Actuators::MCD4R::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
	~Task (void)
void	onEntityReservation (void)
void	onUpdateParameters (void)
void	onResourceAcquisition (void)
void	onResourceInitialization (void)
void	onResourceRelease (void)
void	addRemoteAction (const std::string &action, const std::string &type)
bool	actCommand (ActuateCommands cmd, int8_t dir)
bool	cameraPan (PanCommands dir)
bool	cameraTilt (TiltCommands dir)
bool	cameraZoom (ZoomCommands dir)
bool	cameraFocus (FocusCommands cmd)
bool	cameraExposure (ExposureCommands cmd)
bool	armPulse (PulseCommands dir)
bool	armFinger (FingerCommands dir)
bool	toggleLaser (void)
bool	dispatchState (void)
void	consume (const IMC::SetLedBrightness *msg)
void	consume (const IMC::QueryLedBrightness *msg)
void	consume (const IMC::RemoteActions *msg)
void	consume (const IMC::RemoteActionsRequest *msg)
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
SerialPort *	m_uart
UCTK::Interface *	m_ctl
IMC::Current	m_current [SC_TOTAL]
IMC::Voltage	m_voltage [SV_TOTAL]
Counter< double >	m_wdog
IMC::RemoteActionsRequest	m_actions
bool	m_laser
Time::Counter< float >	m_laser_cnt
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	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

Constructor & Destructor Documentation

Actuators::MCD4R::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

Constructor.

Parameters

[in]	name	task name.
[in]	ctx	context.

References DUNE::Tasks::Parameter::defaultValue(), Actuators::MCD4R::Arguments::laser_name, m_args, DUNE::Tasks::Task::param(), Actuators::MCD4R::Arguments::uart_dev, DUNE::Tasks::Parameter::units(), and Actuators::MCD4R::Arguments::wdog_tout.

Actuators::MCD4R::Task::~Task ( void  )

inlinevirtual

Destructor.

Reimplemented from DUNE::Tasks::Task.

Member Function Documentation

bool Actuators::MCD4R::Task::actCommand ( ActuateCommands  cmd, int8_t  dir  )

inline

Generic actuation command.

Parameters

[in]	cmd	actuator to interface with
[in]	dir	command to apply to actuator

Returns

true if successful in sending command

References m_ctl, and Actuators::MCD4R::PKT_ID_ACTUATE.

Referenced by armFinger(), armPulse(), cameraExposure(), cameraFocus(), cameraPan(), cameraTilt(), cameraZoom(), consume(), and toggleLaser().

void Actuators::MCD4R::Task::addRemoteAction ( const std::string &  action, const std::string &  type  )

inline

Add a new remote action.

Parameters

[in]	action	name of the action to add
[in]	type	type of the action to add

References m_actions.

Referenced by onResourceInitialization().

bool Actuators::MCD4R::Task::armFinger ( FingerCommands  dir )

inline

Command arm's finger.

Parameters

[in]

dir

arm's finger direction

Returns

true if successful in sending command

References Actuators::MCD4R::ACT_ARM_FINGER, and actCommand().

bool Actuators::MCD4R::Task::armPulse ( PulseCommands  dir )

inline

Command arm's pulse.

Parameters

[in]

dir

arm's pulse direction

Returns

true if successful in sending command

References Actuators::MCD4R::ACT_ARM_PULSE, and actCommand().

bool Actuators::MCD4R::Task::cameraExposure ( ExposureCommands  cmd )

inline

Command camera's exposure.

Parameters

[in]

cmd

exposure command

Returns

true if successful in sending command

References Actuators::MCD4R::ACT_CAM_EXPO, and actCommand().

bool Actuators::MCD4R::Task::cameraFocus ( FocusCommands  cmd )

inline

Command camera's focus.

Parameters

[in]

cmd

focus command

Returns

true if successful in sending command

References Actuators::MCD4R::ACT_CAM_FOCUS, and actCommand().

bool Actuators::MCD4R::Task::cameraPan ( PanCommands  dir )

inline

Pan camera forward, reverse or stop.

Parameters

[in]

dir

direction to which it should pan

Returns

true if successful in sending command

References Actuators::MCD4R::ACT_CAM_PAN, and actCommand().

bool Actuators::MCD4R::Task::cameraTilt ( TiltCommands  dir )

inline

Tilt camera forward reverse or stop.

Parameters

[in]

dir

direction to which it should tilt

Returns

true if successful in sending command

References Actuators::MCD4R::ACT_CAM_TILT, and actCommand().

bool Actuators::MCD4R::Task::cameraZoom ( ZoomCommands  dir )

inline

Zoom camera.

Parameters

[in]

dir

zoom direction

Returns

true if successful in sending command

References Actuators::MCD4R::ACT_CAM_ZOOM, and actCommand().

void Actuators::MCD4R::Task::consume ( const IMC::SetLedBrightness *  msg )

inline

References Actuators::MCD4R::Arguments::laser_name, and m_args.

void Actuators::MCD4R::Task::consume ( const IMC::QueryLedBrightness *  msg )

inline

References Actuators::MCD4R::Arguments::laser_name, and m_args.

void Actuators::MCD4R::Task::consume ( const IMC::RemoteActions *  msg )

inline

References Actuators::MCD4R::ACT_LASER, Actuators::MCD4R::ACT_TOTAL, actCommand(), Actuators::MCD4R::c_action_names, and toggleLaser().

void Actuators::MCD4R::Task::consume ( const IMC::RemoteActionsRequest *  msg )

inline

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

bool Actuators::MCD4R::Task::dispatchState ( void  )

inline

Dispatch raw board state.

Returns

true if successfully dispatched state

References Actuators::MCD4R::c_current_idx, Actuators::MCD4R::c_voltage_idx, DUNE::Tasks::Task::dispatch(), m_ctl, m_current, m_voltage, Actuators::MCD4R::PKT_ID_STATE, Actuators::MCD4R::SC_TOTAL, and Actuators::MCD4R::SV_TOTAL.

Referenced by onMain().

void Actuators::MCD4R::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 Actuators::MCD4R::c_current_labels, Actuators::MCD4R::c_voltage_labels, DUNE::Tasks::Task::getEntityLabel(), m_current, m_voltage, DUNE::Tasks::Task::reserveEntity(), Actuators::MCD4R::SC_TOTAL, and Actuators::MCD4R::SV_TOTAL.

void Actuators::MCD4R::Task::onMain ( void  )

inlinevirtual

Main loop.

Implements DUNE::Tasks::Task.

References dispatchState(), m_wdog, DUNE::Time::Counter< T >::overflow(), DUNE::Time::Counter< T >::reset(), DUNE::Tasks::Task::setEntityState(), DUNE::Tasks::Task::stopping(), and DUNE::Tasks::Task::waitForMessages().

void Actuators::MCD4R::Task::onResourceAcquisition ( void  )

inlinevirtual

Acquire resources.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Tasks::Task::inf(), m_args, m_ctl, m_uart, Actuators::MCD4R::Arguments::uart_dev, and DUNE::Tasks::Task::war().

void Actuators::MCD4R::Task::onResourceInitialization ( void  )

inlinevirtual

Initialize resources.

Reimplemented from DUNE::Tasks::Task.

References Actuators::MCD4R::ACT_TOTAL, addRemoteAction(), Actuators::MCD4R::c_action_names, Actuators::MCD4R::c_action_types, m_actions, m_laser_cnt, m_wdog, DUNE::Time::Counter< T >::reset(), and DUNE::Tasks::Task::setEntityState().

void Actuators::MCD4R::Task::onResourceRelease ( void  )

inlinevirtual

Release resources.

Reimplemented from DUNE::Tasks::Task.

References m_ctl, and m_uart.

void Actuators::MCD4R::Task::onUpdateParameters ( void  )

inlinevirtual

Update internal state with new parameter values.

Reimplemented from DUNE::Tasks::Task.

References m_args, m_wdog, DUNE::Time::Counter< T >::setTop(), and Actuators::MCD4R::Arguments::wdog_tout.

bool Actuators::MCD4R::Task::toggleLaser ( void  )

inline

Toggle laser value.

Returns

true if successful in sending command

References Actuators::MCD4R::ACT_LASER, actCommand(), m_laser, and m_laser_cnt.

Referenced by consume().

Member Data Documentation

IMC::RemoteActionsRequest Actuators::MCD4R::Task::m_actions

Set of remote actions.

Referenced by addRemoteAction(), consume(), and onResourceInitialization().

Arguments Actuators::MCD4R::Task::m_args

Task arguments.

Referenced by consume(), onResourceAcquisition(), onUpdateParameters(), and Task().

UCTK::Interface* Actuators::MCD4R::Task::m_ctl

Control Interface.

Referenced by actCommand(), dispatchState(), onResourceAcquisition(), and onResourceRelease().

IMC::Current Actuators::MCD4R::Task::m_current[SC_TOTAL]

Current.

Referenced by dispatchState(), and onEntityReservation().

bool Actuators::MCD4R::Task::m_laser

Laser state (assume off at boot)

Referenced by toggleLaser().

Time::Counter<float> Actuators::MCD4R::Task::m_laser_cnt

Laser state timer.

Referenced by onResourceInitialization(), and toggleLaser().

SerialPort* Actuators::MCD4R::Task::m_uart

Control UART.

Referenced by onResourceAcquisition(), and onResourceRelease().

IMC::Voltage Actuators::MCD4R::Task::m_voltage[SV_TOTAL]

Voltage.

Referenced by dispatchState(), and onEntityReservation().

Counter<double> Actuators::MCD4R::Task::m_wdog

Watchdog.

Referenced by onMain(), onResourceInitialization(), and onUpdateParameters().

Collaboration diagram for Actuators::MCD4R::Task: