Sensors::Klein3500::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	tryConnect (void)
bool	isConnected (void)
void	failActivation (const std::string &message)
void	onRequestDeactivation (void)
bool	disconnect (void)
void	onDeactivation (void)
void	controlPulseDetection (IMC::PulseDetectionControl::OperationEnum op)
void	onActivation (void)
void	requestLogName (void)
void	consume (const IMC::PowerChannelState *msg)
void	consume (const IMC::EstimatedState *msg)
void	consume (const IMC::LoggingControl *msg)
std::string	computeRecordingPath (const std::string &log_name)
void	openLog (const std::string &name)
bool	logIsOpen (void)
void	closeLog (void)
void	setFramingMode (void)
void	initConfig (void)
void	controlPower (IMC::PowerChannelControl::OperationEnum op)
void	turnPowerOn (void)
void	turnPowerOff (void)
bool	isPowered (void)
void	updateStateMachine (void)
void	onMain (void)

Public Attributes
Parser	m_parser
Counter< double >	m_wdog
StateMachineStates	m_sm_state
std::queue< StateMachineStates >	m_sm_state_queue
bool	m_powered
CommandLink *	m_cmd
std::string	m_log_path
Arguments	m_args

Constructor & Destructor Documentation

Sensors::Klein3500::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Sensors::Klein3500::Arguments::addr, Sensors::Klein3500::Arguments::channel_hf, Sensors::Klein3500::Arguments::channel_lf, m_args, Sensors::Klein3500::Arguments::pings_per_file, Sensors::Klein3500::Arguments::port, Sensors::Klein3500::Arguments::power_channel, Sensors::Klein3500::Arguments::range, Sensors::Klein3500::Arguments::record_file_prefix, Sensors::Klein3500::Arguments::record_path_prefix, and Sensors::Klein3500::Arguments::trigger_slaves.

Member Function Documentation

void Sensors::Klein3500::Task::closeLog ( void  )

inline

References isConnected(), m_cmd, m_log_path, and Sensors::Klein3500::CommandLink::setRecordingMode().

Referenced by consume(), and updateStateMachine().

std::string Sensors::Klein3500::Task::computeRecordingPath ( const std::string &  log_name )

inline

References m_args, and Sensors::Klein3500::Arguments::record_path_prefix.

Referenced by openLog().

void Sensors::Klein3500::Task::consume ( const IMC::PowerChannelState *  msg )

inline

References m_args, m_powered, and Sensors::Klein3500::Arguments::power_channel.

void Sensors::Klein3500::Task::consume ( const IMC::EstimatedState *  msg )

inline

References isConnected(), m_cmd, and Sensors::Klein3500::CommandLink::sendNavigationData().

void Sensors::Klein3500::Task::consume ( const IMC::LoggingControl *  msg )

inline

References closeLog(), getCurrentState(), openLog(), Sensors::Klein3500::SM_ACT_LOG_WAIT, and Sensors::Klein3500::SM_ACT_SAMPLE.

void Sensors::Klein3500::Task::controlPower ( IMC::PowerChannelControl::OperationEnum  op )

inline

References m_args, and Sensors::Klein3500::Arguments::power_channel.

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

void Sensors::Klein3500::Task::controlPulseDetection ( IMC::PulseDetectionControl::OperationEnum  op )

inline

References m_args, and Sensors::Klein3500::Arguments::trigger_slaves.

Referenced by onActivation(), and onDeactivation().

StateMachineStates Sensors::Klein3500::Task::dequeueState ( void  )

inline

References hasQueuedStates(), m_sm_state, and m_sm_state_queue.

Referenced by updateStateMachine().

bool Sensors::Klein3500::Task::disconnect ( void  )

inline

References m_args, m_cmd, Sensors::Klein3500::Arguments::record_path_prefix, Sensors::Klein3500::CommandLink::setRecordingFilePath(), Sensors::Klein3500::CommandLink::setRecordingMode(), Sensors::Klein3500::CommandLink::setRecordingNewFile(), Sensors::Klein3500::CommandLink::setStandBy(), and Sensors::Klein3500::CommandLink::unmountNFS().

Referenced by onResourceRelease(), and updateStateMachine().

void Sensors::Klein3500::Task::failActivation ( const std::string &  message )

inline

References controlPower().

Referenced by updateStateMachine().

StateMachineStates Sensors::Klein3500::Task::getCurrentState ( void  ) const

inline

References m_sm_state.

Referenced by consume().

bool Sensors::Klein3500::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::Klein3500::Task::initConfig ( void  )

inline

Initialize sidescan configuration.

References m_args, m_cmd, Sensors::Klein3500::Arguments::pings_per_file, Sensors::Klein3500::Arguments::range, Sensors::Klein3500::Arguments::record_file_prefix, Sensors::Klein3500::CommandLink::setFileFormat(), Sensors::Klein3500::CommandLink::setFilePrefix(), setFramingMode(), Sensors::Klein3500::CommandLink::setPingsPerFile(), Sensors::Klein3500::CommandLink::setRange(), Sensors::Klein3500::CommandLink::setRecordingMode(), and Sensors::Klein3500::CommandLink::setStandBy().

Referenced by tryConnect().

bool Sensors::Klein3500::Task::isConnected ( void  )

inline

Test if a connection exists to the sidescan.

Returns

true if a connection exists, false otherwise.

References m_cmd.

Referenced by closeLog(), consume(), onResourceRelease(), and onUpdateParameters().

bool Sensors::Klein3500::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().

bool Sensors::Klein3500::Task::logIsOpen ( void  )

inline

References m_log_path.

Referenced by updateStateMachine().

void Sensors::Klein3500::Task::onActivation ( void  )

inline

References controlPulseDetection(), DUNE::Time::Counter< T >::getElapsed(), m_cmd, m_wdog, and Sensors::Klein3500::CommandLink::setStandBy().

void Sensors::Klein3500::Task::onDeactivation ( void  )

inline

References controlPulseDetection().

void Sensors::Klein3500::Task::onMain ( void  )

inline

References hasQueuedStates(), and updateStateMachine().

void Sensors::Klein3500::Task::onRequestActivation ( void  )

inline

References queueState(), and Sensors::Klein3500::SM_ACT_BEGIN.

void Sensors::Klein3500::Task::onRequestDeactivation ( void  )

inline

References queueState(), and Sensors::Klein3500::SM_DEACT_BEGIN.

void Sensors::Klein3500::Task::onResourceInitialization ( void  )

inline

void Sensors::Klein3500::Task::onResourceRelease ( void  )

inline

References disconnect(), and isConnected().

void Sensors::Klein3500::Task::onUpdateParameters ( void  )

inline

References Sensors::Klein3500::Arguments::addr, Sensors::Klein3500::Arguments::channel_hf, Sensors::Klein3500::Arguments::channel_lf, isConnected(), m_args, m_cmd, m_powered, Sensors::Klein3500::Arguments::pings_per_file, Sensors::Klein3500::Arguments::port, Sensors::Klein3500::Arguments::power_channel, Sensors::Klein3500::Arguments::range, Sensors::Klein3500::Arguments::record_file_prefix, Sensors::Klein3500::CommandLink::setFilePrefix(), setFramingMode(), Sensors::Klein3500::CommandLink::setPingsPerFile(), and Sensors::Klein3500::CommandLink::setRange().

void Sensors::Klein3500::Task::openLog ( const std::string &  name )

inline

References computeRecordingPath(), m_cmd, m_log_path, Sensors::Klein3500::CommandLink::setRecordingFilePath(), Sensors::Klein3500::CommandLink::setRecordingMode(), and Sensors::Klein3500::CommandLink::setRecordingNewFile().

Referenced by consume().

void Sensors::Klein3500::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().

void Sensors::Klein3500::Task::requestLogName ( void  )

inline

Referenced by updateStateMachine().

void Sensors::Klein3500::Task::setFramingMode ( void  )

inline

References Sensors::Klein3500::Arguments::channel_hf, Sensors::Klein3500::Arguments::channel_lf, Sensors::Klein3500::FM_HFSS, Sensors::Klein3500::FM_LFSS, m_args, m_cmd, and Sensors::Klein3500::CommandLink::setFramingMode().

Referenced by initConfig(), and onUpdateParameters().

bool Sensors::Klein3500::Task::tryConnect ( void  )

inline

Try to connect to the sidescan.

Returns

true if connection was established, false otherwise.

References Sensors::Klein3500::Arguments::addr, initConfig(), m_args, m_cmd, and Sensors::Klein3500::Arguments::port.

Referenced by updateStateMachine().

void Sensors::Klein3500::Task::turnPowerOff ( void  )

inline

References controlPower().

Referenced by updateStateMachine().

void Sensors::Klein3500::Task::turnPowerOn ( void  )

inline

References controlPower().

Referenced by updateStateMachine().

void Sensors::Klein3500::Task::updateStateMachine ( void  )

inline

References closeLog(), dequeueState(), disconnect(), failActivation(), isPowered(), logIsOpen(), m_wdog, DUNE::Time::Counter< T >::overflow(), queueState(), requestLogName(), DUNE::Time::Counter< T >::setTop(), Sensors::Klein3500::SM_ACT_BEGIN, Sensors::Klein3500::SM_ACT_DONE, Sensors::Klein3500::SM_ACT_LOG_REQUEST, Sensors::Klein3500::SM_ACT_LOG_WAIT, Sensors::Klein3500::SM_ACT_POWER_ON, Sensors::Klein3500::SM_ACT_POWER_WAIT, Sensors::Klein3500::SM_ACT_SAMPLE, Sensors::Klein3500::SM_ACT_SS_WAIT, Sensors::Klein3500::SM_DEACT_BEGIN, Sensors::Klein3500::SM_DEACT_DISCONNECT, Sensors::Klein3500::SM_DEACT_DONE, Sensors::Klein3500::SM_DEACT_POWER_OFF, Sensors::Klein3500::SM_DEACT_POWER_WAIT, Sensors::Klein3500::SM_IDLE, tryConnect(), turnPowerOff(), and turnPowerOn().

Referenced by onMain().

Member Data Documentation

Arguments Sensors::Klein3500::Task::m_args

Configuration parameters.

Referenced by computeRecordingPath(), consume(), controlPower(), controlPulseDetection(), disconnect(), initConfig(), onUpdateParameters(), setFramingMode(), Task(), and tryConnect().

CommandLink* Sensors::Klein3500::Task::m_cmd

Command link.

Referenced by closeLog(), consume(), disconnect(), initConfig(), isConnected(), onActivation(), onUpdateParameters(), openLog(), setFramingMode(), and tryConnect().

std::string Sensors::Klein3500::Task::m_log_path

Current log path.

Referenced by closeLog(), logIsOpen(), and openLog().

Parser Sensors::Klein3500::Task::m_parser

Parser.

bool Sensors::Klein3500::Task::m_powered

True if device is powered on.

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

StateMachineStates Sensors::Klein3500::Task::m_sm_state

Current state machine state.

Referenced by dequeueState(), and getCurrentState().

std::queue<StateMachineStates> Sensors::Klein3500::Task::m_sm_state_queue

State machine state queue.

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

Counter<double> Sensors::Klein3500::Task::m_wdog

Watchdog timer.

Referenced by onActivation(), and updateStateMachine().

Collaboration diagram for Sensors::Klein3500::Task: