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

	~Task (void)

void	onUpdateParameters (void)

void	onResourceAcquisition (void)

void	onResourceRelease (void)

void	consume (const IMC::Message *msg)

void	consume (const IMC::Announce *msg)

void	refreshContacts (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)

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
uint8_t *	m_bfr

UDPSocket	m_sock

std::set< NodeAddress >	m_static_dsts

std::map< uint32_t, double >	m_rates_per_id

std::map< uint32_t, RateInfo >	m_rates

NodeTable	m_node_table

Arguments	m_args

bool	m_comm_limitations

bool	m_underwater_comms

Listener *	m_listener

Time::Counter< float >	m_contacts_refresh_counter

LimitedComms *	m_lcomms

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
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	onResourceInitialization (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

Transports::UDP::Task::Task	(	const std::string &	name,
		Tasks::Context &	ctx
	)

inline

Transports::UDP::Task::~Task ( void )

inlinevirtual

Destructor.

Reimplemented from DUNE::Tasks::Task.

References m_bfr.

Member Function Documentation

void Transports::UDP::Task::consume ( const IMC::Message * msg )

inline

References Transports::UDP::NodeTable::getActiveCount(), Transports::UDP::LimitedComms::isActive(), m_args, m_bfr, m_lcomms, m_node_table, m_rates, m_rates_per_id, m_sock, m_static_dsts, Transports::UDP::NodeTable::send(), Transports::UDP::LimitedComms::setMyEstimatedState(), and Transports::UDP::Arguments::trace_out.

void Transports::UDP::Task::consume ( const IMC::Announce * msg )

inline

References Transports::UDP::NodeTable::addNode(), m_lcomms, m_node_table, and Transports::UDP::LimitedComms::setAnnounce().

void Transports::UDP::Task::onMain ( void )

inlinevirtual

Implements DUNE::Tasks::Task.

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

void Transports::UDP::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 Transports::UDP::Arguments::announce_service, Transports::UDP::Arguments::comm_range, Transports::UDP::Arguments::contact_timeout, DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::getSystemId(), DUNE::Tasks::Task::inf(), m_args, m_comm_limitations, m_lcomms, m_listener, m_node_table, m_sock, Transports::UDP::Arguments::port, Transports::UDP::LimitedComms::setActive(), DUNE::Tasks::Task::setEntityState(), Transports::UDP::NodeTable::setLimitedComms(), Transports::UDP::Arguments::trace_in, and DUNE::Tasks::Task::war().

void Transports::UDP::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_lcomms, and m_listener.

void Transports::UDP::Task::onUpdateParameters ( void )

inlinevirtual

Called when the task is instructed to update its run-time parameters.

Derived classes that need to compute auxiliary values based on run-time parameters should override this function.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Tasks::Task::bind(), Transports::UDP::Arguments::comm_range, Transports::UDP::Arguments::contact_refresh_per, DUNE::Tasks::Task::debug(), Transports::UDP::Arguments::destinations, DUNE::Tasks::Profiles::isSelected(), m_args, m_comm_limitations, m_contacts_refresh_counter, DUNE::Tasks::Task::m_ctx, m_rates, m_rates_per_id, m_static_dsts, m_underwater_comms, Transports::UDP::Arguments::messages, DUNE::Tasks::Context::profiles, Transports::UDP::Arguments::rate_lims, and Transports::UDP::Arguments::underwater_comms.