Detailed Description

Task.

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)

void	onUpdateParameters (void)

void	onResourceRelease (void)

void	onRequestActivation (void)

void	onActivation (void)

void	onRequestDeactivation (void)

void	onDeactivation (void)

void	onEntityReservation (void)

void	onEntityResolution (void)

void	onResourceInitialization (void)

void	consume (const IMC::PulseDetectionControl *msg)

void	consume (const IMC::VehicleMedium *msg)

void	consume (const IMC::SoundSpeed *msg)

void	consume (const IMC::PowerChannelState *msg)

bool	setInputTrigger (bool enabled)

void	configureInputTrigger (bool value)

bool	canRequestActivation (void)

void	controlPower (IMC::PowerChannelControl::OperationEnum op)

void	turnPowerOn (void)

void	turnPowerOff (void)

void	processAltitude (void)

void	processGroundVelocity (void)

bool	readSample (uint8_t *bfr, size_t bfr_size)

bool	setup (void)

void	dispatchStats (void)

bool	runActivationStateMachine (void)

bool	runDeactivationStateMachine (void)

void	onMain (void)

Public Member Functions inherited from DUNE::Tasks::Task
	Task (const std::string &name, Context &context)

virtual	~Task (void)

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
Driver *	m_driver

Navigation::BeamFilter	m_filter

IMC::GroundVelocity	m_gvel

IMC::WaterVelocity	m_wvel

IMC::Distance	m_altitude [c_beam_count]

IMC::Distance	m_altitude_filtered

double	m_sound_speed

int	m_sound_speed_eid

Monitors::MediumHandler	m_medium

ParserPD0	m_parser

bool	m_powered

ActivationState	m_act_state

DeactivationState	m_deact_state

Counter< double >	m_wdog

Counter< double >	m_bottom_lock_timer

bool	m_triggered

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	onReportEntityState (void)

virtual void	onResourceAcquisition (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::ExplorerDVL::Task::Task	(	const std::string &	name,
		Tasks::Context &	ctx
	)

inline

Member Function Documentation

bool Sensors::ExplorerDVL::Task::canRequestActivation ( void )

inline

Test if the task can request activation.

Returns: true if we can request activation, false otherwise.

References DUNE::Tasks::Task::isActivating(), and DUNE::Tasks::Task::isActive().

Referenced by consume().

void Sensors::ExplorerDVL::Task::configureInputTrigger ( bool value )

inline

References DUNE::Tasks::Task::consumeMessages(), m_bottom_lock_timer, m_driver, DUNE::Time::Counter< T >::reset(), setInputTrigger(), Sensors::ExplorerDVL::Driver::startPinging(), Sensors::ExplorerDVL::Driver::stopPinging(), and DUNE::Tasks::Task::trace().

Referenced by consume().

void Sensors::ExplorerDVL::Task::consume ( const IMC::PulseDetectionControl * msg )

inline

References configureInputTrigger(), DUNE::Tasks::Task::getEntityId(), Sensors::ExplorerDVL::Arguments::input_trigger, DUNE::Tasks::Task::isActive(), m_args, m_driver, and m_triggered.

void Sensors::ExplorerDVL::Task::consume ( const IMC::VehicleMedium * msg )

inline

References Sensors::ExplorerDVL::Arguments::auto_activation, canRequestActivation(), DUNE::Tasks::Task::isActive(), m_args, m_medium, DUNE::Tasks::Task::requestActivation(), DUNE::Tasks::Task::requestDeactivation(), and Sensors::ExplorerDVL::Arguments::surface.

void Sensors::ExplorerDVL::Task::consume ( const IMC::SoundSpeed * msg )

inline

References m_sound_speed, and m_sound_speed_eid.

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

inline

References DUNE::Tasks::Task::debug(), m_args, m_powered, and Sensors::ExplorerDVL::Arguments::power_channel.

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

inline

References DUNE::Tasks::Task::dispatch(), m_args, and Sensors::ExplorerDVL::Arguments::power_channel.

Referenced by turnPowerOff(), and turnPowerOn().

void Sensors::ExplorerDVL::Task::dispatchStats ( void )

inline

References Sensors::ExplorerDVL::Driver::getTimeoutCount(), and m_driver.

Referenced by setup().

void Sensors::ExplorerDVL::Task::onActivation ( void )

inlinevirtual

Called when the task starts/resumes normal execution.

Reimplemented from DUNE::Tasks::Task.

References m_bottom_lock_timer, m_wdog, DUNE::Tasks::Task::setEntityState(), and DUNE::Time::Counter< T >::setTop().

void Sensors::ExplorerDVL::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 Sensors::ExplorerDVL::Task::onEntityReservation ( void )

inlinevirtual

Called when the task is instructed to reserve all the entity identifiers it needs for normal execution.

See reserveEntity(). Derived classes that need to reserve entity identifiers other than that of the main entity should override this function.

Reimplemented from DUNE::Tasks::Task.

References m_altitude, m_altitude_filtered, and DUNE::Tasks::Task::reserveEntity().

void Sensors::ExplorerDVL::Task::onEntityResolution ( void )

inlinevirtual

Called when the task is instructed to resolve all the entity identifiers it needs for normal execution.

See resolveEntity(). Derived classes that need to resolve entity identifiers should override this function.

Reimplemented from DUNE::Tasks::Task.

References m_args, m_sound_speed, m_sound_speed_eid, DUNE::Tasks::Task::resolveEntity(), Sensors::ExplorerDVL::Arguments::sound_speed_def, and Sensors::ExplorerDVL::Arguments::sound_speed_elabel.

void Sensors::ExplorerDVL::Task::onMain ( void )

inlinevirtual

void Sensors::ExplorerDVL::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 m_act_state, and Sensors::ExplorerDVL::ST_ACT_BEGIN.

void Sensors::ExplorerDVL::Task::onRequestDeactivation ( void )

inlinevirtual

Called when an external deactivation request is received.

Derived classes that need to perform extra steps to prepare normal execution should replace the default behaviour of immediate deactivation with calls to deactivate() when the request is completed or deactivationFailed() if the request cannot be honoured.

Reimplemented from DUNE::Tasks::Task.

References m_deact_state, and Sensors::ExplorerDVL::ST_DEACT_BEGIN.

void Sensors::ExplorerDVL::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 DUNE::Tasks::Task::setEntityState().

void Sensors::ExplorerDVL::Task::onResourceRelease ( void )

inlinevirtual

Called when the task is instructed to release resources.

Derived classes that override this function must not assume that any resource was previously acquired. This function must be implemented in such a way that it can be called at any time.

Reimplemented from DUNE::Tasks::Task.

References m_driver.

void Sensors::ExplorerDVL::Task::onUpdateParameters ( void )

inlinevirtual

Called when the task is instructed to update its run-time parameters.

Derived classes that need to compute auxiliary values based on run-time parameters should override this function.

Reimplemented from DUNE::Tasks::Task.

References Sensors::ExplorerDVL::Arguments::beam_angle, Sensors::ExplorerDVL::Arguments::beam_width, Sensors::ExplorerDVL::Arguments::heading_alignment, m_altitude, m_altitude_filtered, m_args, m_powered, m_sound_speed, Sensors::ExplorerDVL::Arguments::orientation, DUNE::Tasks::Task::paramChanged(), Sensors::ExplorerDVL::Arguments::position, Sensors::ExplorerDVL::Arguments::power_channel, Sensors::ExplorerDVL::Arguments::sound_speed_def, and Sensors::ExplorerDVL::Arguments::xdcr_offset.