Sensors::Imagenex852::Task Struct Reference

Detailed Description

Task.

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onUpdateParameters (void)
void	onResourceAcquisition (void)
void	onResourceRelease (void)
void	onResourceInitialization (void)
void	onActivation (void)
void	onDeactivation (void)
void	consume (const IMC::UamTxStatus *msg)
void	consume (const IMC::SoundSpeed *msg)
void	consume (const IMC::VehicleMedium *msg)
void	onMain (void)
void	filterRange (DUNE::IMC::Distance &dist, DUNE::IMC::SonarData &profile)

Public Attributes
SerialPort *	m_uart
Trigger	m_trigger
IMC::Distance	m_dist
IMC::SonarData	m_profile
Arguments	m_args
Counter< double >	m_wdog
double	m_sound_speed
SwitchData	m_switch
Parser	m_parser
PatternFilter *	m_pfilt
Monitors::MediumHandler	m_hand
bool	m_uam_tx_ip

Constructor & Destructor Documentation

Sensors::Imagenex852::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

Task constructor.

References Sensors::Imagenex852::Arguments::activate_at_surface, Sensors::Imagenex852::Arguments::data_points, Sensors::Imagenex852::Arguments::filter_enabled, Sensors::Imagenex852::Arguments::filter_median_size, Sensors::Imagenex852::Arguments::filter_threshold, m_args, m_dist, m_profile, Sensors::Imagenex852::Arguments::orientation, Sensors::Imagenex852::Arguments::pattern_diff, Sensors::Imagenex852::Arguments::pattern_filter, Sensors::Imagenex852::Arguments::position, Sensors::Imagenex852::Arguments::profile_range, Sensors::Imagenex852::Arguments::pulse_length, Sensors::Imagenex852::Arguments::range, Sensors::Imagenex852::Arguments::sample_frequency, Sensors::Imagenex852::Arguments::sspeed, Sensors::Imagenex852::Arguments::sspeed_dyn, Sensors::Imagenex852::Arguments::start_gain, and Sensors::Imagenex852::Arguments::uart_dev.

Member Function Documentation

void Sensors::Imagenex852::Task::consume ( const IMC::UamTxStatus *  msg )

inline

References m_uam_tx_ip.

void Sensors::Imagenex852::Task::consume ( const IMC::SoundSpeed *  msg )

inline

References m_sound_speed.

void Sensors::Imagenex852::Task::consume ( const IMC::VehicleMedium *  msg )

inline

References Sensors::Imagenex852::Arguments::activate_at_surface, m_args, and m_hand.

void Sensors::Imagenex852::Task::filterRange ( DUNE::IMC::Distance &  dist, DUNE::IMC::SonarData &  profile  )

inline

Filter profile range using information in data points.

Parameters

[in,out]	dist	Distance message.
[in,out]	profile	SonarData message.

References DUNE::IMC::SonarData::data, Sensors::Imagenex852::Arguments::data_points, Sensors::Imagenex852::Arguments::filter_median_size, Sensors::Imagenex852::Arguments::filter_threshold, Sensors::Imagenex852::SwitchData::getRange(), m_args, m_switch, DUNE::Math::median(), and DUNE::IMC::Distance::value.

Referenced by onMain().

void Sensors::Imagenex852::Task::onActivation ( void  )

inline

References m_trigger, m_wdog, DUNE::Time::Counter< T >::reset(), and Sensors::Imagenex852::Trigger::setActive().

void Sensors::Imagenex852::Task::onDeactivation ( void  )

inline

References m_hand, m_trigger, and Sensors::Imagenex852::Trigger::setActive().

void Sensors::Imagenex852::Task::onMain ( void  )

inline

References Sensors::Imagenex852::Arguments::filter_enabled, Sensors::Imagenex852::PatternFilter::filterPattern(), filterRange(), Sensors::Imagenex852::Parser::getDataPointsCount(), Sensors::Imagenex852::SwitchData::getProfileMinRange(), Sensors::Imagenex852::Parser::getProfileRange(), Sensors::Imagenex852::Parser::getRange(), m_args, m_dist, m_hand, m_parser, m_pfilt, m_profile, m_sound_speed, m_switch, m_uam_tx_ip, m_uart, m_wdog, DUNE::Time::Counter< T >::overflow(), Sensors::Imagenex852::Parser::parse(), Sensors::Imagenex852::Arguments::pattern_filter, DUNE::Time::Counter< T >::reset(), and Sensors::Imagenex852::Arguments::sspeed_dyn.

void Sensors::Imagenex852::Task::onResourceAcquisition ( void  )

inline

Acquire resources.

References m_args, m_pfilt, m_uart, m_wdog, Sensors::Imagenex852::Arguments::pattern_diff, Sensors::Imagenex852::Arguments::pattern_filter, DUNE::Time::Counter< T >::setTop(), and Sensors::Imagenex852::Arguments::uart_dev.

void Sensors::Imagenex852::Task::onResourceInitialization ( void  )

inline

Initialize resources.

References Sensors::Imagenex852::SwitchData::data(), m_switch, m_trigger, m_uart, Sensors::Imagenex852::Trigger::setActive(), Sensors::Imagenex852::Trigger::setSwitchData(), Sensors::Imagenex852::Trigger::setUART(), and Sensors::Imagenex852::SwitchData::size().

void Sensors::Imagenex852::Task::onResourceRelease ( void  )

inline

Release resources.

References m_pfilt, m_trigger, and m_uart.

void Sensors::Imagenex852::Task::onUpdateParameters ( void  )

inline

Update parameters.

References Sensors::Imagenex852::Arguments::data_points, m_args, m_dist, m_profile, m_sound_speed, m_switch, m_trigger, m_uart, Sensors::Imagenex852::Arguments::orientation, Sensors::Imagenex852::Arguments::position, Sensors::Imagenex852::Arguments::profile_range, Sensors::Imagenex852::Arguments::pulse_length, Sensors::Imagenex852::Arguments::range, Sensors::Imagenex852::Arguments::sample_frequency, Sensors::Imagenex852::SwitchData::setDataPoints(), Sensors::Imagenex852::SwitchData::setProfileMinRange(), Sensors::Imagenex852::SwitchData::setPulseLength(), Sensors::Imagenex852::SwitchData::setRange(), Sensors::Imagenex852::Trigger::setSampleFrequency(), Sensors::Imagenex852::SwitchData::setStartGain(), Sensors::Imagenex852::Arguments::sspeed, Sensors::Imagenex852::Arguments::start_gain, and Sensors::Imagenex852::Arguments::uart_dev.

Member Data Documentation

Arguments Sensors::Imagenex852::Task::m_args

Task arguments.

Referenced by consume(), filterRange(), onMain(), onResourceAcquisition(), onUpdateParameters(), and Task().

IMC::Distance Sensors::Imagenex852::Task::m_dist

Distance message.

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

Monitors::MediumHandler Sensors::Imagenex852::Task::m_hand

Medium handler.

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

Parser Sensors::Imagenex852::Task::m_parser

Return data parser.

Referenced by onMain().

PatternFilter* Sensors::Imagenex852::Task::m_pfilt

Pattern filter.

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

IMC::SonarData Sensors::Imagenex852::Task::m_profile

Profile message.

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

double Sensors::Imagenex852::Task::m_sound_speed

Last valid sound speed value.

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

SwitchData Sensors::Imagenex852::Task::m_switch

Switch data.

Referenced by filterRange(), onMain(), onResourceInitialization(), and onUpdateParameters().

Trigger Sensors::Imagenex852::Task::m_trigger

Shot trigger.

Referenced by onActivation(), onDeactivation(), onResourceInitialization(), onResourceRelease(), and onUpdateParameters().

bool Sensors::Imagenex852::Task::m_uam_tx_ip

Underwater acoustic modem transmission in progress.

Referenced by consume(), and onMain().

SerialPort* Sensors::Imagenex852::Task::m_uart

Serial port handle.

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

Counter<double> Sensors::Imagenex852::Task::m_wdog

Watchdog.

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

Collaboration diagram for Sensors::Imagenex852::Task: