Power::LUEMB::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
	~Task (void)
void	clearADCs ()
void	onUpdateParameters (void)
void	onEntityReservation (void)
void	onResourceAcquisition (void)
void	onResourceInitialization (void)
void	onResourceRelease (void)
void	turnOffLEDs (void)
void	consume (const IMC::PowerChannelControl *msg)
void	consume (const IMC::SetLedBrightness *msg)
void	consume (const IMC::QueryLedBrightness *msg)
void	consume (const IMC::QueryPowerChannelState *msg)
void	clearLEDs (void)
bool	setBrightness (uint8_t channel, uint8_t value)
bool	setPowerChannel (uint8_t channel, uint8_t value)
bool	getMonitors (void)
void	dispatchPowerChannelStates (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
std::map< std::string, LED * >	m_led_by_name
std::map< unsigned, LED * >	m_led_by_id
IMC::Message *	m_adcs [c_adcs_count]
PowerChannels	m_channels
SerialPort *	m_uart
UCTK::Interface *	m_ctl
IMC::Current	m_current [4]
IMC::Voltage	m_voltage [4]
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	onEntityResolution (void)
virtual void	onReportEntityState (void)
virtual void	onRequestActivation (void)
virtual void	onRequestDeactivation (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

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

inline

Constructor.

Parameters

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

References Power::LUEMB::Arguments::adc_elabels, Power::LUEMB::Arguments::adc_factors, Power::LUEMB::Arguments::adc_messages, DUNE::Tasks::Parameter::defaultValue(), Power::LUEMB::Arguments::led_names, m_adcs, m_args, DUNE::Tasks::Task::param(), Power::LUEMB::Arguments::pwr_names, Power::LUEMB::Arguments::pwr_states, DUNE::Tasks::Parameter::size(), and Power::LUEMB::Arguments::uart_dev.

Power::LUEMB::Task::~Task ( void  )

inlinevirtual

Destructor.

Reimplemented from DUNE::Tasks::Task.

References clearADCs(), clearLEDs(), and onResourceRelease().

Member Function Documentation

void Power::LUEMB::Task::clearADCs ( )

inline

References m_adcs.

Referenced by ~Task().

void Power::LUEMB::Task::clearLEDs ( void  )

inline

References m_led_by_id, and m_led_by_name.

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

void Power::LUEMB::Task::consume ( const IMC::PowerChannelControl *  msg )

inline

References m_channels, setPowerChannel(), and DUNE::Tasks::Task::spew().

void Power::LUEMB::Task::consume ( const IMC::SetLedBrightness *  msg )

inline

References m_led_by_name, and setBrightness().

void Power::LUEMB::Task::consume ( const IMC::QueryLedBrightness *  msg )

inline

References DUNE::Tasks::Task::dispatchReply(), and m_led_by_name.

void Power::LUEMB::Task::consume ( const IMC::QueryPowerChannelState *  msg )

inline

References dispatchPowerChannelStates().

void Power::LUEMB::Task::dispatchPowerChannelStates ( void  )

inline

References DUNE::Tasks::Task::dispatch(), and m_channels.

Referenced by consume().

bool Power::LUEMB::Task::getMonitors ( void  )

inline

References Power::LUEMB::Arguments::adc_factors, DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::err(), m_adcs, m_args, m_channels, m_ctl, m_led_by_id, and Power::LUEMB::PKT_ID_STATE.

Referenced by onMain().

void Power::LUEMB::Task::onEntityReservation ( void  )

inlinevirtual

Reserve entities.

Reimplemented from DUNE::Tasks::Task.

References Power::LUEMB::Arguments::adc_elabels, m_adcs, m_args, DUNE::Tasks::Task::reserveEntity(), and DUNE::Tasks::Task::resolveEntity().

void Power::LUEMB::Task::onMain ( void  )

inlinevirtual

Main loop.

Implements DUNE::Tasks::Task.

References getMonitors(), DUNE::Tasks::Task::stopping(), and DUNE::Tasks::Task::waitForMessages().

void Power::LUEMB::Task::onResourceAcquisition ( void  )

inlinevirtual

Acquire resources.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Tasks::Task::inf(), m_args, m_ctl, m_uart, Power::LUEMB::Arguments::uart_dev, and DUNE::Tasks::Task::war().

void Power::LUEMB::Task::onResourceInitialization ( void  )

inlinevirtual

Initialize resources.

Reimplemented from DUNE::Tasks::Task.

References m_channels, DUNE::Tasks::Task::setEntityState(), setPowerChannel(), and turnOffLEDs().

void Power::LUEMB::Task::onResourceRelease ( void  )

inlinevirtual

Release resources.

Reimplemented from DUNE::Tasks::Task.

References m_ctl, m_uart, and turnOffLEDs().

Referenced by ~Task().

void Power::LUEMB::Task::onUpdateParameters ( void  )

inlinevirtual

Update internal state with new parameter values.

Reimplemented from DUNE::Tasks::Task.

References Power::LUEMB::Arguments::adc_elabels, Power::LUEMB::Arguments::adc_messages, Power::LUEMB::LED::brightness, clearLEDs(), Power::LUEMB::LED::id, Power::LUEMB::Arguments::led_names, m_adcs, m_args, m_channels, m_led_by_id, m_led_by_name, Power::LUEMB::LED::name, Power::LUEMB::Arguments::pwr_names, Power::LUEMB::Arguments::pwr_states, and DUNE::Tasks::Task::resolveEntity().

bool Power::LUEMB::Task::setBrightness ( uint8_t  channel, uint8_t  value  )

inline

References m_ctl, and Power::LUEMB::PKT_ID_SET_LED.

Referenced by consume(), and turnOffLEDs().

bool Power::LUEMB::Task::setPowerChannel ( uint8_t  channel, uint8_t  value  )

inline

References m_ctl, and Power::LUEMB::PKT_ID_SET_POWER.

Referenced by consume(), and onResourceInitialization().

void Power::LUEMB::Task::turnOffLEDs ( void  )

inline

References setBrightness().

Referenced by onResourceInitialization(), and onResourceRelease().

Member Data Documentation

IMC::Message* Power::LUEMB::Task::m_adcs[c_adcs_count]

ADC messages.

Referenced by clearADCs(), getMonitors(), onEntityReservation(), onUpdateParameters(), and Task().

Arguments Power::LUEMB::Task::m_args

Task arguments.

Referenced by getMonitors(), onEntityReservation(), onResourceAcquisition(), onUpdateParameters(), and Task().

PowerChannels Power::LUEMB::Task::m_channels

Power channels.

Referenced by consume(), dispatchPowerChannelStates(), getMonitors(), onResourceInitialization(), and onUpdateParameters().

UCTK::Interface* Power::LUEMB::Task::m_ctl

Control Interface.

Referenced by getMonitors(), onResourceAcquisition(), onResourceRelease(), setBrightness(), and setPowerChannel().

IMC::Current Power::LUEMB::Task::m_current[4]

Current.

std::map<unsigned, LED*> Power::LUEMB::Task::m_led_by_id

Map of LEDs by id.

Referenced by clearLEDs(), getMonitors(), and onUpdateParameters().

std::map<std::string, LED*> Power::LUEMB::Task::m_led_by_name

Map of LEDs by name.

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

SerialPort* Power::LUEMB::Task::m_uart

UART.

Referenced by onResourceAcquisition(), and onResourceRelease().

IMC::Voltage Power::LUEMB::Task::m_voltage[4]

Voltage.

Collaboration diagram for Power::LUEMB::Task: