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

	~Task (void)

void	createNavigationOffsetsMarker (void)

void	onUpdateParameters (void)

void	onResourceInitialization (void)

void	onResourceRelease (void)

void	onRequestActivation (void)

void	onActivation (void)

void	onRequestDeactivation (void)

void	onDeactivation (void)

void	consume (const IMC::PowerChannelState *msg)

void	consume (const IMC::EstimatedState *msg)

void	consume (const IMC::LoggingControl *msg)

void	consume (const IMC::SoundSpeed *msg)

bool	getPing (BVTPing &ping)

bool	queryRangeWindow (float &start_range, float &stop_range)

bool	setRange (float start_range, float stop_range)

void	controlPower (IMC::PowerChannelControl::OperationEnum op)

void	turnPowerOn (void)

void	turnPowerOff (void)

bool	isPowered (void)

bool	hasPowerChannel (void)

bool	connect (void)

void	disconnect (void)

bool	setup (void)

Path	getLogPath (const Path &prefix)

bool	logIsOpen (void)

void	openLog (const std::string &prefix, bool force)

void	closeLog (void)

void	putInLog (BVTPing ping)

void	requestLogName (void)

bool	isSynched (void)

void	setSoundSpeed (int value)

void	updateStateMachine (void)

void	onMain (void)

Public Member Functions inherited from DUNE::Tasks::Task
	Task (const std::string &name, Context &context)

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
BVTSonar	m_sonar

BVTHead	m_sonar_head

BVTPing	m_ping

BVTNavData	m_nav_data

std::string	m_log_name

StateMachineState	m_sm_state

bool	m_powered

Log *	m_log

int	m_sound_speed

double	m_sound_speed_full_res

std::string	m_nav_offsets_marker

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	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::BlueView4::Task::Task	(	const std::string &	name,
		Tasks::Context &	ctx
	)

inline

Constructor.

Parameters

[in]	name	task name.
[in]	ctx	context.

Sensors::BlueView4::Task::~Task ( void )

inlinevirtual

Destructor.

Reimplemented from DUNE::Tasks::Task.

References m_nav_data.

Member Function Documentation

void Sensors::BlueView4::Task::closeLog ( void )

inline

References Sensors::BlueView4::Log::getPath(), logIsOpen(), m_log, and DUNE::Tasks::Task::trace().

Referenced by consume(), openLog(), and updateStateMachine().

bool Sensors::BlueView4::Task::connect ( void )

inline

References Sensors::BlueView4::Arguments::addr, m_args, m_sonar, m_sonar_head, and DUNE::Tasks::Task::trace().

Referenced by updateStateMachine().

void Sensors::BlueView4::Task::consume ( const IMC::PowerChannelState * msg )

inline

References DUNE::Tasks::Task::debug(), m_args, m_powered, and Sensors::BlueView4::Arguments::power_channel.

void Sensors::BlueView4::Task::consume ( const IMC::EstimatedState * msg )

inline

References m_nav_data, and m_sound_speed_full_res.

void Sensors::BlueView4::Task::consume ( const IMC::LoggingControl * msg )

inline

References closeLog(), m_args, m_sm_state, Sensors::BlueView4::Arguments::master_system_name, openLog(), DUNE::Tasks::Task::resolveSystemName(), Sensors::BlueView4::SM_ACT_LOG_WAIT, and Sensors::BlueView4::SM_ACT_PING.

void Sensors::BlueView4::Task::consume ( const IMC::SoundSpeed * msg )

inline

References m_sonar_head, m_sound_speed_full_res, and setSoundSpeed().

void Sensors::BlueView4::Task::controlPower ( IMC::PowerChannelControl::OperationEnum op )

inline

References DUNE::Tasks::Task::dispatch(), hasPowerChannel(), m_args, Sensors::BlueView4::Arguments::power_channel, and DUNE::Tasks::Task::trace().

Referenced by turnPowerOff(), and turnPowerOn().

void Sensors::BlueView4::Task::createNavigationOffsetsMarker ( void )

inline

References m_args, m_nav_offsets_marker, Sensors::BlueView4::Arguments::nav_offset_altitude, Sensors::BlueView4::Arguments::nav_offset_depth, Sensors::BlueView4::Arguments::nav_offset_fore_aft, Sensors::BlueView4::Arguments::nav_offset_heading, Sensors::BlueView4::Arguments::nav_offset_pitch, and Sensors::BlueView4::Arguments::nav_offset_roll.

Referenced by onUpdateParameters().

void Sensors::BlueView4::Task::disconnect ( void )

inline

References m_sonar, m_sonar_head, and DUNE::Tasks::Task::trace().

Referenced by updateStateMachine().

Path Sensors::BlueView4::Task::getLogPath ( const Path & prefix )

inline

References DUNE::Tasks::Context::dir_log, Sensors::BlueView4::Arguments::log_prefix, m_args, and DUNE::Tasks::Task::m_ctx.

Referenced by openLog().

bool Sensors::BlueView4::Task::getPing ( BVTPing & ping )

inline

References m_nav_data, and m_sonar_head.

Referenced by isSynched(), and updateStateMachine().

bool Sensors::BlueView4::Task::hasPowerChannel ( void )

inline

References m_args, and Sensors::BlueView4::Arguments::power_channel.

Referenced by controlPower(), onUpdateParameters(), and updateStateMachine().

bool Sensors::BlueView4::Task::isPowered ( void )

inline

References m_powered.

Referenced by updateStateMachine().

bool Sensors::BlueView4::Task::isSynched ( void )

inline

References getPing(), and m_ping.

Referenced by updateStateMachine().

bool Sensors::BlueView4::Task::logIsOpen ( void )

inline

References m_log.

Referenced by closeLog(), openLog(), putInLog(), setSoundSpeed(), and updateStateMachine().

void Sensors::BlueView4::Task::onActivation ( void )

inlinevirtual

Called when the task starts/resumes normal execution.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Tasks::Task::inf(), and DUNE::Tasks::Task::setEntityState().

void Sensors::BlueView4::Task::onDeactivation ( void )

inlinevirtual

Called when the task stops normal execution and enters an idleness state.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Tasks::Task::inf(), m_sonar, and DUNE::Tasks::Task::setEntityState().

void Sensors::BlueView4::Task::onMain ( void )

inlinevirtual

Main loop.

Implements DUNE::Tasks::Task.

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

void Sensors::BlueView4::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 m_sm_state, and Sensors::BlueView4::SM_ACT_BEGIN.

void Sensors::BlueView4::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 m_sm_state, and Sensors::BlueView4::SM_DEACT_BEGIN.

void Sensors::BlueView4::Task::onResourceInitialization ( void )

inlinevirtual

Initialize task resources.

Reimplemented from DUNE::Tasks::Task.

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

void Sensors::BlueView4::Task::onResourceRelease ( void )

inlinevirtual

Release task resources.

Reimplemented from DUNE::Tasks::Task.

void Sensors::BlueView4::Task::onUpdateParameters ( void )