Start CTD periodic FP command doStdStateEntry(); doInitProfileStateEntry(); doStdStateExit(); doInitProfileStateExit(); doStdStateEntry(); doFNBStateEntry(); doStdStateExit(); doFNBStateExit(); doStdStateEntry(); doFNBCheckDepthStateEntry(); doStdStateExit(); doBFNBCheckDepthStateExit(); doStdStateEntry(); doRecoverySOStatEntry(); doStdStateExit(); doRecoverySOStateExit(); doStdStateEntry(); doDownloadRecoverySBDStateEntry(); doStdStateEntry(); doDownloadIRecoverySBDStateExit(); doStdStateEntry(); doBuildRecSBD(); doStdStateExit(); doBuildRecSBDStateExit(); doStdStateEntry(); doUploadRecSBDStateEntry(); doStdStateExit(); doUploadRecSBDStateExit(); doStdStateEntry(); doRecGetPositionStateEntry(); doStdSateExit(); doRecGetPositionStateExit(); doStdStateEntry(); doInitMissionStateEntry(); doStdStateExit(); doInitMissionStateExit(); Look for park depths Look for anchor doStdStateEntry(); doDescendStateEntry(); doStdStateExit(); doDescendStateExit(Descend doStdStateEntry(); doParkStateEntry(); doStdStateExit(); doParkStateExit(); doStdStateEntry(); doDescendCheckDepthStateEntry(); doStdStateExit(); doDescendCheckDepthStateExit(); doStdStateEntry(); doAnchorStateEntry(); doStdStateExit(); doAnchorStateExit(); InitPlatform(); InitErrorHandler(); InitGPSDevice(); IntEngrLogger(); InitSciLogger(); InitBellowsPosSensor(); InitCTDepthSensor(); InitMSCSensor(); InitFLBBSensor(); InitOCRSensor(); InitOptodeSensor(); doStdStateExit(); doInitMissionStateExit(); doStdStateEntry(); doSurfaceOpsStateEntry(); doStdStateExit(); doSurfaceOpsStateExit(); doStdStateEntry(); doBuildIridiumMessage(); doStdStateExit(); doBuildIridiumMessageStateExit(); doStdStateEntry(); doUploadIridiumMessageStateEntry(); doStdStateEntry(); doUploadIridiumMessageStateEntry(); doStdStateEntry(); doGetPositionStatEntry(); doStdSateExit(); soGetPositionStateExit(); doStdStateEntry(); doDownloadIridiumMessageStateEntry(); doStdStateEntry(); doDownloadIridiumMessageStateEntry(); #include "qpcpp.hpp" #include <iostream> #include <stdlib.h> // for exit() using namespace std; using namespace QP; enum { BSP_TICKS_PER_SEC = 100 }; extern "C" void Q_onAssert(char const * const module, int loc) { cout << "Assertion failed in " << module << ':' << loc << endl; exit(-1); } void QF::onStartup(void) {} void QF::onCleanup(void) {} void QP::QF_onClockTick(void) { QF::TICK_X(0U, (void *)0); // perform the QF clock tick processing } enum MissionSignals { TIMEOUT_SIG = Q_USER_SIG, MAX_SIG }; //=============== ask QM to declare the Mission class ================== $declare${AOs::Mission} static Mission l_mission; QActive * const AO_Mission = &l_mission; int main() { // statically allocate event queue buffer for the Mission AO static QEvt const *mission_queueSto[10]; QF::init(); // initialize the framework AO_Mission->start(1U, // priority mission_queueSto, Q_DIM(mission_queueSto), (void *)0, 0U); // no stack return QF::run(); // run the QF application } //================ ask QM to define the Mission class ================== $define${AOs::Mission} #include "qpcpp.hpp" #include <iostream> #include <stdlib.h> // for exit() using namespace std; using namespace QP; enum { BSP_TICKS_PER_SEC = 100 }; extern "C" void Q_onAssert(char const * const module, int loc) { cout << "Assertion failed in " << module << ':' << loc << endl; exit(-1); } void QF::onStartup(void) {} void QF::onCleanup(void) {} void QP::QF_onClockTick(void) { QF::TICK_X(0U, (void *)0); // perform the QF clock tick processing } enum BCSignals { TIMEOUT_SIG = Q_USER_SIG, MAX_SIG }; //=============== ask QM to declare the Buoyancy Controllers class ================== $declare${AOs::BuoyancyControllers} static BC l_bc; QActive * const AO_BC = &l_bc; int main() { // statically allocate event queue buffer for the Buoyancy Controllers AO static QEvt const *bc_queueSto[10]; QF::init(); // initialize the framework AO_BC->start(1U, // priority bc_queueSto, Q_DIM(bc_queueSto), (void *)0, 0U); // no stack return QF::run(); // run the QF application } //================ ask QM to define the Buoyancy Controllers class ================== $define${AOs::BuoyancyControllers}