DUNE: Uniform Navigational Environment  2017.01.0
List of all members | Public Member Functions | Public Attributes
Sensors::SW100::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
void onResourceAcquisition (void)
 
void onResourceInitialization (void)
 
void onResourceRelease (void)
 
void consume (const IMC::VehicleMedium *msg)
 
void consume (const IMC::VehicleState *msg)
 
bool ableToCalibrate (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

Driver * m_driver
 
SerialPort * m_uart
 
IMC::Depth m_depth
 
IMC::Salinity m_salinity
 
IMC::Conductivity m_conductivity
 
IMC::Temperature m_temperature
 
IMC::DepthOffset m_depth_offset
 
MovingAverage< double > m_depth_avg
 
bool m_at_surface
 
bool m_maneuvering
 
CalibrationState m_cs
 
Arguments m_args
 
Counter< double > m_wdog
 

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

Sensors::SW100::Task::Task ( const std::string &  name,
Tasks::Context &  ctx 
)
inline

References Sensors::SW100::Arguments::data_timeout, DUNE::Tasks::Parameter::defaultValue(), Sensors::SW100::Arguments::depth_cal, m_args, DUNE::Tasks::Task::param(), Sensors::SW100::Arguments::uart_baud, and Sensors::SW100::Arguments::uart_dev.

Member Function Documentation

bool Sensors::SW100::Task::ableToCalibrate ( void  )
inline

References m_at_surface, and m_maneuvering.

Referenced by task().

void Sensors::SW100::Task::consume ( const IMC::VehicleMedium *  msg)
inline

References m_at_surface.

void Sensors::SW100::Task::consume ( const IMC::VehicleState *  msg)
inline

References m_maneuvering.

void Sensors::SW100::Task::onResourceAcquisition ( void  )
inlinevirtual

Called when the task is instructed to acquire resources whose configuration is defined by run-time parameters.

Reimplemented from DUNE::Tasks::Task.

References m_args, m_driver, m_uart, Sensors::SW100::Arguments::uart_baud, and Sensors::SW100::Arguments::uart_dev.

void Sensors::SW100::Task::onResourceInitialization ( void  )
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 Sensors::SW100::Arguments::data_timeout, m_args, m_wdog, and DUNE::Time::Counter< T >::setTop().

void Sensors::SW100::Task::onResourceRelease ( void  )
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_driver, and m_uart.

void Sensors::SW100::Task::task ( void  )
inlinevirtual

The task to be executed on each cycle.

Implements DUNE::Tasks::Periodic.

References ableToCalibrate(), DUNE::Math::MovingAverage< T >::clear(), Sensors::SW100::CS_ABLE, Sensors::SW100::CS_UNABLE, Sensors::SW100::Arguments::depth_cal, DUNE::Tasks::Task::dispatch(), Sensors::SW100::Driver::getData(), DUNE::Tasks::Task::inf(), m_args, m_conductivity, m_cs, m_depth, m_depth_avg, m_depth_offset, m_driver, m_salinity, m_temperature, m_wdog, DUNE::Time::Counter< T >::overflow(), Sensors::SW100::Driver::read(), DUNE::Time::Counter< T >::reset(), DUNE::Tasks::Task::setEntityState(), Sensors::SW100::Driver::setup(), and DUNE::Math::MovingAverage< T >::update().

Member Data Documentation

Arguments Sensors::SW100::Task::m_args

Task arguments.

Referenced by onResourceAcquisition(), onResourceInitialization(), Task(), and task().

bool Sensors::SW100::Task::m_at_surface

Vehicle is at the surface.

Referenced by ableToCalibrate(), and consume().

IMC::Conductivity Sensors::SW100::Task::m_conductivity

Measured conductivity.

Referenced by task().

CalibrationState Sensors::SW100::Task::m_cs

Calibration state.

Referenced by task().

IMC::Depth Sensors::SW100::Task::m_depth

Measured depth.

Referenced by task().

MovingAverage<double> Sensors::SW100::Task::m_depth_avg

Moving average to compute depth offset.

Referenced by task().

IMC::DepthOffset Sensors::SW100::Task::m_depth_offset

Depth Offset.

Referenced by task().

Driver* Sensors::SW100::Task::m_driver

Device driver.

Referenced by onResourceAcquisition(), onResourceRelease(), and task().

bool Sensors::SW100::Task::m_maneuvering

Vehicle is maneuvering.

Referenced by ableToCalibrate(), and consume().

IMC::Salinity Sensors::SW100::Task::m_salinity

Measured salinity.

Referenced by task().

IMC::Temperature Sensors::SW100::Task::m_temperature

Measured temperature.

Referenced by task().

SerialPort* Sensors::SW100::Task::m_uart

Serial port.

Referenced by onResourceAcquisition(), and onResourceRelease().

Counter<double> Sensors::SW100::Task::m_wdog

Watchdog.

Referenced by onResourceInitialization(), and task().

Collaboration diagram for Sensors::SW100::Task:
Collaboration graph