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) |
bool | openSocket (void) |
void | onResourceRelease (void) |
void | onResourceInitialization (void) |
void | resetOp (void) |
bool | hasTransducer (void) |
void | sendCommand (const std::string &cmd) |
void | consume (const IMC::AcousticOperation *msg) |
void | transmitMessage (const std::string &sys, const InlineMessage< IMC::Message > &imsg) |
void | abort (const std::string &sys) |
void | ping (const std::string &sys) |
void | pingMicroModem (const std::string &sys) |
void | pingNarrowBand (const std::string &sys) |
void | handleRangeModem (NMEAReader *const stn) |
void | handleRangeTransponder (NMEAReader *const stn) |
void | handleMiniPacketReception (NMEAReader *const stn) |
void | handleRangeInProgress (NMEAReader *const stn) |
void | handleMiniPacketEcho (NMEAReader *const stn) |
void | handleBinaryReception (NMEAReader *const stn) |
void | readSentence (void) |
void | process (const std::string msg) |
void | checkTimeouts (void) |
void | configureModem (const std::string &code, const std::string ¶meter, const unsigned value) |
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 | |
IO::Handle * | m_handle |
NarrowBandMap | m_nbmap |
MicroModemMap | m_ummap |
AddressMap | m_mimap |
AddressMap | m_immap |
Arguments | m_args |
double | m_op_deadline |
unsigned | m_address |
IMC::AcousticOperation | m_acop |
IMC::AcousticOperation | m_acop_out |
IMC::DevDataText | m_dev_data |
IMC::PlanControl * | m_pc |
Operation | m_op |
GPIO * | m_gpio_txd |
Counter< double > | m_last_stn |
bool | m_ignore_gpio |
std::string | m_line |
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 | 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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References Sensors::MLBLTracker::Arguments::addr_section, DUNE::Tasks::Parameter::defaultValue(), Sensors::MLBLTracker::Arguments::gpio_txd, m_args, m_ignore_gpio, m_nbmap, DUNE::Tasks::Task::param(), Sensors::MLBLTracker::Arguments::rx_length, Sensors::MLBLTracker::Arguments::sspeed, Sensors::MLBLTracker::Arguments::tout_abort, Sensors::MLBLTracker::Arguments::tout_input, Sensors::MLBLTracker::Arguments::tout_mmping, Sensors::MLBLTracker::Arguments::tout_nbping, Sensors::MLBLTracker::Arguments::turn_around_time, Sensors::MLBLTracker::Arguments::tx_length, Sensors::MLBLTracker::Arguments::uart_baud, Sensors::MLBLTracker::Arguments::uart_dev, and DUNE::Tasks::Parameter::units().
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inlinevirtual |
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Abort system.
[in] | sys | system to be aborted. |
References DUNE::Tasks::Task::dispatch(), m_acop_out, m_address, m_args, m_nbmap, m_op, m_op_deadline, m_ummap, Sensors::MLBLTracker::OP_ABORT, sendCommand(), and Sensors::MLBLTracker::Arguments::tout_abort.
Referenced by consume().
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Check operation timeouts.
References DUNE::Tasks::Task::dispatch(), m_acop, m_acop_out, m_op, m_op_deadline, Sensors::MLBLTracker::OP_ABORT, Sensors::MLBLTracker::OP_NONE, Sensors::MLBLTracker::OP_PING_MM, Sensors::MLBLTracker::OP_PING_NB, and resetOp().
Referenced by onMain().
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Configure a modem parameter.
[in] | code | NMEA code of the message to be transmitted. |
[in] | parameter | modem parameter to be configured. |
[in] | value | new configuration value. |
References sendCommand().
Referenced by onResourceAcquisition().
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References abort(), DUNE::Tasks::Task::dispatch(), hasTransducer(), m_acop, m_acop_out, m_op, Sensors::MLBLTracker::OP_NONE, ping(), and transmitMessage().
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Handle reception of binary message.
[in] | stn | sentence to be handled. |
References DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::inf(), m_mimap, and DUNE::Tasks::Task::trace().
Referenced by process().
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Requested mini-packet transmission is in progress.
[in] | stn | sentence to be handled. |
References DUNE::Tasks::Task::dispatch(), m_acop, and m_acop_out.
Referenced by process().
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Handle a mini-packet reception.
[in] | stn | sentence to be handled. |
References DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::dispatchReply(), DUNE::Tasks::Task::inf(), m_acop, m_acop_out, m_mimap, m_pc, and resetOp().
Referenced by process().
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A requested range is in progress.
[in] | stn | sentence to be handled. |
References DUNE::Tasks::Task::dispatch(), m_acop, and m_acop_out.
Referenced by process().
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Handle received range from modem.
[in] | stn | sentence to be handled. |
References DUNE::Tasks::Task::dispatch(), m_acop, m_acop_out, m_address, m_args, resetOp(), and Sensors::MLBLTracker::Arguments::sspeed.
Referenced by process().
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Handle received range from transponder.
[in] | stn | sentence to be handled. |
References DUNE::Tasks::Task::dispatch(), m_acop, m_acop_out, m_args, resetOp(), and Sensors::MLBLTracker::Arguments::sspeed.
Referenced by process().
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inline |
References DUNE::Tasks::Task::err(), m_gpio_txd, and m_ignore_gpio.
Referenced by consume().
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inlinevirtual |
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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 configureModem(), DUNE::Tasks::Task::err(), Sensors::MLBLTracker::Arguments::gpio_txd, m_address, m_args, m_gpio_txd, m_handle, openSocket(), DUNE::Tasks::Task::setEntityState(), Sensors::MLBLTracker::Arguments::turn_around_time, Sensors::MLBLTracker::Arguments::uart_baud, and Sensors::MLBLTracker::Arguments::uart_dev.
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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::dispatch(), and DUNE::Tasks::Task::getEntityLabel().
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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_gpio_txd, m_handle, and m_pc.
Referenced by ~Task().
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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 Sensors::MLBLTracker::Arguments::addr_section, DUNE::Tasks::Context::config, DUNE::Parsers::Config::get(), DUNE::Tasks::Task::getSystemName(), Sensors::MLBLTracker::Arguments::gpio_txd, m_address, m_args, DUNE::Tasks::Task::m_ctx, m_gpio_txd, m_ignore_gpio, m_immap, m_last_stn, m_mimap, m_ummap, DUNE::Parsers::Config::options(), DUNE::Tasks::Task::paramChanged(), DUNE::Tasks::Task::resolveSystemName(), DUNE::Time::Counter< T >::setTop(), and Sensors::MLBLTracker::Arguments::tout_input.
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Check if we have a TCP socket as device input argument.
References m_args, m_handle, m_ignore_gpio, and Sensors::MLBLTracker::Arguments::uart_dev.
Referenced by onResourceAcquisition().
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Range system.
[in] | sys | system to be ranged. |
References DUNE::Tasks::Task::dispatch(), m_acop_out, m_nbmap, m_ummap, pingMicroModem(), and pingNarrowBand().
Referenced by consume().
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Ping a modem address.
[in] | sys | system to be pinged. |
References m_address, m_args, m_op, m_op_deadline, m_ummap, Sensors::MLBLTracker::OP_PING_MM, sendCommand(), and Sensors::MLBLTracker::Arguments::tout_mmping.
Referenced by ping().
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Ping a narrow band frequency.
[in] | sys | transducer to be pinged. |
References m_args, m_nbmap, m_op, m_op_deadline, Sensors::MLBLTracker::OP_PING_NB, Sensors::MLBLTracker::Arguments::rx_length, sendCommand(), Sensors::MLBLTracker::Arguments::tout_nbping, and Sensors::MLBLTracker::Arguments::tx_length.
Referenced by ping().
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Process sentence.
[in] | msg | sentence. |
References DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::err(), handleBinaryReception(), handleMiniPacketEcho(), handleMiniPacketReception(), handleRangeInProgress(), handleRangeModem(), handleRangeTransponder(), and m_dev_data.
Referenced by readSentence().
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Read sentence.
References m_handle, m_line, process(), and DUNE::Tasks::Task::setEntityState().
Referenced by onMain().
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References m_op, m_op_deadline, and Sensors::MLBLTracker::OP_NONE.
Referenced by checkTimeouts(), handleMiniPacketReception(), handleRangeModem(), and handleRangeTransponder().
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Send and log command.
[in] | cmd | command to be sent. |
References DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::inf(), m_dev_data, and m_handle.
Referenced by abort(), configureModem(), pingMicroModem(), pingNarrowBand(), and transmitMessage().
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Transmit message to modem.
[in] | sys | destination system. |
[in] | imsg | message to be sent. |
References DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::err(), m_acop_out, m_address, m_pc, m_ummap, and sendCommand().
Referenced by consume().
IMC::AcousticOperation Sensors::MLBLTracker::Task::m_acop |
IMC::AcousticOperation Sensors::MLBLTracker::Task::m_acop_out |
unsigned Sensors::MLBLTracker::Task::m_address |
Referenced by abort(), handleRangeModem(), onResourceAcquisition(), onUpdateParameters(), pingMicroModem(), and transmitMessage().
Arguments Sensors::MLBLTracker::Task::m_args |
IMC::DevDataText Sensors::MLBLTracker::Task::m_dev_data |
Referenced by process(), and sendCommand().
GPIO* Sensors::MLBLTracker::Task::m_gpio_txd |
Referenced by hasTransducer(), onResourceAcquisition(), onResourceRelease(), and onUpdateParameters().
IO::Handle* Sensors::MLBLTracker::Task::m_handle |
Referenced by onMain(), onResourceAcquisition(), onResourceRelease(), openSocket(), readSentence(), and sendCommand().
bool Sensors::MLBLTracker::Task::m_ignore_gpio |
Referenced by hasTransducer(), onUpdateParameters(), openSocket(), and Task().
AddressMap Sensors::MLBLTracker::Task::m_immap |
Referenced by onUpdateParameters().
Counter<double> Sensors::MLBLTracker::Task::m_last_stn |
Referenced by onMain(), and onUpdateParameters().
std::string Sensors::MLBLTracker::Task::m_line |
Current line.
Referenced by readSentence().
AddressMap Sensors::MLBLTracker::Task::m_mimap |
Referenced by handleBinaryReception(), handleMiniPacketReception(), and onUpdateParameters().
NarrowBandMap Sensors::MLBLTracker::Task::m_nbmap |
Referenced by abort(), ping(), pingNarrowBand(), and Task().
Operation Sensors::MLBLTracker::Task::m_op |
Referenced by abort(), checkTimeouts(), consume(), pingMicroModem(), pingNarrowBand(), and resetOp().
double Sensors::MLBLTracker::Task::m_op_deadline |
Referenced by abort(), checkTimeouts(), pingMicroModem(), pingNarrowBand(), and resetOp().
IMC::PlanControl* Sensors::MLBLTracker::Task::m_pc |
Referenced by handleMiniPacketReception(), onResourceRelease(), and transmitMessage().
MicroModemMap Sensors::MLBLTracker::Task::m_ummap |
Referenced by abort(), onUpdateParameters(), ping(), pingMicroModem(), and transmitMessage().