DUNE::Tasks::Periodic Class Reference

Detailed Description

Periodic task.

Public Member Functions
	Periodic (const std::string &name, Context &ctx)
virtual	~Periodic (void)
void	setFrequency (double freq)
double	getFrequency (void) const
double	getRunTime (void) const
unsigned	getRunCount (void) const
virtual void	task (void)=0
Public Member Functions inherited from DUNE::Tasks::Task
	Task (const std::string &name, Context &context)
virtual	~Task (void)
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)

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	onResourceAcquisition (void)
virtual void	onResourceRelease (void)
virtual void	onResourceInitialization (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

DUNE::Tasks::Periodic::Periodic	(	const std::string &	name,
		Context &	ctx
	)

Constructor.

References DUNE::Tasks::Task::param(), and DUNE::Tasks::Parameter::units().

virtual DUNE::Tasks::Periodic::~Periodic ( void  )

inlinevirtual

Destructor.

Member Function Documentation

double DUNE::Tasks::Periodic::getFrequency ( void  ) const

inline

Get frequency of the task.

The frequency of a task might change when configuration parameters are updated.

Returns

task frequency in Hertz.

Referenced by Maneuver::VehicleFormation::FormCollAvoid::Task::onResourceAcquisition(), and Navigation::AUV::Navigation::Task::onUpdateParameters().

unsigned DUNE::Tasks::Periodic::getRunCount ( void  ) const

inline

Retrieve the number of times the task ran.

Returns

run count.

Referenced by Vision::FrameGrabber::Task::task().

double DUNE::Tasks::Periodic::getRunTime ( void  ) const

inline

Retrieve the time of the last run (monotonic clock).

Returns

time of last run.

void DUNE::Tasks::Periodic::setFrequency ( double  freq )

inline

Set the task frequency programmatically.

The frequency of a task might change when configuration parameters are updated.

Parameters

freq	task frequency in Hertz.

Referenced by Vision::FrameGrabber::Task::consume().

virtual void DUNE::Tasks::Periodic::task ( void  )

pure virtual

The task to be executed on each cycle.

Implemented in Maneuver::VehicleFormation::FormCollAvoid::Task, Monitors::FuelLevel::Task, Simulators::UAV::Task, Supervisors::Vehicle::Task, Sensors::Microstrain3DMGX3::Task, Navigation::AUV::SGNavigation::Task, Monitors::OperationalLimits::Task, Supervisors::AUV::LostComms::Task, Navigation::General::ROV::Task, Monitors::Medium::Task, Navigation::AUV::Navigation::Task, Monitors::Emergency::Task, Sensors::EmulatedGPS::Task, Sensors::AIM104MultiIO::Task, Supervisors::Entities::Task, Vision::FrameGrabber::Task, Sensors::SW100::Task, Simulators::UAVAutopilot::Task, Supervisors::UAV::LostComms::Task, and Monitors::CPU::Task.

Collaboration diagram for DUNE::Tasks::Periodic: