Sensors::SonTekArgonaut::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
	~Task (void)
void	onUpdateParameters (void)
void	onEntityReservation (void)
void	onResourceAcquisition (void)
void	onResourceRelease (void)
bool	read (const char *str, double timeout=1.0)
bool	sendCommand (const char *str, const char *reply, double timeout=2.0)
void	onResourceInitialization (void)
void	readSample (void)
void	onMain (void)

Public Attributes
SerialPort *	m_uart
char	m_buffer [512]
IMC::Temperature	m_temp
IMC::GroundVelocity	m_gvel
IMC::WaterVelocity	m_wvel
IMC::Distance	m_dist [c_beam_count]
Counter< double >	m_wdog
Arguments	m_args

Constructor & Destructor Documentation

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

inline

References m_args, Sensors::SonTekArgonaut::Arguments::orientation, Sensors::SonTekArgonaut::Arguments::position, Sensors::SonTekArgonaut::Arguments::uart_baud, Sensors::SonTekArgonaut::Arguments::uart_dev, and Sensors::SonTekArgonaut::Arguments::wdog_tout.

Sensors::SonTekArgonaut::Task::~Task ( void  )

inline

References onResourceRelease().

Member Function Documentation

void Sensors::SonTekArgonaut::Task::onEntityReservation ( void  )

inline

References m_dist.

void Sensors::SonTekArgonaut::Task::onMain ( void  )

inline

References m_wdog, DUNE::Time::Counter< T >::overflow(), and readSample().

void Sensors::SonTekArgonaut::Task::onResourceAcquisition ( void  )

inline

References m_args, m_uart, Sensors::SonTekArgonaut::Arguments::uart_baud, and Sensors::SonTekArgonaut::Arguments::uart_dev.

void Sensors::SonTekArgonaut::Task::onResourceInitialization ( void  )

inline

References m_uart, read(), and sendCommand().

void Sensors::SonTekArgonaut::Task::onResourceRelease ( void  )

inline

References m_uart.

Referenced by ~Task().

void Sensors::SonTekArgonaut::Task::onUpdateParameters ( void  )

inline

References m_args, m_dist, m_wdog, Sensors::SonTekArgonaut::Arguments::orientation, Sensors::SonTekArgonaut::Arguments::position, DUNE::Time::Counter< T >::setTop(), and Sensors::SonTekArgonaut::Arguments::wdog_tout.

bool Sensors::SonTekArgonaut::Task::read ( const char *  str, double  timeout = 1.0  )

inline

References m_uart.

Referenced by onResourceInitialization(), and sendCommand().

void Sensors::SonTekArgonaut::Task::readSample ( void  )

inline

References m_buffer, m_dist, m_gvel, m_temp, m_uart, m_wdog, m_wvel, and DUNE::Time::Counter< T >::reset().

Referenced by onMain().

bool Sensors::SonTekArgonaut::Task::sendCommand ( const char *  str, const char *  reply, double  timeout = 2.0  )

inline

References m_uart, and read().

Referenced by onResourceInitialization().

Member Data Documentation

Arguments Sensors::SonTekArgonaut::Task::m_args

Task arguments.

Referenced by onResourceAcquisition(), onUpdateParameters(), and Task().

char Sensors::SonTekArgonaut::Task::m_buffer[512]

Internal buffer.

Referenced by readSample().

IMC::Distance Sensors::SonTekArgonaut::Task::m_dist[c_beam_count]

Distance.

Referenced by onEntityReservation(), onUpdateParameters(), and readSample().

IMC::GroundVelocity Sensors::SonTekArgonaut::Task::m_gvel

Ground velocity.

Referenced by readSample().

IMC::Temperature Sensors::SonTekArgonaut::Task::m_temp

Temperature.

Referenced by readSample().

SerialPort* Sensors::SonTekArgonaut::Task::m_uart

Serial port.

Referenced by onResourceAcquisition(), onResourceInitialization(), onResourceRelease(), read(), readSample(), and sendCommand().

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

Input watchdog.

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

IMC::WaterVelocity Sensors::SonTekArgonaut::Task::m_wvel

Water velocity.

Referenced by readSample().

Collaboration diagram for Sensors::SonTekArgonaut::Task: