DUNE: Uniform Navigational Environment  2016.05.0
List of all members | Public Member Functions | Public Attributes
Sensors::SmartX::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
void onUpdateParameters (void)
 
void onResourceInitialization (void)
 
void onRequestActivation (void)
 
void onRequestDeactivation (void)
 
void queueState (StateMachineStates state)
 
bool hasQueuedStates (void) const
 
StateMachineStates getCurrentState (void) const
 
StateMachineStates dequeueState (void)
 
bool connect (void)
 
double getTimeout (double timeout)
 
void failActivation (const std::string &reason)
 
void updateStateMachine (void)
 
void onMain (void)
 
- 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)
 

Public Attributes

Driver * m_driver
 
Counter< double > m_timer
 
StateMachineStates m_sm_state
 
std::queue< StateMachineStates > m_sm_state_queue
 
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
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 onResourceRelease (void)
 
virtual void onActivation (void)
 
virtual void onDeactivation (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)
 
- Protected Attributes inherited from DUNE::Tasks::Task
Context & m_ctx
 
std::vector
< Entities::BasicEntity * > 		m_entities
 

Constructor & Destructor Documentation

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

Constructor.

Parameters
[in]nametask name.
[in]ctxcontext.

References DUNE::Tasks::Parameter::defaultValue(), m_args, DUNE::Tasks::Task::param(), DUNE::Tasks::Task::paramActive(), Sensors::SmartX::Arguments::sampling_freq, Sensors::SmartX::Arguments::uart_baud, and Sensors::SmartX::Arguments::uart_dev.

Member Function Documentation

bool Sensors::SmartX::Task::connect ( void  )
inline

References m_args, m_driver, Sensors::SmartX::Arguments::uart_baud, and Sensors::SmartX::Arguments::uart_dev.

StateMachineStates Sensors::SmartX::Task::dequeueState ( void  )
inline

References hasQueuedStates(), m_sm_state, and m_sm_state_queue.

Referenced by updateStateMachine().

void Sensors::SmartX::Task::failActivation ( const std::string &  reason)
inline

References DUNE::Tasks::Task::activationFailed(), queueState(), and Sensors::SmartX::ST_IDLE.

Referenced by updateStateMachine().

StateMachineStates Sensors::SmartX::Task::getCurrentState ( void  ) const
inline

References m_sm_state.

double Sensors::SmartX::Task::getTimeout ( double  timeout)
inline

References DUNE::Time::Counter< T >::getRemaining(), and m_timer.

Referenced by updateStateMachine().

bool Sensors::SmartX::Task::hasQueuedStates ( void  ) const
inline

Test if state queue has pending state transitions.

Returns
true if state queue has pending states, false otherwise.

References m_sm_state_queue.

Referenced by dequeueState(), and onMain().

void Sensors::SmartX::Task::onMain ( void  )
inlinevirtual

Main loop.

Implements DUNE::Tasks::Task.

References DUNE::Tasks::Task::consumeMessages(), hasQueuedStates(), DUNE::Tasks::Task::isActive(), DUNE::Tasks::Task::stopping(), updateStateMachine(), and DUNE::Tasks::Task::waitForMessages().

void Sensors::SmartX::Task::onRequestActivation ( void  )
inlinevirtual

Called when an external activation request is received.

Derived classes that need to perform extra steps to prepare normal execution should replace the default behaviour of immediate activation with calls to activate() when the request is completed or activationFailed() if the request cannot be honoured.

Reimplemented from DUNE::Tasks::Task.

References queueState(), and Sensors::SmartX::ST_ACTIVATION_START.

void Sensors::SmartX::Task::onRequestDeactivation ( void  )
inlinevirtual

Called when an external deactivation request is received.

Derived classes that need to perform extra steps to prepare normal execution should replace the default behaviour of immediate deactivation with calls to deactivate() when the request is completed or deactivationFailed() if the request cannot be honoured.

Reimplemented from DUNE::Tasks::Task.

References queueState(), and Sensors::SmartX::ST_DEACTIVATION_START.

void Sensors::SmartX::Task::onResourceInitialization ( void  )
inlinevirtual

Called when the task is instructed to initialize resources acquired previously or whose initialization depends on run-time parameters.

Reimplemented from DUNE::Tasks::Task.

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

void Sensors::SmartX::Task::onUpdateParameters ( void  )
inlinevirtual

Called when the task is instructed to update its run-time parameters.

Derived classes that need to compute auxiliary values based on run-time parameters should override this function.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Tasks::Task::isActive(), m_args, DUNE::Tasks::Task::paramChanged(), queueState(), Sensors::SmartX::Arguments::sampling_freq, and Sensors::SmartX::ST_CONFIG_SET.

void Sensors::SmartX::Task::queueState ( StateMachineStates  state)
inline

Push a new state to the state queue.

Parameters
[in]statestate machine state.

References m_sm_state_queue.

Referenced by failActivation(), onRequestActivation(), onRequestDeactivation(), onUpdateParameters(), and updateStateMachine().

void Sensors::SmartX::Task::updateStateMachine ( void  )
inline

References DUNE::Tasks::Task::activate(), Sensors::SmartX::Driver::beginChannels(), DUNE::Tasks::Task::deactivate(), dequeueState(), Sensors::SmartX::Driver::detectionRead(), Sensors::SmartX::Driver::detectionStart(), Sensors::SmartX::Driver::endChannels(), failActivation(), DUNE::Tasks::Task::getActivationTime(), getTimeout(), DUNE::Tasks::Task::inf(), DUNE::Tasks::Task::isActivating(), m_args, m_driver, m_timer, DUNE::Time::Counter< T >::overflow(), queueState(), Sensors::SmartX::Driver::readSample(), DUNE::Time::Counter< T >::reset(), Sensors::SmartX::Arguments::sampling_freq, Sensors::SmartX::Driver::samplingStart(), Sensors::SmartX::Driver::samplingStop(), Sensors::SmartX::Driver::setCalculatedChannels(), DUNE::Tasks::Task::setEntityState(), Sensors::SmartX::Driver::setSamplingRate(), DUNE::Time::Counter< T >::setTop(), Sensors::SmartX::ST_ACTIVATION_START, Sensors::SmartX::ST_ACTIVE, Sensors::SmartX::ST_CALCULATED_SET, Sensors::SmartX::ST_CONFIG_SET, Sensors::SmartX::ST_CONNECT, Sensors::SmartX::ST_DEACTIVATION_CLOSE, Sensors::SmartX::ST_DEACTIVATION_START, Sensors::SmartX::ST_DETECTION_START, Sensors::SmartX::ST_DETECTION_WAIT, Sensors::SmartX::ST_IDLE, Sensors::SmartX::ST_SAMPLING_SET_RATE, Sensors::SmartX::ST_SAMPLING_START, Sensors::SmartX::ST_SAMPLING_STOP, Sensors::SmartX::Arguments::uart_baud, and Sensors::SmartX::Arguments::uart_dev.

Referenced by onMain().

Member Data Documentation

Arguments Sensors::SmartX::Task::m_args

Task arguments.

Referenced by connect(), onUpdateParameters(), Task(), and updateStateMachine().

Driver* Sensors::SmartX::Task::m_driver

Driver.

Referenced by connect(), and updateStateMachine().

StateMachineStates Sensors::SmartX::Task::m_sm_state

Current state machine state.

Referenced by dequeueState(), and getCurrentState().

std::queue<StateMachineStates> Sensors::SmartX::Task::m_sm_state_queue

State machine state queue.

Referenced by dequeueState(), hasQueuedStates(), and queueState().

Counter<double> Sensors::SmartX::Task::m_timer

Timer.

Referenced by getTimeout(), and updateStateMachine().

Collaboration diagram for Sensors::SmartX::Task:
Collaboration graph