#ifndef PARK_H #define PARK_H (0x0020U) /*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ * $Id: park.c,v 1.23 2010/12/26 15:28:42 swift Exp $ *~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/ /* Copyright University of Washington. Written by Dana Swift. * * This software was developed at the University of Washington using funds * generously provided by the US Office of Naval Research, the National * Science Foundation, and NOAA. * * This library is free software; you can redistribute it and/or modify it * under the terms of the GNU Lesser General Public License as published by * the Free Software Foundation; either version 2.1 of the License, or (at * your option) any later version. * * This library is distributed in the hope that it will be useful, but * WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser * General Public License for more details. * * You should have received a copy of the GNU Lesser General Public License * along with this library; if not, write to the Free Software Foundation, * Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ /** RCS log of revisions to the C source code. * * \begin{verbatim} * $Log: park.c,v $ * Revision 1.23 2010/12/26 15:28:42 swift * Minor formatting changes. * * Revision 1.22 2009/07/21 13:55:31 swift * Moved GetPt() from park.c to profile.c module. * * Revision 1.21 2008/11/03 14:46:23 swift * Catch previously uncaught exceptions in PT sampling. * * Revision 1.20 2008/07/14 16:57:34 swift * Implemented 32-bit status words. * * Revision 1.19 2007/05/08 18:10:39 swift * Added attribution just below the copyright in the main comment section. * * Revision 1.18 2006/08/17 21:17:59 swift * Modifications to allow better logging control. * * Revision 1.17 2006/04/21 13:45:42 swift * Changed copyright attribute. * * Revision 1.16 2006/03/15 16:00:48 swift * Eliminate vestiges of ModemDefibrillator() calls by removing include directives. * * Revision 1.15 2006/02/28 18:43:22 swift * Eliminated the apf9icom.h header. * * Revision 1.14 2006/02/28 16:34:23 swift * Eliminated the modem defibrillation kludge because the fundamental problem * with nonresponsive LBT9522a modems was found and fixed. * * Revision 1.13 2006/01/31 19:44:43 swift * Added a missing include directive for apf9icom services. * * Revision 1.12 2006/01/31 19:25:05 swift * Added LBT defibrillation kludge. * * Revision 1.11 2005/09/02 22:21:31 swift * Reduced text to profile file. * * Revision 1.10 2005/08/17 21:56:22 swift * Changed logging verbosity of PT samples to reduce typical log file size. * * Revision 1.9 2005/08/06 17:20:03 swift * Modify the park PT report slightly. * * Revision 1.8 2005/06/27 15:14:18 swift * Added a logentry if the profile file couldn't be opened. * * Revision 1.7 2005/05/01 14:31:28 swift * Changed the Sbe41cpStatus masks for low-power TP sampling. * * Revision 1.6 2004/12/29 23:11:27 swift * Modified LogEntry() to use strings stored in the CODE segment. This saves * lots of space in the DATA segment and significantly speeds code start-up. * * Revision 1.5 2004/05/03 18:06:34 swift * Added a 1 second pause in ParkTerminate() between CTD samples as required * for the CTD to wake up the second time. * * Revision 1.4 2004/04/26 15:55:18 swift * Changed location of an include directive to get it out of the header secion. * * Revision 1.3 2003/11/20 18:59:47 swift * Added GNU Lesser General Public License to source file. * * Revision 1.2 2003/11/12 23:02:10 swift * Modifications to logging. * * Revision 1.1 2003/09/11 21:34:13 swift * Initial revision * \end{verbatim} *~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/ #define ParkChangeLog "$RCSfile: park.c,v $ $Revision: 1.23 $ $Date: 2010/12/26 15:28:42 $" /* function prototypes */ int Park(void); int ParkInit(void); int ParkTerminate(void); #endif /* PARK_H */ #include #include #include #include #include #include #include #include #include #include #include #include /*------------------------------------------------------------------------*/ /* execute tasks during the park phase of the mission cycle */ /*------------------------------------------------------------------------*/ /** This function executes regularly scheduled tasks during the park phase of the mission cycle. */ int Park(void) { /* define the logging signature */ static cc FuncName[] = "Park()"; int errcode,status=1; float p; if ((errcode=GetP(&p))>0) { struct Obs o; int errcode; const float MaxErr=10; const float MaxP=mission.PressurePark+MaxErr; const float MinP=mission.PressurePark-MaxErr; /* collect the park-level temperature data */ if ((errcode=GetObs(&o))>0) { FILE *fp; /* check logging criteria */ if (debuglevel>=3 || (debugbits&PARK_H)) { /* create the log entry */ static cc format[]="PTS: %0.2f %0.4f %0.4f\n"; /* write the PT sample to the log file */ LogEntry(FuncName,format,o.p,o.t,o.s); } /* open the profile data file */ if ((fp=fopen(prf_path,"a"))) { time_t t=time(NULL),it=itimer(); /* write the date and time */ char buf[32]; strftime(buf,sizeof(buf),"%b %d %Y %H:%M:%S",gmtime(&t)); /* write the PT sample to the profile file */ fprintf(fp,"ParkPts: %s %11ld %7ld %7.2f %7.4f %7.4f\n",buf,t,it,o.p,o.t,o.s); /* close the data file */ fclose(fp); } else {static cc format[]="Open failed for: %s\n"; LogEntry(FuncName,format,prf_path);} } else { static cc format[] = "Low-power PT sample failed [err=%d].\n"; LogEntry(FuncName,format,errcode); } /* check if the pressure is out-of-band on the low side */ if (p=2 || (debugbits&PARK_H)) { /* create the message */ static cc format[]="ParkPOutOfBand[%d, %0.1f dbars]: retract piston.\n"; /* make the logentry */ LogEntry(FuncName,format,vitals.ParkPOutOfBand,p); } /* retract the piston one count to drive the float deeper */ if (PistonMoveRel(-1)>0) vitals.ActiveBallastAdjustments++; /* reset the out-of-band counter */ vitals.ParkPOutOfBand=0; } } /* check if the pressure is out-of-band on the high side */ else if (p>MaxP) { /* maintain a record of out-of-band reports */ if (vitals.ParkPOutOfBand>=0) ++vitals.ParkPOutOfBand; else vitals.ParkPOutOfBand=1; /* check active ballasting criteria */ if (vitals.ParkPOutOfBand>=3) { if (debuglevel>=2 || (debugbits&PARK_H)) { /* create the message */ static cc format[]="ParkPOutOfBand[%d, %0.1f dbars]: extend piston.\n"; /* make the logentry */ LogEntry(FuncName,format,vitals.ParkPOutOfBand,p); } /* extend the piston one count to drive the float shallower */ if (PistonMoveRel(1)>0) vitals.ActiveBallastAdjustments++; /* reset the out-of-band counter */ vitals.ParkPOutOfBand=0; } } /* pressure is in-band; reset the out-of-band counter*/ else vitals.ParkPOutOfBand=0; if (debuglevel>=3 || (debugbits&PARK_H)) { /* create the message */ static cc format[]="ParkPOutOfBand[%d, %0.1f dbars]\n"; /* make the logentry */ LogEntry(FuncName,format,vitals.ParkPOutOfBand,p); } } else { /* create the message */ static cc format[]="Active ballast attempt aborted; " "pressure query failed. [err=%d]\n"; /* make the logentry */ LogEntry(FuncName,format,errcode); } return status; } /*------------------------------------------------------------------------*/ /* function to initialize the park phase of the profile cycle */ /*------------------------------------------------------------------------*/ /** This function initializes the park phase of the mission cycle. */ int ParkInit(void) { /* define the logging signature */ static cc FuncName[] = "ParkInit()"; int status=1; /* set the state variable */ StateSet(PARK); /* make a log entry */ if (debuglevel>=2 || (debugbits&PARK_H)) { /* create the message */ static cc msg[]="\n"; /* make the logentry */ LogEntry(FuncName,msg); } /* initialize the active ballasting record */ vitals.ParkPOutOfBand=0; return status; } /*------------------------------------------------------------------------*/ /* function to terminate the park phase of the profile cycle */ /*------------------------------------------------------------------------*/ /** This function terminates the park phase of the mission cycle. */ int ParkTerminate(void) { /* define the logging signature */ static cc FuncName[] = "ParkTerminate()"; /* define local work objects */ int err,status=1; unsigned char V,A;struct Obs obs; /* define the timeout for measuring the CTD power consumption */ const time_t TimeOut = 60; /* measure the internal vacuum at the park depth */ vitals.Vacuum=BarometerAd8(); /* measure the battery voltage and current */ vitals.QuiescentVolts=BatVoltsAd8(); vitals.QuiescentAmps=BatAmpsAd8(); /* copy the park piston position to the mission configuration */ mission.PistonParkPosition=PistonPosition(); /* recompute the signature of the mission configuration */ mission.crc = Crc16Bit((unsigned char *)(&mission), sizeof(mission)-sizeof(mission.crc)); /* measure the power consumption by the SBE41 */ CtdPower(&V,&A,TimeOut); vitals.Sbe41cpVolts=V; vitals.Sbe41cpAmps=A; /* make a log entry */ if (debuglevel>=2 || (debugbits&PARK_H)) { /* create the message */ static cc format[]="Piston Position:%d Vacuum:%d Vq:%d Aq:%d Vsbe:%d Asbe:%d\n"; /* make the logentry */ LogEntry(FuncName,format,mission.PistonParkPosition,vitals.Vacuum, vitals.QuiescentVolts,vitals.QuiescentAmps, vitals.Sbe41cpVolts,vitals.Sbe41cpAmps); } /* necessary pause for CTD wakeup */ else sleep(1); /* measure PTS at the park depth */ if ((err=GetObs(&obs))!=Sbe41cpOk) { /* create the message */ static cc format[]="GetObs()=%d\n"; /* make the logentry */ LogEntry(FuncName,format,err); } else if (debuglevel>=2 || (debugbits&PARK_H)) { /* create the message */ static cc format[]="PTS: %0.1fdbars %0.4fC %0.4fPSU\n"; /* make the logentry */ LogEntry(FuncName,format,obs.p,obs.t,obs.s); } /* store the observation in the float vitals */ vitals.ParkObs=obs; return status; }