Sensors::Imagenex881A::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onUpdateParameters (void)
void	onResourceAcquisition (void)
void	onResourceRelease (void)
void	onResourceInitialization (void)
void	onRequestActivation (void)
void	onActivation (void)
void	onDeactivation (void)
void	checkActivationProgress (void)
void	consume (const IMC::SoundSpeed *msg)
uint8_t	getIndex (uint8_t value, const uint8_t *table, uint8_t table_size)
void	setRange (void)
void	setStartGain (void)
void	setAbsorption (float absorption)
void	setStepSize (void)
void	setProfile (void)
void	setDataBits (void)
void	setDataPoints (void)
void	setProfileMinRange (void)
void	setSwitchDelay (void)
void	setFrequency (uint16_t frequency)
void	updateState (float heading)
void	setSectorWidth (void)
void	setTrainAngle (void)
void	testComms (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
unsigned int	resolveEntity (const std::string &label) const
std::string	resolveEntity (unsigned int id) 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
SerialPort *	m_uart
Parser	m_parser
IMC::Distance	m_distance
IMC::SonarData	m_sonar
IMC::DeviceState	m_device_state
uint8_t	m_sdata [c_sdata_size]
double	m_sound_speed
IMC::PowerChannelControl	m_power_channel_control
Counter< double >	m_countdown
Counter< double >	m_wdog
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)
bool	stopping (void)
bool	isActive (void) const
bool	isActivating (void) const
bool	isDeactivating (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 , typename M >
void	bind (T *task_obj, const std::vector< uint32_t > &list, void(T::*consumer)(const M *)=&T::consume)
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	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::Imagenex881A::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

Constructor.

Parameters

[in]	name	task name.
[in]	ctx	context.

References Sensors::Imagenex881A::Arguments::absorption, Sensors::Imagenex881A::Arguments::data_bits, Sensors::Imagenex881A::Arguments::data_points, DUNE::Tasks::Parameter::defaultValue(), Sensors::Imagenex881A::Arguments::frequency, m_args, m_distance, m_sdata, m_sonar, DUNE::Tasks::Task::param(), DUNE::Tasks::Task::paramActive(), Sensors::Imagenex881A::Arguments::position, Sensors::Imagenex881A::Arguments::power_channel, Sensors::Imagenex881A::Arguments::profile, Sensors::Imagenex881A::Arguments::profile_min_range, Sensors::Imagenex881A::Arguments::range, Sensors::Imagenex881A::SD_BAUD_RATE, Sensors::Imagenex881A::SD_HDR_1, Sensors::Imagenex881A::SD_HDR_2, Sensors::Imagenex881A::SD_HEAD_ID, Sensors::Imagenex881A::SD_MASTER_SLAVE, Sensors::Imagenex881A::SD_TERMINATOR, Sensors::Imagenex881A::Arguments::sector_width, Sensors::Imagenex881A::Arguments::sspeed, Sensors::Imagenex881A::Arguments::sspeed_dyn, Sensors::Imagenex881A::Arguments::start_gain, Sensors::Imagenex881A::Arguments::step_size, Sensors::Imagenex881A::Arguments::switch_delay, Sensors::Imagenex881A::Arguments::train_angle, Sensors::Imagenex881A::Arguments::uart_dev, and Sensors::Imagenex881A::Arguments::use_default.

Member Function Documentation

void Sensors::Imagenex881A::Task::checkActivationProgress ( void  )

inline

References DUNE::Tasks::Task::activate(), DUNE::Tasks::Task::activationFailed(), DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::getActivationTime(), DUNE::Time::Counter< T >::getRemaining(), m_countdown, m_wdog, DUNE::Time::Counter< T >::overflow(), DUNE::Time::Counter< T >::reset(), and testComms().

Referenced by onMain().

void Sensors::Imagenex881A::Task::consume ( const IMC::SoundSpeed *  msg )

inline

References m_sound_speed.

uint8_t Sensors::Imagenex881A::Task::getIndex ( uint8_t  value, const uint8_t *  table, uint8_t  table_size  )

inline

Get index from table according with given value.

Parameters

[in]	value	value to be checked in the table.
[in]	table	vector with parameters.
[in]	table_size	size of the vector.

Returns

index of the vector.

Referenced by setRange().

void Sensors::Imagenex881A::Task::onActivation ( void  )

inlinevirtual

Called when the task starts/resumes normal execution.

Reimplemented from DUNE::Tasks::Task.

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

void Sensors::Imagenex881A::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::dispatch(), DUNE::Tasks::Task::inf(), m_power_channel_control, and DUNE::Tasks::Task::setEntityState().

void Sensors::Imagenex881A::Task::onMain ( void  )

inlinevirtual

Main loop.

Implements DUNE::Tasks::Task.

References checkActivationProgress(), DUNE::Tasks::Task::consumeMessages(), DUNE::Tasks::Task::dispatch(), Sensors::Imagenex881A::Parser::getDataPointsCount(), Sensors::Imagenex881A::Parser::getHeadPosition(), Sensors::Imagenex881A::Parser::getProfileRange(), Sensors::Imagenex881A::Parser::getRange(), DUNE::Tasks::Task::isActivating(), DUNE::Tasks::Task::isActive(), m_args, m_distance, m_parser, m_sdata, m_sonar, m_sound_speed, m_uart, m_wdog, DUNE::Time::Counter< T >::overflow(), Sensors::Imagenex881A::Parser::parse(), DUNE::Time::Counter< T >::reset(), DUNE::Tasks::Task::setEntityState(), Sensors::Imagenex881A::Arguments::sspeed_dyn, DUNE::Tasks::Task::stopping(), updateState(), and DUNE::Tasks::Task::waitForMessages().

void Sensors::Imagenex881A::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_countdown, m_power_channel_control, and DUNE::Time::Counter< T >::reset().

void Sensors::Imagenex881A::Task::onResourceAcquisition ( void  )

inlinevirtual

Acquire resources.

Reimplemented from DUNE::Tasks::Task.

References m_args, m_uart, m_wdog, DUNE::Tasks::Task::setEntityState(), DUNE::Time::Counter< T >::setTop(), and Sensors::Imagenex881A::Arguments::uart_dev.

void Sensors::Imagenex881A::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::Task::requestDeactivation(), and DUNE::Tasks::Task::setEntityState().

void Sensors::Imagenex881A::Task::onResourceRelease ( void  )

inlinevirtual

Release resources.

Reimplemented from DUNE::Tasks::Task.

References m_uart, and DUNE::Tasks::Task::requestDeactivation().

void Sensors::Imagenex881A::Task::onUpdateParameters ( void  )

inlinevirtual

Update internal state with new parameter values.

Reimplemented from DUNE::Tasks::Task.

References Sensors::Imagenex881A::Arguments::absorption, Sensors::Imagenex881A::Arguments::frequency, DUNE::Tasks::Task::getActivationTime(), m_args, m_countdown, m_device_state, m_distance, m_power_channel_control, m_sound_speed, m_uart, DUNE::Tasks::Task::paramChanged(), Sensors::Imagenex881A::Arguments::position, Sensors::Imagenex881A::Arguments::power_channel, Sensors::Imagenex881A::Arguments::range, setAbsorption(), setDataBits(), setDataPoints(), setFrequency(), setProfile(), setRange(), setSectorWidth(), setStartGain(), setStepSize(), DUNE::Time::Counter< T >::setTop(), setTrainAngle(), Sensors::Imagenex881A::Arguments::sspeed, Sensors::Imagenex881A::Arguments::uart_dev, and Sensors::Imagenex881A::Arguments::use_default.

void Sensors::Imagenex881A::Task::setAbsorption ( float  absorption )

inline

Set switch data absorption.

Parameters

[in]

absorption

absorption level.

References DUNE::Math::abs(), m_sdata, and Sensors::Imagenex881A::SD_ABSORPTION.

Referenced by onUpdateParameters().

void Sensors::Imagenex881A::Task::setDataBits ( void  )

inline

Set switch data number of bits per data point.

References Sensors::Imagenex881A::Arguments::data_bits, m_args, m_sdata, m_sonar, and Sensors::Imagenex881A::SD_DATA_BITS.

Referenced by onUpdateParameters().

void Sensors::Imagenex881A::Task::setDataPoints ( void  )

inline

Set switch data number of data points.

References Sensors::Imagenex881A::Arguments::data_points, m_args, m_sdata, and Sensors::Imagenex881A::SD_DATA_POINTS.

Referenced by onUpdateParameters().

void Sensors::Imagenex881A::Task::setFrequency ( uint16_t  frequency )

inline

Set switch data frequency.

Parameters

[in]

frequency

operation frequency.

References m_distance, m_sdata, m_sonar, and Sensors::Imagenex881A::SD_FREQUENCY.

Referenced by onUpdateParameters().

void Sensors::Imagenex881A::Task::setProfile ( void  )

inline

Set switch data profile mode.

References m_args, m_sdata, Sensors::Imagenex881A::Arguments::profile, and Sensors::Imagenex881A::SD_PROFILE.

Referenced by onUpdateParameters().

void Sensors::Imagenex881A::Task::setProfileMinRange ( void  )

inline

Set switch data profile minimum range.

References m_args, m_sdata, Sensors::Imagenex881A::Arguments::profile_min_range, and Sensors::Imagenex881A::SD_PROFILE_MIN_RANGE.

void Sensors::Imagenex881A::Task::setRange ( void  )

inline

Set switch data range.

References getIndex(), m_args, m_sdata, Sensors::Imagenex881A::Arguments::range, Sensors::Imagenex881A::SD_PULSE_LEN, and Sensors::Imagenex881A::SD_RANGE.

Referenced by onUpdateParameters().

void Sensors::Imagenex881A::Task::setSectorWidth ( void  )

inline

Set switch data sector width.

References m_args, m_sdata, Sensors::Imagenex881A::SD_SECTOR_WIDTH, and Sensors::Imagenex881A::Arguments::sector_width.

Referenced by onUpdateParameters().

void Sensors::Imagenex881A::Task::setStartGain ( void  )

inline

Set switch data start gain.

References m_args, m_sdata, Sensors::Imagenex881A::SD_START_GAIN, and Sensors::Imagenex881A::Arguments::start_gain.

Referenced by onUpdateParameters().

void Sensors::Imagenex881A::Task::setStepSize ( void  )

inline

Set switch data step size.

References m_args, m_sdata, Sensors::Imagenex881A::SD_STEP_SIZE, and Sensors::Imagenex881A::Arguments::step_size.

Referenced by onUpdateParameters().

void Sensors::Imagenex881A::Task::setSwitchDelay ( void  )

inline

Set switch data delay.

References m_args, m_sdata, Sensors::Imagenex881A::SD_SWITCH_DELAY, and Sensors::Imagenex881A::Arguments::switch_delay.

void Sensors::Imagenex881A::Task::setTrainAngle ( void  )

inline

Set switch data train angle.

References m_args, m_sdata, Sensors::Imagenex881A::SD_TRAIN_ANGLE, and Sensors::Imagenex881A::Arguments::train_angle.

Referenced by onUpdateParameters().

void Sensors::Imagenex881A::Task::testComms ( void  )

inline

Test communication with device.

References m_sdata, and m_uart.

Referenced by checkActivationProgress().

void Sensors::Imagenex881A::Task::updateState ( float  heading )

inline

Update state.

Parameters

[in]

heading

beam orientation.

References m_device_state, and m_distance.

Referenced by onMain().

Member Data Documentation

Arguments Sensors::Imagenex881A::Task::m_args

Task arguments.

Referenced by onMain(), onResourceAcquisition(), onUpdateParameters(), setDataBits(), setDataPoints(), setProfile(), setProfileMinRange(), setRange(), setSectorWidth(), setStartGain(), setStepSize(), setSwitchDelay(), setTrainAngle(), and Task().

Counter<double> Sensors::Imagenex881A::Task::m_countdown

Activation/deactivation timer.

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

IMC::DeviceState Sensors::Imagenex881A::Task::m_device_state

Device State message.

Referenced by onUpdateParameters(), and updateState().

IMC::Distance Sensors::Imagenex881A::Task::m_distance

Distance message.

Referenced by onMain(), onUpdateParameters(), setFrequency(), Task(), and updateState().

Parser Sensors::Imagenex881A::Task::m_parser

Response frame parser.

Referenced by onMain().

IMC::PowerChannelControl Sensors::Imagenex881A::Task::m_power_channel_control

Power channel control.

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

uint8_t Sensors::Imagenex881A::Task::m_sdata[c_sdata_size]

Referenced by onMain(), setAbsorption(), setDataBits(), setDataPoints(), setFrequency(), setProfile(), setProfileMinRange(), setRange(), setSectorWidth(), setStartGain(), setStepSize(), setSwitchDelay(), setTrainAngle(), Task(), and testComms().

IMC::SonarData Sensors::Imagenex881A::Task::m_sonar

Profile message.

Referenced by onMain(), setDataBits(), setFrequency(), and Task().

double Sensors::Imagenex881A::Task::m_sound_speed

Last valid sound speed value.

Referenced by consume(), onMain(), and onUpdateParameters().

SerialPort* Sensors::Imagenex881A::Task::m_uart

Serial port handle.

Referenced by onMain(), onResourceAcquisition(), onResourceRelease(), onUpdateParameters(), and testComms().

Counter<double> Sensors::Imagenex881A::Task::m_wdog

Watchdog.

Referenced by checkActivationProgress(), onMain(), and onResourceAcquisition().

Collaboration diagram for Sensors::Imagenex881A::Task: