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

void	onResourceAcquisition (void)

void	onResourceInitialization (void)

void	onResourceRelease (void)

int8_t	getCommandDataSize (uint8_t id)

bool	setup (void)

bool	getMessage (CommandByte type, fp64_t maxwait=1.0)

void	clear (void)

fp64_t	updateTimerCount (uint8_t *data)

CommandByte	parse (uint8_t byte)

void	setContinuousMode (CommandByte msg=MSG_NULL)

void	queryEEPROM (uint16_t address)

void	requestMessage (CommandByte command)

bool	validateCheckSum (const uint8_t *bfr, unsigned int size)

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

DebugLevel	getDebugLevel (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
SerialPort *	m_uart

IMC::EulerAngles	m_euler

IMC::AngularVelocity	m_agvel

IMC::Acceleration	m_accel

FSMStates	m_state

int	m_togo

int	m_done

uint8_t	m_data [32]

fp64_t	m_accel_scale

fp64_t	m_gyro_scale

int16_t	m_eeprom

fp64_t	m_timer

uint16_t	m_last_tick

Arguments	m_args

Counter< double >	m_wdog

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)

template<typename E >
E *	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	onUpdateParameters (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

std::vector < Entities::BasicEntity * >	m_entities

Constructor & Destructor Documentation

Sensors::Microstrain3DMGX1::Task::Task	(	const std::string &	name,
		Tasks::Context &	ctx
	)

inline

References Sensors::Microstrain3DMGX1::Arguments::data_tout, DUNE::Tasks::Parameter::defaultValue(), m_args, DUNE::Tasks::Task::param(), Sensors::Microstrain3DMGX1::Arguments::raw_ivecs, Sensors::Microstrain3DMGX1::Arguments::uart_baud, Sensors::Microstrain3DMGX1::Arguments::uart_dev, and DUNE::Tasks::Parameter::units().

Member Function Documentation

void Sensors::Microstrain3DMGX1::Task::clear ( void )

inline

References Sensors::Microstrain3DMGX1::FSM_STATE_NONE, m_done, m_state, and m_togo.

Referenced by setup().

int8_t Sensors::Microstrain3DMGX1::Task::getCommandDataSize ( uint8_t id )

inline

References Sensors::Microstrain3DMGX1::MSG_CONTMODE, Sensors::Microstrain3DMGX1::MSG_EEPROM, Sensors::Microstrain3DMGX1::MSG_GS_EULER, Sensors::Microstrain3DMGX1::MSG_IVECS, and Sensors::Microstrain3DMGX1::MSG_RAW_IVECS.

Referenced by parse().

bool Sensors::Microstrain3DMGX1::Task::getMessage	(	CommandByte	type,
		fp64_t	maxwait = `1.0`
	)

inline

References m_uart, and parse().

Referenced by setup().

void Sensors::Microstrain3DMGX1::Task::onMain ( void )

inlinevirtual

Implements DUNE::Tasks::Task.

References m_uart, m_wdog, Sensors::Microstrain3DMGX1::MSG_GS_EULER, DUNE::Time::Counter< T >::overflow(), parse(), DUNE::Time::Counter< T >::reset(), DUNE::Tasks::Task::setEntityState(), setup(), and DUNE::Tasks::Task::stopping().

void Sensors::Microstrain3DMGX1::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, Sensors::Microstrain3DMGX1::Arguments::uart_baud, and Sensors::Microstrain3DMGX1::Arguments::uart_dev.

void Sensors::Microstrain3DMGX1::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 Sensors::Microstrain3DMGX1::Arguments::data_tout, m_args, m_wdog, and DUNE::Time::Counter< T >::setTop().

void Sensors::Microstrain3DMGX1::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.

CommandByte Sensors::Microstrain3DMGX1::Task::parse ( uint8_t byte )

inline