DUNE: Uniform Navigational Environment
2016.09.0
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Public Member Functions | |
Task (const std::string &name, Tasks::Context &ctx) | |
~Task (void) | |
void | onUpdateParameters (void) |
void | onResourceAcquisition (void) |
void | onResourceRelease (void) |
void | consume (const IMC::Message *msg) |
void | consume (const IMC::Announce *msg) |
void | refreshContacts (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) |
unsigned | getPriority (void) |
State | getState (void) |
bool | isCreated (void) |
bool | isStopping (void) |
bool | isRunning (void) |
bool | isStarting (void) |
bool | isDead (void) |
Public Attributes | |
uint8_t * | m_bfr |
UDPSocket | m_sock |
std::set< NodeAddress > | m_static_dsts |
NodeTable | m_node_table |
Arguments | m_args |
bool | m_comm_limitations |
bool | m_underwater_comms |
Listener * | m_listener |
Time::Counter< float > | m_contacts_refresh_counter |
LimitedComms * | m_lcomms |
MessageFilter | m_filter |
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 | onRequestActivation (void) |
virtual void | onRequestDeactivation (void) |
virtual void | onActivation (void) |
virtual void | onDeactivation (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) |
unsigned | getPriorityImpl (void) |
Protected Attributes inherited from DUNE::Tasks::Task | |
Context & | m_ctx |
std::vector < Entities::BasicEntity * > | m_entities |
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inline |
References Transports::UDP::Arguments::allowed_messages, Transports::UDP::Arguments::announce_service, Transports::UDP::Arguments::comm_range, Transports::UDP::Arguments::contact_refresh_per, Transports::UDP::Arguments::contact_timeout, DUNE::Tasks::Parameter::defaultValue(), DUNE::Tasks::Parameter::description(), Transports::UDP::Arguments::destinations, Transports::UDP::Arguments::dynamic_nodes, Transports::UDP::Arguments::entities_flt, m_args, m_bfr, Transports::UDP::Arguments::messages, Transports::UDP::Arguments::only_local, DUNE::Tasks::Task::param(), Transports::UDP::Arguments::port, Transports::UDP::Arguments::rate_lims, Transports::UDP::Arguments::trace_in, Transports::UDP::Arguments::trace_out, Transports::UDP::Arguments::underwater_comms, and DUNE::Tasks::Parameter::units().
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inlinevirtual |
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inline |
References Transports::UDP::Arguments::dynamic_nodes, Transports::UDP::NodeTable::getActiveCount(), DUNE::Tasks::Task::getSystemId(), Transports::UDP::LimitedComms::isActive(), m_args, m_bfr, m_filter, m_lcomms, m_node_table, m_sock, m_static_dsts, Transports::UDP::Arguments::only_local, Transports::UDP::NodeTable::send(), Transports::UDP::LimitedComms::setMyEstimatedState(), and Transports::UDP::Arguments::trace_out.
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inline |
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inlinevirtual |
Implements DUNE::Tasks::Task.
References m_contacts_refresh_counter, refreshContacts(), DUNE::Tasks::Task::stopping(), and DUNE::Tasks::Task::waitForMessages().
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inlinevirtual |
Called when the task is instructed to acquire resources whose configuration is defined by run-time parameters.
Reimplemented from DUNE::Tasks::Task.
References Transports::UDP::Arguments::announce_service, Transports::UDP::Arguments::comm_range, Transports::UDP::Arguments::contact_timeout, DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::getSystemId(), DUNE::Tasks::Task::inf(), m_args, m_comm_limitations, m_lcomms, m_listener, m_node_table, m_sock, Transports::UDP::Arguments::port, Transports::UDP::LimitedComms::setActive(), DUNE::Tasks::Task::setEntityState(), Transports::UDP::NodeTable::setLimitedComms(), Transports::UDP::Arguments::trace_in, and DUNE::Tasks::Task::war().
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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_lcomms, and m_listener.
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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 DUNE::Tasks::Task::bind(), Transports::UDP::Arguments::comm_range, Transports::UDP::Arguments::contact_refresh_per, DUNE::Tasks::Task::debug(), Transports::UDP::Arguments::destinations, Transports::UDP::Arguments::entities_flt, DUNE::Tasks::Profiles::isSelected(), m_args, m_comm_limitations, m_contacts_refresh_counter, DUNE::Tasks::Task::m_ctx, m_filter, m_static_dsts, m_underwater_comms, Transports::UDP::Arguments::messages, DUNE::Tasks::Task::paramChanged(), DUNE::Tasks::Context::profiles, Transports::UDP::Arguments::rate_lims, and Transports::UDP::Arguments::underwater_comms.
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inline |
References Transports::UDP::NodeTable::activate(), Transports::UDP::NodeTable::deactivate(), Transports::UDP::Listener::getContacts(), DUNE::Tasks::Task::inf(), Transports::UDP::Listener::lockContacts(), m_listener, m_node_table, DUNE::Tasks::Task::resolveSystemId(), and Transports::UDP::Listener::unlockContacts().
Referenced by onMain().
Arguments Transports::UDP::Task::m_args |
Task arguments.
Referenced by consume(), onResourceAcquisition(), onUpdateParameters(), and Task().
uint8_t* Transports::UDP::Task::m_bfr |
bool Transports::UDP::Task::m_comm_limitations |
Simulate communication limitations.
Referenced by onResourceAcquisition(), and onUpdateParameters().
Time::Counter<float> Transports::UDP::Task::m_contacts_refresh_counter |
Contact refresh counter.
Referenced by onMain(), and onUpdateParameters().
MessageFilter Transports::UDP::Task::m_filter |
Message Filter.
Referenced by consume(), and onUpdateParameters().
LimitedComms* Transports::UDP::Task::m_lcomms |
LimitedComms object.
Referenced by consume(), onResourceAcquisition(), and onResourceRelease().
Listener* Transports::UDP::Task::m_listener |
Listener thread.
Referenced by onResourceAcquisition(), onResourceRelease(), and refreshContacts().
NodeTable Transports::UDP::Task::m_node_table |
Set of destination nodes.
Referenced by consume(), onResourceAcquisition(), and refreshContacts().
UDPSocket Transports::UDP::Task::m_sock |
UDP Socket.
Referenced by consume(), and onResourceAcquisition().
std::set<NodeAddress> Transports::UDP::Task::m_static_dsts |
Set of static nodes.
Referenced by consume(), and onUpdateParameters().
bool Transports::UDP::Task::m_underwater_comms |
Allow underwater communications when simulating limited comms.
Referenced by onUpdateParameters().