Detailed Description

Device driver task.

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)

void	onUpdateParameters (void)

void	onResourceAcquisition (void)

void	onResourceRelease (void)

void	onResourceInitialization (void)

void	consume (const IMC::LoggingControl *msg)

void	onRequestActivation (void)

void	onActivation (void)

void	onDeactivation (void)

void	saveImage (Frame *frame)

float	pixel2wlen (int pix)

int	wlen2pixel (float wlen)

void	stopCapture (void)

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
Arguments	m_args

Path	m_log_dir

HIDS	m_cam

bool	m_starting

CaptureUeye *	m_capture

cv::Mat	m_image_cv

Frame *	m_frame

int	m_calib_gain

double	m_calib_time

Static Public Attributes
static const unsigned	c_width

static const unsigned	c_height

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	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

Constructor & Destructor Documentation

Vision::UI2210MGL::Task::Task	(	const std::string &	name,
		Tasks::Context &	ctx
	)

inline

Member Function Documentation

void Vision::UI2210MGL::Task::consume ( const IMC::LoggingControl * msg )

inline

References DUNE::Tasks::Task::getSystemId(), Vision::UI2210MGL::Arguments::log_dir, m_args, and m_log_dir.

void Vision::UI2210MGL::Task::onActivation ( void )

inlinevirtual

Called when the task starts/resumes normal execution.

Reimplemented from DUNE::Tasks::Task.

References m_capture, m_log_dir, and DUNE::Tasks::Task::setEntityState().

void Vision::UI2210MGL::Task::onDeactivation ( void )

inlinevirtual

Called when the task stops normal execution and enters an idleness state.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Tasks::Task::setEntityState(), and stopCapture().

void Vision::UI2210MGL::Task::onMain ( void )

inlinevirtual

Implements DUNE::Tasks::Task.

References Vision::UI2210MGL::Arguments::calib_delta, Vision::UI2210MGL::Arguments::calib_mode, DUNE::Tasks::Task::consumeMessages(), DUNE::Tasks::Task::isActive(), m_args, m_calib_gain, m_calib_time, m_capture, m_frame, Vision::UI2210MGL::CaptureUeye::readFrame(), saveImage(), Vision::UI2210MGL::CaptureUeye::setGain(), stopCapture(), and DUNE::Tasks::Task::stopping().

void Vision::UI2210MGL::Task::onRequestActivation ( void )

inlinevirtual

Called when an external activation request is received.

Derived classes that need to perform extra steps to prepare normal execution should replace the default behaviour of immediate activation with calls to activate() when the request is completed or activationFailed() if the request cannot be honoured.

Reimplemented from DUNE::Tasks::Task.

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

void Vision::UI2210MGL::Task::onResourceAcquisition ( void )

inlinevirtual

Acquire resources and buffers.

Reimplemented from DUNE::Tasks::Task.

References Vision::UI2210MGL::Arguments::aoi, Vision::UI2210MGL::Arguments::auto_gain, Vision::UI2210MGL::Arguments::exposure, Vision::UI2210MGL::Arguments::fps, Vision::UI2210MGL::Arguments::gain, m_args, m_cam, m_capture, Vision::UI2210MGL::CaptureUeye::setExposure(), and Vision::UI2210MGL::CaptureUeye::setGain().