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

Inheritance diagram for UwSCFTrackerModule:

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Collaboration diagram for UwSCFTrackerModule:

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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 ()

virtual void	recv (Packet *)

virtual void	recv (Packet p, Handler h)

virtual int	crLayCommand (ClMessage *m)

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.

Definition at line 71 of file uwsc-tracker-follower-module.h.

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.

Definition at line 112 of file uwsc-tracker-follower-module.h.

Constructor & Destructor Documentation

◆ UwSCFTrackerModule()

UwSCFTrackerModule::UwSCFTrackerModule ( )

Default Constructor of UwSCFTrackerModule class.

Definition at line 63 of file uwsc-tracker-follower-module.cc.

◆ ~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.

Definition at line 76 of file uwsc-tracker-follower-module.cc.

◆ 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.

Definition at line 144 of file uwsc-tracker-follower-module.cc.

◆ sendPkt()

void UwSCFTrackerModule::sendPkt ( )

protectedvirtual

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

Reimplemented from UwCbrModule.

Definition at line 100 of file uwsc-tracker-follower-module.cc.

◆ start()

void UwSCFTrackerModule::start ( )

overrideprotectedvirtual

Start to send packets.

Reimplemented from UwTrackerModule.

Definition at line 224 of file uwsc-tracker-follower-module.cc.

◆ stop()

void UwSCFTrackerModule::stop ( )

overrideprotectedvirtual

Stop to send packets.

Reimplemented from UwTrackerModule.

Definition at line 236 of file uwsc-tracker-follower-module.cc.

◆ updateMineRemove()

void UwSCFTrackerModule::updateMineRemove ( )

protected

Update the mine measure.

Definition at line 157 of file uwsc-tracker-follower-module.cc.

◆ updateTrackPosition()

UWSMPosition * UwSCFTrackerModule::updateTrackPosition ( )

protected

Update the current track position with the nearest mine position.

Returns: UWSMPosition* Pointer to the nearest mine position

Definition at line 196 of file uwsc-tracker-follower-module.cc.

Friends And Related Symbol Documentation

◆ UwUpdateMineStatus

friend class UwUpdateMineStatus

friend

Definition at line 73 of file uwsc-tracker-follower-module.h.

Member Data Documentation

◆ auv_position

Position UwSCFTrackerModule::auv_position

protected

Current position of the follower.

Definition at line 120 of file uwsc-tracker-follower-module.h.

◆ auv_state

FollowerState UwSCFTrackerModule::auv_state

protected

Current state of the follower.

Definition at line 121 of file uwsc-tracker-follower-module.h.

◆ demine_period

double UwSCFTrackerModule::demine_period

protected

Timer to schedule packets transmission.

Definition at line 122 of file uwsc-tracker-follower-module.h.

◆ mine_measure

hdr_uwSCFTracker UwSCFTrackerModule::mine_measure

protected

Detected mine packets.

Definition at line 123 of file uwsc-tracker-follower-module.h.

◆ mine_positions

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

protected

Positions of the mines in the area.

Definition at line 119 of file uwsc-tracker-follower-module.h.

◆ mine_timer

UwUpdateMineStatus UwSCFTrackerModule::mine_timer

protected

Timer to schedule detecting measurements.

Definition at line 124 of file uwsc-tracker-follower-module.h.

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

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ FollowerState

Constructor & Destructor Documentation

◆ UwSCFTrackerModule()

◆ ~UwSCFTrackerModule()

Member Function Documentation

◆ command()

◆ initPkt()

◆ sendPkt()

◆ start()

◆ stop()

◆ updateMineRemove()

◆ updateTrackPosition()

Friends And Related Symbol Documentation

◆ UwUpdateMineStatus

Member Data Documentation

◆ auv_position

◆ auv_state

◆ demine_period

◆ mine_measure

◆ mine_positions

◆ mine_timer