/****************************************************************************/ /* Copyright (c) 2014 MBARI */ /* MBARI Proprietary Information. All rights reserved. */ /****************************************************************************/ /* Summary : behaviour to control edgetech fsdw sidecan/subbotom sonars */ /* Filename : edgetech.cc */ /* Author : Eric Martin */ /* Project : Mapper 2 Build & Reson upgrade compatibility */ /* Version : 1.0 */ /* Created : 0409/2014 */ /* Modified : */ /* Archived : */ /****************************************************************************/ /* Modification History: */ /****************************************************************************/ #include "unix.h" #include "edgetech.h" #include "EdgetechFSDWIF.h" #include "BooleanAttribute.h" #include "IntegerAttribute.h" #include "FloatAttribute.h" #include "StringAttribute.h" #include "VerticalModeAttribute.h" #include "MissionTimeAttribute.h" #include "MathP.h" #include "Syslog.h" #define DEFAULT_STRING_ATTR "\"\"" #define NotSpecified -100000.0 edgetech::edgetech() : _server(NULL), Behavior(EdgetechBehaviorName, Sequential) { _sbpDone = False; _lossDone = False; _hissDone = False; _logDone = False; _storageDone = False; _init = False; _getUpdates = False; Boolean debug = True; // Sub-bottom attributes attributes.add(new IntegerAttribute("SBP_Mode", "Sub-bottom profiler on/off (1=On,0=Off)", &_sbpMode, -1)); attributes.add(new FloatAttribute("SBP_Power", "Sub-bottom power level in percent (0.0 or more)", &_sbpPower, -1.)); attributes.add(new FloatAttribute("SBP_Gain", "Sub-bottom receiver gain in power of 2 (up to 2048) (0.0 or more)", &_sbpGain, -1.)); attributes.add(new FloatAttribute("SBP_Duration", "Sub-bottom ping duration in milliseconds (more than 0.0)", &_sbpDuration, -1.)); attributes.add(new StringAttribute("SBP_PulseFile", "New pulse file name", &_sbpPulseFilename, DEFAULT_STRING_ATTR)); // Low-freq sidescan attributes attributes.add(new IntegerAttribute("LoSS_Mode", "Low-freq sidescan on/off (1=On,0=Off)", &_lossMode, -1)); attributes.add(new FloatAttribute("LoSS_Power", "Low-freq power level in percent (0.0 or more)", &_lossPower, -1.)); attributes.add(new FloatAttribute("LoSS_Range", "Low-freq range in meters (0.0 or more)", &_lossRange, -1.)); attributes.add(new FloatAttribute("LoSS_Rate", "Low-freq ping rate in PPS (0.0 or more)", &_lossRate, -1.)); attributes.add(new StringAttribute("LoSS_PulseFile", "New pulse file name", &_lossPulseFilename, DEFAULT_STRING_ATTR)); // High-freq sidescan attributes attributes.add(new IntegerAttribute("HiSS_Mode", "High-freq sidescan on/off (1=On,0=Off)", &_hissMode, -1)); attributes.add(new FloatAttribute("HiSS_Power", "High-freq power level in percent (0.0 or more)", &_hissPower, -1.)); attributes.add(new FloatAttribute("HiSS_Range", "High-freq range in meters (0.0 or more)", &_hissRange, -1.)); attributes.add(new FloatAttribute("HiSS_Rate", "High-freq ping rate in PPS(0.0 or more)", &_hissRate, -1.)); attributes.add(new StringAttribute("HiSS_PulseFile", "New pulse file name", &_hissPulseFilename, DEFAULT_STRING_ATTR)); // Server functional controls attributes.add(new IntegerAttribute("Log_Mode", "Logging on/off (1=On,0=Off)", &_logMode, -1)); attributes.add(new IntegerAttribute("Get_Updates", "Request status updates on property changes (1=On, 0=Off)", &_getUpdatesMode, 0)); attributes.add(new IntegerAttribute("Storage_Mode", "Enable Data Storage on Edgetech Systems (1=On, 0=Off)", &_storageMode, -1)); try { if( !_edgetech) _edgetech = new EdgetechFSDWIF(EdgetechFSDWIFServerName); } catch (SharedObjectClient::MissingServer e) { Syslog::write("edgetech::edgetech() - Missing server: %s; " "continuing.\n", e.msg); _edgetech = NULL; } dprintf("Behavior edgetech: Finished Constructor"); } edgetech::~edgetech() { if( !_edgetech) { delete _edgetech; _edgetech = NULL; } } Boolean edgetech::shouldBehaviorStart( void ) { return horizontalSequence(); } void edgetech::execute() { DeviceIF::Status status; Boolean debug = True; _logDone = (_logMode < 0); _storageDone = (_storageMode < 0); _sbpDone = (_sbpMode < 0 && _sbpPower < 0. && _sbpGain < 0. && _sbpDuration < 0.); _hissDone = (_hissMode < 0 && _hissPower < 0. && _hissRate < 0. && _hissRange < 0.); _lossDone = (_lossMode < 0 && _lossPower < 0. && _lossRate < 0. && _lossRange < 0.); _getUpdates = (_getUpdatesMode == 1); Syslog::write("Edgetech Behavior::log=%d,storage=%d, updates=%d | sbp=%d,%f,%s | hiss=%d,%f,%f,%f,%s | loss=%d,%f,%f,%f,%s", _logMode,_storageMode,_getUpdatesMode,_sbpMode,_sbpPower, _sbpPulseFilename, _hissMode,_hissPower,_hissRate,_hissRange,_hissPulseFilename, _lossMode,_lossPower,_lossRate,_lossRange,_lossPulseFilename); // Interface to Edgetech server opened in LayeredControl // _server = _edgetech; // Perform the sub-bottom action if (!_sbpDone) { if (_sbpPower >= 0.) { Syslog::write("Edgetech Behavior: Setting SBP power to %f", _sbpPower); status = _server->setPingPower(EdgetechFSDWIF::SubBottom, _sbpPower, _getUpdates); if (DeviceIF::Ok == status) _sbpPower = -1.; } if (_sbpMode == 1) { Syslog::write("Edgetech Behavior: Starting subbottom profiler"); status = _server->startSubsystem(EdgetechFSDWIF::SubBottom, _getUpdates); if (DeviceIF::Ok == status) _sbpMode = -1; } else if(_sbpMode == 0) { Syslog::write("Edgetech Behavior: Stopping subbottom profiler"); status = _server->stopSubsystem(EdgetechFSDWIF::SubBottom, _getUpdates); if (DeviceIF::Ok == status) _sbpMode = -1; } if (_sbpGain >= 0.) { Syslog::write("Edgetech Behavior: Setting SBP gain to %f", _sbpGain); status = _server->setSBPGain(_sbpGain, _getUpdates); if (DeviceIF::Ok == status) _sbpGain = -1.; } if (_sbpDuration > 0.) { Syslog::write("Edgetech Behavior: Setting SBP duration to %f", _sbpDuration); status = _server->setSBPDuration(_sbpDuration, _getUpdates); if (DeviceIF::Ok == status) _sbpDuration = -1.; } if (strcmp(_sbpPulseFilename,DEFAULT_STRING_ATTR) != 0 ) { Syslog::write("Edgetech Behavior: Setting pulse filename for SBP to %s" , _sbpPulseFilename); status = _server->setPulseFilename(EdgetechFSDWIF::SubBottom, _sbpPulseFilename, _getUpdates); } } // Perform the low freq sidescan action if (!_lossDone) { if (_lossPower >= 0.) { Syslog::write("Edgetech Behavior: Setting SSLo power to %f",_lossPower); status = _server->setPingPower(EdgetechFSDWIF::SideScanLow, _lossPower, _getUpdates); if (DeviceIF::Ok == status) _lossPower = -1.; } if (_lossRange > 0.) { Syslog::write("Edgetech Behavior: Setting SSLo range to %f",_lossRange); status = _server->setPingRange(EdgetechFSDWIF::SideScanLow, _lossRange, _getUpdates); if (DeviceIF::Ok == status) _lossRange = -1.; } if (_lossRate > 0.) { Syslog::write("Edgetech Behavior: Setting SSLo rate to %f",_lossRate); status = _server->setPingRate(EdgetechFSDWIF::SideScanLow, _lossRate, _getUpdates); if (DeviceIF::Ok == status) _lossRate = -1.; } if (_lossMode > 0) { Syslog::write("Edgetech Behavior: Starting lo-freq SS"); status = _server->startSubsystem(EdgetechFSDWIF::SideScanLow, _getUpdates); if (DeviceIF::Ok == status) _lossMode = -1; } else if (_lossMode == 0) { Syslog::write("Edgetech Behavior: Stopping lo-freq SS"); status = _server->stopSubsystem(EdgetechFSDWIF::SideScanLow, _getUpdates); if (DeviceIF::Ok == status) _lossMode = -1; } if (strcmp(_lossPulseFilename,DEFAULT_STRING_ATTR) != 0 ) { Syslog::write("Edgetech Behavior: Setting pulse filename for LoSS to %s" , _lossPulseFilename); status = _server->setPulseFilename(EdgetechFSDWIF::SideScanLow, _lossPulseFilename, _getUpdates); } } // Perform the high freq sidescan action if (!_hissDone) { if (_hissPower >= 0.) { Syslog::write("Edgetech Behavior: Setting SSHi power to %f",_hissPower); status = _server->setPingPower(EdgetechFSDWIF::SideScanHigh, _hissPower, _getUpdates); if (DeviceIF::Ok == status) _hissPower = -1.; } if (_hissRange > 0.) { Syslog::write("Edgetech Behavior: Setting SSHi range to %f",_hissRange); status = _server->setPingRange(EdgetechFSDWIF::SideScanHigh, _hissRange, _getUpdates); if (DeviceIF::Ok == status) _hissRange = -1.; } if (_hissRate > 0.) { Syslog::write("Edgetech Behavior: Setting SSHi rate to %f",_hissRate); status = _server->setPingRate(EdgetechFSDWIF::SideScanHigh, _hissRate, _getUpdates); if (DeviceIF::Ok == status) _hissRate = -1.; } if (_hissMode > 0) { Syslog::write("Edgetech Behavior: Starting hi-freq SS"); status = _server->startSubsystem(EdgetechFSDWIF::SideScanHigh, _getUpdates); if (DeviceIF::Ok == status) _hissMode = -1; } else if (_hissMode == 0) { Syslog::write("Edgetech Behavior: Stopping hi-freq SS"); status = _server->stopSubsystem(EdgetechFSDWIF::SideScanHigh, _getUpdates); if (DeviceIF::Ok == status) _hissMode = -1; } if (strcmp(_hissPulseFilename,DEFAULT_STRING_ATTR) != 0 ) { Syslog::write("Edgetech Behavior: Setting pulse filename for SBP to %s" , _hissPulseFilename); status = _server->setPulseFilename(EdgetechFSDWIF::SideScanHigh, _hissPulseFilename, _getUpdates); } } // Perform the data logging action if (!_storageDone) { unsigned char errorCnt = 0; if (_storageMode & 0x01) { Syslog::write("Edgetech Behavior: Starting Edgetech Data Storage"); status = _server->startEdgetechStorage(_getUpdates); if (DeviceIF::Ok != status) errorCnt++; } else { Syslog::write("Edgetech Behavior: Stopping Edgetech Data Storage"); status = _server->stopEdgetechStorage(_getUpdates); if (DeviceIF::Ok != status) errorCnt++; } if (errorCnt == 0) { _storageMode = -1; _storageDone = True; } } // Perform the logging action if (!_logDone) { unsigned char errorCnt = 0; if (_logMode & 0x01) { Syslog::write("Edgetech Behavior: Starting logging"); status = _server->dataLoggingOn(); if (DeviceIF::Ok != status) errorCnt++; } else { Syslog::write("Edgetech Behavior: Stopping logging"); status = _server->dataLoggingOff(); if (DeviceIF::Ok != status) errorCnt++; } /* if (_logMode & 0x02) { Syslog::write("Edgetech Behavior: Starting 7k Center Logging"); status = _server->start7KCenterLogging(); if (DeviceIF::Ok != status) errorCnt++; } else { Syslog::write("Edgetech Behavior: Stopping 7k Center Logging"); status = _server->stop7KCenterLogging(); if (DeviceIF::Ok != status) errorCnt++; } */ if (errorCnt == 0) { _logMode = -1; _logDone = True; } } // Finished if all actions performed successfully if (_sbpDone && _logDone && _lossDone && _hissDone ) setState(Finished); return; } Boolean edgetech::validInput() { Boolean valid = True; return valid; }