Vision::Lumenera::Task Struct Reference

Detailed Description

Device driver task.

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onResourceAcquisition (void)
void	onResourceRelease (void)
void	consume (const IMC::LoggingControl *msg)
void	onRequestActivation (void)
void	checkActivation (void)
void	onActivation (void)
void	onDeactivation (void)
void	setStrobePower (bool value)
void	startVideo (void)
void	stopVideo (void)
void	captureFrame (ByteBuffer &dst, double timeout=2.0)
void	setProperty (std::string property, std::string value)
void	getProperty (std::string property, std::string &value)
void	setProperties (void)
void	changeVolume (void)
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
Arguments	m_args
HTTPClient *	m_http
std::string	m_boundary
Path	m_log_dir
Path	m_volume
unsigned	m_volume_count
unsigned	m_file_count
double	m_timestamp
bool	m_activating
Hardware::GPIO *	m_pwr_gpio

Static Public Attributes
static const unsigned	c_port

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	onResourceInitialization (void)
virtual void	onUpdateParameters (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

Vision::Lumenera::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Vision::Lumenera::Arguments::address, Vision::Lumenera::Arguments::auto_exposure, Vision::Lumenera::Arguments::auto_gain, Vision::Lumenera::Arguments::auto_whitebalance, DUNE::Tasks::Parameter::defaultValue(), DUNE::Tasks::Parameter::description(), Vision::Lumenera::Arguments::exposure_knee, Vision::Lumenera::Arguments::exposure_max, Vision::Lumenera::Arguments::exposure_value, Vision::Lumenera::Arguments::fps, Vision::Lumenera::Arguments::gain_blue, Vision::Lumenera::Arguments::gain_green, Vision::Lumenera::Arguments::gain_knee, Vision::Lumenera::Arguments::gain_max, Vision::Lumenera::Arguments::gain_red, Vision::Lumenera::Arguments::gain_value, Vision::Lumenera::Arguments::gamma, m_args, Vision::Lumenera::Arguments::median_filter, DUNE::Tasks::Task::param(), DUNE::Tasks::Task::paramActive(), Vision::Lumenera::Arguments::pwr_gpio, Vision::Lumenera::Arguments::strobe, Vision::Lumenera::Arguments::strobe_pwr, and Vision::Lumenera::Arguments::volume_size.

Member Function Documentation

void Vision::Lumenera::Task::captureFrame ( ByteBuffer &  dst, double  timeout = 2.0  )

inline

References Vision::Lumenera::HTTPClient::getBinary(), Vision::Lumenera::HTTPClient::getHeader(), m_boundary, m_http, m_timestamp, Vision::Lumenera::HTTPClient::skipToBoundary(), and DUNE::Tasks::Task::spew().

Referenced by onMain().

void Vision::Lumenera::Task::changeVolume ( void  )

inline

References m_log_dir, m_volume, and m_volume_count.

Referenced by onActivation(), and onMain().

void Vision::Lumenera::Task::checkActivation ( void  )

inline

References DUNE::Tasks::Task::activate(), DUNE::Tasks::Task::err(), m_activating, and setProperties().

Referenced by onMain().

void Vision::Lumenera::Task::consume ( const IMC::LoggingControl *  msg )

inline

References DUNE::Tasks::Context::dir_log, DUNE::Tasks::Task::getSystemId(), m_activating, DUNE::Tasks::Task::m_ctx, and m_log_dir.

void Vision::Lumenera::Task::getProperty ( std::string  property, std::string &  value  )

inline

References Vision::Lumenera::Arguments::address, c_port, Vision::Lumenera::HTTPClient::getHeader(), and m_args.

void Vision::Lumenera::Task::onActivation ( void  )

inlinevirtual

Called when the task starts/resumes normal execution.

Reimplemented from DUNE::Tasks::Task.

References changeVolume(), m_activating, m_file_count, m_volume_count, DUNE::Tasks::Task::setEntityState(), and setStrobePower().

void Vision::Lumenera::Task::onDeactivation ( void  )

inlinevirtual

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

Reimplemented from DUNE::Tasks::Task.

References m_pwr_gpio, DUNE::Tasks::Task::setEntityState(), and setStrobePower().

void Vision::Lumenera::Task::onMain ( void  )

inlinevirtual

Implements DUNE::Tasks::Task.

References captureFrame(), changeVolume(), checkActivation(), DUNE::Tasks::Task::consumeMessages(), DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::isActive(), m_args, m_file_count, m_http, m_volume, DUNE::Tasks::Task::spew(), startVideo(), DUNE::Tasks::Task::stopping(), stopVideo(), Vision::Lumenera::Arguments::volume_size, and DUNE::Tasks::Task::waitForMessages().

void Vision::Lumenera::Task::onRequestActivation ( void  )

inlinevirtual

Called when an external activation request is received.

Derived classes that need to perform extra steps to prepare normal execution should replace the default behaviour of immediate activation with calls to activate() when the request is completed or activationFailed() if the request cannot be honoured.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Tasks::Task::dispatch(), m_activating, m_pwr_gpio, and DUNE::Tasks::Task::trace().

void Vision::Lumenera::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_pwr_gpio, and Vision::Lumenera::Arguments::pwr_gpio.

void Vision::Lumenera::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_pwr_gpio, stopVideo(), and DUNE::Tasks::Task::trace().

void Vision::Lumenera::Task::setProperties ( void  )

inline

References Vision::Lumenera::Arguments::auto_exposure, Vision::Lumenera::Arguments::auto_gain, Vision::Lumenera::Arguments::auto_whitebalance, DUNE::Tasks::Task::debug(), Vision::Lumenera::Arguments::exposure_knee, Vision::Lumenera::Arguments::exposure_max, Vision::Lumenera::Arguments::exposure_value, Vision::Lumenera::Arguments::fps, Vision::Lumenera::Arguments::gain_blue, Vision::Lumenera::Arguments::gain_green, Vision::Lumenera::Arguments::gain_knee, Vision::Lumenera::Arguments::gain_max, Vision::Lumenera::Arguments::gain_red, Vision::Lumenera::Arguments::gain_value, Vision::Lumenera::Arguments::gamma, m_args, Vision::Lumenera::Arguments::median_filter, setProperty(), and Vision::Lumenera::Arguments::strobe.

Referenced by checkActivation().

void Vision::Lumenera::Task::setProperty ( std::string  property, std::string  value  )

inline

References Vision::Lumenera::Arguments::address, c_port, Vision::Lumenera::HTTPClient::getHeader(), and m_args.

Referenced by setProperties().

void Vision::Lumenera::Task::setStrobePower ( bool  value )

inline

References DUNE::Tasks::Task::dispatch(), m_args, Vision::Lumenera::Arguments::strobe, and Vision::Lumenera::Arguments::strobe_pwr.

Referenced by onActivation(), and onDeactivation().

void Vision::Lumenera::Task::startVideo ( void  )

inline

References Vision::Lumenera::Arguments::address, c_port, DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::err(), Vision::Lumenera::HTTPClient::getHeader(), DUNE::Tasks::Task::inf(), m_args, m_boundary, m_http, and stopVideo().

Referenced by onMain().

void Vision::Lumenera::Task::stopVideo ( void  )

inline

References DUNE::Tasks::Task::debug(), and m_http.

Referenced by onMain(), onResourceRelease(), and startVideo().

Member Data Documentation

const unsigned Vision::Lumenera::Task::c_port

static

HTTP camera port.

Referenced by getProperty(), setProperty(), and startVideo().

bool Vision::Lumenera::Task::m_activating

True if task is activating.

Referenced by checkActivation(), consume(), onActivation(), and onRequestActivation().

Arguments Vision::Lumenera::Task::m_args

Configuration parameters.

Referenced by getProperty(), onMain(), onResourceAcquisition(), setProperties(), setProperty(), setStrobePower(), startVideo(), and Task().

std::string Vision::Lumenera::Task::m_boundary

MJPEG boundary string.

Referenced by captureFrame(), and startVideo().

unsigned Vision::Lumenera::Task::m_file_count

Number of files in current volume.

Referenced by onActivation(), and onMain().

HTTPClient* Vision::Lumenera::Task::m_http

Video stream HTTP connection.

Referenced by captureFrame(), onMain(), startVideo(), and stopVideo().

Path Vision::Lumenera::Task::m_log_dir

Destination log folder.

Referenced by changeVolume(), and consume().

Hardware::GPIO* Vision::Lumenera::Task::m_pwr_gpio

Power GPIO.

Referenced by onDeactivation(), onRequestActivation(), onResourceAcquisition(), and onResourceRelease().

double Vision::Lumenera::Task::m_timestamp

Referenced by captureFrame().

Path Vision::Lumenera::Task::m_volume

Current destination volume.

Referenced by changeVolume(), and onMain().

unsigned Vision::Lumenera::Task::m_volume_count

Current number of volumes.

Referenced by changeVolume(), and onActivation().

Collaboration diagram for Vision::Lumenera::Task: