Transports::Iridium::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onResourceAcquisition (void)
void	onResourceInitialization (void)
void	onResourceRelease (void)
void	handleIridiumCommand (IridiumCommand *irCmd)
void	handleUpdates (std::vector< DevicePosition > positions)
void	consume (const IMC::IridiumMsgRx *msg)
void	consume (const IMC::PlanControlState *msg)
void	consume (const IMC::FuelLevel *msg)
void	consume (const IMC::VehicleState *msg)
void	consume (const IMC::Announce *msg)
void	consume (const IMC::IridiumTxStatus *msg)
bool	send_announce ()
bool	send_device_updates ()
void	onMain (void)
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)

Public Attributes
std::map< std::string, IMC::Announce >	m_last_announces
double	m_last_dev_update_time
double	m_last_announce_time
bool	m_update_pool_empty
bool	m_announce_pool_empty
int	m_dev_update_req_id
int	m_announce_req_id
IMC::FuelLevel	m_fuel_state
IMC::PlanControlState	m_plan_state
IMC::VehicleState	m_vehicle_state
Random::Generator *	m_rnd
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
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

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

inline

References Transports::Iridium::Arguments::delay_between_announces, Transports::Iridium::Arguments::delay_between_device_updates, m_args, Transports::Iridium::Arguments::max_age_secs, DUNE::Tasks::Task::param(), and DUNE::Tasks::Parameter::units().

Member Function Documentation

void Transports::Iridium::Task::consume ( const IMC::IridiumMsgRx *  msg )

inline

References DUNE::IMC::IridiumMessage::deserialize(), DUNE::Tasks::Task::dispatch(), DUNE::IMC::Message::getName(), DUNE::IMC::Message::getTimeStamp(), handleIridiumCommand(), handleUpdates(), DUNE::Tasks::Task::inf(), m_args, Transports::Iridium::Arguments::max_age_secs, DUNE::IMC::ImcIridiumMessage::msg, DUNE::IMC::IridiumMessage::msg_id, and DUNE::Tasks::Task::war().

void Transports::Iridium::Task::consume ( const IMC::PlanControlState *  msg )

inline

References m_plan_state.

void Transports::Iridium::Task::consume ( const IMC::FuelLevel *  msg )

inline

References m_fuel_state.

void Transports::Iridium::Task::consume ( const IMC::VehicleState *  msg )

inline

References m_vehicle_state.

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

inline

References m_last_announces.

void Transports::Iridium::Task::consume ( const IMC::IridiumTxStatus *  msg )

inline

References DUNE::Tasks::Task::debug(), m_announce_pool_empty, m_announce_req_id, m_dev_update_req_id, m_last_announce_time, m_last_dev_update_time, and m_update_pool_empty.

void Transports::Iridium::Task::handleIridiumCommand ( IridiumCommand *  irCmd )

inline

References DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::inf(), and DUNE::Tasks::Task::spew().

Referenced by consume().

void Transports::Iridium::Task::handleUpdates ( std::vector< DevicePosition >  positions )

inline

References DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::inf(), and DUNE::Tasks::Task::resolveSystemId().

Referenced by consume().

void Transports::Iridium::Task::onMain ( void  )

inlinevirtual

Implements DUNE::Tasks::Task.

References DUNE::Tasks::Task::consumeMessages(), DUNE::Tasks::Task::debug(), Transports::Iridium::Arguments::delay_between_announces, Transports::Iridium::Arguments::delay_between_device_updates, m_args, m_last_announce_time, m_last_dev_update_time, send_announce(), send_device_updates(), and DUNE::Tasks::Task::stopping().

void Transports::Iridium::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_rnd.

void Transports::Iridium::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 DUNE::Tasks::Task::dispatch(), and DUNE::Tasks::Task::setEntityState().

void Transports::Iridium::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_rnd.

bool Transports::Iridium::Task::send_announce ( )

inline

References DUNE::IMC::IridiumMsgTx::data, DUNE::Tasks::Task::debug(), DUNE::IMC::IridiumMessage::destination, DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::getSystemId(), DUNE::Tasks::Task::getSystemName(), m_announce_pool_empty, m_announce_req_id, m_fuel_state, m_last_announces, m_plan_state, m_rnd, m_vehicle_state, DUNE::Math::Random::Generator::random(), DUNE::IMC::IridiumMsgTx::req_id, DUNE::IMC::ImcIridiumMessage::serialize(), DUNE::IMC::Message::setTimeStamp(), DUNE::IMC::IridiumMessage::source, and DUNE::IMC::IridiumMsgTx::ttl.

Referenced by onMain().

bool Transports::Iridium::Task::send_device_updates ( )

inline

References DUNE::IMC::IridiumMsgTx::data, DUNE::Tasks::Task::debug(), DUNE::IMC::IridiumMessage::destination, DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::getSystemId(), m_dev_update_req_id, m_last_announces, m_rnd, m_update_pool_empty, DUNE::IMC::DeviceUpdate::positions, DUNE::Math::Random::Generator::random(), DUNE::IMC::IridiumMsgTx::req_id, DUNE::IMC::DeviceUpdate::serialize(), DUNE::IMC::Message::setTimeStamp(), DUNE::IMC::IridiumMessage::source, DUNE::Tasks::Task::spew(), DUNE::IMC::Message::toText(), and DUNE::IMC::IridiumMsgTx::ttl.

Referenced by onMain().

Member Data Documentation

bool Transports::Iridium::Task::m_announce_pool_empty

Referenced by consume(), and send_announce().

int Transports::Iridium::Task::m_announce_req_id

Referenced by consume(), and send_announce().

Arguments Transports::Iridium::Task::m_args

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

int Transports::Iridium::Task::m_dev_update_req_id

Referenced by consume(), and send_device_updates().

IMC::FuelLevel Transports::Iridium::Task::m_fuel_state

Referenced by consume(), and send_announce().

double Transports::Iridium::Task::m_last_announce_time

Referenced by consume(), and onMain().

std::map<std::string, IMC::Announce> Transports::Iridium::Task::m_last_announces

Referenced by consume(), send_announce(), and send_device_updates().

double Transports::Iridium::Task::m_last_dev_update_time

Referenced by consume(), and onMain().

IMC::PlanControlState Transports::Iridium::Task::m_plan_state

Referenced by consume(), and send_announce().

Random::Generator* Transports::Iridium::Task::m_rnd

Referenced by onResourceAcquisition(), onResourceRelease(), send_announce(), and send_device_updates().

bool Transports::Iridium::Task::m_update_pool_empty

Referenced by consume(), and send_device_updates().

IMC::VehicleState Transports::Iridium::Task::m_vehicle_state

Referenced by consume(), and send_announce().

Collaboration diagram for Transports::Iridium::Task: