UwSCFTrackerModule Class Reference

#include <uwsc-tracker-follower-module.h>

Inheritance diagram for UwSCFTrackerModule:

Collaboration diagram for UwSCFTrackerModule:

Public Member Functions
	UwSCFTrackerModule ()
virtual	~UwSCFTrackerModule ()=default
virtual int	command (int argc, const char *const *argv) override
virtual void	initPkt (Packet *p) override
Public Member Functions inherited from UwTrackerModule
	UwTrackerModule ()
	UwTrackerModule (UWSMPosition *p)
virtual	~UwTrackerModule ()
Public Member Functions inherited from UwCbrModule
	UwCbrModule ()
virtual	~UwCbrModule ()=default
virtual void	recv (Packet *) override
virtual void	recv (Packet *p, Handler *h) override
virtual double	GetRTT () const
virtual double	GetFTT () const
virtual double	GetTxTime () const
virtual double	GetPER () const
virtual double	GetTHR () const
virtual double	GetRTTstd () const
virtual double	GetFTTstd () const
virtual void	resetStats ()
void	printIdsPkts () const

Protected Types
enum class	FollowerState { TRACK , DETECT , DEMINE , IDLE }

Protected Member Functions
void	sendPkt ()
void	updateMineRemove ()
UWSMPosition *	updateTrackPosition ()
virtual void	start () override
virtual void	stop () override
Protected Member Functions inherited from UwTrackerModule
virtual void	printReceivedPacket (Packet *p)
void	sendPkt ()
void	updateTrackMeasure ()
Protected Member Functions inherited from UwCbrModule
virtual void	sendPktLowPriority ()
virtual void	sendPktHighPriority ()
virtual void	transmit ()
virtual void	updateRTT (const double &)
virtual void	updateFTT (const double &)
virtual void	updateThroughput (const int &, const double &)
virtual void	incrPktLost (const int &)
virtual void	incrPktRecv ()
virtual void	incrPktOoseq ()
virtual void	incrPktInvalid ()
virtual double	getTimeBeforeNextPkt ()

Protected Attributes
std::vector< UWSMPosition * >	mine_positions
Position	auv_position
FollowerState	auv_state
double	demine_period
hdr_uwSCFTracker	mine_measure
UwUpdateMineStatus	mine_timer
Protected Attributes inherited from UwTrackerModule
UWSMPosition *	track_position
hdr_uwTracker	track_measure
double	max_tracking_distance
int	send_only_active_trace
int	track_my_position
double	tracking_period
UwUpdateTrackMeasure	measure_timer
Protected Attributes inherited from UwCbrModule
uint16_t	dstPort_
std::string	log_suffix
nsaddr_t	dstAddr_
char	priority_
std::ofstream	tracefile
std::string	tracefilename
bool *	sn_check
int	PoissonTraffic_
int	debug_
int	drop_out_of_order_
uint	traffic_type_
UwSendTimer	sendTmr_
int	txsn
int	hrsn
int	pkts_recv
int	pkts_ooseq
int	pkts_lost
int	pkts_invalid
int	pkts_last_reset
int	cnt
double	rftt
double	srtt
double	sftt
double	lrtime
double	sthr
double	period_
int	pktSize_
double	sumrtt
double	sumrtt2
int	rttsamples
double	sumftt
double	sumftt2
int	fttsamples
double	sumtxtimes = 0
double	sumbytes
double	sumdt
uint32_t	esn
int	tracefile_enabler_

Friends
class	UwUpdateMineStatus

Additional Inherited Members
Static Protected Member Functions inherited from UwCbrModule
static int	getCbrHeaderSize ()
Static Protected Attributes inherited from UwCbrModule
static int	uidcnt_ = 0

Detailed Description

UwSCFTrackerModule class is used to track mines via sonar and share tracking information via packets. After a given time a mine is detected, this module provides to remove it.

Member Enumeration Documentation

FollowerState

enum class UwSCFTrackerModule::FollowerState

strongprotected

Followerstate list all the possible state of the follower.

Enumerator
TRACK	Tracking mines.
DETECT	Detecting a mine.
DEMINE	Removed a mine.
IDLE	Not tracking.

Constructor & Destructor Documentation

UwSCFTrackerModule()

UwSCFTrackerModule::UwSCFTrackerModule

(

)

Default Constructor of UwSCFTrackerModule class.

References demine_period.

~UwSCFTrackerModule()

virtual UwSCFTrackerModule::~UwSCFTrackerModule ( )

virtualdefault

Destructor of UwSCFTrackerModule class.

Member Function Documentation

command()

int UwSCFTrackerModule::command ( int  argc, const char *const *  argv  )

overridevirtual

TCL command interpreter. It implements the following OTcl methods:

Parameters

argc	Number of arguments in argv.
argv	Array of strings which are the command parameters (Note that argv[0] is the name of the object).

Returns

TCL_OK or TCL_ERROR whether the command has been dispatched successfully or not.

Reimplemented from UwTrackerModule.

References UwTrackerModule::command(), mine_positions, and UwTrackerModule::track_position.

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initPkt()

void UwSCFTrackerModule::initPkt ( Packet *  p )

overridevirtual

Initializes a monitoring data packet passed as argument with the default values.

Parameters

Packet*

Pointer to a packet already allocated to fill with the right values.

Reimplemented from UwTrackerModule.

References UwTrackerModule::initPkt(), mine_measure, UwTrackerModule::track_measure, hdr_uwSCFTracker::x(), hdr_uwTracker::x(), hdr_uwSCFTracker::y(), hdr_uwTracker::y(), hdr_uwSCFTracker::z(), and hdr_uwTracker::z().

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sendPkt()

void UwSCFTrackerModule::sendPkt ( )

protectedvirtual

Allocates, initialize and sends a packet with the default priority flag set from tcl.

Reimplemented from UwCbrModule.

References auv_state, DEMINE, DETECT, IDLE, mine_measure, mine_positions, hdr_uwSCFTracker::mine_remove(), mine_timer, UwTrackerModule::sendPkt(), UwTrackerModule::track_measure, UwTrackerModule::track_position, UwTrackerModule::tracking_period, hdr_uwTracker::x(), hdr_uwTracker::y(), and hdr_uwTracker::z().

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start()

void UwSCFTrackerModule::start ( )

overrideprotectedvirtual

Start to send packets.

Reimplemented from UwTrackerModule.

References auv_position, mine_timer, UWSMPosition::setX(), UwTrackerModule::start(), and UwTrackerModule::tracking_period.

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stop()

void UwSCFTrackerModule::stop ( )

overrideprotectedvirtual

Stop to send packets.

Reimplemented from UwTrackerModule.

References mine_timer, and UwTrackerModule::stop().

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updateMineRemove()

void UwSCFTrackerModule::updateMineRemove ( )

protected

Update the mine measure

References auv_position, auv_state, UwCbrModule::debug_, DEMINE, demine_period, DETECT, IDLE, UwTrackerModule::measure_timer, mine_measure, hdr_uwSCFTracker::mine_remove(), mine_timer, UwCbrModule::sendTmr_, TRACK, UwTrackerModule::track_measure, UwTrackerModule::track_position, UwTrackerModule::tracking_period, updateTrackPosition(), hdr_uwTracker::x(), hdr_uwTracker::y(), and hdr_uwTracker::z().

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updateTrackPosition()

UWSMPosition * UwSCFTrackerModule::updateTrackPosition ( )

protected

Update the current track position with the nearest mine position

Returns

UWSMPosition* Pointer to the nearest mine position

References auv_position, UwCbrModule::debug_, UWSMPosition::getX(), UWSMPosition::getY(), UWSMPosition::getZ(), mine_measure, mine_positions, hdr_uwSCFTracker::timestamp(), and UwTrackerModule::track_position.

Referenced by updateMineRemove().

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Friends And Related Symbol Documentation

UwUpdateMineStatus

friend class UwUpdateMineStatus

friend

Member Data Documentation

auv_position

Position UwSCFTrackerModule::auv_position

protected

Current position of the follower.

Referenced by start(), updateMineRemove(), and updateTrackPosition().

auv_state

FollowerState UwSCFTrackerModule::auv_state

protected

Current state of the follower.

Referenced by sendPkt(), and updateMineRemove().

demine_period

double UwSCFTrackerModule::demine_period

protected

Timer to schedule packets transmission.

Referenced by updateMineRemove(), and UwSCFTrackerModule().

mine_measure

hdr_uwSCFTracker UwSCFTrackerModule::mine_measure

protected

Detected mine packets.

Referenced by initPkt(), sendPkt(), updateMineRemove(), and updateTrackPosition().

mine_positions

std::vector<UWSMPosition *> UwSCFTrackerModule::mine_positions

protected

Positions of the mines in the area.

Referenced by command(), sendPkt(), and updateTrackPosition().

mine_timer

UwUpdateMineStatus UwSCFTrackerModule::mine_timer

protected

Timer to schedule detecting measurements

Referenced by sendPkt(), start(), stop(), and updateMineRemove().

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

• DESERT_Addons/uwswarm_control/uwsc-tracker-follower-module.h
• DESERT_Addons/uwswarm_control/uwsc-tracker-follower-module.cc