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

	~Task (void)

void	onUpdateParameters (void)

void	onEntityResolution (void)

void	onActivation (void)

void	onDeactivation (void)

void	consume (const IMC::EstimatedState *msg)

void	consume (const IMC::NavigationUncertainty *msg)

void	consume (const IMC::Distance *msg)

void	consume (const IMC::AcousticOperation *msg)

void	consume (const IMC::UamRxFrame *msg)

void	consume (const IMC::GpsFix *msg)

void	clearPending (void)

void	transmitPending (void)

void	transmit (void)

void	resetBeamsValue (void)

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

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
IMC::EstimatedState *	m_estate

IMC::NavigationUncertainty *	m_uncertainty

int16_t	m_beams [c_dvl_beams]

unsigned	m_dvl_eid [c_dvl_beams]

std::map< std::string, IMC::Reference * >	m_txs

std::string	m_tx_last

DUNE::Network::TDMA	m_tdma

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)

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	onReportEntityState (void)

virtual void	onResourceAcquisition (void)

virtual void	onResourceRelease (void)

virtual void	onResourceInitialization (void)

virtual void	onRequestActivation (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

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

Constructor & Destructor Documentation

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

inline

Constructor.

Parameters

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

References DUNE::Tasks::Parameter::defaultValue(), DUNE::Tasks::Parameter::description(), Transports::Noptilus::Arguments::dst, m_args, DUNE::Tasks::Task::param(), DUNE::Tasks::Task::paramActive(), resetBeamsValue(), DUNE::Tasks::Task::setEntityState(), Transports::Noptilus::Arguments::slot_count, Transports::Noptilus::Arguments::slot_dur, Transports::Noptilus::Arguments::slot_number, Transports::Noptilus::Arguments::tx_estate, and DUNE::Tasks::Parameter::units().

Transports::Noptilus::Task::~Task ( void )

inlinevirtual

Destructor.

Reimplemented from DUNE::Tasks::Task.

References m_estate.

Member Function Documentation

void Transports::Noptilus::Task::clearPending ( void )

inline

References m_txs.

Referenced by transmitPending().

void Transports::Noptilus::Task::consume ( const IMC::EstimatedState * msg )

inline

References DUNE::Tasks::Task::getSystemId(), and m_estate.

void Transports::Noptilus::Task::consume ( const IMC::NavigationUncertainty * msg )

inline

References DUNE::Tasks::Task::getSystemId(), and m_uncertainty.

void Transports::Noptilus::Task::consume ( const IMC::Distance * msg )

inline

References DUNE::Tasks::Task::getSystemId(), m_beams, and m_dvl_eid.

void Transports::Noptilus::Task::consume ( const IMC::AcousticOperation * msg )

inline

References DUNE::Tasks::Task::err(), m_txs, and DUNE::Tasks::Task::resolveSystemName().

void Transports::Noptilus::Task::consume ( const IMC::UamRxFrame * msg )

inline

References DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::getSystemId(), DUNE::Tasks::Task::getSystemName(), DUNE::Tasks::Task::isActive(), DUNE::Tasks::Task::resolveSystemName(), and DUNE::Tasks::Task::war().

void Transports::Noptilus::Task::consume ( const IMC::GpsFix * msg )

inline

References DUNE::Network::TDMA::check(), DUNE::Tasks::Task::isActive(), m_args, m_tdma, transmit(), transmitPending(), and Transports::Noptilus::Arguments::tx_estate.

void Transports::Noptilus::Task::onActivation ( void )

inlinevirtual

Called when the task starts/resumes normal execution.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Tasks::Task::setEntityState().

void Transports::Noptilus::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::setEntityState().

void Transports::Noptilus::Task::onEntityResolution ( void )

inlinevirtual

Called when the task is instructed to resolve all the entity identifiers it needs for normal execution.

See resolveEntity(). Derived classes that need to resolve entity identifiers should override this function.

Reimplemented from DUNE::Tasks::Task.

References m_dvl_eid, and DUNE::Tasks::Task::resolveEntity().

void Transports::Noptilus::Task::onMain ( void )

inlinevirtual

Main loop.

Implements DUNE::Tasks::Task.

References DUNE::Tasks::Task::stopping(), and DUNE::Tasks::Task::waitForMessages().

void Transports::Noptilus::Task::onUpdateParameters ( void )

inlinevirtual

Update internal state with new parameter values.

Reimplemented from DUNE::Tasks::Task.

References m_args, m_tdma, DUNE::Network::TDMA::reset(), Transports::Noptilus::Arguments::slot_count, Transports::Noptilus::Arguments::slot_dur, and Transports::Noptilus::Arguments::slot_number.

void Transports::Noptilus::Task::resetBeamsValue ( void )

inline

References m_beams.

Referenced by Task(), and transmit().

void Transports::Noptilus::Task::transmit ( void )

inline

References DUNE::Tasks::Task::dispatch(), Transports::Noptilus::Arguments::dst, DUNE::Tasks::Task::getSystemId(), m_args, m_beams, m_estate, m_uncertainty, and resetBeamsValue().

Referenced by consume().

void Transports::Noptilus::Task::transmitPending ( void )

inline

References clearPending(), DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::getSystemId(), and m_txs.

Referenced by consume().

Member Data Documentation

Arguments Transports::Noptilus::Task::m_args

Task arguments.

Referenced by consume(), onUpdateParameters(), Task(), and transmit().

int16_t Transports::Noptilus::Task::m_beams[c_dvl_beams]

DVL beam value.

Referenced by consume(), resetBeamsValue(), and transmit().

unsigned Transports::Noptilus::Task::m_dvl_eid[c_dvl_beams]

DVL beam entity id.

Referenced by consume(), and onEntityResolution().

IMC::EstimatedState* Transports::Noptilus::Task::m_estate

Last received estimated state.

Referenced by consume(), transmit(), and ~Task().

DUNE::Network::TDMA Transports::Noptilus::Task::m_tdma

TDMA slots.

Referenced by consume(), and onUpdateParameters().

std::string Transports::Noptilus::Task::m_tx_last

Destination of last transmission.

std::map<std::string, IMC::Reference*> Transports::Noptilus::Task::m_txs

Map of pending transmissions.

Referenced by clearPending(), consume(), and transmitPending().

IMC::NavigationUncertainty* Transports::Noptilus::Task::m_uncertainty

Last received navigation uncertainty.

Referenced by consume(), and transmit().

Collaboration diagram for Transports::Noptilus::Task:

Public Member Functions

Public Attributes

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation