Sensors::MLBLTracker::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
	~Task (void)
void	onUpdateParameters (void)
void	onResourceAcquisition (void)
void	onResourceRelease (void)
void	onResourceInitialization (void)
void	resetOp (void)
bool	hasTransducer (void)
void	sendCommand (const std::string &cmd)
void	consume (const IMC::AcousticOperation *msg)
void	transmitMessage (const std::string &sys, const InlineMessage< IMC::Message > &imsg)
void	abort (const std::string &sys)
void	ping (const std::string &sys)
void	pingMicroModem (const std::string &sys)
void	pingNarrowBand (const std::string &sys)
void	handleCAMPR (std::auto_ptr< NMEAReader > &stn)
void	handleSNTTA (std::auto_ptr< NMEAReader > &stn)
void	handleCAMUA (std::auto_ptr< NMEAReader > &stn)
void	handleCAMPCSNPNT (std::auto_ptr< NMEAReader > &stn)
void	handleCAMUC (std::auto_ptr< NMEAReader > &stn)
void	handleCARXD (std::auto_ptr< NMEAReader > &stn)
void	readSentence (void)
void	checkTimeouts (void)
void	configureModem (const std::string &code, const std::string &parameter, const unsigned value)
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
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
NarrowBandMap	m_nbmap
MicroModemMap	m_ummap
AddressMap	m_mimap
AddressMap	m_immap
Arguments	m_args
double	m_op_deadline
unsigned	m_address
IMC::AcousticOperation	m_acop
IMC::AcousticOperation	m_acop_out
IMC::DevDataText	m_dev_data
IMC::PlanControl *	m_pc
Operation	m_op
GPIO *	m_gpio_txd
Counter< double >	m_last_stn

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

inline

References DUNE::Tasks::Parameter::defaultValue(), DUNE::Tasks::Task::getSystemName(), Sensors::MLBLTracker::Arguments::gpio_txd, m_address, m_args, m_immap, m_mimap, m_nbmap, m_ummap, DUNE::Tasks::Task::param(), DUNE::Tasks::Task::resolveSystemName(), Sensors::MLBLTracker::Arguments::rx_length, Sensors::MLBLTracker::Arguments::sspeed, Sensors::MLBLTracker::Arguments::tout_abort, Sensors::MLBLTracker::Arguments::tout_input, Sensors::MLBLTracker::Arguments::tout_mmping, Sensors::MLBLTracker::Arguments::tout_nbping, Sensors::MLBLTracker::Arguments::tx_length, Sensors::MLBLTracker::Arguments::uart_baud, Sensors::MLBLTracker::Arguments::uart_dev, and DUNE::Tasks::Parameter::units().

Sensors::MLBLTracker::Task::~Task ( void  )

inlinevirtual

Destructor.

Reimplemented from DUNE::Tasks::Task.

References onResourceRelease().

Member Function Documentation

void Sensors::MLBLTracker::Task::abort ( const std::string &  sys )

inline

References DUNE::Tasks::Task::dispatch(), hasTransducer(), m_acop_out, m_address, m_args, m_nbmap, m_op, m_op_deadline, m_ummap, Sensors::MLBLTracker::OP_ABORT, sendCommand(), and Sensors::MLBLTracker::Arguments::tout_abort.

Referenced by consume().

void Sensors::MLBLTracker::Task::checkTimeouts ( void  )

inline

References DUNE::Tasks::Task::dispatch(), m_acop, m_acop_out, m_op, m_op_deadline, Sensors::MLBLTracker::OP_ABORT, Sensors::MLBLTracker::OP_NONE, Sensors::MLBLTracker::OP_PING_MM, Sensors::MLBLTracker::OP_PING_NB, and resetOp().

Referenced by onMain().

void Sensors::MLBLTracker::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 sendCommand().

Referenced by onResourceAcquisition().

void Sensors::MLBLTracker::Task::consume ( const IMC::AcousticOperation *  msg )

inline

References abort(), DUNE::Tasks::Task::dispatch(), m_acop, m_acop_out, m_op, Sensors::MLBLTracker::OP_NONE, ping(), and transmitMessage().

void Sensors::MLBLTracker::Task::handleCAMPCSNPNT ( std::auto_ptr< NMEAReader > &  stn )

inline

References DUNE::Tasks::Task::dispatch(), m_acop, and m_acop_out.

Referenced by readSentence().

void Sensors::MLBLTracker::Task::handleCAMPR ( std::auto_ptr< NMEAReader > &  stn )

inline

References DUNE::Tasks::Task::dispatch(), m_acop, m_acop_out, m_address, m_args, resetOp(), and Sensors::MLBLTracker::Arguments::sspeed.

Referenced by readSentence().

void Sensors::MLBLTracker::Task::handleCAMUA ( std::auto_ptr< NMEAReader > &  stn )

inline

References DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::getEntityId(), DUNE::Tasks::Task::getSystemId(), DUNE::Tasks::Task::inf(), m_acop, m_acop_out, m_mimap, m_pc, and resetOp().

Referenced by readSentence().

void Sensors::MLBLTracker::Task::handleCAMUC ( std::auto_ptr< NMEAReader > &  stn )

inline

References DUNE::Tasks::Task::dispatch(), m_acop, and m_acop_out.

Referenced by readSentence().

void Sensors::MLBLTracker::Task::handleCARXD ( std::auto_ptr< NMEAReader > &  stn )

inline

References DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::inf(), m_mimap, and DUNE::Tasks::Task::trace().

Referenced by readSentence().

void Sensors::MLBLTracker::Task::handleSNTTA ( std::auto_ptr< NMEAReader > &  stn )

inline

References DUNE::Tasks::Task::dispatch(), m_acop, m_acop_out, m_args, resetOp(), and Sensors::MLBLTracker::Arguments::sspeed.

Referenced by readSentence().

bool Sensors::MLBLTracker::Task::hasTransducer ( void  )

inline

References DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::err(), m_acop_out, and m_gpio_txd.

Referenced by abort(), ping(), and transmitMessage().

void Sensors::MLBLTracker::Task::onMain ( void  )

inlinevirtual

Implements DUNE::Tasks::Task.

References checkTimeouts(), DUNE::Tasks::Task::consumeMessages(), m_last_stn, m_uart, DUNE::Time::Counter< T >::overflow(), readSentence(), DUNE::Time::Counter< T >::reset(), DUNE::Tasks::Task::setEntityState(), and DUNE::Tasks::Task::stopping().

void Sensors::MLBLTracker::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 configureModem(), DUNE::Tasks::Task::err(), Sensors::MLBLTracker::Arguments::gpio_txd, m_address, m_args, m_gpio_txd, m_uart, DUNE::Tasks::Task::setEntityState(), Sensors::MLBLTracker::Arguments::uart_baud, and Sensors::MLBLTracker::Arguments::uart_dev.

void Sensors::MLBLTracker::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::dispatch(), and DUNE::Tasks::Task::getEntityLabel().

void Sensors::MLBLTracker::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_gpio_txd, m_pc, and m_uart.

Referenced by ~Task().

void Sensors::MLBLTracker::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 Sensors::MLBLTracker::Arguments::gpio_txd, m_args, m_gpio_txd, m_last_stn, DUNE::Tasks::Task::paramChanged(), DUNE::Time::Counter< T >::setTop(), and Sensors::MLBLTracker::Arguments::tout_input.

void Sensors::MLBLTracker::Task::ping ( const std::string &  sys )

inline

References DUNE::Tasks::Task::dispatch(), hasTransducer(), m_acop_out, m_nbmap, m_ummap, pingMicroModem(), and pingNarrowBand().

Referenced by consume().

void Sensors::MLBLTracker::Task::pingMicroModem ( const std::string &  sys )

inline

References m_address, m_args, m_op, m_op_deadline, m_ummap, Sensors::MLBLTracker::OP_PING_MM, sendCommand(), and Sensors::MLBLTracker::Arguments::tout_mmping.

Referenced by ping().

void Sensors::MLBLTracker::Task::pingNarrowBand ( const std::string &  sys )

inline

References m_args, m_nbmap, m_op, m_op_deadline, Sensors::MLBLTracker::OP_PING_NB, Sensors::MLBLTracker::Arguments::rx_length, sendCommand(), Sensors::MLBLTracker::Arguments::tout_nbping, and Sensors::MLBLTracker::Arguments::tx_length.

Referenced by ping().

void Sensors::MLBLTracker::Task::readSentence ( void  )

inline

References DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::err(), handleCAMPCSNPNT(), handleCAMPR(), handleCAMUA(), handleCAMUC(), handleCARXD(), handleSNTTA(), m_dev_data, m_uart, and DUNE::Tasks::Task::setEntityState().

Referenced by onMain().

void Sensors::MLBLTracker::Task::resetOp ( void  )

inline

References m_op, m_op_deadline, and Sensors::MLBLTracker::OP_NONE.

Referenced by checkTimeouts(), handleCAMPR(), handleCAMUA(), and handleSNTTA().

void Sensors::MLBLTracker::Task::sendCommand ( const std::string &  cmd )

inline

References DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::inf(), m_dev_data, and m_uart.

Referenced by abort(), configureModem(), pingMicroModem(), pingNarrowBand(), and transmitMessage().

void Sensors::MLBLTracker::Task::transmitMessage ( const std::string &  sys, const InlineMessage< IMC::Message > &  imsg  )

inline

References DUNE::Tasks::Task::err(), hasTransducer(), m_address, m_pc, m_ummap, and sendCommand().

Referenced by consume().

Member Data Documentation

IMC::AcousticOperation Sensors::MLBLTracker::Task::m_acop

Referenced by checkTimeouts(), consume(), handleCAMPCSNPNT(), handleCAMPR(), handleCAMUA(), handleCAMUC(), and handleSNTTA().

IMC::AcousticOperation Sensors::MLBLTracker::Task::m_acop_out

Referenced by abort(), checkTimeouts(), consume(), handleCAMPCSNPNT(), handleCAMPR(), handleCAMUA(), handleCAMUC(), handleSNTTA(), hasTransducer(), and ping().

unsigned Sensors::MLBLTracker::Task::m_address

Referenced by abort(), handleCAMPR(), onResourceAcquisition(), pingMicroModem(), Task(), and transmitMessage().

Arguments Sensors::MLBLTracker::Task::m_args

Referenced by abort(), handleCAMPR(), handleSNTTA(), onResourceAcquisition(), onUpdateParameters(), pingMicroModem(), pingNarrowBand(), and Task().

IMC::DevDataText Sensors::MLBLTracker::Task::m_dev_data

Referenced by readSentence(), and sendCommand().

GPIO* Sensors::MLBLTracker::Task::m_gpio_txd

Referenced by hasTransducer(), onResourceAcquisition(), onResourceRelease(), and onUpdateParameters().

AddressMap Sensors::MLBLTracker::Task::m_immap

Referenced by Task().

Counter<double> Sensors::MLBLTracker::Task::m_last_stn

Referenced by onMain(), and onUpdateParameters().

AddressMap Sensors::MLBLTracker::Task::m_mimap

Referenced by handleCAMUA(), handleCARXD(), and Task().

NarrowBandMap Sensors::MLBLTracker::Task::m_nbmap

Referenced by abort(), ping(), pingNarrowBand(), and Task().

Operation Sensors::MLBLTracker::Task::m_op

Referenced by abort(), checkTimeouts(), consume(), pingMicroModem(), pingNarrowBand(), and resetOp().

double Sensors::MLBLTracker::Task::m_op_deadline

Referenced by abort(), checkTimeouts(), pingMicroModem(), pingNarrowBand(), and resetOp().

IMC::PlanControl* Sensors::MLBLTracker::Task::m_pc

Referenced by handleCAMUA(), onResourceRelease(), and transmitMessage().

SerialPort* Sensors::MLBLTracker::Task::m_uart

Referenced by onMain(), onResourceAcquisition(), onResourceRelease(), readSentence(), and sendCommand().

MicroModemMap Sensors::MLBLTracker::Task::m_ummap

Referenced by abort(), ping(), pingMicroModem(), Task(), and transmitMessage().

Collaboration diagram for Sensors::MLBLTracker::Task: