Transports::Seatrac::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	setAndSendState (EntityStates state)
bool	processSentence (void)
void	processNewData (void)
void	readSentence (void)
bool	openSocket (void)
void	onResourceAcquisition (void)
void	onResourceInitialization (void)
void	onResourceRelease (void)
void	sendCommandAndWait (const std::string &cmd, double delay_aft)
void	sendProtectedCommand (const std::string &cmd)
void	sendCommand (const std::string &cmd)
bool	hasConnection (void)
void	handleBinaryMessage (void)
void	handleRxMessage (const std::string &str)
void	handleAcousticInformation (const Acofix_t &aco_fix)
void	handleCommunicationError (void)
void	handleDatSendResponse (void)
void	consume (const IMC::UamTxFrame *msg)
void	sendTxStatus (const Ticket &ticket, IMC::UamTxStatus::ValueEnum value, const std::string &error="")
void	clearTicket (IMC::UamTxStatus::ValueEnum reason, const std::string &error="")
void	replaceTicket (const Ticket &ticket)
unsigned	lookupSystemAddress (const std::string &name)
std::string	lookupSystemName (unsigned addr)
void	processInput (double timeout=1.0)
void	consume (const IMC::VehicleMedium *msg)
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)
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
Arguments	m_args
EntityStates	m_state_entity
IMC::EntityState	m_states [STA_MAX]
bool	m_stop_comms
bool	m_usbl_receiver
unsigned	m_addr
std::string	m_data
std::string	m_datahex
DataSeatrac	m_data_beacon
double	m_last_input
MapName	m_modem_names
MapAddr	m_modem_addrs
Ticket *	m_ticket
IMC::DevDataText	m_dev_data

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	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

Transports::Seatrac::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

Constructor.

Parameters

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

References Transports::Seatrac::Arguments::addr_section, DUNE::Tasks::Parameter::defaultValue(), Transports::Seatrac::Arguments::enhanced_usbl, m_args, m_states, Transports::Seatrac::Arguments::only_underwater, DUNE::Tasks::Task::param(), DUNE::Tasks::Task::paramActive(), Transports::Seatrac::STA_ACTIVE, Transports::Seatrac::STA_BOOT, Transports::Seatrac::STA_ERR_COM, Transports::Seatrac::STA_ERR_STP, Transports::Seatrac::STA_IDLE, Transports::Seatrac::Arguments::uart_baud, Transports::Seatrac::Arguments::uart_dev, and Transports::Seatrac::Arguments::usbl_mode.

Member Function Documentation

void Transports::Seatrac::Task::clearTicket ( IMC::UamTxStatus::ValueEnum  reason, const std::string &  error = ""  )

inline

Clear ticket.

Parameters

[in]	reason	reason value.
[in]	error	error message.

References m_ticket, and sendTxStatus().

Referenced by handleBinaryMessage(), handleCommunicationError(), onResourceRelease(), replaceTicket(), and sendProtectedCommand().

void Transports::Seatrac::Task::consume ( const IMC::UamTxFrame *  msg )

inline

References Transports::Seatrac::Ticket::ack, Transports::Seatrac::Ticket::addr, Transports::Seatrac::CID_DAT_SEND, Transports::Seatrac::DataSeatrac::cid_dat_send_msg, Transports::Seatrac::commandCreateSeatrac(), Transports::Seatrac::Arguments::enhanced_usbl, DUNE::Tasks::Task::err(), DUNE::Tasks::Task::getSystemId(), DUNE::Tasks::Task::getSystemName(), Transports::Seatrac::Ticket::imc_eid, Transports::Seatrac::Ticket::imc_sid, DUNE::Tasks::Task::inf(), lookupSystemAddress(), m_args, m_data_beacon, Transports::Seatrac::MSG_OWAY, Transports::Seatrac::MSG_OWAYU, Transports::Seatrac::MSG_REQ, Transports::Seatrac::MSG_REQU, Transports::Seatrac::MSG_REQX, Transports::Seatrac::CidDatSendMsg::msg_type, Transports::Seatrac::CidDatSendMsg::packetDataBuild(), Transports::Seatrac::CidDatSendMsg::packetDataSendStatus(), replaceTicket(), sendProtectedCommand(), sendTxStatus(), Transports::Seatrac::Ticket::seq, Transports::Seatrac::Arguments::usbl_mode, and DUNE::Tasks::Task::war().

void Transports::Seatrac::Task::consume ( const IMC::VehicleMedium *  msg )

inline

References m_args, m_stop_comms, and Transports::Seatrac::Arguments::only_underwater.

void Transports::Seatrac::Task::handleAcousticInformation ( const Acofix_t &  aco_fix )

inline

Handle acoustic information from received data.

param[in] aco_fix Acoustic information field of the received message.

References Transports::Seatrac::Acofix_t::attitude_pitch, Transports::Seatrac::Acofix_t::attitude_roll, Transports::Seatrac::Acofix_t::attitude_yaw, DUNE::Tasks::Task::dispatch(), lookupSystemName(), m_ticket, m_usbl_receiver, Transports::Seatrac::Acofix_t::outputflags_list, Transports::Seatrac::Acofix_t::position_depth, Transports::Seatrac::Acofix_t::position_easting, Transports::Seatrac::Acofix_t::position_northing, Transports::Seatrac::Acofix_t::range_dist, Transports::Seatrac::Ticket::seq, Transports::Seatrac::Acofix_t::src_id, Transports::Seatrac::Acofix_t::usbl_azimuth, and Transports::Seatrac::Acofix_t::usbl_elevation.

Referenced by handleBinaryMessage(), and handleRxMessage().

void Transports::Seatrac::Task::handleBinaryMessage ( void  )

inline

Processing incoming data.

References Transports::Seatrac::CidDatReceiveMsg::ack_flag, Transports::Seatrac::CidDatReceiveMsg::aco_fix, Transports::Seatrac::DataSeatrac::cid_dat_receive_msg, Transports::Seatrac::CID_DAT_SEND, Transports::Seatrac::DataSeatrac::cid_dat_send_msg, clearTicket(), Transports::Seatrac::commandCreateSeatrac(), DUNE::Tasks::Task::debug(), Transports::Seatrac::CidDatReceiveMsg::getFullMsg(), handleAcousticInformation(), handleRxMessage(), m_data_beacon, Transports::Seatrac::CidDatReceiveMsg::packetDataDecode(), Transports::Seatrac::CidDatSendMsg::packetDataNextPart(), sendProtectedCommand(), and DUNE::Tasks::Task::war().

Referenced by processNewData().

void Transports::Seatrac::Task::handleCommunicationError ( void  )

inline

Handle errors of communication with both local and remote beacon.

The method tries to send the packet again until it reaches the maximum number of retries.

See Also

MAX_MESSAGE_ERRORS.

References Transports::Seatrac::CID_DAT_SEND, Transports::Seatrac::DataSeatrac::cid_dat_send_msg, clearTicket(), Transports::Seatrac::commandCreateSeatrac(), m_data_beacon, Transports::Seatrac::CidDatSendMsg::packetDataNextPart(), sendProtectedCommand(), and DUNE::Tasks::Task::war().

Referenced by handleDatSendResponse(), and processNewData().

void Transports::Seatrac::Task::handleDatSendResponse ( void  )

inline

Handle the response to a CID_Data_Send command.

If the acknowledged message is an OWAY and it is compound by more than one packet, the method sends the following packet. If the sending fails, it tries to send the packet again. If the modem is busy, it tries to send the packet to poll the status.

References Transports::Seatrac::CID_DAT_SEND, Transports::Seatrac::DataSeatrac::cid_dat_send_msg, Transports::Seatrac::commandCreateSeatrac(), Transports::Seatrac::CST_OK, Transports::Seatrac::CST_XCVR_BUSY, handleCommunicationError(), m_data_beacon, Transports::Seatrac::MSG_OWAY, Transports::Seatrac::MSG_OWAYU, Transports::Seatrac::CidDatSendMsg::msg_type, Transports::Seatrac::CidDatSendMsg::packetDataNextPart(), sendProtectedCommand(), and Transports::Seatrac::CidDatSendMsg::status.

Referenced by processNewData().

void Transports::Seatrac::Task::handleRxMessage ( const std::string &  str )

inline

Publish received acoustic message.

Parameters

[in]

str

received message.

References Transports::Seatrac::CidDatReceiveMsg::aco_fix, Transports::Seatrac::DataSeatrac::cid_dat_receive_msg, Transports::Seatrac::Acofix_t::dest_id, DUNE::Tasks::Task::dispatch(), handleAcousticInformation(), lookupSystemName(), m_addr, m_data_beacon, and Transports::Seatrac::Acofix_t::src_id.

Referenced by handleBinaryMessage().

bool Transports::Seatrac::Task::hasConnection ( void  )

inline

Checks if the modem is working.

Returns

true if modem has a new message.

References Transports::Seatrac::CID_STATUS, m_data_beacon, and Transports::Seatrac::DataSeatrac::new_message.

Referenced by onResourceInitialization().

unsigned Transports::Seatrac::Task::lookupSystemAddress ( const std::string &  name )

inline

Lookup system address.

Parameters

[in]

name

system name

Returns

system address.

References m_modem_names.

Referenced by consume().

std::string Transports::Seatrac::Task::lookupSystemName ( unsigned  addr )

inline

Lookup system name.

Parameters

[in]

addr

system address.

Returns

system name.

References m_modem_addrs.

Referenced by handleAcousticInformation(), and handleRxMessage().

void Transports::Seatrac::Task::onMain ( void  )

inlinevirtual

Main loop.

Implements DUNE::Tasks::Task.

References m_last_input, processInput(), setAndSendState(), Transports::Seatrac::STA_ERR_COM, and DUNE::Tasks::Task::stopping().

void Transports::Seatrac::Task::onResourceAcquisition ( void  )

inlinevirtual

Acquire resources.

Reimplemented from DUNE::Tasks::Task.

References m_args, m_handle, openSocket(), setAndSendState(), Transports::Seatrac::STA_BOOT, Transports::Seatrac::Arguments::uart_baud, and Transports::Seatrac::Arguments::uart_dev.

void Transports::Seatrac::Task::onResourceInitialization ( void  )

inlinevirtual

Initialize resources and configure modem.

Reimplemented from DUNE::Tasks::Task.

References Transports::Seatrac::ACC_CAL_FLAG, Transports::Seatrac::Arguments::addr_section, Transports::Seatrac::AHRS_COMP_DATA_FLAG, Transports::Seatrac::AHRS_RAW_DATA_FLAG, Transports::Seatrac::ATTITUDE_FLAG, Transports::Seatrac::BT_X150, Transports::Seatrac::CID_SETTINGS_GET, Transports::Seatrac::DataSeatrac::cid_settings_msg, Transports::Seatrac::CID_SETTINGS_SAVE, Transports::Seatrac::CID_SETTINGS_SET, Transports::Seatrac::DataSeatrac::cid_sys_info, Transports::Seatrac::CID_SYS_INFO, Transports::Seatrac::CID_SYS_REBOOT, Transports::Seatrac::commandCreateSeatrac(), DUNE::Tasks::Context::config, DUNE::Tasks::Task::debug(), Transports::Seatrac::ENVIRONMENT_FLAG, DUNE::Tasks::Task::err(), DUNE::Parsers::Config::get(), DUNE::Tasks::Task::getSystemName(), Transports::Seatrac::CidSysInfo::hardware, hasConnection(), m_addr, m_args, DUNE::Tasks::Task::m_ctx, m_data_beacon, m_last_input, m_modem_addrs, m_modem_names, m_state_entity, m_states, m_usbl_receiver, Transports::Seatrac::MAG_CAL_FLAG, Transports::Seatrac::DataSeatrac::newDataAvailable(), DUNE::Parsers::Config::options(), Transports::Seatrac::Hardware_t::part_number, processInput(), sendCommand(), sendCommandAndWait(), setAndSendState(), Transports::Seatrac::STA_ERR_STP, Transports::Seatrac::STA_IDLE, Transports::Seatrac::CidSettingsMsg::status_flags, Transports::Seatrac::STATUS_MODE_1HZ, Transports::Seatrac::CidSettingsMsg::status_output, Transports::Seatrac::USBL_USE_AHRS_FLAG, DUNE::Tasks::Task::war(), Transports::Seatrac::CidSettingsMsg::xcvr_beacon_id, Transports::Seatrac::XCVR_FIX_MSGS_FLAG, Transports::Seatrac::CidSettingsMsg::xcvr_flags, Transports::Seatrac::XCVR_POSFLT_ENABLE_FLAG, and Transports::Seatrac::XCVR_USBL_MSGS_FLAG.

void Transports::Seatrac::Task::onResourceRelease ( void  )

inlinevirtual

Release resources.

Reimplemented from DUNE::Tasks::Task.

References clearTicket(), and m_handle.

bool Transports::Seatrac::Task::openSocket ( void  )

inline

Open TCP socket.

Returns

true if socket was opened, false otherwise.

References m_args, m_handle, and Transports::Seatrac::Arguments::uart_dev.

Referenced by onResourceAcquisition().

void Transports::Seatrac::Task::processInput ( double  timeout = 1.0 )

inline

Check for incoming data.

Parameters

[in]

timeout

timeout time.

References DUNE::Tasks::Task::consumeMessages(), DUNE::Tasks::Task::isActive(), m_state_entity, readSentence(), setAndSendState(), Transports::Seatrac::STA_ACTIVE, Transports::Seatrac::STA_ERR_STP, and Transports::Seatrac::STA_IDLE.

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

void Transports::Seatrac::Task::processNewData ( void  )

inline

Process new data.

References Transports::Seatrac::CID_DAT_ERROR, Transports::Seatrac::CID_DAT_RECEIVE, Transports::Seatrac::CID_DAT_SEND, handleBinaryMessage(), handleCommunicationError(), handleDatSendResponse(), m_data_beacon, and Transports::Seatrac::DataSeatrac::newDataAvailable().

Referenced by readSentence().

bool Transports::Seatrac::Task::processSentence ( void  )

inline

Process sentence.

Returns

true if message was correctly processed, false otherwise.

References m_data, m_datahex, and DUNE::Tasks::Task::war().

Referenced by readSentence().

void Transports::Seatrac::Task::readSentence ( void  )

inline

Read sentence.

References Transports::Seatrac::dataParser(), DUNE::Tasks::Task::dispatch(), m_data, m_data_beacon, m_datahex, m_dev_data, m_handle, m_last_input, Transports::Seatrac::printDebugFunction(), processNewData(), and processSentence().

Referenced by processInput().

void Transports::Seatrac::Task::replaceTicket ( const Ticket &  ticket )

inline

Replace ticket.

Parameters

[in]

ticket

new ticket to replace previous one.

References clearTicket(), and m_ticket.

Referenced by consume().

void Transports::Seatrac::Task::sendCommand ( const std::string &  cmd )

inline

Send command to the acoustic modem.

Parameters

[in]

cmd

command string.

References DUNE::Tasks::Task::dispatch(), m_dev_data, and m_handle.

Referenced by onResourceInitialization(), sendCommandAndWait(), and sendProtectedCommand().

void Transports::Seatrac::Task::sendCommandAndWait ( const std::string &  cmd, double  delay_aft  )

inline

Send command and waits for response.

Parameters

[in]	cmd	command string.
[in]	delay_bef	delay before send comamnd.
[in]	delay_aft	delay after send comamnd.

References processInput(), and sendCommand().

Referenced by onResourceInitialization().

void Transports::Seatrac::Task::sendProtectedCommand ( const std::string &  cmd )

inline

Send command if the modem has conditions to operate.

Parameters

[in]

cmd

command string.

References Transports::Seatrac::DataSeatrac::cid_dat_send_msg, clearTicket(), Transports::Seatrac::CidDatSendMsg::lock_flag, m_data_beacon, m_stop_comms, sendCommand(), and DUNE::Tasks::Task::war().

Referenced by consume(), handleBinaryMessage(), handleCommunicationError(), and handleDatSendResponse().

void Transports::Seatrac::Task::sendTxStatus ( const Ticket &  ticket, IMC::UamTxStatus::ValueEnum  value, const std::string &  error = ""  )

inline

Updates transmission status.

Parameters

[in]	ticket	ticket status to be transmitted.
[in]	value	status index.
[in]	error	error message.

References DUNE::Tasks::Task::dispatch(), Transports::Seatrac::Ticket::imc_eid, Transports::Seatrac::Ticket::imc_sid, and Transports::Seatrac::Ticket::seq.

Referenced by clearTicket(), and consume().

void Transports::Seatrac::Task::setAndSendState ( EntityStates  state )

inline

Set entity state.

Parameters

[in]

state

new entity state.

References m_state_entity, m_states, and DUNE::Tasks::Task::setEntityState().

Referenced by onMain(), onResourceAcquisition(), onResourceInitialization(), and processInput().

Member Data Documentation

unsigned Transports::Seatrac::Task::m_addr

Modem address.

Referenced by handleRxMessage(), and onResourceInitialization().

Arguments Transports::Seatrac::Task::m_args

Task arguments.

Referenced by consume(), onResourceAcquisition(), onResourceInitialization(), openSocket(), and Task().

std::string Transports::Seatrac::Task::m_data

Data buffer.

Referenced by processSentence(), and readSentence().

DataSeatrac Transports::Seatrac::Task::m_data_beacon

Seatrac data structures.

Referenced by consume(), handleBinaryMessage(), handleCommunicationError(), handleDatSendResponse(), handleRxMessage(), hasConnection(), onResourceInitialization(), processNewData(), readSentence(), and sendProtectedCommand().

std::string Transports::Seatrac::Task::m_datahex

Converted data buffer.

Referenced by processSentence(), and readSentence().

IMC::DevDataText Transports::Seatrac::Task::m_dev_data

Referenced by readSentence(), and sendCommand().

IO::Handle* Transports::Seatrac::Task::m_handle

Serial port handle.

Referenced by onResourceAcquisition(), onResourceRelease(), openSocket(), readSentence(), and sendCommand().

double Transports::Seatrac::Task::m_last_input

Time of last serial port input.

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

MapAddr Transports::Seatrac::Task::m_modem_addrs

Map of seatrac modems by address.

Referenced by lookupSystemName(), and onResourceInitialization().

MapName Transports::Seatrac::Task::m_modem_names

Map of seatrac modems by name.

Referenced by lookupSystemAddress(), and onResourceInitialization().

EntityStates Transports::Seatrac::Task::m_state_entity

Current state.

Referenced by onResourceInitialization(), processInput(), and setAndSendState().

IMC::EntityState Transports::Seatrac::Task::m_states[STA_MAX]

Entity states.

Referenced by onResourceInitialization(), setAndSendState(), and Task().

bool Transports::Seatrac::Task::m_stop_comms

Stop reports on the ground.

Referenced by consume(), and sendProtectedCommand().

Ticket* Transports::Seatrac::Task::m_ticket

Current transmission ticket.

Referenced by clearTicket(), handleAcousticInformation(), and replaceTicket().

bool Transports::Seatrac::Task::m_usbl_receiver

True if the beacon has an USBL receiver.

Referenced by handleAcousticInformation(), and onResourceInitialization().

Collaboration diagram for Transports::Seatrac::Task: