Navigation::AUV::CLRanger::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
	~Task (void)
void	onUpdateParameters (void)
void	onResourceInitialization (void)
void	onDeactivation (void)
void	onActivation (void)
void	consume (const IMC::EstimatedState *msg)
void	consume (const IMC::GpsFix *msg)
void	synch (float utc_time)
void	consume (const IMC::LblConfig *msg)
void	consume (const IMC::UamRxFrame *msg)
void	consume (const IMC::UamRxRange *msg)
void	updateLblConfig (const IMC::EstimatedState *estate)
void	setTDMA (void)
void	pingNextBeacon (void)
void	queue (void)
void	ping (const std::string &sys_name)
void	onMain (void)
Public Member Functions inherited from DUNE::Tasks::Task
	Task (const std::string &name, Context &context)
const char *	getName (void) const
const char *	getSystemName (void) const
unsigned int	getSystemId (void) const
unsigned int	getEntityId (void) const
unsigned int	resolveEntity (const std::string &label) const
std::string	resolveEntity (unsigned int id) const
DebugLevel	getDebugLevel (void) const
uint16_t	getActivationTime (void) const
uint16_t	getDeactivationTime (void) const
unsigned int	resolveSystemName (const std::string &name) const
const char *	resolveSystemId (unsigned int id) const
void	loadConfig (void)
void	setPriority (unsigned int value)
unsigned int	getPriority (void) const
void	inf (const char *format,...) DUNE_PRINTF_FORMAT(2
void void	war (const char *format,...) DUNE_PRINTF_FORMAT(2
void void void	err (const char *format,...) DUNE_PRINTF_FORMAT(2
void void void void	cri (const char *format,...) DUNE_PRINTF_FORMAT(2
void void void void void	debug (const char *format,...) DUNE_PRINTF_FORMAT(2
void void void void void void	trace (const char *format,...) DUNE_PRINTF_FORMAT(2
void void void void void void void	spew (const char *format,...) DUNE_PRINTF_FORMAT(2
void void void void void void void void	dispatch (IMC::Message *msg, unsigned int flags=0)
void	dispatch (IMC::Message &msg, unsigned int flags=0)
void	dispatchReply (const IMC::Message &original, IMC::Message &msg, unsigned int flags=0)
void	receive (const IMC::Message *msg)
void	reserveEntities (void)
void	resolveEntities (void)
void	acquireResources (void)
void	releaseResources (void)
void	initializeResources (void)
void	updateParameters (bool act_deact=true)
void	writeParamsXML (std::ostream &os) const
const char *	getEntityLabel (void) const
void	setEntityLabel (const std::string &label)
Public Member Functions inherited from DUNE::Tasks::AbstractTask
	AbstractTask (void)
virtual	~AbstractTask (void)
Public Member Functions inherited from DUNE::Concurrency::Thread
	Thread (void)
virtual	~Thread (void)
int	getProcessorUsage (void)
Public Member Functions inherited from DUNE::Concurrency::Runnable
	Runnable (void)
virtual	~Runnable (void)
void	start (void)
void	stop (void)
void	join (void)
void	stopAndJoin (void)
void	setPriority (Scheduler::Policy policy, unsigned priority)
State	getState (void)
bool	isCreated (void)
bool	isStopping (void)
bool	isRunning (void)
bool	isStarting (void)
bool	isDead (void)

Public Attributes
IMC::EstimatedState *	m_estate
IMC::LblConfig	m_lbl_config
IMC::LblRange	m_lbl_range
DUNE::Network::TDMA	m_tdma
DUNE::Network::TDMA	m_tdma_pbm
std::vector< std::string >	m_list
uint8_t	m_cursor
Time::Counter< double >	m_wdog
Arguments	m_args

Additional Inherited Members
Public Types inherited from DUNE::Concurrency::Runnable
enum	State {   StateStarting, StateRunning, StateStopping, StateDead,   StateUnknown }
Protected Member Functions inherited from DUNE::Tasks::Task
void	setEntityState (IMC::EntityState::StateEnum state, Status::Code code)
void	setEntityState (IMC::EntityState::StateEnum state, const std::string &description)
IMC::EntityState::StateEnum	getEntityState (void) const
unsigned int	reserveEntity (const std::string &label)
template<typename E >
E *	reserveEntity (const std::string &label)
bool	stopping (void)
bool	isActive (void) const
bool	isActivating (void) const
bool	isDeactivating (void) const
void	waitForMessages (double timeout)
void	consumeMessages (void)
template<typename T >
Parameter &	param (const std::string &name, T &var)
template<typename Y , typename T >
Parameter &	param (const std::string &name, T &var)
template<typename T >
bool	paramChanged (T &var)
void	paramActive (Parameter::Scope def_scope, Parameter::Visibility def_visibility, bool def_value=false)
void	setParamSectionEditor (const std::string &name)
template<typename M , typename T >
void	bind (T *task_obj, void(T::*consumer)(const M *)=&T::consume)
template<typename T >
void	bind (T *task_obj, const std::vector< uint32_t > &list)
template<typename T , typename M >
void	bind (T *task_obj, const std::vector< uint32_t > &list, void(T::*consumer)(const M *)=&T::consume)
template<typename T >
void	bind (T *task_obj, const std::vector< std::string > &list)
void	requestActivation (void)
void	requestDeactivation (void)
void	activate (void)
void	activationFailed (const std::string &reason)
void	deactivate (void)
void	deactivationFailed (const std::string &reason)
virtual bool	onWriteParamsXML (std::ostream &os) const
virtual void	onEntityReservation (void)
virtual void	onEntityResolution (void)
virtual void	onReportEntityState (void)
virtual void	onResourceAcquisition (void)
virtual void	onResourceRelease (void)
virtual void	onRequestActivation (void)
virtual void	onRequestDeactivation (void)
virtual void	onQueryEntityParameters (const IMC::QueryEntityParameters *msg)
virtual void	onSetEntityParameters (const IMC::SetEntityParameters *msg)
virtual void	onPushEntityParameters (const IMC::PushEntityParameters *msg)
virtual void	onPopEntityParameters (const IMC::PopEntityParameters *msg)
Protected Member Functions inherited from DUNE::Concurrency::Thread
void	startImpl (void)
void	stopImpl (void)
void	joinImpl (void)
void	setPriorityImpl (Scheduler::Policy policy, unsigned priority)
Protected Attributes inherited from DUNE::Tasks::Task
Context &	m_ctx
std::vector < Entities::BasicEntity * >	m_entities

Constructor & Destructor Documentation

Navigation::AUV::CLRanger::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

Constructor.

Parameters

[in]	name	task name.
[in]	ctx	context.

References DUNE::Tasks::Parameter::defaultValue(), DUNE::Tasks::Parameter::description(), Navigation::AUV::CLRanger::Arguments::dest_head, Navigation::AUV::CLRanger::Arguments::dst, Navigation::AUV::CLRanger::Arguments::extra_slots, m_args, m_cursor, m_wdog, DUNE::Tasks::Task::param(), DUNE::Tasks::Task::paramActive(), Navigation::AUV::CLRanger::Arguments::slot_duration, and Navigation::AUV::CLRanger::Arguments::slot_order.

Navigation::AUV::CLRanger::Task::~Task ( void  )

inlinevirtual

Destructor.

Reimplemented from DUNE::Tasks::Task.

References m_estate.

Member Function Documentation

void Navigation::AUV::CLRanger::Task::consume ( const IMC::EstimatedState *  msg )

inline

References DUNE::Tasks::Task::getSystemId(), and m_estate.

void Navigation::AUV::CLRanger::Task::consume ( const IMC::GpsFix *  msg )

inline

References DUNE::Network::TDMA::check(), DUNE::Tasks::Task::isActive(), m_tdma, m_tdma_pbm, pingNextBeacon(), queue(), and synch().

void Navigation::AUV::CLRanger::Task::consume ( const IMC::LblConfig *  msg )

inline

References DUNE::Tasks::Task::dispatchReply(), DUNE::Tasks::Task::getEntityId(), DUNE::Tasks::Task::getSystemId(), m_lbl_config, and setTDMA().

void Navigation::AUV::CLRanger::Task::consume ( const IMC::UamRxFrame *  msg )

inline

References DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::getSystemName(), DUNE::Tasks::Task::resolveSystemName(), and updateLblConfig().

void Navigation::AUV::CLRanger::Task::consume ( const IMC::UamRxRange *  msg )

inline

References DUNE::Tasks::Task::dispatch(), Navigation::AUV::CLRanger::Arguments::dst, DUNE::Tasks::Profiles::isSelected(), m_args, DUNE::Tasks::Task::m_ctx, m_lbl_config, m_lbl_range, m_wdog, and DUNE::Tasks::Context::profiles.

void Navigation::AUV::CLRanger::Task::onActivation ( void  )

inlinevirtual

On task activation.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Tasks::Task::setEntityState().

void Navigation::AUV::CLRanger::Task::onDeactivation ( void  )

inlinevirtual

On task deactivation.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Tasks::Task::setEntityState().

void Navigation::AUV::CLRanger::Task::onMain ( void  )

inlinevirtual

Main loop.

Implements DUNE::Tasks::Task.

References DUNE::Tasks::Task::stopping(), and DUNE::Tasks::Task::waitForMessages().

void Navigation::AUV::CLRanger::Task::onResourceInitialization ( void  )

inlinevirtual

Initialize resources.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Tasks::Task::setEntityState().

void Navigation::AUV::CLRanger::Task::onUpdateParameters ( void  )

inlinevirtual

Update internal state with new parameter values.

Reimplemented from DUNE::Tasks::Task.

References setTDMA().

void Navigation::AUV::CLRanger::Task::ping ( const std::string &  sys_name )

inline

Ping system.

Parameters

[in]

sys_name

system name.

References DUNE::Tasks::Task::dispatch(), and DUNE::Tasks::Task::getSystemId().

Referenced by pingNextBeacon().

void Navigation::AUV::CLRanger::Task::pingNextBeacon ( void  )

inline

Ping next beacon in the list.

References m_cursor, m_list, and ping().

Referenced by consume().

void Navigation::AUV::CLRanger::Task::queue ( void  )

inline

Queue Piggyback Message.

References DUNE::Tasks::Task::dispatch(), Navigation::AUV::CLRanger::Arguments::dst, DUNE::Tasks::Task::getSystemId(), m_args, and m_estate.

Referenced by consume().

void Navigation::AUV::CLRanger::Task::setTDMA ( void  )

inline

Compute TDMA slots.

References Navigation::AUV::CLRanger::Arguments::dest_head, Navigation::AUV::CLRanger::Arguments::dst, DUNE::Tasks::Task::err(), Navigation::AUV::CLRanger::Arguments::extra_slots, DUNE::Tasks::Task::getSystemName(), DUNE::Tasks::Task::isActive(), m_args, m_lbl_config, m_list, m_tdma, m_tdma_pbm, DUNE::Network::TDMA::reset(), DUNE::Tasks::Task::setEntityState(), Navigation::AUV::CLRanger::Arguments::slot_duration, Navigation::AUV::CLRanger::Arguments::slot_order, and DUNE::Tasks::Task::spew().

Referenced by consume(), and onUpdateParameters().

void Navigation::AUV::CLRanger::Task::synch ( float  utc_time )

inline

References m_cursor.

Referenced by consume().

void Navigation::AUV::CLRanger::Task::updateLblConfig ( const IMC::EstimatedState *  estate )

inline

Update LBL configuration.

References DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::dispatch(), Navigation::AUV::CLRanger::Arguments::dst, DUNE::Tasks::Task::getEntityId(), DUNE::Tasks::Task::getSystemId(), DUNE::Tasks::Task::getSystemName(), m_args, m_estate, m_lbl_config, m_lbl_range, and m_wdog.

Referenced by consume().

Member Data Documentation

Arguments Navigation::AUV::CLRanger::Task::m_args

Task arguments.

Referenced by consume(), queue(), setTDMA(), Task(), and updateLblConfig().

uint8_t Navigation::AUV::CLRanger::Task::m_cursor

Iterator.

Referenced by pingNextBeacon(), synch(), and Task().

IMC::EstimatedState* Navigation::AUV::CLRanger::Task::m_estate

Last received estimated state.

Referenced by consume(), queue(), updateLblConfig(), and ~Task().

IMC::LblConfig Navigation::AUV::CLRanger::Task::m_lbl_config

Current LBL configuration.

Referenced by consume(), setTDMA(), and updateLblConfig().

IMC::LblRange Navigation::AUV::CLRanger::Task::m_lbl_range

Latest LBL range to destination system.

Referenced by consume(), and updateLblConfig().

std::vector<std::string> Navigation::AUV::CLRanger::Task::m_list

List of systems to ping.

Referenced by pingNextBeacon(), and setTDMA().

DUNE::Network::TDMA Navigation::AUV::CLRanger::Task::m_tdma

TDMA slots for regular transmissions.

Referenced by consume(), and setTDMA().

DUNE::Network::TDMA Navigation::AUV::CLRanger::Task::m_tdma_pbm

TDMA slots for piggyback messages.

Referenced by consume(), and setTDMA().

Time::Counter<double> Navigation::AUV::CLRanger::Task::m_wdog

Holder counter;.

Referenced by consume(), Task(), and updateLblConfig().

Collaboration diagram for Navigation::AUV::CLRanger::Task: