Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)

	~Task (void)

void	onResourceAcquisition (void)

void	onResourceRelease (void)

void	onResourceInitialization (void)

void	consume (const IMC::Pulse *msg)

bool	sendMessage (MessageClass mcl, MessageId mid, const uint8_t *payload, uint16_t size, double timeout=2.0)

bool	sendMessageWithRetry (MessageClass mcl, MessageId mid, const uint8_t *payload, uint16_t size, double timeout=2.0)

bool	isClass (uint8_t byte)

bool	parse (uint8_t byte)

void	configTimePulse (uint32_t period, unsigned length)

void	configMessageOutput (MessageClass mcl, MessageId mid, bool on_off=true)

void	interpret (void)

void	interpretPOSLLH (void)

void	interpretVELNED (void)

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

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

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)

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
SerialPort *	m_uart

int	m_iport

SMStates	m_fsm_state

int	m_done

uint8_t	m_cka

uint8_t	m_ckb

Packet	m_packet

IMC::GpsNavData	m_navdata

Arguments	m_args

unsigned	m_pps_cal_itr

IMC::Pulse	m_pulse

double	m_next_pps

Static Public Attributes
static const unsigned	c_pps_cal_itr

Additional Inherited Members
Public Types inherited from DUNE::Concurrency::Runnable
enum	State { StateStarting, StateRunning, StateStopping, StateDead, StateUnknown }

Static Public Member Functions inherited from DUNE::Concurrency::Thread
static unsigned	native (void)

Protected Member Functions inherited from DUNE::Tasks::Task
const char *	getEntityLabel (void) const

void	setEntityLabel (const std::string &label)

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)

unsigned int	resolveEntity (const std::string &label) const

std::string	resolveEntity (unsigned int id) const

bool	stopping (void)

bool	isActive (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 >
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 void	onEntityReservation (void)

virtual void	onEntityResolution (void)

virtual void	onReportEntityState (void)

virtual void	onUpdateParameters (void)

virtual void	onRequestActivation (void)

virtual void	onRequestDeactivation (void)

virtual void	onActivation (void)

virtual void	onDeactivation (void)

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

Constructor & Destructor Documentation

Sensors::Antaris4::Task::Task	(	const std::string &	name,
		Tasks::Context &	ctx
	)

inline

References DUNE::Tasks::Parameter::defaultValue(), Sensors::Antaris4::Arguments::iport, m_args, DUNE::Tasks::Task::param(), Sensors::Antaris4::Arguments::pulse_tol_cal, Sensors::Antaris4::Arguments::pulse_tol_run, Sensors::Antaris4::Arguments::uart_baud, Sensors::Antaris4::Arguments::uart_dev, and DUNE::Tasks::Parameter::units().

Sensors::Antaris4::Task::~Task ( void )

inlinevirtual

Destructor.

Reimplemented from DUNE::Tasks::Task.

References onResourceRelease().

Member Function Documentation

void Sensors::Antaris4::Task::configMessageOutput	(	MessageClass	mcl,
		MessageId	mid,
		bool	on_off = `true`
	)

inline

References Sensors::Antaris4::Arguments::iport, m_args, Sensors::Antaris4::MC_CFG, Sensors::Antaris4::MI_CFG_MSG, and sendMessageWithRetry().

Referenced by onResourceInitialization().

void Sensors::Antaris4::Task::configTimePulse	(	uint32_t	period,
		unsigned	length
	)

inline

References DUNE::Tasks::Task::dispatch(), Sensors::Antaris4::MC_CFG, Sensors::Antaris4::MI_CFG_TP, and sendMessageWithRetry().

Referenced by consume(), and onResourceInitialization().

void Sensors::Antaris4::Task::consume ( const IMC::Pulse * msg )

inline

References c_pps_cal_itr, configTimePulse(), DUNE::Tasks::Task::inf(), m_args, m_next_pps, m_pps_cal_itr, m_pulse, Sensors::Antaris4::Arguments::pulse_tol_cal, and Sensors::Antaris4::Arguments::pulse_tol_run.

void Sensors::Antaris4::Task::interpret ( void )

inline

References interpretPOSLLH(), interpretVELNED(), m_packet, Sensors::Antaris4::MC_NAV, Sensors::Antaris4::Packet::mclass, Sensors::Antaris4::MI_NAV_POS_LLH, Sensors::Antaris4::MI_NAV_VEL_NED, and Sensors::Antaris4::Packet::mid.

Referenced by onMain().

void Sensors::Antaris4::Task::interpretPOSLLH ( void )

inline

References m_navdata, m_packet, and Sensors::Antaris4::Packet::payload.

Referenced by interpret().

void Sensors::Antaris4::Task::interpretVELNED ( void )

inline

References c_pps_cal_itr, DUNE::Tasks::Task::dispatch(), m_navdata, m_packet, m_pps_cal_itr, m_pulse, and Sensors::Antaris4::Packet::payload.

Referenced by interpret().

bool Sensors::Antaris4::Task::isClass ( uint8_t byte )

inline

References Sensors::Antaris4::MC_ACK, Sensors::Antaris4::MC_AID, Sensors::Antaris4::MC_CFG, Sensors::Antaris4::MC_INF, Sensors::Antaris4::MC_MON, Sensors::Antaris4::MC_NAV, Sensors::Antaris4::MC_RXM, Sensors::Antaris4::MC_TIM, and Sensors::Antaris4::MC_UPD.

Referenced by parse().

void Sensors::Antaris4::Task::onMain ( void )

inlinevirtual

Implements DUNE::Tasks::Task.

References DUNE::Tasks::Task::consumeMessages(), interpret(), m_uart, parse(), and DUNE::Tasks::Task::stopping().

void Sensors::Antaris4::Task::onResourceAcquisition ( void )

inlinevirtual

Called when the task is instructed to acquire resources whose configuration is defined by run-time parameters.

Reimplemented from DUNE::Tasks::Task.

References m_args, m_uart, Sensors::Antaris4::Arguments::uart_baud, and Sensors::Antaris4::Arguments::uart_dev.

void Sensors::Antaris4::Task::onResourceInitialization ( void )

inlinevirtual

Called when the task is instructed to initialize resources acquired previously or whose initialization depends on run-time parameters.

Reimplemented from DUNE::Tasks::Task.

References configMessageOutput(), configTimePulse(), DUNE::Tasks::Task::inf(), Sensors::Antaris4::Arguments::iport, m_args, Sensors::Antaris4::MC_CFG, Sensors::Antaris4::MC_NAV, Sensors::Antaris4::MI_CFG_PRT, Sensors::Antaris4::MI_NAV_POS_LLH, Sensors::Antaris4::MI_NAV_VEL_NED, and sendMessageWithRetry().

void Sensors::Antaris4::Task::onResourceRelease ( void )

inlinevirtual

Called when the task is instructed to release resources.

Derived classes that override this function must not assume that any resource was previously acquired. This function must be implemented in such a way that it can be called at any time.

Reimplemented from DUNE::Tasks::Task.

References m_uart.

Referenced by ~Task().