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	checkActivationProgress (void)
void	onActivation (void)
void	onRequestDeactivation (void)
void	checkDeactivationProgress (void)
void	onDeactivation (void)
void	consume (const IMC::PowerChannelState *msg)
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	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_first_shot
Counter< double >	m_countdown
IMC::PowerChannelState	m_pwr_state

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_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, m_pwr_ss, m_pwr_state, 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::PowerChannelState *  msg )

inline

References m_args, m_pwr_state, and Sensors::Edgetech2205::Arguments::pwr_ss.

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_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

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

inline

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

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

inline

References 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_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().

Arguments Sensors::Edgetech2205::Task::m_args

Configuration parameters.

Referenced by checkActivationProgress(), consume(), 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().

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(), checkDeactivationProgress(), onRequestActivation(), onUpdateParameters(), and Task().

IMC::PowerChannelState Sensors::Edgetech2205::Task::m_pwr_state

Power channel state.

Referenced by checkDeactivationProgress(), and consume().

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: