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

void	onUpdateParameters (void)

	~Task (void)

void	onResourceAcquisition (void)

void	onResourceRelease (void)

void	onResourceInitialization (void)

void	onActivation (void)

void	onDeactivation (void)

bool	setTriggerFrequency (uint16_t frequency)

bool	setPower (bool on)

int32_t	read24b (const uint8_t *data)

bool	decodeFrame (const uint8_t *bfr, unsigned bfr_len)

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
Matrix	m_rotation

Matrix	m_data

IMC::EulerAnglesDelta	m_edelta

IMC::VelocityDelta	m_vdelta

Counter< float >	m_wdog

double	m_imu_time

Hardware::ESCC *	m_imu_escc

Hardware::ESCC *	m_psu_escc

UCTK::Interface *	m_psu_ctl

uint16_t	m_sta_fail

uint16_t	m_sta_imu

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	onRequestActivation (void)

virtual void	onRequestDeactivation (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::IFOG::Task::Task	(	const std::string &	name,
		Tasks::Context &	ctx
	)

inline

References DUNE::Tasks::Parameter::defaultValue(), Sensors::IFOG::Arguments::imu_dev, Sensors::IFOG::Arguments::input_tout, m_args, m_data, DUNE::Tasks::Task::param(), DUNE::Tasks::Task::paramActive(), Sensors::IFOG::Arguments::psu_dev, DUNE::Math::Matrix::resize(), Sensors::IFOG::Arguments::rotation_mx, Sensors::IFOG::Arguments::trigger_frq, and DUNE::Tasks::Parameter::units().

Sensors::IFOG::Task::~Task ( void )

inlinevirtual

Destructor.

Reimplemented from DUNE::Tasks::Task.

References onResourceRelease().

Member Function Documentation

bool Sensors::IFOG::Task::decodeFrame	(	const uint8_t *	bfr,
		unsigned	bfr_len
	)

inline

References DUNE::Tasks::Task::dispatch(), m_edelta, m_sta_fail, m_sta_imu, m_vdelta, Sensors::IFOG::OFF_ANG_INC0, Sensors::IFOG::OFF_ANG_INC1, Sensors::IFOG::OFF_ANG_INC2, Sensors::IFOG::OFF_STA_FAIL, Sensors::IFOG::OFF_STA_IMU, Sensors::IFOG::OFF_VEL_INC0, Sensors::IFOG::OFF_VEL_INC1, Sensors::IFOG::OFF_VEL_INC2, and read24b().

Referenced by onMain().

void Sensors::IFOG::Task::onActivation ( void )

inlinevirtual

Called when the task starts/resumes normal execution.

Reimplemented from DUNE::Tasks::Task.

References setPower().

void Sensors::IFOG::Task::onDeactivation ( void )

inlinevirtual

Called when the task stops normal execution and enters an idleness state.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Tasks::Task::setEntityState(), and setPower().

void Sensors::IFOG::Task::onMain ( void )

inlinevirtual

Implements DUNE::Tasks::Task.

References DUNE::Tasks::Task::consumeMessages(), decodeFrame(), DUNE::Tasks::Task::isActive(), m_imu_escc, m_sta_fail, m_sta_imu, m_wdog, DUNE::Time::Counter< T >::overflow(), DUNE::Time::Counter< T >::reset(), DUNE::Tasks::Task::setEntityState(), DUNE::Tasks::Task::stopping(), and DUNE::Tasks::Task::waitForMessages().

void Sensors::IFOG::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 Sensors::IFOG::Arguments::imu_dev, DUNE::Tasks::Task::inf(), m_args, m_imu_escc, m_psu_ctl, m_psu_escc, Sensors::IFOG::Arguments::psu_dev, and DUNE::Tasks::Task::war().

void Sensors::IFOG::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 Sensors::IFOG::Arguments::input_tout, m_args, m_wdog, DUNE::Tasks::Task::setEntityState(), DUNE::Time::Counter< T >::setTop(), setTriggerFrequency(), and Sensors::IFOG::Arguments::trigger_frq.

void Sensors::IFOG::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_imu_escc, m_psu_ctl, m_psu_escc, and setPower().

Referenced by ~Task().

void Sensors::IFOG::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::Math::Matrix::fill(), m_args, m_edelta, m_rotation, Sensors::IFOG::Arguments::rotation_mx, and Sensors::IFOG::Arguments::trigger_frq.