Sensors::MetrecX::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
	~Task (void)
void	variablesInitializer ()
void	consume (const IMC::EstimatedState *msg)
void	onUpdateParameters (void)
void	onEntityReservation (void)
void	onResourceAcquisition (void)
void	onResourceRelease (void)
void	onResourceInitialization (void)
void	startMonitoring (void)
void	stopMonitoring (void)
void	turnOffChannels (void)
void	configureInternalChannels (void)
void	checkDigitalSensors (void)
bool	sendCommand (const char *cmd, const char *reply)
void	dispatchSensValues (IMC::Message *message, double value, std::string label, double factor)
void	dispatchDepth (std::string label, double value, double factor)
int	digAndAnalogActive (void)
int	allActive (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
SerialPort *	m_uart
IMC::Message *	m_digs [c_digs_count]
IMC::Message *	m_analogs [c_analogs_count]
IMC::Message *	m_internals [c_internals_count]
IMC::Depth	m_depth
Arguments	m_args
Counter< double >	m_wdog
int	m_active_slots_array [c_digs_count+c_analogs_count+c_internals_count]
int	m_dig_active
int	m_analog_active
int	m_internal_active
double	m_lat
int	m_bit_flag
bool	m_param_chang

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

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

inline

Constructor.

Parameters

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

References Sensors::MetrecX::Arguments::analog_elabels, Sensors::MetrecX::Arguments::analog_factors, Sensors::MetrecX::Arguments::analog_messages, DUNE::Tasks::Parameter::defaultValue(), Sensors::MetrecX::Arguments::dig_elabels, Sensors::MetrecX::Arguments::dig_factors, Sensors::MetrecX::Arguments::dig_messages, Sensors::MetrecX::Arguments::geop_anomaly, Sensors::MetrecX::Arguments::input_timeout, Sensors::MetrecX::Arguments::internal_elabels, Sensors::MetrecX::Arguments::internal_factors, Sensors::MetrecX::Arguments::internal_messages, m_args, DUNE::Tasks::Task::param(), DUNE::Tasks::Parameter::size(), Sensors::MetrecX::Arguments::uart_baud, Sensors::MetrecX::Arguments::uart_dev, and variablesInitializer().

Sensors::MetrecX::Task::~Task ( void  )

inlinevirtual

Destructor.

Reimplemented from DUNE::Tasks::Task.

References m_analogs, m_digs, m_internals, and onResourceRelease().

Member Function Documentation

int Sensors::MetrecX::Task::allActive ( void  )

inline

References m_analog_active, m_dig_active, and m_internal_active.

Referenced by onMain(), and onUpdateParameters().

void Sensors::MetrecX::Task::checkDigitalSensors ( void  )

inline

Cross check of what internal channels may be turned on and what channels the user want turned on.

References Sensors::MetrecX::Arguments::dig_messages, m_args, m_bit_flag, m_internal_active, and Sensors::MetrecX::TI_TOTAL.

Referenced by onMain(), and onResourceInitialization().

void Sensors::MetrecX::Task::configureInternalChannels ( void  )

inline

References Sensors::MetrecX::DSF_CONDUCTIVITY, Sensors::MetrecX::DSF_PRESSURE, Sensors::MetrecX::DSF_SV, Sensors::MetrecX::DSF_TEMPERATURE, Sensors::MetrecX::ICM_SV, Sensors::MetrecX::Arguments::internal_messages, m_args, m_bit_flag, m_internal_active, sendCommand(), turnOffChannels(), and DUNE::Tasks::Task::war().

Referenced by onMain(), and onResourceInitialization().

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

inline

References m_lat.

int Sensors::MetrecX::Task::digAndAnalogActive ( void  )

inline

References m_analog_active, and m_dig_active.

Referenced by onMain(), and onUpdateParameters().

void Sensors::MetrecX::Task::dispatchDepth ( std::string  label, double  value, double  factor  )

inline

References DUNE::Tasks::Task::dispatch(), Sensors::MetrecX::Arguments::geop_anomaly, m_args, m_depth, m_lat, and DUNE::Tasks::Task::resolveEntity().

Referenced by dispatchSensValues().

void Sensors::MetrecX::Task::dispatchSensValues ( IMC::Message *  message, double  value, std::string  label, double  factor  )

inline

References DUNE::Tasks::Task::dispatch(), dispatchDepth(), and Sensors::MetrecX::TI_PRESSURE.

Referenced by onMain().

void Sensors::MetrecX::Task::onEntityReservation ( void  )

inlinevirtual

Reserve entities.

Reimplemented from DUNE::Tasks::Task.

References Sensors::MetrecX::Arguments::analog_elabels, Sensors::MetrecX::Arguments::dig_elabels, Sensors::MetrecX::Arguments::internal_elabels, m_args, onUpdateParameters(), DUNE::Tasks::Task::reserveEntity(), and DUNE::Tasks::Task::resolveEntity().

void Sensors::MetrecX::Task::onMain ( void  )

inlinevirtual

Main loop.

Implements DUNE::Tasks::Task.

References allActive(), Sensors::MetrecX::Arguments::analog_elabels, Sensors::MetrecX::Arguments::analog_factors, checkDigitalSensors(), configureInternalChannels(), DUNE::Tasks::Task::consumeMessages(), Sensors::MetrecX::Arguments::dig_elabels, Sensors::MetrecX::Arguments::dig_factors, digAndAnalogActive(), dispatchSensValues(), Sensors::MetrecX::Arguments::internal_elabels, m_active_slots_array, m_analogs, m_args, m_bit_flag, m_dig_active, m_digs, m_internals, m_param_chang, m_uart, m_wdog, DUNE::Time::Counter< T >::overflow(), DUNE::Time::Counter< T >::reset(), DUNE::Tasks::Task::setEntityState(), startMonitoring(), stopMonitoring(), DUNE::Tasks::Task::stopping(), turnOffChannels(), and DUNE::Tasks::Task::war().

void Sensors::MetrecX::Task::onResourceAcquisition ( void  )

inlinevirtual

Acquire resources.

Reimplemented from DUNE::Tasks::Task.

References m_args, m_uart, DUNE::Tasks::Task::setEntityState(), Sensors::MetrecX::Arguments::uart_baud, and Sensors::MetrecX::Arguments::uart_dev.

void Sensors::MetrecX::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 checkDigitalSensors(), configureInternalChannels(), Sensors::MetrecX::Arguments::input_timeout, m_args, m_param_chang, m_uart, m_wdog, sendCommand(), DUNE::Time::Counter< T >::setTop(), startMonitoring(), and turnOffChannels().

void Sensors::MetrecX::Task::onResourceRelease ( void  )

inlinevirtual

Release resources.

Reimplemented from DUNE::Tasks::Task.

References m_uart.

Referenced by ~Task().

void Sensors::MetrecX::Task::onUpdateParameters ( void  )

inlinevirtual

Update internal state with new parameter values.

Reimplemented from DUNE::Tasks::Task.

References allActive(), Sensors::MetrecX::Arguments::analog_elabels, Sensors::MetrecX::Arguments::analog_messages, Sensors::MetrecX::Arguments::dig_elabels, Sensors::MetrecX::Arguments::dig_messages, digAndAnalogActive(), Sensors::MetrecX::Arguments::internal_elabels, Sensors::MetrecX::Arguments::internal_messages, m_active_slots_array, m_analog_active, m_analogs, m_args, m_dig_active, m_digs, m_internal_active, m_internals, m_param_chang, and DUNE::Tasks::Task::resolveEntity().

Referenced by onEntityReservation().

bool Sensors::MetrecX::Task::sendCommand ( const char *  cmd, const char *  reply  )

inline

References m_uart.

Referenced by configureInternalChannels(), onResourceInitialization(), startMonitoring(), stopMonitoring(), and turnOffChannels().

void Sensors::MetrecX::Task::startMonitoring ( void  )

inline

References sendCommand().

Referenced by onMain(), and onResourceInitialization().

void Sensors::MetrecX::Task::stopMonitoring ( void  )

inline

References sendCommand().

Referenced by onMain().

void Sensors::MetrecX::Task::turnOffChannels ( void  )

inline

References sendCommand().

Referenced by configureInternalChannels(), onMain(), and onResourceInitialization().

void Sensors::MetrecX::Task::variablesInitializer ( )

inline

References m_active_slots_array, m_analog_active, m_analogs, m_bit_flag, m_dig_active, m_digs, m_internal_active, m_internals, m_lat, and m_param_chang.

Referenced by Task().

Member Data Documentation

int Sensors::MetrecX::Task::m_active_slots_array[c_digs_count+c_analogs_count+c_internals_count]

Array of active slots.

Referenced by onMain(), onUpdateParameters(), and variablesInitializer().

int Sensors::MetrecX::Task::m_analog_active

Number of analog active channels.

Referenced by allActive(), digAndAnalogActive(), onUpdateParameters(), and variablesInitializer().

IMC::Message* Sensors::MetrecX::Task::m_analogs[c_analogs_count]

Analog messages.

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

Arguments Sensors::MetrecX::Task::m_args

Task arguments.

Referenced by checkDigitalSensors(), configureInternalChannels(), dispatchDepth(), onEntityReservation(), onMain(), onResourceAcquisition(), onResourceInitialization(), onUpdateParameters(), and Task().

int Sensors::MetrecX::Task::m_bit_flag

Bitmask flag for digital sensors.

Referenced by checkDigitalSensors(), configureInternalChannels(), onMain(), and variablesInitializer().

IMC::Depth Sensors::MetrecX::Task::m_depth

Depth Messages.

Referenced by dispatchDepth().

int Sensors::MetrecX::Task::m_dig_active

Number of dig active channels.

Referenced by allActive(), digAndAnalogActive(), onMain(), onUpdateParameters(), and variablesInitializer().

IMC::Message* Sensors::MetrecX::Task::m_digs[c_digs_count]

Dig messages.

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

int Sensors::MetrecX::Task::m_internal_active

Number of internal active channels.

Referenced by allActive(), checkDigitalSensors(), configureInternalChannels(), onUpdateParameters(), and variablesInitializer().

IMC::Message* Sensors::MetrecX::Task::m_internals[c_internals_count]

Internal messages.

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

double Sensors::MetrecX::Task::m_lat

Vehicle Latitude.

Referenced by consume(), dispatchDepth(), and variablesInitializer().

bool Sensors::MetrecX::Task::m_param_chang

Parameter has changed.

Referenced by onMain(), onResourceInitialization(), onUpdateParameters(), and variablesInitializer().

SerialPort* Sensors::MetrecX::Task::m_uart

Serial port handle.

Referenced by onMain(), onResourceAcquisition(), onResourceInitialization(), onResourceRelease(), and sendCommand().

Counter<double> Sensors::MetrecX::Task::m_wdog

Task Watchdog.

Referenced by onMain(), and onResourceInitialization().

Collaboration diagram for Sensors::MetrecX::Task: