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

void	consume (const IMC::EstimatedState *msg)

void	consume (const IMC::LoggingControl *msg)

void	consume (const IMC::SoundSpeed *msg)

void	consume (const IMC::PowerChannelState *msg)

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

const char *	getEntityLabel (void) const

void	setEntityLabel (const std::string &label)

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)

Protected Member Functions
void	setPowerOffDelay (double value)

void	setPostPowerOnDelay (double value)

void	clearPowerChannelNames (void)

void	addPowerChannelName (const std::string &name)

virtual bool	onConnect (void)=0

virtual void	onDisconnect (void)=0

virtual bool	enableLogControl (void)

virtual bool	onReadData (void)=0

virtual bool	onSynchronize (void)

virtual void	onEstimatedState (const DUNE::IMC::EstimatedState &msg)

virtual void	onSoundSpeed (double value)

virtual void	onOpenLog (const DUNE::FileSystem::Path &path)

virtual void	onCloseLog (void)

virtual void	onInitializeDevice (void)=0

void	clearFaultCount (void)

void	clearTimeoutCount (void)

Protected Member Functions inherited from DUNE::Tasks::Task
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 bool	onWriteParamsXML (std::ostream &os) const

virtual void	onEntityReservation (void)

virtual void	onEntityResolution (void)

virtual void	onReportEntityState (void)

virtual void	onResourceAcquisition (void)

virtual void	onUpdateParameters (void)

virtual void	onQueryEntityParameters (const IMC::QueryEntityParameters *msg)

virtual void	onSetEntityParameters (const IMC::SetEntityParameters *msg)

virtual void	onPushEntityParameters (const IMC::PushEntityParameters *msg)

virtual void	onPopEntityParameters (const IMC::PopEntityParameters *msg)

Protected Member Functions inherited from DUNE::Concurrency::Thread
void	startImpl (void)

void	stopImpl (void)

void	joinImpl (void)

void	setPriorityImpl (Scheduler::Policy policy, unsigned priority)

Additional Inherited Members
Public Types inherited from DUNE::Concurrency::Runnable
enum	State { StateStarting, StateRunning, StateStopping, StateDead, StateUnknown }

Protected Attributes inherited from DUNE::Tasks::Task
Context &	m_ctx

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

Constructor & Destructor Documentation

DUNE::Hardware::BasicDeviceDriver::BasicDeviceDriver	(	const std::string &	name,
		DUNE::Tasks::Context &	ctx
	)

Member Function Documentation

void DUNE::Hardware::BasicDeviceDriver::addPowerChannelName ( const std::string & name )

inlineprotected

void DUNE::Hardware::BasicDeviceDriver::clearFaultCount ( void )

inlineprotected

void DUNE::Hardware::BasicDeviceDriver::clearPowerChannelNames ( void )

inlineprotected

void DUNE::Hardware::BasicDeviceDriver::clearTimeoutCount ( void )

inlineprotected

void DUNE::Hardware::BasicDeviceDriver::consume ( const IMC::EstimatedState * msg )

Consume estimated state messages.

Parameters

[in] msg EstimatedState message.

References DUNE::IMC::Message::getSource(), DUNE::Tasks::Task::getSystemId(), DUNE::Tasks::Task::isActive(), and onEstimatedState().

void DUNE::Hardware::BasicDeviceDriver::consume ( const IMC::LoggingControl * msg )

Consume logging control messages.

Parameters

[in] msg LoggingControl message.

References DUNE::IMC::LoggingControl::COP_CURRENT_NAME, DUNE::IMC::LoggingControl::COP_STARTED, DUNE::IMC::LoggingControl::COP_STOPPED, DUNE::Tasks::Context::dir_log, enableLogControl(), DUNE::IMC::Message::getDestination(), DUNE::IMC::Message::getDestinationEntity(), DUNE::Tasks::Task::getEntityId(), DUNE::Tasks::Task::getSystemId(), DUNE::Tasks::Task::m_ctx, DUNE::IMC::LoggingControl::name, and DUNE::IMC::LoggingControl::op.

void DUNE::Hardware::BasicDeviceDriver::consume ( const IMC::SoundSpeed * msg )

Consume sound speed messages.

Parameters

[in] msg SoundSpeed message.

References DUNE::Tasks::Task::isActive(), onSoundSpeed(), and DUNE::IMC::SoundSpeed::value.

void DUNE::Hardware::BasicDeviceDriver::consume ( const IMC::PowerChannelState * msg )

Consume power channel state messages.

Parameters

[in]	msg	PowerChannelState message.
[in]	msg	power channel state.

References DUNE::Tasks::Task::debug(), DUNE::IMC::PowerChannelState::name, DUNE::IMC::PowerChannelState::PCS_ON, and DUNE::IMC::PowerChannelState::state.

virtual bool DUNE::Hardware::BasicDeviceDriver::enableLogControl ( void )

inlineprotectedvirtual

Referenced by consume().

void DUNE::Hardware::BasicDeviceDriver::onCloseLog ( void )

protectedvirtual

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

virtual bool DUNE::Hardware::BasicDeviceDriver::onConnect ( void )

protectedpure virtual

virtual void DUNE::Hardware::BasicDeviceDriver::onDisconnect ( void )

protectedpure virtual

void DUNE::Hardware::BasicDeviceDriver::onEstimatedState ( const DUNE::IMC::EstimatedState & msg )

protectedvirtual

Referenced by consume().

virtual void DUNE::Hardware::BasicDeviceDriver::onInitializeDevice ( void )

protectedpure virtual

void DUNE::Hardware::BasicDeviceDriver::onOpenLog ( const DUNE::FileSystem::Path & path )

protectedvirtual

References DUNE::FileSystem::Path::c_str(), and DUNE::Tasks::Task::trace().

virtual bool DUNE::Hardware::BasicDeviceDriver::onReadData ( void )

protectedpure virtual

void DUNE::Hardware::BasicDeviceDriver::onSoundSpeed ( double value )

protectedvirtual

Referenced by consume().

bool DUNE::Hardware::BasicDeviceDriver::onSynchronize ( void )

protectedvirtual

void DUNE::Hardware::BasicDeviceDriver::setPostPowerOnDelay ( double value )

inlineprotected

Set post power-on delay.

Parameters

[in] value delay in second.

void DUNE::Hardware::BasicDeviceDriver::setPowerOffDelay ( double value )

inlineprotected

Set the amount of time to wait before powering down the device.

Parameters

[in] value delay in second.

Collaboration diagram for DUNE::Hardware::BasicDeviceDriver:

Public Member Functions

Protected Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation