Sensors::Imagenex837B::Task Struct Reference

Detailed Description

Task.

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onUpdateParameters (void)
void	initializeSonarData (unsigned data_size)
void	onResourceInitialization (void)
void	onResourceRelease (void)
void	onRequestActivation (void)
void	onActivation (void)
void	onDeactivation (void)
void	checkActivationProgress (void)
void	openLog (const Path &path)
void	closeLog (void)
void	consume (const IMC::EstimatedState *msg)
void	consume (const IMC::LoggingControl *msg)
void	consume (const IMC::SoundSpeed *msg)
unsigned	getIndex (unsigned value, const unsigned *table, unsigned table_size)
void	setRange (unsigned value)
void	setStartGain (unsigned value)
void	setSwitchDelay (unsigned value)
void	setAbsorption (unsigned value)
void	setDataPoints (unsigned value)
void	setAutoMode (bool auto_mode)
void	setNadirAngle (float angle)
void	setAutoGainValue (unsigned value)
bool	ping (unsigned data_point)
void	sendExternalControl (Address addr, unsigned port)
bool	getEcho (void)
void	writeToFile (void)
void	update (void)
void	checkAltitude (void)
bool	request (void)
void	process (void)
void	checkRange (void)
void	onMain (void)

Public Attributes
TCPSocket *	m_tcp
UDPSocket *	m_udp
Frame837 *	m_frame837
Frame83P *	m_frame83P
IMC::SonarData *	m_data
ExternalControl *	m_ec
uint8_t	m_sdata [c_sdata_size]
uint8_t	m_rdata_hdr [c_rdata_hdr_size]
uint8_t	m_rdata_ftr [c_rdata_ftr_size]
IMC::EstimatedState	m_estate
std::ofstream	m_log_file
Path	m_log_path
IMC::PowerChannelControl	m_power_channel_control
Counter< double >	m_countdown
Counter< double >	m_range_counter
Time::Counter< float >	m_wdog
Arguments	m_args

Constructor & Destructor Documentation

Sensors::Imagenex837B::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

Constructor.

References Sensors::Imagenex837B::Arguments::absorption, Sensors::Imagenex837B::Arguments::addr, Sensors::Imagenex837B::Arguments::auto_gain, Sensors::Imagenex837B::Arguments::auto_gain_value, Sensors::Imagenex837B::Arguments::data_points, Sensors::Imagenex837B::Arguments::def_range, Sensors::Imagenex837B::Arguments::file_name, m_args, m_sdata, Sensors::Imagenex837B::Arguments::mod, Sensors::Imagenex837B::Arguments::mod_add, Sensors::Imagenex837B::Arguments::mod_mul, Sensors::Imagenex837B::Arguments::mod_timer, Sensors::Imagenex837B::Arguments::nadir, Sensors::Imagenex837B::Arguments::offset, Sensors::Imagenex837B::Arguments::output_format, Sensors::Imagenex837B::Arguments::port, Sensors::Imagenex837B::Arguments::power_channel, Sensors::Imagenex837B::SD_FREQUENCY, Sensors::Imagenex837B::Arguments::start_gain, Sensors::Imagenex837B::Arguments::switch_delay, Sensors::Imagenex837B::Arguments::tilt_angle, Sensors::Imagenex837B::Arguments::timeout_error, and Sensors::Imagenex837B::Arguments::xdcr.

Member Function Documentation

void Sensors::Imagenex837B::Task::checkActivationProgress ( void  )

inline

References Sensors::Imagenex837B::Arguments::addr, DUNE::Time::Counter< T >::getRemaining(), m_args, m_countdown, m_ec, m_tcp, m_udp, DUNE::Time::Counter< T >::overflow(), and Sensors::Imagenex837B::Arguments::port.

Referenced by onMain().

void Sensors::Imagenex837B::Task::checkAltitude ( void  )

inline

Check current water column.

References m_args, m_estate, Sensors::Imagenex837B::Arguments::mod_add, Sensors::Imagenex837B::Arguments::mod_mul, and setRange().

Referenced by checkRange().

void Sensors::Imagenex837B::Task::checkRange ( void  )

inline

Check sonar range.

References checkAltitude(), m_args, m_range_counter, Sensors::Imagenex837B::Arguments::mod, DUNE::Time::Counter< T >::overflow(), and DUNE::Time::Counter< T >::reset().

Referenced by onMain().

void Sensors::Imagenex837B::Task::closeLog ( void  )

inline

Close current log file.

References m_log_file, and m_log_path.

Referenced by consume(), onDeactivation(), onResourceInitialization(), and openLog().

void Sensors::Imagenex837B::Task::consume ( const IMC::EstimatedState *  msg )

inline

References m_estate.

void Sensors::Imagenex837B::Task::consume ( const IMC::LoggingControl *  msg )

inline

References closeLog(), Sensors::Imagenex837B::Arguments::file_name, m_args, m_frame837, m_frame83P, and openLog().

void Sensors::Imagenex837B::Task::consume ( const IMC::SoundSpeed *  msg )

inline

References m_ec, m_frame837, m_frame83P, Sensors::Imagenex837B::ExternalControl::setSoundVelocity(), and Sensors::Imagenex837B::Frame::setSoundVelocity().

bool Sensors::Imagenex837B::Task::getEcho ( void  )

inline

Request get echo using External Control frame.

References Sensors::Imagenex837B::Frame::getData(), Sensors::Imagenex837B::Frame83P::getMaxSize(), Sensors::Imagenex837B::Frame83P::getMessageData(), Sensors::Imagenex837B::Frame83P::getMessageSize(), Sensors::Imagenex837B::Frame83P::getRange(), m_data, m_frame83P, m_udp, sendExternalControl(), and Sensors::Imagenex837B::Frame83P::verifyReturn().

Referenced by request().

unsigned Sensors::Imagenex837B::Task::getIndex ( unsigned  value, const unsigned *  table, unsigned  table_size  )

inline

Get index from table according with given value.

Parameters

[in]	value	value to be checked in the table.
[in]	table	vector with parameters.
[in]	table_size	size of the vector.

Returns

index of the vector.

Referenced by setRange().

void Sensors::Imagenex837B::Task::initializeSonarData ( unsigned  data_size )

inline

Initialize IMC sonar data holder.

References m_data.

Referenced by onUpdateParameters().

void Sensors::Imagenex837B::Task::onActivation ( void  )

inline

References m_wdog.

void Sensors::Imagenex837B::Task::onDeactivation ( void  )

inline

References closeLog(), m_power_channel_control, m_tcp, and m_udp.

void Sensors::Imagenex837B::Task::onMain ( void  )

inline

References checkActivationProgress(), checkRange(), m_tcp, m_udp, m_wdog, process(), and request().

void Sensors::Imagenex837B::Task::onRequestActivation ( void  )

inline

References m_countdown, m_power_channel_control, and DUNE::Time::Counter< T >::reset().

void Sensors::Imagenex837B::Task::onResourceInitialization ( void  )

inline

References closeLog().

void Sensors::Imagenex837B::Task::onResourceRelease ( void  )

inline

References m_data, m_ec, m_frame837, and m_frame83P.

void Sensors::Imagenex837B::Task::onUpdateParameters ( void  )

inline

Update task parameters.

References Sensors::Imagenex837B::Arguments::absorption, Sensors::Imagenex837B::Arguments::addr, Sensors::Imagenex837B::Arguments::auto_gain, Sensors::Imagenex837B::Arguments::auto_gain_value, Sensors::Imagenex837B::Arguments::data_points, Sensors::Imagenex837B::Arguments::def_range, Sensors::Imagenex837B::Frame83P::getMessageSize(), initializeSonarData(), m_args, m_countdown, m_data, m_ec, m_frame837, m_frame83P, m_power_channel_control, m_range_counter, m_wdog, Sensors::Imagenex837B::Arguments::mod_timer, Sensors::Imagenex837B::Arguments::nadir, Sensors::Imagenex837B::Arguments::output_format, Sensors::Imagenex837B::Arguments::port, Sensors::Imagenex837B::Arguments::power_channel, setAbsorption(), setAutoGainValue(), setAutoMode(), setDataPoints(), setNadirAngle(), Sensors::Imagenex837B::Frame::setProfileTiltAngle(), Sensors::Imagenex837B::ExternalControl::setProfileTiltAngle(), setRange(), setStartGain(), setSwitchDelay(), DUNE::Time::Counter< T >::setTop(), Sensors::Imagenex837B::Arguments::start_gain, Sensors::Imagenex837B::Arguments::switch_delay, Sensors::Imagenex837B::Arguments::tilt_angle, and Sensors::Imagenex837B::Arguments::timeout_error.

void Sensors::Imagenex837B::Task::openLog ( const Path &  path )

inline

Open a log file to hold 837 or 83P files.

Parameters

[in]

path

desired log path.

References closeLog(), m_log_file, and m_log_path.

Referenced by consume().

bool Sensors::Imagenex837B::Task::ping ( unsigned  data_point )

inline

Request device to ping.

Parameters

[in]

data_point

data index.

References Sensors::Imagenex837B::Frame837::getMessageData(), m_data, m_frame837, m_rdata_ftr, m_rdata_hdr, m_sdata, m_tcp, and Sensors::Imagenex837B::SD_PACKET_NUM.

Referenced by request().

void Sensors::Imagenex837B::Task::process ( void  )

inline

Process return data.

References m_data, m_frame837, m_frame83P, m_wdog, and writeToFile().

Referenced by onMain().

bool Sensors::Imagenex837B::Task::request ( void  )

inline

Request sonar data.

Returns

true if return is successful, false otherwise.

References Sensors::Imagenex837B::Arguments::data_points, getEcho(), m_args, m_ec, and ping().

Referenced by onMain().

void Sensors::Imagenex837B::Task::sendExternalControl ( Address  addr, unsigned  port  )

inline

References Sensors::Imagenex837B::ExternalControl::getData(), Sensors::Imagenex837B::ExternalControl::getSize(), m_ec, and m_udp.

Referenced by getEcho().

void Sensors::Imagenex837B::Task::setAbsorption ( unsigned  value )

inline

Define switch command data absorption value.

Parameters

[in]

value

absorption value.

References m_sdata, and Sensors::Imagenex837B::SD_ABSORPTION.

Referenced by onUpdateParameters().

void Sensors::Imagenex837B::Task::setAutoGainValue ( unsigned  value )

inline

Define switch command data auto gain threshold.

Parameters

[in]

value

auto gain threshold.

References m_sdata, and Sensors::Imagenex837B::SD_AGC_THRESHOLD.

Referenced by onUpdateParameters().

void Sensors::Imagenex837B::Task::setAutoMode ( bool  auto_mode )

inline

Define switch command data auto mode.

References m_sdata, and Sensors::Imagenex837B::SD_RUN_MODE.

Referenced by onUpdateParameters().

void Sensors::Imagenex837B::Task::setDataPoints ( unsigned  value )

inline

Define switch command data number of data points.

Parameters

[in]

value

number of data points.

References m_frame837, m_sdata, Sensors::Imagenex837B::SD_DATA_POINTS, and Sensors::Imagenex837B::Frame837::setExtendedDataPoints().

Referenced by onUpdateParameters().

void Sensors::Imagenex837B::Task::setNadirAngle ( float  angle )

inline

Define switch command data number nadir angle.

Parameters

[in]

angle

nadir angle.

References m_args, m_ec, m_frame837, m_sdata, Sensors::Imagenex837B::SD_NADIR_HI, Sensors::Imagenex837B::SD_NADIR_LO, Sensors::Imagenex837B::ExternalControl::setDisplayMode(), Sensors::Imagenex837B::Frame837::setDisplayMode(), and Sensors::Imagenex837B::Arguments::xdcr.

Referenced by onUpdateParameters(), and update().

void Sensors::Imagenex837B::Task::setRange ( unsigned  value )

inline

Define switch command data range.

Parameters

[in]

value

range.

References getIndex(), m_data, m_ec, m_frame837, m_frame83P, m_sdata, Sensors::Imagenex837B::SD_PULSE_LEN, Sensors::Imagenex837B::SD_RANGE, Sensors::Imagenex837B::Frame837::setPulseLength(), Sensors::Imagenex837B::ExternalControl::setRange(), and Sensors::Imagenex837B::Frame::setRange().

Referenced by checkAltitude(), and onUpdateParameters().

void Sensors::Imagenex837B::Task::setStartGain ( unsigned  value )

inline

Define switch command data start gain.

Parameters

[in]

value

start gain.

References m_ec, m_frame837, m_sdata, Sensors::Imagenex837B::SD_START_GAIN, Sensors::Imagenex837B::ExternalControl::setGain(), and Sensors::Imagenex837B::Frame837::setStartGain().

Referenced by onUpdateParameters().

void Sensors::Imagenex837B::Task::setSwitchDelay ( unsigned  value )

inline

Define switch command data switch delay.

Parameters

[in]

value

switch delay.

References m_sdata, and Sensors::Imagenex837B::SD_SWITCH_DELAY.

Referenced by onUpdateParameters().

void Sensors::Imagenex837B::Task::update ( void  )

inline

Update state (to be logged in 837/83P file formats).

References m_args, m_estate, m_frame837, m_frame83P, Sensors::Imagenex837B::Arguments::nadir, Sensors::Imagenex837B::Arguments::offset, Sensors::Imagenex837B::Frame::setCourse(), Sensors::Imagenex837B::Frame::setGpsData(), Sensors::Imagenex837B::Frame::setHeading(), setNadirAngle(), Sensors::Imagenex837B::Frame::setPitch(), Sensors::Imagenex837B::Frame::setRoll(), and Sensors::Imagenex837B::Frame::setSpeed().

Referenced by writeToFile().

void Sensors::Imagenex837B::Task::writeToFile ( void  )

inline

Handle sonar data to 837/83P file formats.

References Sensors::Imagenex837B::Frame::getData(), Sensors::Imagenex837B::Frame83P::getSize(), Sensors::Imagenex837B::Frame837::getSize(), m_frame837, m_frame83P, m_log_file, m_rdata_hdr, Sensors::Imagenex837B::Frame::setDateTime(), Sensors::Imagenex837B::Frame837::setFirmwareVersion(), Sensors::Imagenex837B::Frame837::setRepRate(), Sensors::Imagenex837B::Frame837::setSerialStatus(), and update().

Referenced by process().

Member Data Documentation

Arguments Sensors::Imagenex837B::Task::m_args

Configuration parameters.

Referenced by checkActivationProgress(), checkAltitude(), checkRange(), consume(), onUpdateParameters(), request(), setNadirAngle(), Task(), and update().

Counter<double> Sensors::Imagenex837B::Task::m_countdown

Activation/deactivation timer.

Referenced by checkActivationProgress(), onRequestActivation(), and onUpdateParameters().

IMC::SonarData* Sensors::Imagenex837B::Task::m_data

Sonar Return Data.

Referenced by getEcho(), initializeSonarData(), onResourceRelease(), onUpdateParameters(), ping(), process(), and setRange().

ExternalControl* Sensors::Imagenex837B::Task::m_ec

External Control frame.

Referenced by checkActivationProgress(), consume(), onResourceRelease(), onUpdateParameters(), request(), sendExternalControl(), setNadirAngle(), setRange(), and setStartGain().

IMC::EstimatedState Sensors::Imagenex837B::Task::m_estate

Estimated state.

Referenced by checkAltitude(), consume(), and update().

Frame837* Sensors::Imagenex837B::Task::m_frame837

837 Frame.

Referenced by consume(), onResourceRelease(), onUpdateParameters(), ping(), process(), setDataPoints(), setNadirAngle(), setRange(), setStartGain(), update(), and writeToFile().

Frame83P* Sensors::Imagenex837B::Task::m_frame83P

83P Frame.

Referenced by consume(), getEcho(), onResourceRelease(), onUpdateParameters(), process(), setRange(), update(), and writeToFile().

std::ofstream Sensors::Imagenex837B::Task::m_log_file

Log file.

Referenced by closeLog(), openLog(), and writeToFile().

Path Sensors::Imagenex837B::Task::m_log_path

Log filename.

Referenced by closeLog(), and openLog().

IMC::PowerChannelControl Sensors::Imagenex837B::Task::m_power_channel_control

Power channel control.

Referenced by onDeactivation(), onRequestActivation(), and onUpdateParameters().

Counter<double> Sensors::Imagenex837B::Task::m_range_counter

Range adaptive modifier counter.

Referenced by checkRange(), and onUpdateParameters().

uint8_t Sensors::Imagenex837B::Task::m_rdata_ftr[c_rdata_ftr_size]

Footer Return data.

Referenced by ping().

uint8_t Sensors::Imagenex837B::Task::m_rdata_hdr[c_rdata_hdr_size]

Header Return data.

Referenced by ping(), and writeToFile().

uint8_t Sensors::Imagenex837B::Task::m_sdata[c_sdata_size]

Output switch data.

Referenced by ping(), setAbsorption(), setAutoGainValue(), setAutoMode(), setDataPoints(), setNadirAngle(), setRange(), setStartGain(), setSwitchDelay(), and Task().

TCPSocket* Sensors::Imagenex837B::Task::m_tcp

TCP socket.

Referenced by checkActivationProgress(), onDeactivation(), onMain(), and ping().

UDPSocket* Sensors::Imagenex837B::Task::m_udp

UDP socket.

Referenced by checkActivationProgress(), getEcho(), onDeactivation(), onMain(), and sendExternalControl().

Time::Counter<float> Sensors::Imagenex837B::Task::m_wdog

Watchdog.

Referenced by onActivation(), onMain(), onUpdateParameters(), and process().

Collaboration diagram for Sensors::Imagenex837B::Task: