Vision::DFK51BG02H::Task Struct Reference

Detailed Description

Device driver task.

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
	~Task (void)
void	onUpdateParameters (void)
void	onResourceAcquisition (void)
void	onResourceRelease (void)
void	onResourceInitialization (void)
void	consume (const IMC::LoggingControl *msg)
void	onRequestActivation (void)
void	onActivation (void)
void	onDeactivation (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
Arguments	m_args
GVCP *	m_gvcp
GVSP *	m_gvsp
uint8_t *	m_rgb24_bfr
Counter< double >	m_kalive
Path	m_log_dir
std::queue< Frame * >	m_frames
std::string	m_pgm_header
JPEGCompressor	m_jpeg
BayerDecoder	m_debayer
WhiteBalance	m_white
double	m_exposure
AutoExposure	m_ae

Static Public Attributes
static const unsigned	c_width
static const unsigned	c_height
static const unsigned	c_pkts_per_frame

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	onRequestDeactivation (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

Vision::DFK51BG02H::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Vision::DFK51BG02H::Arguments::ae, Vision::DFK51BG02H::Arguments::ae_min, Vision::DFK51BG02H::Arguments::b_factor, Vision::DFK51BG02H::Arguments::buffer_count, c_height, c_width, DUNE::Tasks::Parameter::defaultValue(), Vision::DFK51BG02H::Arguments::exposure_time, Vision::DFK51BG02H::Arguments::fps, Vision::DFK51BG02H::Arguments::gain, Vision::DFK51BG02H::Arguments::gamma, Vision::DFK51BG02H::Arguments::jpeg_quality, Vision::DFK51BG02H::Arguments::laddr, m_args, m_pgm_header, m_rgb24_bfr, DUNE::Tasks::Task::param(), DUNE::Tasks::Task::paramActive(), Vision::DFK51BG02H::Arguments::port, Vision::DFK51BG02H::Arguments::r_factor, Vision::DFK51BG02H::Arguments::raddr, Vision::DFK51BG02H::Arguments::store_raw, Vision::DFK51BG02H::Arguments::strobe_delay, Vision::DFK51BG02H::Arguments::strobe_duration, Vision::DFK51BG02H::Arguments::strobe_mode, and Vision::DFK51BG02H::Arguments::strobe_polarity.

Vision::DFK51BG02H::Task::~Task ( void  )

inlinevirtual

Destructor.

Reimplemented from DUNE::Tasks::Task.

References m_rgb24_bfr.

Member Function Documentation

void Vision::DFK51BG02H::Task::consume ( const IMC::LoggingControl *  msg )

inline

References DUNE::Tasks::Task::activate(), DUNE::Tasks::Context::dir_log, DUNE::Tasks::Task::getSystemId(), DUNE::Tasks::Task::isActivating(), DUNE::Tasks::Task::m_ctx, and m_log_dir.

void Vision::DFK51BG02H::Task::onActivation ( void  )

inlinevirtual

Called when the task starts/resumes normal execution.

Reimplemented from DUNE::Tasks::Task.

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

void Vision::DFK51BG02H::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::setEntityState().

void Vision::DFK51BG02H::Task::onMain ( void  )

inlinevirtual

Implements DUNE::Tasks::Task.

References Vision::DFK51BG02H::Arguments::ae, Vision::DFK51BG02H::Arguments::ae_min, c_height, c_pkts_per_frame, c_width, DUNE::Tasks::Task::consumeMessages(), Vision::DFK51BG02H::GVSP::dequeueDirty(), Vision::DFK51BG02H::GVSP::enqueueClean(), Vision::DFK51BG02H::Arguments::exposure_time, Vision::DFK51BG02H::AutoExposure::exposureCorrection(), Vision::DFK51BG02H::WhiteBalance::filter(), Vision::DFK51BG02H::Frame::getData(), Vision::DFK51BG02H::Frame::getPacketCount(), Vision::DFK51BG02H::Frame::getTimeStamp(), DUNE::Tasks::Task::isActive(), Vision::DFK51BG02H::Arguments::jpeg_quality, Vision::DFK51BG02H::GVCP::keepAlive(), m_ae, m_args, m_debayer, m_exposure, m_gvcp, m_gvsp, m_jpeg, m_kalive, m_log_dir, m_pgm_header, m_rgb24_bfr, m_white, DUNE::Time::Counter< T >::overflow(), DUNE::Time::Counter< T >::reset(), Vision::DFK51BG02H::GVCP::setExposureTime(), DUNE::Tasks::Task::stopping(), Vision::DFK51BG02H::Arguments::store_raw, Vision::DFK51BG02H::GVSP::waitDirty(), and DUNE::Tasks::Task::war().

void Vision::DFK51BG02H::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 DUNE::Tasks::Task::dispatch().

void Vision::DFK51BG02H::Task::onResourceAcquisition ( void  )

inlinevirtual

Acquire resources and buffers.

Reimplemented from DUNE::Tasks::Task.

References Vision::DFK51BG02H::Arguments::buffer_count, c_height, c_width, Vision::DFK51BG02H::GVSP::enqueueClean(), m_args, m_frames, m_gvcp, m_gvsp, m_jpeg, Vision::DFK51BG02H::Arguments::port, and Vision::DFK51BG02H::Arguments::raddr.

void Vision::DFK51BG02H::Task::onResourceInitialization ( void  )

inlinevirtual

Initialize resources and start capturing frames.

Reimplemented from DUNE::Tasks::Task.

References Vision::DFK51BG02H::Arguments::ae, DUNE::Tasks::Task::debug(), Vision::DFK51BG02H::Arguments::exposure_time, Vision::DFK51BG02H::Arguments::fps, Vision::DFK51BG02H::Arguments::gain, Vision::DFK51BG02H::Arguments::gamma, Vision::DFK51BG02H::Arguments::laddr, m_args, m_exposure, m_gvcp, Vision::DFK51BG02H::GVCP::PIX_BGB8, Vision::DFK51BG02H::Arguments::port, Vision::DFK51BG02H::GVCP::PRIV_BV_CONTROL, Vision::DFK51BG02H::GVCP::PRIV_BV_EXCLUSIVE, DUNE::Tasks::Task::setEntityState(), Vision::DFK51BG02H::GVCP::setExposureTime(), Vision::DFK51BG02H::GVCP::setFPS(), Vision::DFK51BG02H::GVCP::setGain(), Vision::DFK51BG02H::GVCP::setGamma(), Vision::DFK51BG02H::GVCP::setPixelFormat(), Vision::DFK51BG02H::GVCP::setPrivilege(), Vision::DFK51BG02H::GVCP::setStreamAddress(), Vision::DFK51BG02H::GVCP::setStreamPort(), Vision::DFK51BG02H::GVCP::setStrobeDelay(), Vision::DFK51BG02H::GVCP::setStrobeDuration(), Vision::DFK51BG02H::GVCP::setStrobeMode(), Vision::DFK51BG02H::GVCP::startStreaming(), Vision::DFK51BG02H::Arguments::strobe_delay, Vision::DFK51BG02H::Arguments::strobe_duration, Vision::DFK51BG02H::Arguments::strobe_mode, Vision::DFK51BG02H::GVCP::STROBE_MODE_ALWAYS_ON, Vision::DFK51BG02H::GVCP::STROBE_MODE_EXPOSURE, Vision::DFK51BG02H::GVCP::STROBE_MODE_FIXED, Vision::DFK51BG02H::GVCP::STROBE_MODE_OFF, and Vision::DFK51BG02H::Arguments::strobe_polarity.

void Vision::DFK51BG02H::Task::onResourceRelease ( void  )

inlinevirtual

Release allocated resources.

Reimplemented from DUNE::Tasks::Task.

References m_frames, m_gvcp, and m_gvsp.

void Vision::DFK51BG02H::Task::onUpdateParameters ( void  )

inlinevirtual

Update internal parameters.

Reimplemented from DUNE::Tasks::Task.

References Vision::DFK51BG02H::Arguments::b_factor, m_args, m_debayer, m_white, Vision::DFK51BG02H::Arguments::r_factor, Vision::DFK51BG02H::WhiteBalance::setBFactor(), and Vision::DFK51BG02H::WhiteBalance::setRFactor().

Member Data Documentation

const unsigned Vision::DFK51BG02H::Task::c_height

static

Frame height.

Referenced by onMain(), onResourceAcquisition(), and Task().

const unsigned Vision::DFK51BG02H::Task::c_pkts_per_frame

static

Packets per frame.

Referenced by onMain().

const unsigned Vision::DFK51BG02H::Task::c_width

static

Frame width.

Referenced by onMain(), onResourceAcquisition(), and Task().

AutoExposure Vision::DFK51BG02H::Task::m_ae

Automatic exposure control.

Referenced by onMain().

Arguments Vision::DFK51BG02H::Task::m_args

Configuration parameters.

Referenced by onMain(), onResourceAcquisition(), onResourceInitialization(), onUpdateParameters(), and Task().

BayerDecoder Vision::DFK51BG02H::Task::m_debayer

Bayer decoder.

Referenced by onMain(), and onUpdateParameters().

double Vision::DFK51BG02H::Task::m_exposure

Referenced by onMain(), and onResourceInitialization().

std::queue<Frame*> Vision::DFK51BG02H::Task::m_frames

Array of frames.

Referenced by onResourceAcquisition(), and onResourceRelease().

GVCP* Vision::DFK51BG02H::Task::m_gvcp

GVCP.

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

GVSP* Vision::DFK51BG02H::Task::m_gvsp

GVSP.

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

JPEGCompressor Vision::DFK51BG02H::Task::m_jpeg

Compressor.

Referenced by onMain(), and onResourceAcquisition().

Counter<double> Vision::DFK51BG02H::Task::m_kalive

Keep-alive counter.

Referenced by onMain().

Path Vision::DFK51BG02H::Task::m_log_dir

Destination log folder.

Referenced by consume(), onActivation(), and onMain().

std::string Vision::DFK51BG02H::Task::m_pgm_header

PGM header.

Referenced by onMain(), and Task().

uint8_t* Vision::DFK51BG02H::Task::m_rgb24_bfr

RGB24 buffer.

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

WhiteBalance Vision::DFK51BG02H::Task::m_white

Referenced by onMain(), and onUpdateParameters().

Collaboration diagram for Vision::DFK51BG02H::Task: