DUNE: Uniform Navigational Environment
2016.09.0
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Public Member Functions | |
Task (const std::string &name, Tasks::Context &ctx) | |
void | onResourceRelease (void) |
void | onResourceAcquisition (void) |
void | onResourceInitialization (void) |
void | onActivation (void) |
void | onDeactivation (void) |
void | consume (const IMC::GpsFix *msg) |
void | consume (const IMC::ReportControl *msg) |
void | consume (const IMC::TextMessage *msg) |
void | consume (const IMC::Abort *msg) |
void | consume (const IMC::Heartbeat *msg) |
void | consume (const IMC::FuelLevel *msg) |
void | consume (const IMC::PlanControlState *msg) |
void | consume (const IMC::VehicleMedium *msg) |
void | sendSMS (const char *prefix, unsigned timeout, std::string recipient="") |
void | sendScheduled (void) |
void | sendDistress (void) |
void | task (void) |
Public Member Functions inherited from DUNE::Tasks::Periodic | |
Periodic (const std::string &name, Context &ctx) | |
virtual | ~Periodic (void) |
void | setFrequency (double freq) |
double | getFrequency (void) const |
double | getRunTime (void) const |
unsigned | getRunCount (void) const |
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) |
unsigned | getPriority (void) |
State | getState (void) |
bool | isCreated (void) |
bool | isStopping (void) |
bool | isRunning (void) |
bool | isStarting (void) |
bool | isDead (void) |
Public Attributes | |
std::string | m_emsg |
float | m_fuel |
float | m_fuel_conf |
bool | m_in_mission |
float | m_progress |
unsigned | m_req |
Counter< double > | m_lost_coms_timer |
DUNE::Monitors::MediumHandler | m_hand |
Supervisors::Reporter::Client * | m_reporter |
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 | onEntityReservation (void) |
virtual void | onEntityResolution (void) |
virtual void | onReportEntityState (void) |
virtual void | onUpdateParameters (void) |
virtual void | onRequestActivation (void) |
virtual void | onRequestDeactivation (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 DUNE::Tasks::Parameter::defaultValue(), Monitors::Emergency::Arguments::heartbeat_tout, Monitors::Emergency::Arguments::interface, m_args, DUNE::Tasks::Task::param(), DUNE::Tasks::Task::paramActive(), Monitors::Emergency::Arguments::recipient, Monitors::Emergency::Arguments::sms_abort_ttl, Monitors::Emergency::Arguments::sms_lost_coms_ttl, DUNE::Tasks::Parameter::units(), DUNE::Tasks::Parameter::values(), and DUNE::Tasks::Parameter::visibility().
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References DUNE::Tasks::Task::getSystemName(), m_emsg, m_fuel, m_fuel_conf, m_in_mission, and m_progress.
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References Supervisors::Reporter::Client::consume(), and m_reporter.
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References m_fuel, and m_fuel_conf.
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References m_in_mission, and m_progress.
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Called when the task starts/resumes normal execution.
Reimplemented from DUNE::Tasks::Task.
References DUNE::Tasks::Task::setEntityState().
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Called when the task stops normal execution and enters an idleness state.
Reimplemented from DUNE::Tasks::Task.
References DUNE::Tasks::Task::setEntityState().
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Called when the task is instructed to acquire resources whose configuration is defined by run-time parameters.
Reimplemented from DUNE::Tasks::Task.
References Supervisors::Reporter::IS_GSM, and m_reporter.
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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 Monitors::Emergency::Arguments::heartbeat_tout, DUNE::Tasks::Task::isActive(), m_args, m_fuel, m_fuel_conf, m_lost_coms_timer, m_progress, DUNE::Tasks::Task::setEntityState(), and DUNE::Time::Counter< T >::setTop().
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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_reporter.
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Send distress messages if active and not underwater, or, if not executing mission and waiting at water surface.
References DUNE::Tasks::Task::isActive(), DUNE::Monitors::MediumHandler::isUnderwater(), DUNE::Monitors::MediumHandler::isWaterSurface(), m_args, m_hand, m_in_mission, m_lost_coms_timer, DUNE::Time::Counter< T >::overflow(), DUNE::Time::Counter< T >::reset(), sendSMS(), and Monitors::Emergency::Arguments::sms_lost_coms_ttl.
Referenced by task().
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Send all scheduled reports.
References DUNE::Monitors::MediumHandler::isUnderwater(), m_args, m_hand, m_reporter, Monitors::Emergency::Arguments::recipient, sendSMS(), Monitors::Emergency::Arguments::sms_lost_coms_ttl, DUNE::Tasks::Task::spew(), and Supervisors::Reporter::Client::trigger().
Referenced by task().
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Send SMS request.
[in] | prefix | message prefix. |
[in] | timeout | time to live. |
[in] | recipient | destination recipient. |
References DUNE::IMC::IridiumMsgTx::data, DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::getSystemName(), DUNE::Tasks::Task::inf(), Monitors::Emergency::Arguments::interface, m_args, m_emsg, m_fuel, m_fuel_conf, m_in_mission, m_progress, m_req, Monitors::Emergency::Arguments::recipient, DUNE::IMC::IridiumMsgTx::req_id, and DUNE::IMC::IridiumMsgTx::ttl.
Referenced by consume(), sendDistress(), and sendScheduled().
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The task to be executed on each cycle.
Implements DUNE::Tasks::Periodic.
References sendDistress(), and sendScheduled().
Arguments Monitors::Emergency::Task::m_args |
Task arguments.
Referenced by consume(), onResourceInitialization(), sendDistress(), sendScheduled(), sendSMS(), and Task().
std::string Monitors::Emergency::Task::m_emsg |
float Monitors::Emergency::Task::m_fuel |
Fuel level.
Referenced by consume(), onResourceInitialization(), and sendSMS().
float Monitors::Emergency::Task::m_fuel_conf |
Confidence in fuel level.
Referenced by consume(), onResourceInitialization(), and sendSMS().
DUNE::Monitors::MediumHandler Monitors::Emergency::Task::m_hand |
Medium handler.
Referenced by consume(), sendDistress(), and sendScheduled().
bool Monitors::Emergency::Task::m_in_mission |
True if executing plan.
Referenced by consume(), sendDistress(), and sendSMS().
Counter<double> Monitors::Emergency::Task::m_lost_coms_timer |
Lost communications timer.
Referenced by consume(), onResourceInitialization(), and sendDistress().
float Monitors::Emergency::Task::m_progress |
Executing plan's progress.
Referenced by consume(), onResourceInitialization(), and sendSMS().
Supervisors::Reporter::Client* Monitors::Emergency::Task::m_reporter |
Reporter API.
Referenced by consume(), onResourceAcquisition(), onResourceRelease(), and sendScheduled().
unsigned Monitors::Emergency::Task::m_req |
Iridium request identifier.
Referenced by sendSMS().