DUNE::Entities::BasicEntity Class Reference

Detailed Description

Basic Entity class, handling only QueryEntityInfo/EntityInfo messages, and implementing the most basic Entity interface.

Public Member Functions
	BasicEntity (Tasks::AbstractTask *owner, Tasks::Context &context)
virtual	~BasicEntity ()
virtual void	setBindings (Tasks::Recipient *recipient)
const std::string &	getLabel (void) const
void	setLabel (const std::string &label)
unsigned int	getId (void) const
void	setId (unsigned int id)
void	reportInfo (void)
bool	operator== (const std::string label)
bool	operator== (unsigned int id)
void	consume (const IMC::QueryEntityInfo *msg)
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)

Protected Member Functions
template<typename M , typename E >
void	bind (Tasks::Recipient *recipient, E *ent_obj, void(E::*consumer)(const M *)=&E::consume)

Protected Attributes
Tasks::AbstractTask *	m_owner
Tasks::Context &	m_ctx
IMC::EntityInfo	m_ent_info

Constructor & Destructor Documentation

DUNE::Entities::BasicEntity::BasicEntity ( Tasks::AbstractTask *  owner, Tasks::Context &  context  )

inline

Constructor.

Parameters

[in]	owner	pointer to the task containing the entity.
[in]	context	entity context.

virtual DUNE::Entities::BasicEntity::~BasicEntity ( )

inlinevirtual

Destructor.

Member Function Documentation

template<typename M , typename E >

void DUNE::Entities::BasicEntity::bind ( Tasks::Recipient *  recipient, E *  ent_obj, void(E::*)(const M *)  consumer = &E::consume  )

inlineprotected

Bind a message to a consumer method.

Parameters

recipient	recipient object.
ent_obj	consumer entity.
consumer	consumer method.

References DUNE::Tasks::Recipient::bind().

void DUNE::Entities::BasicEntity::consume

(

const IMC::QueryEntityInfo *

msg

)

Process QueryEntityInfo message.

Parameters

[in]

msg

pointer to QueryEntityInfo message.

References DUNE::Entities::DF_LOOP_BACK, dispatch(), dispatchReply(), DUNE::IMC::Message::getDestinationEntity(), getId(), and m_ent_info.

void DUNE::Entities::BasicEntity::dispatch	(	IMC::Message *	msg,
		unsigned int	flags = 0
	)

Dispatch message to the message bus.

Parameters

[in]	msg	message pointer.
[in]	flags	bitfield with flags (see Tasks::DispatchFlags).

References DUNE::Entities::DF_KEEP_TIME, DUNE::Entities::DF_LOOP_BACK, DUNE::IMC::Bus::dispatch(), getId(), DUNE::IMC::AddressResolver::id(), m_ctx, m_owner, DUNE::Tasks::Context::mbus, DUNE::Tasks::Context::resolver, DUNE::IMC::Message::setSource(), DUNE::IMC::Message::setSourceEntity(), and DUNE::IMC::Message::setTimeStamp().

Referenced by consume(), dispatch(), dispatchReply(), DUNE::Entities::StatefulEntity::failActivation(), DUNE::Entities::StatefulEntity::failDeactivation(), DUNE::Control::BottomTracker::onDesiredZ(), DUNE::Control::BottomTracker::onEstimatedState(), DUNE::Entities::StatefulEntity::reportActivationState(), reportInfo(), DUNE::Entities::StatefulEntity::reportState(), DUNE::Entities::StatefulEntity::requestActivation(), DUNE::Entities::StatefulEntity::requestDeactivation(), DUNE::Entities::StatefulEntity::setState(), DUNE::Entities::StatefulEntity::succeedActivation(), and DUNE::Entities::StatefulEntity::succeedDeactivation().

void DUNE::Entities::BasicEntity::dispatch ( IMC::Message &  msg, unsigned int  flags = 0  )

inline

Dispatch message to the message bus.

Parameters

[in]	msg	message reference.
[in]	flags	bitfield with flags (see Tasks::DispatchFlags).

References dispatch().

void DUNE::Entities::BasicEntity::dispatchReply ( const IMC::Message &  original, IMC::Message &  msg, unsigned int  flags = 0  )

inline

Dispatch message to the message bus in reply to another message.

Parameters

[in]	original	original message.
[in]	msg	message reference.
[in]	flags	bitfield with flags (see Tasks::DispatchFlags).

References dispatch(), DUNE::IMC::Message::getSource(), DUNE::IMC::Message::getSourceEntity(), DUNE::IMC::Message::setDestination(), and DUNE::IMC::Message::setDestinationEntity().

Referenced by consume().

unsigned int DUNE::Entities::BasicEntity::getId ( void  ) const

inline

Retrieve the entity identifier.

Returns

entity identifier.

Referenced by consume(), DUNE::Entities::StatefulEntity::consume(), dispatch(), DUNE::Tasks::Task::getEntityId(), operator==(), DUNE::Tasks::Task::reserveEntity(), and DUNE::Entities::StatefulEntity::setState().

const std::string& DUNE::Entities::BasicEntity::getLabel ( void  ) const

inline

Retrieve the entity label.

Returns

entity label.

Referenced by DUNE::Tasks::Task::getEntityLabel(), DUNE::Entities::operator==(), operator==(), DUNE::Tasks::Task::reserveEntities(), and DUNE::Tasks::Task::updateParameters().

bool DUNE::Entities::BasicEntity::operator== ( const std::string  label )

inline

Compare label against a string.

Parameters

[in]

label

string to be compared against.

Returns

true if the label and the string match, false otherwise.

References getLabel().

bool DUNE::Entities::BasicEntity::operator== ( unsigned int  id )

inline

Compare id against an unsigned integer.

Parameters

[in]

id

integer to use for comparison.

Returns

true if the entity id and the integer match, false otherwise.

References getId().

void DUNE::Entities::BasicEntity::reportInfo

(

void

)

Report the entity information by broadcasting an EntityInfo message.

References dispatch(), and m_ent_info.

Referenced by DUNE::Tasks::Task::updateParameters().

virtual void DUNE::Entities::BasicEntity::setBindings ( Tasks::Recipient *  recipient )

inlinevirtual

Set the IMC bindings using the provided recipient object.

Parameters

[in]

recipient

pointer to the recipient object to use for binding to IMC messages.

Reimplemented in DUNE::Entities::StatefulEntity.

Referenced by DUNE::Tasks::Task::reserveEntity(), and DUNE::Entities::StatefulEntity::setBindings().

void DUNE::Entities::BasicEntity::setId ( unsigned int  id )

inline

Set the entity identifier.

Parameters

[in]

id

entity identifier.

References DUNE::IMC::EntityInfo::id, and m_ent_info.

Referenced by DUNE::Tasks::Task::reserveEntities(), and DUNE::Tasks::Task::reserveEntity().

void DUNE::Entities::BasicEntity::setLabel

(

const std::string &

label

)

Set the entity label.

Parameters

[in]

label

entity label.

References DUNE::IMC::EntityInfo::component, DUNE::Tasks::Context::entities, DUNE::Tasks::AbstractTask::getName(), DUNE::IMC::EntityInfo::label, m_ctx, m_ent_info, m_owner, and DUNE::Entities::EntityDataBase::resolve().

Referenced by DUNE::Tasks::Task::reserveEntity(), DUNE::Tasks::Task::setEntityLabel(), and DUNE::Tasks::Task::updateParameters().

Member Data Documentation

Tasks::Context& DUNE::Entities::BasicEntity::m_ctx

protected

Context.

Referenced by dispatch(), and setLabel().

IMC::EntityInfo DUNE::Entities::BasicEntity::m_ent_info

protected

Entity information message.

Referenced by consume(), reportInfo(), DUNE::Entities::StatefulEntity::setActTimes(), setId(), and setLabel().

Tasks::AbstractTask* DUNE::Entities::BasicEntity::m_owner

protected

Owner task.

Referenced by dispatch(), DUNE::Entities::StatefulEntity::requestActivation(), DUNE::Entities::StatefulEntity::requestDeactivation(), and setLabel().

Collaboration diagram for DUNE::Entities::BasicEntity: