DUNE: Uniform Navigational Environment  2017.01.0
Vision::Lumenera::Task Struct Reference

Detailed Description

Device driver task.

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
void updateSlaveEntities (void)
 
void onUpdateParameters (void)
 
bool checkParameters (void)
 
void onResourceAcquisition (void)
 
void onResourceRelease (void)
 
void consume (const IMC::LoggingControl *msg)
 
void consume (const IMC::EstimatedState *msg)
 
void onRequestActivation (void)
 
void checkActivationProgress (void)
 
void onRequestDeactivation (void)
 
void checkDeactivationProgress (void)
 
void onActivation (void)
 
void onDeactivation (void)
 
void consume (const IMC::EntityActivationState *msg)
 
void consume (const IMC::EntityInfo *msg)
 
void startVideo (void)
 
void stopVideo (void)
 
bool captureFrame (Log::Frame *frame, double timeout=2.0)
 
void setProperty (std::string property, std::string value)
 
void getProperty (std::string property, std::string &value)
 
void setProperties (void)
 
void updateFps (void)
 
void updateExposure (void)
 
bool checkExposure (void)
 
void updateGain (void)
 
bool checkGain (void)
 
void updateWhiteBalance (void)
 
bool checkWhiteBalance (void)
 
void updateGamma (void)
 
void updateMedianFilter (void)
 
void updateStrobe (void)
 
void changeLogFile (void)
 
void captureAndSave (void)
 
bool checkConfiguration (void)
 
bool updateActualFrameRate (void)
 
bool checkCaptureOk (void)
 
bool checkLogdirOk (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
 
HTTPClientm_http
 
std::string m_boundary
 
Path m_log_dir
 
double m_timestamp
 
Hardware::GPIO * m_pwr_gpio
 
Hardware::GPIO * m_led_gpio
 
bool m_cfg_dirty
 
EntityActivationMasterm_slave_entities
 
Counter< double > m_act_timer
 
bool m_log_dir_updated
 
IMC::EstimatedState m_estate
 
Counter< double > m_cooldown_timer
 
Logm_log
 
int m_actual_frame_rate
 

Static Public Attributes

static const unsigned c_port
 
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 >
Parameterparam (const std::string &name, T &var)
 
template<typename Y , typename T >
Parameterparam (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 onResourceInitialization (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
Contextm_ctx
 
std::vector
< Entities::BasicEntity * > 
m_entities
 

Constructor & Destructor Documentation

Member Function Documentation

void Vision::Lumenera::Task::changeLogFile ( void  )
inline
bool Vision::Lumenera::Task::checkCaptureOk ( void  )
inline
bool Vision::Lumenera::Task::checkConfiguration ( void  )
inline
bool Vision::Lumenera::Task::checkLogdirOk ( void  )
inline
void Vision::Lumenera::Task::consume ( const IMC::EstimatedState *  msg)
inline
void Vision::Lumenera::Task::consume ( const IMC::EntityActivationState *  msg)
inline
void Vision::Lumenera::Task::consume ( const IMC::EntityInfo *  msg)
inline
void Vision::Lumenera::Task::getProperty ( std::string  property,
std::string &  value 
)
inline
void Vision::Lumenera::Task::onActivation ( void  )
inlinevirtual

Called when the task starts/resumes normal execution.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Tasks::Task::inf(), m_cooldown_timer, DUNE::Tasks::Task::setEntityState(), and DUNE::Time::Counter< T >::setTop().

void Vision::Lumenera::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::inf(), m_log, m_log_dir_updated, m_pwr_gpio, DUNE::Tasks::Task::setEntityState(), and stopVideo().

void Vision::Lumenera::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 Vision::Lumenera::EntityActivationMaster::activate(), DUNE::Tasks::Task::getActivationTime(), m_act_timer, m_pwr_gpio, m_slave_entities, DUNE::Time::Counter< T >::setTop(), and DUNE::Tasks::Task::trace().

void Vision::Lumenera::Task::onRequestDeactivation ( void  )
inlinevirtual

Called when an external deactivation request is received.

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

Reimplemented from DUNE::Tasks::Task.

References Vision::Lumenera::EntityActivationMaster::deactivate(), DUNE::Tasks::Task::getDeactivationTime(), m_act_timer, m_slave_entities, DUNE::Time::Counter< T >::setTop(), and DUNE::Tasks::Task::trace().

void Vision::Lumenera::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 Vision::Lumenera::Arguments::led_gpio, m_args, m_led_gpio, m_pwr_gpio, m_slave_entities, Vision::Lumenera::Arguments::pwr_gpio, DUNE::Tasks::Task::setEntityState(), and updateSlaveEntities().

void Vision::Lumenera::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_led_gpio, m_pwr_gpio, m_slave_entities, DUNE::Tasks::Task::requestDeactivation(), and DUNE::Tasks::Task::trace().

void Vision::Lumenera::Task::onUpdateParameters ( void  )
inlinevirtual

Called when the task is instructed to update its run-time parameters.

Derived classes that need to compute auxiliary values based on run-time parameters should override this function.

Reimplemented from DUNE::Tasks::Task.

References checkParameters(), DUNE::Tasks::Task::isActive(), m_cfg_dirty, and updateSlaveEntities().

void Vision::Lumenera::Task::setProperties ( void  )
inline
void Vision::Lumenera::Task::setProperty ( std::string  property,
std::string  value 
)
inline
void Vision::Lumenera::Task::stopVideo ( void  )
inline
bool Vision::Lumenera::Task::updateActualFrameRate ( void  )
inline
void Vision::Lumenera::Task::updateFps ( void  )
inline
void Vision::Lumenera::Task::updateGamma ( void  )
inline
void Vision::Lumenera::Task::updateMedianFilter ( void  )
inline
void Vision::Lumenera::Task::updateStrobe ( void  )
inline

Member Data Documentation

const unsigned Vision::Lumenera::Task::c_height
static

Default image height.

Referenced by changeLogFile().

const unsigned Vision::Lumenera::Task::c_port
static

HTTP camera port.

Referenced by getProperty(), setProperty(), and startVideo().

const unsigned Vision::Lumenera::Task::c_width
static

Default image width.

Referenced by changeLogFile().

Counter<double> Vision::Lumenera::Task::m_act_timer
int Vision::Lumenera::Task::m_actual_frame_rate

Actual frame rate.

Referenced by captureAndSave(), changeLogFile(), and updateActualFrameRate().

std::string Vision::Lumenera::Task::m_boundary

MJPEG boundary string.

Referenced by captureFrame(), and startVideo().

bool Vision::Lumenera::Task::m_cfg_dirty

Config is dirty.

Referenced by checkConfiguration(), and onUpdateParameters().

Counter<double> Vision::Lumenera::Task::m_cooldown_timer

Cooldown timer.

Referenced by captureAndSave(), and onActivation().

IMC::EstimatedState Vision::Lumenera::Task::m_estate

Last estimated state.

Referenced by consume().

HTTPClient* Vision::Lumenera::Task::m_http

Video stream HTTP connection.

Referenced by captureFrame(), checkCaptureOk(), startVideo(), stopVideo(), and updateActualFrameRate().

Hardware::GPIO* Vision::Lumenera::Task::m_led_gpio
Log* Vision::Lumenera::Task::m_log

Log instance.

Referenced by captureAndSave(), changeLogFile(), and onDeactivation().

Path Vision::Lumenera::Task::m_log_dir

Destination log folder.

Referenced by changeLogFile(), and consume().

bool Vision::Lumenera::Task::m_log_dir_updated

True if received the logging path.

Referenced by checkLogdirOk(), consume(), and onDeactivation().

Hardware::GPIO* Vision::Lumenera::Task::m_pwr_gpio
double Vision::Lumenera::Task::m_timestamp

Referenced by captureAndSave(), and captureFrame().

Collaboration diagram for Vision::Lumenera::Task:
Collaboration graph