Detailed Description

Device driver task.

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

void	updateSlaveEntities (void)

void	onUpdateParameters (void)

bool	checkParameters (void)

void	onResourceAcquisition (void)

void	onResourceRelease (void)

void	consume (const IMC::LoggingControl *msg)

void	consume (const IMC::EstimatedState *msg)

void	onRequestActivation (void)

void	checkActivationProgress (void)

void	onRequestDeactivation (void)

void	checkDeactivationProgress (void)

void	onActivation (void)

void	onDeactivation (void)

void	consume (const IMC::EntityActivationState *msg)

void	consume (const IMC::EntityInfo *msg)

void	startVideo (void)

void	stopVideo (void)

bool	captureFrame (Log::Frame *frame, double timeout=2.0)

void	setProperty (std::string property, std::string value)

void	getProperty (std::string property, std::string &value)

void	setProperties (void)

void	updateFps (void)

void	updateExposure (void)

bool	checkExposure (void)

void	updateGain (void)

bool	checkGain (void)

void	updateWhiteBalance (void)

bool	checkWhiteBalance (void)

void	updateGamma (void)

void	updateMedianFilter (void)

void	updateStrobe (void)

void	changeLogFile (void)

void	captureAndSave (void)

bool	checkConfiguration (void)

bool	updateActualFrameRate (void)

bool	checkCaptureOk (void)

bool	checkLogdirOk (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
Arguments	m_args

HTTPClient *	m_http

std::string	m_boundary

Path	m_log_dir

double	m_timestamp

Hardware::GPIO *	m_pwr_gpio

Hardware::GPIO *	m_led_gpio

bool	m_cfg_dirty

EntityActivationMaster *	m_slave_entities

Counter< double >	m_act_timer

bool	m_log_dir_updated

IMC::EstimatedState	m_estate

Counter< double >	m_cooldown_timer

Log *	m_log

int	m_actual_frame_rate

Static Public Attributes
static const unsigned	c_port

static const unsigned	c_width

static const unsigned	c_height

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	onResourceInitialization (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::Lumenera::Task::Task	(	const std::string &	name,
		Tasks::Context &	ctx
	)

inline

Member Function Documentation

void Vision::Lumenera::Task::captureAndSave ( void )

inline

References captureFrame(), changeLogFile(), DUNE::Tasks::Task::debug(), Vision::Lumenera::Log::getFreeFrame(), Vision::Lumenera::Log::getSize(), DUNE::Tasks::Task::inf(), m_actual_frame_rate, m_args, m_cooldown_timer, m_log, m_timestamp, Vision::Lumenera::Arguments::max_file_size, DUNE::Time::Counter< T >::overflow(), Vision::Lumenera::Log::put(), Vision::Lumenera::Log::putFree(), stopVideo(), and updateActualFrameRate().

Referenced by onMain().

bool Vision::Lumenera::Task::captureFrame	(	Log::Frame *	frame,
		double	timeout = `2.0`
	)

inline

References Vision::Lumenera::HTTPClient::getBinary(), Vision::Lumenera::Log::Frame::getBuffer(), Vision::Lumenera::HTTPClient::getHeader(), m_boundary, m_http, m_timestamp, Vision::Lumenera::Log::Frame::setTimeStamp(), Vision::Lumenera::HTTPClient::skipToBoundary(), and DUNE::Tasks::Task::spew().

Referenced by captureAndSave().

void Vision::Lumenera::Task::changeLogFile ( void )

inline

References c_height, c_width, m_actual_frame_rate, m_log, and m_log_dir.

Referenced by captureAndSave().

void Vision::Lumenera::Task::checkActivationProgress ( void )

inline

bool Vision::Lumenera::Task::checkCaptureOk ( void )

inline

References DUNE::Tasks::Task::err(), DUNE::Tasks::Task::getEntityState(), m_http, DUNE::Tasks::Task::setEntityState(), startVideo(), and stopVideo().

Referenced by checkActivationProgress(), and onMain().

bool Vision::Lumenera::Task::checkConfiguration ( void )

inline

References DUNE::Tasks::Task::inf(), m_cfg_dirty, and setProperties().

Referenced by checkActivationProgress(), and onMain().

void Vision::Lumenera::Task::checkDeactivationProgress ( void )

inline

References Vision::Lumenera::EntityActivationMaster::checkDeactivation(), DUNE::Tasks::Task::deactivate(), DUNE::Tasks::Task::deactivationFailed(), DUNE::Time::Counter< T >::getTop(), m_act_timer, m_slave_entities, DUNE::Time::Counter< T >::overflow(), and DUNE::Tasks::Task::trace().

Referenced by onMain().

bool Vision::Lumenera::Task::checkExposure ( void )

inline

References Vision::Lumenera::Arguments::auto_exposure, Vision::Lumenera::Arguments::exposure_knee, Vision::Lumenera::Arguments::exposure_max, Vision::Lumenera::Arguments::exposure_value, m_args, and DUNE::Tasks::Task::paramChanged().

Referenced by checkParameters().

bool Vision::Lumenera::Task::checkGain ( void )

inline

References Vision::Lumenera::Arguments::auto_gain, Vision::Lumenera::Arguments::gain_knee, Vision::Lumenera::Arguments::gain_max, Vision::Lumenera::Arguments::gain_value, m_args, and DUNE::Tasks::Task::paramChanged().

Referenced by checkParameters().

bool Vision::Lumenera::Task::checkLogdirOk ( void )

inline

References DUNE::Tasks::Task::dispatch(), and m_log_dir_updated.

Referenced by checkActivationProgress().

bool Vision::Lumenera::Task::checkParameters ( void )

inline

References checkExposure(), checkGain(), checkWhiteBalance(), Vision::Lumenera::Arguments::fps, Vision::Lumenera::Arguments::gamma, Vision::Lumenera::Arguments::led_type, m_args, Vision::Lumenera::Arguments::median_filter, and DUNE::Tasks::Task::paramChanged().

Referenced by onUpdateParameters().

bool Vision::Lumenera::Task::checkWhiteBalance ( void )

inline

References Vision::Lumenera::Arguments::auto_whitebalance, Vision::Lumenera::Arguments::gain_blue, Vision::Lumenera::Arguments::gain_green, Vision::Lumenera::Arguments::gain_red, m_args, and DUNE::Tasks::Task::paramChanged().

Referenced by checkParameters().

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

inline

References Vision::Lumenera::Arguments::camera_capt, DUNE::Tasks::Context::dir_log, DUNE::Tasks::Task::getSystemId(), DUNE::Tasks::Task::isDeactivating(), Vision::Lumenera::Arguments::log_prefix, m_args, DUNE::Tasks::Task::m_ctx, m_log_dir, m_log_dir_updated, and DUNE::Tasks::Task::trace().

void Vision::Lumenera::Task::consume ( const IMC::EstimatedState * msg )

inline

References DUNE::Tasks::Task::getSystemId(), and m_estate.

void Vision::Lumenera::Task::consume ( const IMC::EntityActivationState * msg )

inline

References DUNE::Tasks::Task::err(), m_slave_entities, and Vision::Lumenera::EntityActivationMaster::onEntityActivationState().

void Vision::Lumenera::Task::consume ( const IMC::EntityInfo * msg )

inline

References m_slave_entities, and Vision::Lumenera::EntityActivationMaster::onEntityInfo().

void Vision::Lumenera::Task::getProperty	(	std::string	property,
		std::string &	value
	)

inline

References Vision::Lumenera::Arguments::address, c_port, Vision::Lumenera::HTTPClient::getHeader(), and m_args.

Referenced by updateActualFrameRate().

void Vision::Lumenera::Task::onActivation ( void )

inlinevirtual

Called when the task starts/resumes normal execution.

Reimplemented from DUNE::Tasks::Task.

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

void Vision::Lumenera::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::inf(), m_log, m_log_dir_updated, m_pwr_gpio, DUNE::Tasks::Task::setEntityState(), and stopVideo().

void Vision::Lumenera::Task::onMain ( void )

inlinevirtual

Implements DUNE::Tasks::Task.

References Vision::Lumenera::Arguments::camera_capt, Vision::Lumenera::Arguments::camera_cfg, captureAndSave(), checkActivationProgress(), checkCaptureOk(), checkConfiguration(), checkDeactivationProgress(), DUNE::Tasks::Task::isActivating(), DUNE::Tasks::Task::isActive(), DUNE::Tasks::Task::isDeactivating(), m_args, DUNE::Tasks::Task::stopping(), and DUNE::Tasks::Task::waitForMessages().

void Vision::Lumenera::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 Vision::Lumenera::EntityActivationMaster::activate(), DUNE::Tasks::Task::getActivationTime(), m_act_timer, m_pwr_gpio, m_slave_entities, DUNE::Time::Counter< T >::setTop(), and DUNE::Tasks::Task::trace().

void Vision::Lumenera::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 Vision::Lumenera::EntityActivationMaster::deactivate(), DUNE::Tasks::Task::getDeactivationTime(), m_act_timer, m_slave_entities, DUNE::Time::Counter< T >::setTop(), and DUNE::Tasks::Task::trace().

void Vision::Lumenera::Task::onResourceAcquisition ( void )

inlinevirtual

Called when the task is instructed to acquire resources whose configuration is defined by run-time parameters.

Reimplemented from DUNE::Tasks::Task.

References Vision::Lumenera::Arguments::led_gpio, m_args, m_led_gpio, m_pwr_gpio, m_slave_entities, Vision::Lumenera::Arguments::pwr_gpio, DUNE::Tasks::Task::setEntityState(), and updateSlaveEntities().

void Vision::Lumenera::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_led_gpio, m_pwr_gpio, m_slave_entities, DUNE::Tasks::Task::requestDeactivation(), and DUNE::Tasks::Task::trace().

void Vision::Lumenera::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 checkParameters(), DUNE::Tasks::Task::isActive(), m_cfg_dirty, and updateSlaveEntities().

void Vision::Lumenera::Task::setProperties ( void )

inline

References updateExposure(), updateFps(), updateGain(), updateGamma(), updateMedianFilter(), updateStrobe(), and updateWhiteBalance().

Referenced by checkConfiguration().