Sensors::Imagenex837B::Task Struct Reference

Detailed Description

Task.

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onUpdateParameters (void)
void	onResourceInitialization (void)
void	onResourceRelease (void)
void	onRequestActivation (void)
void	onActivation (void)
void	onDeactivation (void)
void	checkActivationProgress (void)
void	openLog (const Path &path)
void	closeLog (void)
void	consume (const IMC::EstimatedState *msg)
void	consume (const IMC::LoggingControl *msg)
void	consume (const IMC::SoundSpeed *msg)
unsigned	getIndex (unsigned value, const unsigned *table, unsigned table_size)
void	setFrequency (void)
void	setRange (unsigned value)
void	setStartGain (unsigned value)
void	setSwitchDelay (unsigned value)
void	setAbsorption (unsigned value)
void	setDataPoints (unsigned value)
void	setAutoMode (void)
void	setNadirAngle (float angle)
void	setAutoGainValue (unsigned value)
void	ping (unsigned data_point)
void	handleSonarData (void)
void	updateState (void)
void	checkAltitude (void)
void	task (void)

Public Attributes
TCPSocket *	m_sock
Frame	m_frame
uint8_t	m_sdata [c_sdata_size]
uint8_t	m_rdata_hdr [c_rdata_hdr_size]
uint8_t	m_rdata_ftr [c_rdata_ftr_size]
IMC::SonarData	m_ping
IMC::EstimatedState	m_estate
std::ofstream	m_log_file
Path	m_log_path
IMC::PowerChannelControl	m_power_channel_control
bool	m_activating
Counter< double >	m_countdown
Counter< double >	m_range_counter
Arguments	m_args

Constructor & Destructor Documentation

Sensors::Imagenex837B::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

Constructor.

References Sensors::Imagenex837B::Arguments::absorption, Sensors::Imagenex837B::Arguments::addr, Sensors::Imagenex837B::Arguments::auto_gain, Sensors::Imagenex837B::Arguments::auto_gain_value, Sensors::Imagenex837B::Arguments::data_points, Sensors::Imagenex837B::Arguments::def_range, Sensors::Imagenex837B::Arguments::fill_state, m_args, m_ping, m_sdata, Sensors::Imagenex837B::Arguments::nadir, Sensors::Imagenex837B::Arguments::port, Sensors::Imagenex837B::Arguments::power_channel, Sensors::Imagenex837B::Arguments::range_modifier, Sensors::Imagenex837B::Arguments::range_modifier_add_k, Sensors::Imagenex837B::Arguments::range_modifier_mul_k, Sensors::Imagenex837B::Arguments::range_modifier_timer, Sensors::Imagenex837B::Arguments::save_to_file, setFrequency(), Sensors::Imagenex837B::Arguments::start_gain, Sensors::Imagenex837B::Arguments::switch_delay, Sensors::Imagenex837B::Arguments::tilt_angle, and Sensors::Imagenex837B::Arguments::xdcr.

Member Function Documentation

void Sensors::Imagenex837B::Task::checkActivationProgress ( void  )

inline

References Sensors::Imagenex837B::Arguments::addr, DUNE::Time::Counter< T >::getRemaining(), m_activating, m_args, m_countdown, m_sock, DUNE::Time::Counter< T >::overflow(), and Sensors::Imagenex837B::Arguments::port.

Referenced by task().

void Sensors::Imagenex837B::Task::checkAltitude ( void  )

inline

Check current water column.

References m_args, m_estate, Sensors::Imagenex837B::Arguments::range_modifier_add_k, Sensors::Imagenex837B::Arguments::range_modifier_mul_k, and setRange().

Referenced by task().

void Sensors::Imagenex837B::Task::closeLog ( void  )

inline

References m_log_file, and m_log_path.

Referenced by consume(), onDeactivation(), onResourceInitialization(), and openLog().

void Sensors::Imagenex837B::Task::consume ( const IMC::EstimatedState *  msg )

inline

References m_estate.

void Sensors::Imagenex837B::Task::consume ( const IMC::LoggingControl *  msg )

inline

References closeLog(), m_args, m_log_path, openLog(), and Sensors::Imagenex837B::Arguments::save_to_file.

void Sensors::Imagenex837B::Task::consume ( const IMC::SoundSpeed *  msg )

inline

References m_frame, and Sensors::Imagenex837B::Frame::setSoundVelocity().

unsigned Sensors::Imagenex837B::Task::getIndex ( unsigned  value, const unsigned *  table, unsigned  table_size  )

inline

Get index from table according with given value.

Parameters

[in]	value	value to be checked in the table.
[in]	table	vector with parameters.
[in]	table_size	size of the vector.

Returns

index of the vector.

Referenced by setRange().

void Sensors::Imagenex837B::Task::handleSonarData ( void  )

inline

Handle sonar data to 837 file format.

References Sensors::Imagenex837B::Frame::getData(), Sensors::Imagenex837B::Frame::getSize(), m_frame, m_log_file, m_rdata_hdr, Sensors::Imagenex837B::Frame::setDateTime(), Sensors::Imagenex837B::Frame::setFirmwareVersion(), Sensors::Imagenex837B::Frame::setSerialStatus(), and updateState().

Referenced by task().

void Sensors::Imagenex837B::Task::onActivation ( void  )

inline

References m_activating.

void Sensors::Imagenex837B::Task::onDeactivation ( void  )

inline

References closeLog(), m_power_channel_control, and m_sock.

void Sensors::Imagenex837B::Task::onRequestActivation ( void  )

inline

References m_activating, m_countdown, m_power_channel_control, and DUNE::Time::Counter< T >::reset().

void Sensors::Imagenex837B::Task::onResourceInitialization ( void  )

inline

References closeLog().

void Sensors::Imagenex837B::Task::onResourceRelease ( void  )

inline

void Sensors::Imagenex837B::Task::onUpdateParameters ( void  )

inline

Update task parameters.

References Sensors::Imagenex837B::Arguments::absorption, Sensors::Imagenex837B::Arguments::addr, Sensors::Imagenex837B::Arguments::auto_gain, Sensors::Imagenex837B::Arguments::auto_gain_value, Sensors::Imagenex837B::Arguments::data_points, Sensors::Imagenex837B::Arguments::def_range, Sensors::Imagenex837B::Arguments::fill_state, m_args, m_countdown, m_frame, m_ping, m_power_channel_control, m_range_counter, Sensors::Imagenex837B::Arguments::nadir, Sensors::Imagenex837B::Arguments::port, Sensors::Imagenex837B::Arguments::power_channel, Sensors::Imagenex837B::Arguments::range_modifier, Sensors::Imagenex837B::Arguments::range_modifier_timer, setAbsorption(), setAutoGainValue(), setAutoMode(), setDataPoints(), setNadirAngle(), Sensors::Imagenex837B::Frame::setProfileTiltAngle(), setRange(), setStartGain(), setSwitchDelay(), DUNE::Time::Counter< T >::setTop(), Sensors::Imagenex837B::Arguments::start_gain, Sensors::Imagenex837B::Arguments::switch_delay, and Sensors::Imagenex837B::Arguments::tilt_angle.

void Sensors::Imagenex837B::Task::openLog ( const Path &  path )

inline

References closeLog(), m_log_file, and m_log_path.

Referenced by consume().

void Sensors::Imagenex837B::Task::ping ( unsigned  data_point )

inline

Request device to ping.

Parameters

[in]

data_point

data index.

References Sensors::Imagenex837B::Frame::getMessageData(), m_args, m_frame, m_ping, m_rdata_ftr, m_rdata_hdr, m_sdata, m_sock, Sensors::Imagenex837B::Arguments::save_to_file, and Sensors::Imagenex837B::SD_PACKET_NUM.

Referenced by task().

void Sensors::Imagenex837B::Task::setAbsorption ( unsigned  value )

inline

Define switch command data absorption value.

Parameters

[in]

value

absorption value.

References m_sdata, and Sensors::Imagenex837B::SD_ABSORPTION.

Referenced by onUpdateParameters().

void Sensors::Imagenex837B::Task::setAutoGainValue ( unsigned  value )

inline

Define switch command data auto gain threshold.

Parameters

[in]

value

auto gain threshold.

References m_sdata, and Sensors::Imagenex837B::SD_AGC_THRESHOLD.

Referenced by onUpdateParameters().

void Sensors::Imagenex837B::Task::setAutoMode ( void  )

inline

Define switch command data auto mode.

References m_sdata, and Sensors::Imagenex837B::SD_RUN_MODE.

Referenced by onUpdateParameters().

void Sensors::Imagenex837B::Task::setDataPoints ( unsigned  value )

inline

Define switch command data number of data points.

Parameters

[in]

value

number of data points.

References m_frame, m_sdata, Sensors::Imagenex837B::SD_DATA_POINTS, and Sensors::Imagenex837B::Frame::setExtendedDataPoints().

Referenced by onUpdateParameters().

void Sensors::Imagenex837B::Task::setFrequency ( void  )

inline

Define switch command data frequency value.

References m_ping, m_sdata, and Sensors::Imagenex837B::SD_FREQUENCY.

Referenced by Task().

void Sensors::Imagenex837B::Task::setNadirAngle ( float  angle )

inline

Define switch command data number nadir angle.

Parameters

[in]

angle

nadir angle.

References m_args, m_frame, m_sdata, Sensors::Imagenex837B::SD_NADIR_HI, Sensors::Imagenex837B::SD_NADIR_LO, Sensors::Imagenex837B::Frame::setDisplayMode(), and Sensors::Imagenex837B::Arguments::xdcr.

Referenced by onUpdateParameters(), and updateState().

void Sensors::Imagenex837B::Task::setRange ( unsigned  value )

inline

Define switch command data range.

Parameters

[in]

value

range.

References getIndex(), m_frame, m_ping, m_sdata, Sensors::Imagenex837B::SD_PULSE_LEN, Sensors::Imagenex837B::SD_RANGE, Sensors::Imagenex837B::Frame::setPulseLength(), Sensors::Imagenex837B::Frame::setRange(), and Sensors::Imagenex837B::Frame::setRepRate().

Referenced by checkAltitude(), and onUpdateParameters().

void Sensors::Imagenex837B::Task::setStartGain ( unsigned  value )

inline

Define switch command data start gain.

Parameters

[in]

value

start gain.

References m_frame, m_sdata, Sensors::Imagenex837B::SD_START_GAIN, and Sensors::Imagenex837B::Frame::setStartGain().

Referenced by onUpdateParameters().

void Sensors::Imagenex837B::Task::setSwitchDelay ( unsigned  value )

inline

Define switch command data switch delay.

Parameters

[in]

value

switch delay.

References m_sdata, and Sensors::Imagenex837B::SD_SWITCH_DELAY.

Referenced by onUpdateParameters().

void Sensors::Imagenex837B::Task::task ( void  )

inline

References checkActivationProgress(), checkAltitude(), Sensors::Imagenex837B::Arguments::data_points, handleSonarData(), m_activating, m_args, m_ping, m_range_counter, m_sock, DUNE::Time::Counter< T >::overflow(), ping(), Sensors::Imagenex837B::Arguments::range_modifier, DUNE::Time::Counter< T >::reset(), and Sensors::Imagenex837B::Arguments::save_to_file.

void Sensors::Imagenex837B::Task::updateState ( void  )

inline

Update vehicle state in 837 files.

References Sensors::Imagenex837B::Arguments::fill_state, m_args, m_estate, m_frame, Sensors::Imagenex837B::Arguments::nadir, Sensors::Imagenex837B::Frame::setCourse(), Sensors::Imagenex837B::Frame::setGpsData(), Sensors::Imagenex837B::Frame::setHeading(), setNadirAngle(), Sensors::Imagenex837B::Frame::setPitch(), Sensors::Imagenex837B::Frame::setRoll(), and Sensors::Imagenex837B::Frame::setSpeed().

Referenced by handleSonarData().

Member Data Documentation

bool Sensors::Imagenex837B::Task::m_activating

True if task is activating.

Referenced by checkActivationProgress(), onActivation(), onRequestActivation(), and task().

Arguments Sensors::Imagenex837B::Task::m_args

Configuration parameters.

Referenced by checkActivationProgress(), checkAltitude(), consume(), onUpdateParameters(), ping(), setNadirAngle(), Task(), task(), and updateState().

Counter<double> Sensors::Imagenex837B::Task::m_countdown

Activation/deactivation timer.

Referenced by checkActivationProgress(), onRequestActivation(), and onUpdateParameters().

IMC::EstimatedState Sensors::Imagenex837B::Task::m_estate

Estimated state.

Referenced by checkAltitude(), consume(), and updateState().

Frame Sensors::Imagenex837B::Task::m_frame

837 Frame.

Referenced by consume(), handleSonarData(), onUpdateParameters(), ping(), setDataPoints(), setNadirAngle(), setRange(), setStartGain(), and updateState().

std::ofstream Sensors::Imagenex837B::Task::m_log_file

Log file.

Referenced by closeLog(), handleSonarData(), and openLog().

Path Sensors::Imagenex837B::Task::m_log_path

Log filename.

Referenced by closeLog(), consume(), and openLog().

IMC::SonarData Sensors::Imagenex837B::Task::m_ping

Single sidescan ping.

Referenced by onUpdateParameters(), ping(), setFrequency(), setRange(), Task(), and task().

IMC::PowerChannelControl Sensors::Imagenex837B::Task::m_power_channel_control

Power channel control.

Referenced by onDeactivation(), onRequestActivation(), and onUpdateParameters().

Counter<double> Sensors::Imagenex837B::Task::m_range_counter

Range adaptive modifier counter.

Referenced by onUpdateParameters(), and task().

uint8_t Sensors::Imagenex837B::Task::m_rdata_ftr[c_rdata_ftr_size]

Footer Return data.

Referenced by ping().

uint8_t Sensors::Imagenex837B::Task::m_rdata_hdr[c_rdata_hdr_size]

Header Return data.

Referenced by handleSonarData(), and ping().

uint8_t Sensors::Imagenex837B::Task::m_sdata[c_sdata_size]

Output switch data.

Referenced by ping(), setAbsorption(), setAutoGainValue(), setAutoMode(), setDataPoints(), setFrequency(), setNadirAngle(), setRange(), setStartGain(), setSwitchDelay(), and Task().

TCPSocket* Sensors::Imagenex837B::Task::m_sock

TCP socket.

Referenced by checkActivationProgress(), onDeactivation(), ping(), and task().

Collaboration diagram for Sensors::Imagenex837B::Task: