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

void	onResourceAcquisition (void)

void	onResourceRelease (void)

void	onUpdateParameters (void)

void	onResourceInitialization (void)

bool	consumeResult (Results value)

void	addResult (Results value)

void	setAndSendState (EntityStates state)

void	onEntityResolution (void)

void	onReportEntityState (void)

unsigned	channelToFrequency (unsigned channel)

void	handleConfigParam (std::auto_ptr< NMEAReader > &stn)

void	handleMiniPacket (std::auto_ptr< NMEAReader > &stn)

void	handleTransponderTravelTimes (std::auto_ptr< NMEAReader > &stn)

void	processInput (double timeout=c_cmd_reply_tout)

void	ping (void)

void	fullAcousticReport (void)

void	consume (const IMC::LblConfig *msg)

void	consume (const IMC::QueryEntityState *msg)

void	consume (const IMC::SoundSpeed *msg)

void	consume (const IMC::EstimatedState *msg)

void	consume (const IMC::VehicleMedium *msg)

void	consume (const IMC::PlanControlState *msg)

void	consume (const IMC::FuelLevel *msg)

void	reportRanges (double now)

void	configureModem (const std::string &code, const std::string &parameter, const unsigned value)

void	sendDelayedCommand (const std::string &cmd, double delay_bef, double delay_aft)

void	sendCommand (const std::string &cmd)

void	logCommand (const std::string &cmd)

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::vector< Beacon >	m_beacons

SerialPort *	m_uart

IMC::LblRange	m_range

IMC::LblDetection	m_detect

IMC::EntityState	m_states [STA_MAX]

IMC::DevDataText	m_cmds

char	m_bfr [c_bfr_size]

Arguments	m_args

EntityStates	m_state

unsigned	m_addr

unsigned	m_result

double	m_last_input

double	m_sound_speed

int	m_sound_speed_eid

IMC::EstimatedState	m_estate

Counter< double >	m_report_timer

bool	m_stop_comms

float	m_progress

float	m_fuel_level

float	m_fuel_conf

Static Public Attributes
static const unsigned	c_plan_addr

static const int	c_bfr_size

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	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

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

inline

Member Function Documentation

void Sensors::MLBL::Task::addResult ( Results value )

inline

References m_result.

Referenced by handleConfigParam(), handleTransponderTravelTimes(), and processInput().

unsigned Sensors::MLBL::Task::channelToFrequency ( unsigned channel )

inline

Referenced by consume().

void Sensors::MLBL::Task::configureModem	(	const std::string &	code,
		const std::string &	parameter,
		const unsigned	value
	)

inline

Configure a modem parameter.

Parameters

[in]	code	NMEA code of the message to be transmitted.
[in]	parameter	modem parameter to be configured.
[in]	value	new configuration value.

References processInput(), and sendCommand().

Referenced by onResourceInitialization().

void Sensors::MLBL::Task::consume ( const IMC::LblConfig * msg )

inline

void Sensors::MLBL::Task::consume ( const IMC::QueryEntityState * msg )

inline

References onReportEntityState().

void Sensors::MLBL::Task::consume ( const IMC::SoundSpeed * msg )

inline

References m_sound_speed, and m_sound_speed_eid.

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

inline

References m_estate.

void Sensors::MLBL::Task::consume ( const IMC::VehicleMedium * msg )

inline

References m_args, m_stop_comms, and Sensors::MLBL::Arguments::only_underwater.

void Sensors::MLBL::Task::consume ( const IMC::PlanControlState * msg )

inline

References m_progress.

void Sensors::MLBL::Task::consume ( const IMC::FuelLevel * msg )

inline

References m_fuel_conf, and m_fuel_level.

bool Sensors::MLBL::Task::consumeResult ( Results value )

inline

References m_result.

Referenced by handleMiniPacket(), onResourceInitialization(), ping(), and reportRanges().

void Sensors::MLBL::Task::fullAcousticReport ( void )

inline

References DUNE::Tasks::Task::consumeMessages(), Sensors::MLBL::Arguments::good_range_age, m_addr, m_args, m_beacons, m_estate, m_fuel_conf, m_fuel_level, m_progress, and sendCommand().

Referenced by onMain().

void Sensors::MLBL::Task::handleConfigParam ( std::auto_ptr< NMEAReader > & stn )

inline

References addResult(), m_addr, m_args, Sensors::MLBL::RS_CTO_ACKD, Sensors::MLBL::RS_NRV_ACKD, Sensors::MLBL::RS_SRC_ACKD, Sensors::MLBL::RS_TAT_ACKD, Sensors::MLBL::RS_XST_ACKD, and Sensors::MLBL::Arguments::turn_around_time.

Referenced by processInput().

void Sensors::MLBL::Task::handleMiniPacket ( std::auto_ptr< NMEAReader > & stn )

inline

References c_plan_addr, consumeResult(), DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::err(), DUNE::Tasks::Task::getSystemId(), DUNE::Tasks::Task::inf(), m_addr, m_args, Sensors::MLBL::Arguments::mpk_delay_aft, Sensors::MLBL::Arguments::mpk_delay_bef, Sensors::MLBL::RS_MPK_ACKD, Sensors::MLBL::RS_MPK_SENT, Sensors::MLBL::RS_MPK_STAR, sendDelayedCommand(), and DUNE::Tasks::Task::war().

Referenced by processInput().

void Sensors::MLBL::Task::handleTransponderTravelTimes ( std::auto_ptr< NMEAReader > & stn )

inline

References addResult(), DUNE::Tasks::Task::dispatch(), m_beacons, m_detect, m_range, m_sound_speed, Sensors::MLBL::RS_PNG_TIME, and DUNE::Tasks::Task::war().

Referenced by processInput().

void Sensors::MLBL::Task::logCommand ( const std::string & cmd )

inline

Log NMEA message.

Parameters

[in] cmd NMEA message to be logged.

References DUNE::Tasks::Task::dispatch(), and m_cmds.

Referenced by sendCommand().

void Sensors::MLBL::Task::onEntityResolution ( void )

inlinevirtual

Called when the task is instructed to resolve all the entity identifiers it needs for normal execution.

See resolveEntity(). Derived classes that need to resolve entity identifiers should override this function.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Tasks::Task::inf(), m_args, m_sound_speed, m_sound_speed_eid, DUNE::Tasks::Task::resolveEntity(), Sensors::MLBL::Arguments::sound_speed_def, and Sensors::MLBL::Arguments::sound_speed_elabel.

void Sensors::MLBL::Task::onMain ( void )

inlinevirtual

Implements DUNE::Tasks::Task.

References fullAcousticReport(), DUNE::Tasks::Task::isActive(), m_args, m_beacons, m_last_input, m_report_timer, m_state, m_stop_comms, DUNE::Time::Counter< T >::overflow(), ping(), processInput(), Sensors::MLBL::Arguments::report, reportRanges(), DUNE::Time::Counter< T >::reset(), Sensors::MLBL::STA_ERR_COM, DUNE::Tasks::Task::stopping(), and DUNE::Tasks::Task::waitForMessages().

void Sensors::MLBL::Task::onReportEntityState ( void )

inlinevirtual

Called when the task is instructed to report the state of its entities.

Derived classes that need to report the state of entities other than the main entity should override this function to dispatch the EntityState of those entities.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Tasks::Task::dispatch(), m_state, and m_states.

Referenced by consume().

void Sensors::MLBL::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_args, m_uart, setAndSendState(), Sensors::MLBL::STA_BOOT, Sensors::MLBL::Arguments::uart_baud, and Sensors::MLBL::Arguments::uart_dev.

void Sensors::MLBL::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::Context::config, configureModem(), consumeResult(), DUNE::Parsers::Config::get(), DUNE::Tasks::Task::getSystemName(), m_addr, m_args, m_beacons, DUNE::Tasks::Task::m_ctx, m_state, m_states, Sensors::MLBL::RS_CTO_ACKD, Sensors::MLBL::RS_NRV_ACKD, Sensors::MLBL::RS_SRC_ACKD, Sensors::MLBL::RS_TAT_ACKD, Sensors::MLBL::RS_XST_ACKD, setAndSendState(), Sensors::MLBL::STA_ERR_SRC, Sensors::MLBL::STA_ERR_STP, Sensors::MLBL::STA_IDLE, Sensors::MLBL::STA_NO_BEACONS, and Sensors::MLBL::Arguments::turn_around_time.

void Sensors::MLBL::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_uart.

void Sensors::MLBL::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 m_args, m_report_timer, m_sound_speed, Sensors::MLBL::Arguments::report_period, DUNE::Time::Counter< T >::setTop(), and Sensors::MLBL::Arguments::sound_speed_def.