read(), Units::SECOND, Logger::syslog(), updatePeriod_, and updatePeriodReader_.

Referenced by run().

void Tracking::requestAcousticData ( bool req )

private

References benthosAddressReader_, directionToContactReader_, rangeToContactReader_, and DataReader::requestData().

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

void Tracking::requestVehiclePose ( bool req )

private

References depthReader_, latitudeReader_, longitudeReader_, UniversalDataReader::requestData(), DataReader::requestData(), and vehicleOrientationReader_.

Referenced by initialize(), and uninitialize().

void Tracking::run ( void )

virtual

The actual "payload" of the component.

Reimplemented from Component.

References Timespan::asDouble(), dataStartTime_, Syslog::DEBUG, Timestamp::elapsed(), Syslog::INFO, DataReader::isActive(), Component::logger_, processFromDAT(), queryDAT(), rangeToContactReader_, readFromDAT(), readSettings(), Logger::syslog(), updatePeriod_, verbosity_, DataReader::wasTouchedSinceLastRun(), and writeData().

void Tracking::uninitialize ( void )

virtual

Uninit function.

Reimplemented from Component.

References Syslog::DEBUG, Component::logger_, requestAcousticData(), requestVehiclePose(), and Logger::syslog().

void Tracking::unitVectorToAzimuthAndElevation	(	Point3D &	uhat,
		float &	azimuth,
		float &	elevation
	)

private

Convert a direction represented as a unit vector to angles of azimuth and elevation.

(replicated functionality and method from current DAT driver)

Todo:: This is a generally useful conversion and should be made available at a higher level (maybe in AuvMath.cpp?) to avoid having multiple versions of the same method.

(replicated functionality and method from current DAT driver)

Todo:: This is a generally useful conversion and should be made available at a higher level (maybe in AuvMath.cpp?) to avoid having multiple versions of the same method.

Referenced by processFromDAT().

void Tracking::writeData ( void )

private