Sensors::Edgetech2205::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onUpdateParameters (void)
void	onResourceRelease (void)
void	onResourceInitialization (void)
void	queueState (StateMachineStates state)
bool	hasQueuedStates (void) const
StateMachineStates	getCurrentState (void) const
StateMachineStates	dequeueState (void)
void	onRequestActivation (void)
bool	connect (void)
void	failActivation (const std::string &message)
void	onRequestDeactivation (void)
void	disconnect (void)
void	onDeactivation (void)
void	onActivation (void)
void	requestLogName (void)
void	consume (const IMC::PowerChannelState *msg)
void	consume (const IMC::EstimatedState *msg)
void	consume (const IMC::LoggingControl *msg)
void	setPingAutoSelectMode (void)
void	setTriggerCoupling (void)
void	initConfig (void)
void	setDataActive (SubsystemId subsys, const std::string &channels)
void	setPing (SubsystemId subsys, const std::string &channels)
int	getSubsysIndex (int subsys)
void	dispatchDebugData (const std::string &text)
void	handleSonarData (void)
void	writeSubsystemData (SubsystemData *data)
void	updateSubsystemData (SubsystemData *data)
void	handlePacket (void)
bool	readData (void)
void	estimateTimeDelta (Counter< double > &reference_timer)
void	openLog (const Path &path)
void	logPacket (void)
void	closeLog (void)
void	controlPower (IMC::PowerChannelControl::OperationEnum op)
void	turnPowerOn (void)
void	turnPowerOff (void)
bool	isPowered (void)
void	updateStateMachine (void)
void	onMain (void)

Public Attributes
TCPSocket *	m_sock_dat
std::vector< uint8_t >	m_bfr
Parser	m_parser
CommandLink *	m_cmd
Log *	m_log
Counter< double >	m_wdog
Counter< double >	m_time_delta_timer
SubsystemData	m_subsys_data [c_subsys_count]
StateMachineStates	m_sm_state
std::queue< StateMachineStates >	m_sm_state_queue
bool	m_powered
Packet *	m_packet
Arguments	m_args

Static Public Attributes
static const unsigned	c_buffer_size

Constructor & Destructor Documentation

Sensors::Edgetech2205::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Sensors::Edgetech2205::Arguments::addr, Sensors::Edgetech2205::Arguments::autosel_mode, c_buffer_size, Sensors::Edgetech2205::Arguments::channels_hf, Sensors::Edgetech2205::Arguments::channels_lf, Sensors::Edgetech2205::Arguments::ignored_sample_count, m_args, m_bfr, Sensors::Edgetech2205::Arguments::port_cmd, Sensors::Edgetech2205::Arguments::port_dat, Sensors::Edgetech2205::Arguments::power_channel, Sensors::Edgetech2205::Arguments::range_hf, Sensors::Edgetech2205::Arguments::range_lf, Sensors::Edgetech2205::Arguments::time_delta_init_samples, Sensors::Edgetech2205::Arguments::time_delta_init_tout, Sensors::Edgetech2205::Arguments::time_delta_max_latency, Sensors::Edgetech2205::Arguments::time_delta_periodicity, and Sensors::Edgetech2205::Arguments::trg_div.

Member Function Documentation

void Sensors::Edgetech2205::Task::closeLog ( void  )

inline

References Sensors::Edgetech2205::Log::getPath(), m_log, and m_packet.

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

bool Sensors::Edgetech2205::Task::connect ( void  )

inline

References Sensors::Edgetech2205::Arguments::addr, m_args, m_cmd, and Sensors::Edgetech2205::Arguments::port_cmd.

Referenced by updateStateMachine().

void Sensors::Edgetech2205::Task::consume ( const IMC::PowerChannelState *  msg )

inline

References m_args, m_powered, and Sensors::Edgetech2205::Arguments::power_channel.

void Sensors::Edgetech2205::Task::consume ( const IMC::EstimatedState *  msg )

inline

References Sensors::Edgetech2205::SubsystemData::estates, m_subsys_data, and Sensors::Edgetech2205::EstimatedStateList::push_back().

void Sensors::Edgetech2205::Task::consume ( const IMC::LoggingControl *  msg )

inline

References closeLog(), getCurrentState(), openLog(), Sensors::Edgetech2205::SM_ACT_LOG_WAIT, and Sensors::Edgetech2205::SM_ACT_SAMPLE.

void Sensors::Edgetech2205::Task::controlPower ( IMC::PowerChannelControl::OperationEnum  op )

inline

References m_args, and Sensors::Edgetech2205::Arguments::power_channel.

Referenced by failActivation(), turnPowerOff(), and turnPowerOn().

StateMachineStates Sensors::Edgetech2205::Task::dequeueState ( void  )

inline

References hasQueuedStates(), m_sm_state, and m_sm_state_queue.

Referenced by updateStateMachine().

void Sensors::Edgetech2205::Task::disconnect ( void  )

inline

References m_cmd, m_sock_dat, setDataActive(), setPing(), Sensors::Edgetech2205::CommandLink::shutdown(), Sensors::Edgetech2205::SUBSYS_SSH, and Sensors::Edgetech2205::SUBSYS_SSL.

Referenced by updateStateMachine().

void Sensors::Edgetech2205::Task::dispatchDebugData ( const std::string &  text )

inline

Referenced by handleSonarData(), and updateSubsystemData().

void Sensors::Edgetech2205::Task::estimateTimeDelta ( Counter< double > &  reference_timer )

inline

References Sensors::Edgetech2205::CommandLink::estimateTimeDelta(), m_args, m_cmd, Sensors::Edgetech2205::Arguments::time_delta_init_samples, Sensors::Edgetech2205::Arguments::time_delta_init_tout, and Sensors::Edgetech2205::Arguments::time_delta_max_latency.

Referenced by updateStateMachine().

void Sensors::Edgetech2205::Task::failActivation ( const std::string &  message )

inline

References controlPower().

Referenced by updateStateMachine().

StateMachineStates Sensors::Edgetech2205::Task::getCurrentState ( void  ) const

inline

References m_sm_state.

Referenced by consume().

int Sensors::Edgetech2205::Task::getSubsysIndex ( int  subsys )

inline

References Sensors::Edgetech2205::SUBSYS_SSH, and Sensors::Edgetech2205::SUBSYS_SSL.

Referenced by handleSonarData(), and setPing().

void Sensors::Edgetech2205::Task::handlePacket ( void  )

inline

References Sensors::Edgetech2205::Packet::getMessageType(), handleSonarData(), m_packet, and Sensors::Edgetech2205::MSG_ID_SONAR_DATA.

Referenced by readData().

void Sensors::Edgetech2205::Task::handleSonarData ( void  )

inline

References dispatchDebugData(), Sensors::Edgetech2205::Packet::get(), getSubsysIndex(), Sensors::Edgetech2205::Packet::getSubsystemNumber(), Sensors::Edgetech2205::Arguments::ignored_sample_count, logPacket(), m_args, m_log, m_packet, m_subsys_data, Sensors::Edgetech2205::SubsystemData::ping_count, Sensors::Edgetech2205::SubsystemData::ping_number, Sensors::Edgetech2205::SDATA_IDX_PING_NUMBER, updateSubsystemData(), and writeSubsystemData().

Referenced by handlePacket().

bool Sensors::Edgetech2205::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::Edgetech2205::Task::initConfig ( void  )

inline

Initialize sidescan configuration.

References Sensors::Edgetech2205::Arguments::channels_hf, Sensors::Edgetech2205::Arguments::channels_lf, m_args, m_cmd, Sensors::Edgetech2205::Arguments::range_hf, Sensors::Edgetech2205::Arguments::range_lf, setDataActive(), setPing(), setPingAutoSelectMode(), Sensors::Edgetech2205::CommandLink::setPingRange(), setTriggerCoupling(), Sensors::Edgetech2205::SUBSYS_SSH, and Sensors::Edgetech2205::SUBSYS_SSL.

Referenced by onActivation().

bool Sensors::Edgetech2205::Task::isPowered ( void  )

inline

Test if power channel is on.

Returns

true if power channel is on, false otherwise.

References m_powered.

Referenced by updateStateMachine().

void Sensors::Edgetech2205::Task::logPacket ( void  )

inline

References Sensors::Edgetech2205::Log::get(), m_log, m_packet, and Sensors::Edgetech2205::Log::put().

Referenced by handleSonarData().

void Sensors::Edgetech2205::Task::onActivation ( void  )

inline

References Sensors::Edgetech2205::Arguments::addr, DUNE::Time::Counter< T >::getElapsed(), initConfig(), m_args, m_cmd, m_sock_dat, m_subsys_data, m_wdog, Sensors::Edgetech2205::Arguments::port_dat, Sensors::Edgetech2205::CommandLink::setPingTrigger(), Sensors::Edgetech2205::SUBSYS_SSH, Sensors::Edgetech2205::SUBSYS_SSL, and Sensors::Edgetech2205::TRIG_MODE_INTERNAL.

void Sensors::Edgetech2205::Task::onDeactivation ( void  )

inline

void Sensors::Edgetech2205::Task::onMain ( void  )

inline

References hasQueuedStates(), and updateStateMachine().

void Sensors::Edgetech2205::Task::onRequestActivation ( void  )

inline

References queueState(), and Sensors::Edgetech2205::SM_ACT_BEGIN.

void Sensors::Edgetech2205::Task::onRequestDeactivation ( void  )

inline

References queueState(), and Sensors::Edgetech2205::SM_DEACT_BEGIN.

void Sensors::Edgetech2205::Task::onResourceInitialization ( void  )

inline

void Sensors::Edgetech2205::Task::onResourceRelease ( void  )

inline

References closeLog().

void Sensors::Edgetech2205::Task::onUpdateParameters ( void  )

inline

References Sensors::Edgetech2205::Arguments::addr, Sensors::Edgetech2205::Arguments::autosel_mode, Sensors::Edgetech2205::Arguments::channels_hf, Sensors::Edgetech2205::Arguments::channels_lf, m_args, m_cmd, m_powered, Sensors::Edgetech2205::Arguments::port_cmd, Sensors::Edgetech2205::Arguments::port_dat, Sensors::Edgetech2205::Arguments::power_channel, Sensors::Edgetech2205::Arguments::range_hf, Sensors::Edgetech2205::Arguments::range_lf, setDataActive(), setPing(), setPingAutoSelectMode(), Sensors::Edgetech2205::CommandLink::setPingRange(), setTriggerCoupling(), Sensors::Edgetech2205::SUBSYS_SSH, and Sensors::Edgetech2205::SUBSYS_SSL.

void Sensors::Edgetech2205::Task::openLog ( const Path &  path )

inline

References closeLog(), Sensors::Edgetech2205::Log::get(), Sensors::Edgetech2205::Log::getPath(), m_log, and m_packet.

Referenced by consume().

void Sensors::Edgetech2205::Task::queueState ( StateMachineStates  state )

inline

Push a new state to the state queue.

Parameters

[in]

state

state machine state.

References m_sm_state_queue.

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

bool Sensors::Edgetech2205::Task::readData ( void  )

inline

References handlePacket(), m_bfr, m_packet, m_parser, m_sock_dat, and Sensors::Edgetech2205::Parser::parse().

Referenced by updateStateMachine().

void Sensors::Edgetech2205::Task::requestLogName ( void  )

inline

Referenced by updateStateMachine().

void Sensors::Edgetech2205::Task::setDataActive ( SubsystemId  subsys, const std::string &  channels  )

inline

References Sensors::Edgetech2205::CHAN_PORT, Sensors::Edgetech2205::CHAN_STARBOARD, m_cmd, and Sensors::Edgetech2205::CommandLink::setDataActive().

Referenced by disconnect(), initConfig(), and onUpdateParameters().

void Sensors::Edgetech2205::Task::setPing ( SubsystemId  subsys, const std::string &  channels  )

inline

References Sensors::Edgetech2205::SubsystemData::active, getSubsysIndex(), m_cmd, m_subsys_data, and Sensors::Edgetech2205::CommandLink::setPing().

Referenced by disconnect(), initConfig(), and onUpdateParameters().

void Sensors::Edgetech2205::Task::setPingAutoSelectMode ( void  )

inline

References Sensors::Edgetech2205::Arguments::autosel_mode, m_args, m_cmd, Sensors::Edgetech2205::CommandLink::setPingAutoselectMode(), Sensors::Edgetech2205::SUBSYS_SSH, and Sensors::Edgetech2205::SUBSYS_SSL.

Referenced by initConfig(), and onUpdateParameters().

void Sensors::Edgetech2205::Task::setTriggerCoupling ( void  )

inline

References Sensors::Edgetech2205::Arguments::channels_hf, Sensors::Edgetech2205::Arguments::channels_lf, m_args, m_cmd, Sensors::Edgetech2205::CommandLink::setPingCoupling(), Sensors::Edgetech2205::CommandLink::setPingTrigger(), Sensors::Edgetech2205::SUBSYS_SSH, Sensors::Edgetech2205::SUBSYS_SSL, Sensors::Edgetech2205::Arguments::trg_div, Sensors::Edgetech2205::TRIG_MODE_COUPLED, and Sensors::Edgetech2205::TRIG_MODE_INTERNAL.

Referenced by initConfig(), and onUpdateParameters().

void Sensors::Edgetech2205::Task::turnPowerOff ( void  )

inline

References controlPower().

Referenced by updateStateMachine().

void Sensors::Edgetech2205::Task::turnPowerOn ( void  )

inline

References controlPower().

Referenced by updateStateMachine().

void Sensors::Edgetech2205::Task::updateStateMachine ( void  )

inline

References closeLog(), connect(), dequeueState(), disconnect(), Sensors::Edgetech2205::CommandLink::estimateTimeDelta(), estimateTimeDelta(), failActivation(), isPowered(), m_args, m_cmd, m_log, m_time_delta_timer, m_wdog, DUNE::Time::Counter< T >::overflow(), queueState(), readData(), requestLogName(), DUNE::Time::Counter< T >::reset(), DUNE::Time::Counter< T >::setTop(), Sensors::Edgetech2205::SM_ACT_BEGIN, Sensors::Edgetech2205::SM_ACT_DONE, Sensors::Edgetech2205::SM_ACT_LOG_REQUEST, Sensors::Edgetech2205::SM_ACT_LOG_WAIT, Sensors::Edgetech2205::SM_ACT_POWER_ON, Sensors::Edgetech2205::SM_ACT_POWER_WAIT, Sensors::Edgetech2205::SM_ACT_SAMPLE, Sensors::Edgetech2205::SM_ACT_SS_SYNC, Sensors::Edgetech2205::SM_ACT_SS_WAIT, Sensors::Edgetech2205::SM_DEACT_BEGIN, Sensors::Edgetech2205::SM_DEACT_DISCONNECT, Sensors::Edgetech2205::SM_DEACT_DONE, Sensors::Edgetech2205::SM_DEACT_POWER_OFF, Sensors::Edgetech2205::SM_DEACT_POWER_WAIT, Sensors::Edgetech2205::SM_IDLE, Sensors::Edgetech2205::Arguments::time_delta_max_latency, turnPowerOff(), and turnPowerOn().

Referenced by onMain().

void Sensors::Edgetech2205::Task::updateSubsystemData ( SubsystemData *  data )

inline

References Sensors::Edgetech2205::SubsystemData::altitude, Sensors::Edgetech2205::SubsystemData::course, Sensors::Edgetech2205::SubsystemData::depth, dispatchDebugData(), Sensors::Edgetech2205::SubsystemData::estates, Sensors::Edgetech2205::EstimatedStateList::find(), Sensors::Edgetech2205::Packet::get(), Sensors::Edgetech2205::CommandLink::getEstimatedTimeDelta(), Sensors::Edgetech2205::Packet::getSubsystemNumber(), Sensors::Edgetech2205::Packet::getTimeStamp(), Sensors::Edgetech2205::SubsystemData::heading, Sensors::Edgetech2205::SubsystemData::latitude, Sensors::Edgetech2205::SubsystemData::latitude_rad, Sensors::Edgetech2205::SubsystemData::longitude, Sensors::Edgetech2205::SubsystemData::longitude_rad, m_cmd, m_packet, Sensors::Edgetech2205::SubsystemData::msec_cpu, Sensors::Edgetech2205::SubsystemData::ping_count, Sensors::Edgetech2205::SubsystemData::ping_number, Sensors::Edgetech2205::SubsystemData::pitch, Sensors::Edgetech2205::SubsystemData::roll, Sensors::Edgetech2205::SDATA_IDX_MILLISECOND_TODAY, Sensors::Edgetech2205::SDATA_IDX_TIME, Sensors::Edgetech2205::SubsystemData::speed, Sensors::Edgetech2205::SubsystemData::time_bdt, Sensors::Edgetech2205::SubsystemData::time_epoch, Sensors::Edgetech2205::SubsystemData::time_msec_today, and Sensors::Edgetech2205::SubsystemData::validity.

Referenced by handleSonarData().

void Sensors::Edgetech2205::Task::writeSubsystemData ( SubsystemData *  data )

inline

References Sensors::Edgetech2205::SubsystemData::altitude, Sensors::Edgetech2205::SubsystemData::course, Sensors::Edgetech2205::SubsystemData::depth, Sensors::Edgetech2205::Packet::getMessageData(), Sensors::Edgetech2205::SubsystemData::heading, Sensors::Edgetech2205::SubsystemData::latitude, Sensors::Edgetech2205::SubsystemData::latitude_rad, Sensors::Edgetech2205::SubsystemData::longitude, Sensors::Edgetech2205::SubsystemData::longitude_rad, m_packet, Sensors::Edgetech2205::SubsystemData::pitch, Sensors::Edgetech2205::SubsystemData::roll, Sensors::Edgetech2205::SDATA_IDX_ALTITUDE, Sensors::Edgetech2205::SDATA_IDX_ANNOTATION_STRING, Sensors::Edgetech2205::SDATA_IDX_COORDINATE_UNITS, Sensors::Edgetech2205::SDATA_IDX_COURSE, Sensors::Edgetech2205::SDATA_IDX_CPU_DAY, Sensors::Edgetech2205::SDATA_IDX_CPU_HOUR, Sensors::Edgetech2205::SDATA_IDX_CPU_MINUTES, Sensors::Edgetech2205::SDATA_IDX_CPU_SECONDS, Sensors::Edgetech2205::SDATA_IDX_CPU_TIME_BASIS, Sensors::Edgetech2205::SDATA_IDX_CPU_YEAR, Sensors::Edgetech2205::SDATA_IDX_DEPTH, Sensors::Edgetech2205::SDATA_IDX_HEADING, Sensors::Edgetech2205::SDATA_IDX_LATITUDE, Sensors::Edgetech2205::SDATA_IDX_LONGITUDE, Sensors::Edgetech2205::SDATA_IDX_MILLISECOND_TODAY, Sensors::Edgetech2205::SDATA_IDX_NMEA_HOUR, Sensors::Edgetech2205::SDATA_IDX_NMEA_MINUTES, Sensors::Edgetech2205::SDATA_IDX_NMEA_SECONDS, Sensors::Edgetech2205::SDATA_IDX_PITCH, Sensors::Edgetech2205::SDATA_IDX_ROLL, Sensors::Edgetech2205::SDATA_IDX_SPEED, Sensors::Edgetech2205::SDATA_IDX_TIME, Sensors::Edgetech2205::SDATA_IDX_VALIDITY, Sensors::Edgetech2205::Packet::set(), Sensors::Edgetech2205::SubsystemData::speed, Sensors::Edgetech2205::SubsystemData::time_bdt, Sensors::Edgetech2205::SubsystemData::time_epoch, Sensors::Edgetech2205::SubsystemData::time_msec_today, and Sensors::Edgetech2205::SubsystemData::validity.

Referenced by handleSonarData().

Member Data Documentation

const unsigned Sensors::Edgetech2205::Task::c_buffer_size

static

Buffer size.

Referenced by Task().

Arguments Sensors::Edgetech2205::Task::m_args

Configuration parameters.

Referenced by connect(), consume(), controlPower(), estimateTimeDelta(), handleSonarData(), initConfig(), onActivation(), onUpdateParameters(), setPingAutoSelectMode(), setTriggerCoupling(), Task(), and updateStateMachine().

std::vector<uint8_t> Sensors::Edgetech2205::Task::m_bfr

Read buffer.

Referenced by readData(), and Task().

CommandLink* Sensors::Edgetech2205::Task::m_cmd

Command link.

Referenced by connect(), disconnect(), estimateTimeDelta(), initConfig(), onActivation(), onUpdateParameters(), setDataActive(), setPing(), setPingAutoSelectMode(), setTriggerCoupling(), updateStateMachine(), and updateSubsystemData().

Log* Sensors::Edgetech2205::Task::m_log

Log file.

Referenced by closeLog(), handleSonarData(), logPacket(), openLog(), and updateStateMachine().

Packet* Sensors::Edgetech2205::Task::m_packet

Current packet being parsed.

Referenced by closeLog(), handlePacket(), handleSonarData(), logPacket(), openLog(), readData(), updateSubsystemData(), and writeSubsystemData().

Parser Sensors::Edgetech2205::Task::m_parser

Parser.

Referenced by readData().

bool Sensors::Edgetech2205::Task::m_powered

True if device is powered on.

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

StateMachineStates Sensors::Edgetech2205::Task::m_sm_state

Current state machine state.

Referenced by dequeueState(), and getCurrentState().

std::queue<StateMachineStates> Sensors::Edgetech2205::Task::m_sm_state_queue

State machine state queue.

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

TCPSocket* Sensors::Edgetech2205::Task::m_sock_dat

Data socket.

Referenced by disconnect(), onActivation(), and readData().

SubsystemData Sensors::Edgetech2205::Task::m_subsys_data[c_subsys_count]

Subsystem specific data.

Referenced by consume(), handleSonarData(), onActivation(), and setPing().

Counter<double> Sensors::Edgetech2205::Task::m_time_delta_timer

Timer for time delta estimation.

Referenced by updateStateMachine().

Counter<double> Sensors::Edgetech2205::Task::m_wdog

Watchdog timer.

Referenced by onActivation(), and updateStateMachine().

Collaboration diagram for Sensors::Edgetech2205::Task: