Contains the Waypoint Behavior/Command. More...

#include <Waypoint.h>

Inheritance diagram for Waypoint:

Collaboration diagram for Waypoint:

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

virtual	~Waypoint ()

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

bool	isSatisfied ()
	Returns true when vehicle has "arrived" at the waypoint. More...

bool	runIfUnsatisfied ()
	runs only if unsatisfied More...

void	run ()
	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 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
double	latitudeSetting_
	Desired Latitude. More...

double	longitudeSetting_
	Desired Longitude. More...

float	bearing_
	Desired Bearing. More...

float	captureRadiusSetting_
	Either a valid capture Radius or NaN. More...

int	waterFrameSetting_
	If true, attempt to drive in water frame of reference (no attempt to fix for crosstrack errors, drive until calculated distance thru water is achieved). More...

float	perpendicularSlope_
	Slope for crossing line (thru wapoint) More...

bool	startOverLine_
	Is our starting point latitude > than the latitude of the starting longitude on the crossing line? More...

float	endDistanceWrtSea_
	When in waterFrame mode, this is the value of platform_distance_wrt_sea_water when the endpoint is reached. More...

bool	initialized_
	Indicates initialization success. More...

bool	latlonSettingReal_
	Indicates an actual lat/lon setting as opposed to one that is nan or one that isn't returned by the reader. More...

SettingReader *	captureRadiusSettingReader_
	radius of the circle that defines that the vehicle has reached the waypoint More...

SettingReader *	distanceDeltaSettingReader_
	distance from the nominal waypoint set by other settings. More...

SettingReader *	distanceDeltaBearingSettingReader_
	bearing of distance from the nominal waypoint set by other settings. More...

SettingReader *	eastingsDeltaSettingReader_
	Desired change in longitude to achieve, expressed as a distance. More...

SettingReader *	latitudeSettingReader_

SettingReader *	latitudeDeltaSettingReader_

SettingReader *	longitudeSettingReader_

SettingReader *	longitudeDeltaSettingReader_

SettingReader *	northingsDeltaSettingReader_
	Desired change in latitude to achieve, expressed as a distance. More...

SettingReader *	waterFrameSettingReader_
	If true, attempt to drive in water frame of reference (no attempt to fix for crosstrack errors, drive until calculated distance thru water is achieved). More...

UniversalDataReader *	latitudeReader_
	Current platform latitude. More...

UniversalDataReader *	longitudeReader_
	Current platform longitude. More...

UniversalDataReader *	distanceWrtSeaReader_
	Distance vehicle has travelled through the water. More...

DataWriter *	horizontalModeWriter_

DataWriter *	latitudeCmdWriter_

DataWriter *	longitudeCmdWriter_

DataWriter *	bearingCmdWriter_

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
	Waypoint (const Waypoint &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 Waypoint Behavior/Command.

Drives the vehicle towards a waypoint, using crosstrack error correction.

Waypoint.h should only be included by Waypoint.cpp Other classes should include WaypointIF.h

Constructor & Destructor Documentation

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

Waypoint::~Waypoint ( )

virtual

Waypoint::Waypoint ( const Waypoint & old )

private

Member Function Documentation

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

static

Mission Component factory interface.

References Waypoint().

Referenced by GuidanceModule::loadComponents().

void Waypoint::initialize ( void )

virtual

Initialize function.

Reimplemented from Component.

References Location::AtBearing(), bearing_, Units::BOOL, captureRadiusSetting_, captureRadiusSettingReader_, Syslog::CRITICAL, distanceDeltaBearingSettingReader_, distanceDeltaSettingReader_, distanceWrtSeaReader_, Location::EastingsDelta(), eastingsDeltaSettingReader_, endDistanceWrtSea_, Syslog::FAULT, Location::GetBearing(), Location::GetDistance(), initialized_, SettingReader::isActive(), DataReader::isActive(), latitudeDeltaSettingReader_, latitudeReader_, latitudeSetting_, latitudeSettingReader_, latlonSettingReal_, Component::logger_, longitudeDeltaSettingReader_, longitudeReader_, longitudeSetting_, longitudeSettingReader_, Units::METER, Location::NorthingsDelta(), northingsDeltaSettingReader_, perpendicularSlope_, Units::RADIAN, SettingReader::read(), DataReader::read(), startOverLine_, Logger::syslog(), waterFrameSetting_, and waterFrameSettingReader_.

Referenced by isSatisfied().

bool Waypoint::isSatisfied ( )

virtual

Returns true when vehicle has "arrived" at the waypoint.

Reimplemented from Behavior.

References captureRadiusSetting_, distanceWrtSeaReader_, endDistanceWrtSea_, Syslog::ERROR, Location::GetDistance(), initialize(), initialized_, DataReader::isActive(), latitudeReader_, latitudeSetting_, Component::logger_, longitudeReader_, longitudeSetting_, Units::METER, perpendicularSlope_, Units::RADIAN, DataReader::read(), UniversalDataReader::requestData(), startOverLine_, Logger::syslog(), and waterFrameSetting_.

Referenced by runIfUnsatisfied().

void Waypoint::run ( void )

virtual

The actual "payload" of the component.

Reimplemented from Component.

References bearing_, bearingCmdWriter_, Units::ENUM, horizontalModeWriter_, latitudeCmdWriter_, latitudeSetting_, longitudeCmdWriter_, longitudeSetting_, Units::RADIAN, waterFrameSetting_, HorizontalControlIF::WAYPOINT, and DataWriter::write().

Referenced by runIfUnsatisfied().

bool Waypoint::runIfUnsatisfied ( void )

virtual

runs only if unsatisfied

Reimplemented from Behavior.

References Syslog::IMPORTANT, isSatisfied(), latitudeSetting_, latlonSettingReal_, Component::logger_, longitudeSetting_, R2D, run(), and Logger::syslog().

void Waypoint::uninitialize ( void )

virtual

Uninit function.

Reimplemented from Component.

References initialized_, Component::logger_, and Logger::syslog().

Member Data Documentation

float Waypoint::bearing_

protected

Desired Bearing.

Referenced by initialize(), and run().

DataWriter* Waypoint::bearingCmdWriter_

protected

Referenced by run(), and Waypoint().

float Waypoint::captureRadiusSetting_

protected

Either a valid capture Radius or NaN.

Referenced by initialize(), and isSatisfied().

SettingReader* Waypoint::captureRadiusSettingReader_

protected

radius of the circle that defines that the vehicle has reached the waypoint

Referenced by initialize(), and Waypoint().

SettingReader* Waypoint::distanceDeltaBearingSettingReader_

protected

bearing of distance from the nominal waypoint set by other settings.

Must be combined with distanceDelta!

Referenced by initialize(), and Waypoint().

SettingReader* Waypoint::distanceDeltaSettingReader_

protected

distance from the nominal waypoint set by other settings.

Must be combined with distanceDeltaBearing!

Referenced by initialize(), and Waypoint().

UniversalDataReader* Waypoint::distanceWrtSeaReader_

protected

Distance vehicle has travelled through the water.

Referenced by initialize(), isSatisfied(), and Waypoint().

SettingReader* Waypoint::eastingsDeltaSettingReader_

protected

Desired change in longitude to achieve, expressed as a distance.

If specified with Longitude, added to the specified Longitude Otherwise added to the Longitude at initialization time This variable is used as a test for sequential completion

Referenced by initialize(), and Waypoint().

float Waypoint::endDistanceWrtSea_

protected

When in waterFrame mode, this is the value of platform_distance_wrt_sea_water when the endpoint is reached.

Referenced by initialize(), and isSatisfied().

DataWriter* Waypoint::horizontalModeWriter_

protected

Referenced by run(), and Waypoint().

bool Waypoint::initialized_

protected

Indicates initialization success.

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

DataWriter* Waypoint::latitudeCmdWriter_

protected

Referenced by run(), and Waypoint().

SettingReader* Waypoint::latitudeDeltaSettingReader_

protected

Referenced by initialize(), and Waypoint().

UniversalDataReader* Waypoint::latitudeReader_

protected

Current platform latitude.

Referenced by initialize(), isSatisfied(), and Waypoint().

double Waypoint::latitudeSetting_

protected

Desired Latitude.

Referenced by initialize(), isSatisfied(), run(), and runIfUnsatisfied().

SettingReader* Waypoint::latitudeSettingReader_

protected

Referenced by initialize(), and Waypoint().

bool Waypoint::latlonSettingReal_

protected

Indicates an actual lat/lon setting as opposed to one that is nan or one that isn't returned by the reader.

Referenced by initialize(), and runIfUnsatisfied().

DataWriter* Waypoint::longitudeCmdWriter_

protected

Referenced by run(), and Waypoint().

SettingReader* Waypoint::longitudeDeltaSettingReader_

protected

Referenced by initialize(), and Waypoint().

UniversalDataReader* Waypoint::longitudeReader_

protected

Current platform longitude.

Referenced by initialize(), isSatisfied(), and Waypoint().

double Waypoint::longitudeSetting_

protected

Desired Longitude.

Referenced by initialize(), isSatisfied(), run(), and runIfUnsatisfied().

SettingReader* Waypoint::longitudeSettingReader_

protected

Referenced by initialize(), and Waypoint().

SettingReader* Waypoint::northingsDeltaSettingReader_

protected

Desired change in latitude to achieve, expressed as a distance.

If specified with Latitude, added to the specified Latitude Otherwise added to the Latitude at initialization time This variable is used as a test for sequential completion

Referenced by initialize(), and Waypoint().

float Waypoint::perpendicularSlope_

protected

Slope for crossing line (thru wapoint)

Referenced by initialize(), and isSatisfied().

bool Waypoint::startOverLine_

protected

Is our starting point latitude > than the latitude of the starting longitude on the crossing line?

Referenced by initialize(), and isSatisfied().

int Waypoint::waterFrameSetting_

protected

If true, attempt to drive in water frame of reference (no attempt to fix for crosstrack errors, drive until calculated distance thru water is achieved).

Can not be used with captureRadius

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

SettingReader* Waypoint::waterFrameSettingReader_

protected

If true, attempt to drive in water frame of reference (no attempt to fix for crosstrack errors, drive until calculated distance thru water is achieved).

Can not be used with captureRadius

Referenced by initialize(), and Waypoint().

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

/Volumes/ubuntu_share/lrauv-application/Source/guidanceModule/Waypoint.h
/Volumes/ubuntu_share/lrauv-application/Source/guidanceModule/Waypoint.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