Sensors::Edgetech2205::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onUpdateParameters (void)
void	onResourceRelease (void)
void	onResourceInitialization (void)
void	onRequestActivation (void)
void	onActivation (void)
void	onRequestDeactivation (void)
void	onDeactivation (void)
void	consume (const IMC::EstimatedState *msg)
void	consume (const IMC::LoggingControl *msg)
void	setConfig (void)
void	setDataActive (SubsystemId subsys, const std::string &channels)
void	setPing (SubsystemId subsys, const std::string &channels)
void	handleSonarData (Packet *pkt)
void	handle (Packet *pkt)
bool	readData (void)
void	checkActivationProgress (void)
void	checkDeactivationProgress (void)
void	openLog (const Path &path)
void	writeToLog (const Packet *pkt)
void	closeLog (void)
void	onMain (void)

Static Public Member Functions
static void	convertPositionToJSF (const IMC::EstimatedState &estate, int32_t &lat, int32_t &lon)
static void	convertTimeToJSF (int64_t msec, uint32_t &sec, uint32_t &msec_today)
static void	convertTimeFromJSF (int64_t &msec, uint32_t sec, uint32_t msec_today)

Public Attributes
TCPSocket *	m_sock_dat
std::vector< uint8_t >	m_bfr
Parser	m_parser
CommandLink *	m_cmd
std::ofstream	m_log_file
Path	m_log_path
int64_t	m_time_diff
IMC::EstimatedState	m_estate
IMC::PowerChannelControl	m_pwr_ss
Arguments	m_args
bool	m_activating
bool	m_deactivating
bool	m_first_shot
Counter< double >	m_countdown

Static Public Attributes
static const unsigned	c_buffer_size

Constructor & Destructor Documentation

Sensors::Edgetech2205::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Sensors::Edgetech2205::Arguments::addr, Sensors::Edgetech2205::Arguments::autosel_mode, c_buffer_size, Sensors::Edgetech2205::Arguments::channels_hf, Sensors::Edgetech2205::Arguments::channels_lf, m_args, m_bfr, m_pwr_ss, Sensors::Edgetech2205::Arguments::port_cmd, Sensors::Edgetech2205::Arguments::port_dat, Sensors::Edgetech2205::Arguments::pwr_ss, Sensors::Edgetech2205::Arguments::range_hf, Sensors::Edgetech2205::Arguments::range_lf, and Sensors::Edgetech2205::Arguments::trg_div.

Member Function Documentation

void Sensors::Edgetech2205::Task::checkActivationProgress ( void  )

inline

References Sensors::Edgetech2205::Arguments::addr, DUNE::Time::Counter< T >::getElapsed(), m_activating, m_args, m_cmd, m_countdown, m_pwr_ss, DUNE::Time::Counter< T >::overflow(), and Sensors::Edgetech2205::Arguments::port_cmd.

Referenced by onMain().

void Sensors::Edgetech2205::Task::checkDeactivationProgress ( void  )

inline

References m_countdown, and DUNE::Time::Counter< T >::overflow().

Referenced by onMain().

void Sensors::Edgetech2205::Task::closeLog ( void  )

inline

References m_log_file, and m_log_path.

Referenced by consume(), onRequestDeactivation(), onResourceRelease(), and openLog().

void Sensors::Edgetech2205::Task::consume ( const IMC::EstimatedState *  msg )

inline

References m_estate.

void Sensors::Edgetech2205::Task::consume ( const IMC::LoggingControl *  msg )

inline

References closeLog(), and openLog().

static void Sensors::Edgetech2205::Task::convertPositionToJSF ( const IMC::EstimatedState &  estate, int32_t &  lat, int32_t &  lon  )

inlinestatic

Referenced by handleSonarData().

static void Sensors::Edgetech2205::Task::convertTimeFromJSF ( int64_t &  msec, uint32_t  sec, uint32_t  msec_today  )

inlinestatic

Referenced by handleSonarData().

static void Sensors::Edgetech2205::Task::convertTimeToJSF ( int64_t  msec, uint32_t &  sec, uint32_t &  msec_today  )

inlinestatic

Referenced by handleSonarData().

void Sensors::Edgetech2205::Task::handle ( Packet *  pkt )

inline

References Sensors::Edgetech2205::Packet::getMessageType(), handleSonarData(), m_first_shot, Sensors::Edgetech2205::MSG_ID_SONAR_DATA, and writeToLog().

Referenced by readData().

void Sensors::Edgetech2205::Task::handleSonarData ( Packet *  pkt )

inline

References convertPositionToJSF(), convertTimeFromJSF(), convertTimeToJSF(), Sensors::Edgetech2205::Packet::get(), m_estate, m_time_diff, Sensors::Edgetech2205::SDATA_IDX_ALTITUDE, Sensors::Edgetech2205::SDATA_IDX_COORDINATE_UNITS, Sensors::Edgetech2205::SDATA_IDX_COURSE, Sensors::Edgetech2205::SDATA_IDX_CPU_DAY, Sensors::Edgetech2205::SDATA_IDX_CPU_HOUR, Sensors::Edgetech2205::SDATA_IDX_CPU_MINUTES, Sensors::Edgetech2205::SDATA_IDX_CPU_SECONDS, Sensors::Edgetech2205::SDATA_IDX_CPU_TIME_BASIS, Sensors::Edgetech2205::SDATA_IDX_CPU_YEAR, Sensors::Edgetech2205::SDATA_IDX_DEPTH, Sensors::Edgetech2205::SDATA_IDX_HEADING, Sensors::Edgetech2205::SDATA_IDX_LATITUDE, Sensors::Edgetech2205::SDATA_IDX_LONGITUDE, Sensors::Edgetech2205::SDATA_IDX_MILLISECOND_TODAY, Sensors::Edgetech2205::SDATA_IDX_NMEA_HOUR, Sensors::Edgetech2205::SDATA_IDX_NMEA_MINUTES, Sensors::Edgetech2205::SDATA_IDX_NMEA_SECONDS, Sensors::Edgetech2205::SDATA_IDX_PITCH, Sensors::Edgetech2205::SDATA_IDX_ROLL, Sensors::Edgetech2205::SDATA_IDX_SPEED, Sensors::Edgetech2205::SDATA_IDX_TIME, Sensors::Edgetech2205::SDATA_IDX_VALIDITY, and Sensors::Edgetech2205::Packet::set().

Referenced by handle().

void Sensors::Edgetech2205::Task::onActivation ( void  )

inline

References Sensors::Edgetech2205::Arguments::addr, m_activating, m_args, m_cmd, m_sock_dat, Sensors::Edgetech2205::Arguments::port_dat, setConfig(), Sensors::Edgetech2205::CommandLink::setPingTrigger(), Sensors::Edgetech2205::SUBSYS_SSH, Sensors::Edgetech2205::SUBSYS_SSL, and Sensors::Edgetech2205::TRIG_MODE_INTERNAL.

void Sensors::Edgetech2205::Task::onDeactivation ( void  )

inline

References m_deactivating, and m_pwr_ss.

void Sensors::Edgetech2205::Task::onMain ( void  )

inline

References checkActivationProgress(), checkDeactivationProgress(), Sensors::Edgetech2205::CommandLink::estimateTimeDifference(), m_activating, m_cmd, m_deactivating, m_sock_dat, m_time_diff, and readData().

void Sensors::Edgetech2205::Task::onRequestActivation ( void  )

inline

References m_activating, m_countdown, m_pwr_ss, and DUNE::Time::Counter< T >::setTop().

void Sensors::Edgetech2205::Task::onRequestDeactivation ( void  )

inline

References closeLog(), m_cmd, m_countdown, m_deactivating, m_first_shot, m_sock_dat, setDataActive(), setPing(), DUNE::Time::Counter< T >::setTop(), Sensors::Edgetech2205::CommandLink::shutdown(), Sensors::Edgetech2205::SUBSYS_SSH, and Sensors::Edgetech2205::SUBSYS_SSL.

void Sensors::Edgetech2205::Task::onResourceInitialization ( void  )

inline

void Sensors::Edgetech2205::Task::onResourceRelease ( void  )

inline

References closeLog().

void Sensors::Edgetech2205::Task::onUpdateParameters ( void  )

inline

References Sensors::Edgetech2205::Arguments::addr, m_args, m_pwr_ss, Sensors::Edgetech2205::Arguments::port_cmd, Sensors::Edgetech2205::Arguments::port_dat, Sensors::Edgetech2205::Arguments::pwr_ss, and setConfig().

void Sensors::Edgetech2205::Task::openLog ( const Path &  path )

inline

References closeLog(), m_log_file, and m_log_path.

Referenced by consume().

bool Sensors::Edgetech2205::Task::readData ( void  )

inline

References Sensors::Edgetech2205::Parser::getPacket(), handle(), m_bfr, m_parser, m_sock_dat, and Sensors::Edgetech2205::Parser::parse().

Referenced by onMain().

void Sensors::Edgetech2205::Task::setConfig ( void  )

inline

References Sensors::Edgetech2205::Arguments::autosel_mode, Sensors::Edgetech2205::Arguments::channels_hf, Sensors::Edgetech2205::Arguments::channels_lf, m_args, m_cmd, Sensors::Edgetech2205::Arguments::range_hf, Sensors::Edgetech2205::Arguments::range_lf, setDataActive(), setPing(), Sensors::Edgetech2205::CommandLink::setPingAutoselectMode(), Sensors::Edgetech2205::CommandLink::setPingCoupling(), Sensors::Edgetech2205::CommandLink::setPingRange(), Sensors::Edgetech2205::CommandLink::setPingTrigger(), Sensors::Edgetech2205::SUBSYS_SSH, Sensors::Edgetech2205::SUBSYS_SSL, Sensors::Edgetech2205::Arguments::trg_div, Sensors::Edgetech2205::TRIG_MODE_COUPLED, and Sensors::Edgetech2205::TRIG_MODE_INTERNAL.

Referenced by onActivation(), and onUpdateParameters().

void Sensors::Edgetech2205::Task::setDataActive ( SubsystemId  subsys, const std::string &  channels  )

inline

References Sensors::Edgetech2205::CHAN_PORT, Sensors::Edgetech2205::CHAN_STARBOARD, m_cmd, and Sensors::Edgetech2205::CommandLink::setDataActive().

Referenced by onRequestDeactivation(), and setConfig().

void Sensors::Edgetech2205::Task::setPing ( SubsystemId  subsys, const std::string &  channels  )

inline

References m_cmd, and Sensors::Edgetech2205::CommandLink::setPing().

Referenced by onRequestDeactivation(), and setConfig().

void Sensors::Edgetech2205::Task::writeToLog ( const Packet *  pkt )

inline

References Sensors::Edgetech2205::Packet::getData(), Sensors::Edgetech2205::Packet::getSize(), and m_log_file.

Referenced by handle().

Member Data Documentation

const unsigned Sensors::Edgetech2205::Task::c_buffer_size

static

Buffer size.

Referenced by Task().

bool Sensors::Edgetech2205::Task::m_activating

True if task is activating.

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

Arguments Sensors::Edgetech2205::Task::m_args

Configuration parameters.

Referenced by checkActivationProgress(), onActivation(), onUpdateParameters(), setConfig(), and Task().

std::vector<uint8_t> Sensors::Edgetech2205::Task::m_bfr

Read buffer.

Referenced by readData(), and Task().

CommandLink* Sensors::Edgetech2205::Task::m_cmd

Command link.

Referenced by checkActivationProgress(), onActivation(), onMain(), onRequestDeactivation(), setConfig(), setDataActive(), and setPing().

Counter<double> Sensors::Edgetech2205::Task::m_countdown

Activation/deactivation timer.

Referenced by checkActivationProgress(), checkDeactivationProgress(), onRequestActivation(), and onRequestDeactivation().

bool Sensors::Edgetech2205::Task::m_deactivating

True if task is deactivating.

Referenced by onDeactivation(), onMain(), and onRequestDeactivation().

IMC::EstimatedState Sensors::Edgetech2205::Task::m_estate

Estimated state.

Referenced by consume(), and handleSonarData().

bool Sensors::Edgetech2205::Task::m_first_shot

True if first shot.

Referenced by handle(), and onRequestDeactivation().

std::ofstream Sensors::Edgetech2205::Task::m_log_file

Log file.

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

Path Sensors::Edgetech2205::Task::m_log_path

Log filename.

Referenced by closeLog(), and openLog().

Parser Sensors::Edgetech2205::Task::m_parser

Parser.

Referenced by readData().

IMC::PowerChannelControl Sensors::Edgetech2205::Task::m_pwr_ss

Power channel state.

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

TCPSocket* Sensors::Edgetech2205::Task::m_sock_dat

Data socket.

Referenced by onActivation(), onMain(), onRequestDeactivation(), and readData().

int64_t Sensors::Edgetech2205::Task::m_time_diff

Time difference.

Referenced by handleSonarData(), and onMain().

Collaboration diagram for Sensors::Edgetech2205::Task: