Autonomy::OnEvent::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onUpdateParameters (void)
	~Task (void)
void	onResourceInitialization (void)
void	onActivation (void)
void	onDeactivation (void)
void	consume (const IMC::Message *msg)
bool	checkTrigger (Sampler::SamplerState state, Sampler::SamplerState latcher, Sampler::SamplerState trigger)
void	fire (void)
void	transmit (double reading)
void	onMain (void)
Public Member Functions inherited from DUNE::Tasks::Task
	Task (const std::string &name, Context &context)
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
Sampler *	m_sampler
bool	m_trigger
Time::Counter< double >	m_delta
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)
Entities::BasicEntity *	getLocalEntity (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	onResourceAcquisition (void)
virtual void	onResourceRelease (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

Constructor & Destructor Documentation

Autonomy::OnEvent::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

Constructor.

Parameters

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

References Autonomy::OnEvent::Arguments::comms_delta, Autonomy::OnEvent::Arguments::comms_policy, DUNE::Tasks::Parameter::defaultValue(), Autonomy::OnEvent::Arguments::event_type, m_args, Autonomy::OnEvent::Arguments::max_reading, Autonomy::OnEvent::Arguments::message, Autonomy::OnEvent::Arguments::neg_samples, Autonomy::OnEvent::Arguments::neg_threshold, DUNE::Tasks::Task::param(), DUNE::Tasks::Task::paramActive(), Autonomy::OnEvent::Arguments::plan_template, Autonomy::OnEvent::Arguments::pos_samples, Autonomy::OnEvent::Arguments::pos_threshold, DUNE::Tasks::Task::setEntityState(), Autonomy::OnEvent::Arguments::trigger, and DUNE::Tasks::Parameter::values().

Autonomy::OnEvent::Task::~Task ( void  )

inlinevirtual

Destructor.

Reimplemented from DUNE::Tasks::Task.

References m_sampler.

Member Function Documentation

bool Autonomy::OnEvent::Task::checkTrigger ( Sampler::SamplerState  state, Sampler::SamplerState  latcher, Sampler::SamplerState  trigger  )

inline

Check if trigger can be latched or launched.

Parameters

[in]	state	current state.
[in]	latcher	sampler state trigger latcher.
[in]	trigger	type of sampler state that triggers event.

Returns

true if an event was triggered.

References fire(), and m_trigger.

Referenced by consume().

void Autonomy::OnEvent::Task::consume ( const IMC::Message *  msg )

inline

References checkTrigger(), Autonomy::OnEvent::Arguments::comms_policy, Autonomy::OnEvent::Arguments::event_type, Autonomy::OnEvent::Sampler::insert(), m_args, m_sampler, Autonomy::OnEvent::Sampler::ST_DETECTED, Autonomy::OnEvent::Sampler::ST_NOT_DETECTED, and transmit().

void Autonomy::OnEvent::Task::fire ( void  )

inline

Action was triggered.

References DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::getSystemId(), DUNE::Tasks::Task::isActive(), m_args, Autonomy::OnEvent::Arguments::plan_template, and Autonomy::OnEvent::Arguments::trigger.

Referenced by checkTrigger().

void Autonomy::OnEvent::Task::onActivation ( void  )

inlinevirtual

Called when the task starts/resumes normal execution.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Tasks::Task::setEntityState().

void Autonomy::OnEvent::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().

void Autonomy::OnEvent::Task::onMain ( void  )

inlinevirtual

Main loop.

Implements DUNE::Tasks::Task.

References DUNE::Tasks::Task::stopping(), and DUNE::Tasks::Task::waitForMessages().

void Autonomy::OnEvent::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 DUNE::Tasks::Task::bind(), m_args, and Autonomy::OnEvent::Arguments::message.

void Autonomy::OnEvent::Task::onUpdateParameters ( void  )

inlinevirtual

Update internal state with new parameter values.

Reimplemented from DUNE::Tasks::Task.

References Autonomy::OnEvent::Arguments::comms_delta, m_args, m_delta, m_sampler, m_trigger, Autonomy::OnEvent::Arguments::neg_samples, Autonomy::OnEvent::Arguments::neg_threshold, DUNE::Tasks::Task::paramChanged(), Autonomy::OnEvent::Arguments::pos_samples, and Autonomy::OnEvent::Arguments::pos_threshold.

void Autonomy::OnEvent::Task::transmit ( double  reading )

inline

Check if we can transmit message.

Parameters

[in]

reading

reading to be transmitted acoustically.

References DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::getEntityId(), DUNE::Tasks::Task::getSystemId(), m_args, m_delta, and Autonomy::OnEvent::Arguments::message.

Referenced by consume().

Member Data Documentation

Arguments Autonomy::OnEvent::Task::m_args

Referenced by consume(), fire(), onResourceInitialization(), onUpdateParameters(), Task(), and transmit().

Time::Counter<double> Autonomy::OnEvent::Task::m_delta

Referenced by onUpdateParameters(), and transmit().

Sampler* Autonomy::OnEvent::Task::m_sampler

Referenced by consume(), onUpdateParameters(), and ~Task().

bool Autonomy::OnEvent::Task::m_trigger

Referenced by checkTrigger(), and onUpdateParameters().

Collaboration diagram for Autonomy::OnEvent::Task: