Monitors::Medium::Task Struct Reference

Detailed Description

Medium task.

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onEntityResolution (void)
void	onResourceInitialization (void)
void	consume (const IMC::EntityState *msg)
void	consume (const IMC::EstimatedState *msg)
void	consume (const IMC::IndicatedSpeed *msg)
void	consume (const IMC::GpsFix *msg)
void	consume (const IMC::Salinity *msg)
void	consume (const IMC::SoundSpeed *msg)
bool	inWater (void)
bool	isGpsAvailable (void)
void	checkWater (void)
void	checkUUV (void)
void	checkUAV (void)
bool	isCopter (void)
bool	isUAV (void)
bool	waterMediumCheck (void)
void	updateStateMachine (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
IMC::VehicleMedium	m_vm
Time::Counter< float >	m_in_water
Time::Counter< float >	m_wet_devs
Time::Counter< float >	m_gps_status
Time::Counter< float >	m_init
uint16_t	m_gps_val_bits
float	m_depth
float	m_airspeed
float	m_gndspeed
unsigned	m_medium_eid
float	m_altitude
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	onReportEntityState (void)
virtual void	onResourceAcquisition (void)
virtual void	onResourceRelease (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

Monitors::Medium::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Monitors::Medium::Arguments::airspeed_lm, Monitors::Medium::Arguments::altitude_lm, DUNE::Tasks::Context::config, DUNE::Tasks::Parameter::defaultValue(), Monitors::Medium::Arguments::depth_lm, DUNE::Parsers::Config::get(), Monitors::Medium::Arguments::gndspeed_lm, Monitors::Medium::Arguments::gps_timeout, Monitors::Medium::Arguments::init_time, Monitors::Medium::Arguments::label_medium, m_args, DUNE::Tasks::Task::m_ctx, m_gps_val_bits, m_wet_devs, DUNE::Tasks::Task::param(), DUNE::Tasks::Task::paramActive(), Monitors::Medium::Arguments::salinity_lm, Monitors::Medium::Arguments::sspeed_lm, Monitors::Medium::Arguments::stype, DUNE::Tasks::Parameter::units(), Monitors::Medium::Arguments::vtype, and Monitors::Medium::Arguments::water_timeout.

Member Function Documentation

void Monitors::Medium::Task::checkUAV ( void  )

inline

Check data input. Only for aerial vehicles.

References Monitors::Medium::Arguments::airspeed_lm, Monitors::Medium::Arguments::altitude_lm, Monitors::Medium::Arguments::gndspeed_lm, isCopter(), isUAV(), m_airspeed, m_altitude, m_args, m_gndspeed, and m_vm.

Referenced by updateStateMachine().

void Monitors::Medium::Task::checkUUV ( void  )

inline

Check data input. Only for water going vehicles.

References checkWater(), Monitors::Medium::Arguments::depth_lm, isGpsAvailable(), isUAV(), m_args, m_depth, m_vm, and waterMediumCheck().

Referenced by updateStateMachine().

void Monitors::Medium::Task::checkWater ( void  )

inline

Check presence of water sensors.

References inWater(), m_vm, m_wet_devs, and DUNE::Tasks::Task::spew().

Referenced by checkUUV().

void Monitors::Medium::Task::consume ( const IMC::EntityState *  msg )

inline

References DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::getSystemId(), m_in_water, m_medium_eid, and m_wet_devs.

void Monitors::Medium::Task::consume ( const IMC::EstimatedState *  msg )

inline

References DUNE::Tasks::Task::getSystemId(), m_altitude, and m_depth.

void Monitors::Medium::Task::consume ( const IMC::IndicatedSpeed *  msg )

inline

References isUAV(), and m_airspeed.

void Monitors::Medium::Task::consume ( const IMC::GpsFix *  msg )

inline

References m_gndspeed, m_gps_status, and m_gps_val_bits.

void Monitors::Medium::Task::consume ( const IMC::Salinity *  msg )

inline

References DUNE::Tasks::Task::debug(), isUAV(), m_args, m_in_water, m_wet_devs, and Monitors::Medium::Arguments::salinity_lm.

void Monitors::Medium::Task::consume ( const IMC::SoundSpeed *  msg )

inline

References DUNE::Tasks::Task::debug(), isUAV(), m_args, m_in_water, m_wet_devs, and Monitors::Medium::Arguments::sspeed_lm.

bool Monitors::Medium::Task::inWater ( void  )

inline

Routine to check if we have recent wet sensor measurements.

Returns

true if we have recent measurements, false otherwise.

References m_in_water.

Referenced by checkWater().

bool Monitors::Medium::Task::isCopter ( void  )

inline

Check if vehicle is a copter.

Returns

true if vehicle is a UAV of sub-type Copter.

References isUAV(), m_args, and Monitors::Medium::Arguments::stype.

Referenced by checkUAV().

bool Monitors::Medium::Task::isGpsAvailable ( void  )

inline

Routine to check if we have recent valid GPS measurements.

Returns

true if we have recent fixes, false otherwise.

References m_gps_status.

Referenced by checkUUV(), and updateStateMachine().

bool Monitors::Medium::Task::isUAV ( void  )

inline

Check if vehicle is a UAV.

Returns

true if vehicle is a UAV.

References m_args, and Monitors::Medium::Arguments::vtype.

Referenced by checkUAV(), checkUUV(), consume(), isCopter(), and waterMediumCheck().

void Monitors::Medium::Task::onEntityResolution ( void  )

inlinevirtual

Called when the task is instructed to resolve all the entity identifiers it needs for normal execution.

See resolveEntity(). Derived classes that need to resolve entity identifiers should override this function.

Reimplemented from DUNE::Tasks::Task.

References Monitors::Medium::Arguments::label_medium, m_args, m_medium_eid, and DUNE::Tasks::Task::resolveEntity().

void Monitors::Medium::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 Monitors::Medium::Arguments::gps_timeout, Monitors::Medium::Arguments::init_time, m_args, m_gps_status, m_in_water, m_init, and Monitors::Medium::Arguments::water_timeout.

void Monitors::Medium::Task::task ( void  )

inlinevirtual

The task to be executed on each cycle.

Implements DUNE::Tasks::Periodic.

References m_init, and updateStateMachine().

void Monitors::Medium::Task::updateStateMachine ( void  )

inline

Update state machine.

References checkUAV(), checkUUV(), Monitors::Medium::Arguments::depth_lm, DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::isActive(), isGpsAvailable(), m_args, m_depth, m_vm, and DUNE::Tasks::Task::setEntityState().

Referenced by task().

bool Monitors::Medium::Task::waterMediumCheck ( void  )

inline

Check water medium presence.

Returns

true if water medium can be detected or if it can be ignored.

References DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::isActive(), isUAV(), m_vm, m_wet_devs, DUNE::Tasks::Task::setEntityState(), and DUNE::Tasks::Task::spew().

Referenced by checkUUV().

Member Data Documentation

float Monitors::Medium::Task::m_airspeed

Vehicle airspeed.

Referenced by checkUAV(), and consume().

float Monitors::Medium::Task::m_altitude

Vehicle Altitude.

Referenced by checkUAV(), and consume().

Arguments Monitors::Medium::Task::m_args

Task arguments.

Referenced by checkUAV(), checkUUV(), consume(), isCopter(), isUAV(), onEntityResolution(), onResourceInitialization(), Task(), and updateStateMachine().

float Monitors::Medium::Task::m_depth

Vehicle depth.

Referenced by checkUUV(), consume(), and updateStateMachine().

float Monitors::Medium::Task::m_gndspeed

Vehicle groundspeed.

Referenced by checkUAV(), and consume().

Time::Counter<float> Monitors::Medium::Task::m_gps_status

Timer to check presence of GPS fixes.

Referenced by consume(), isGpsAvailable(), and onResourceInitialization().

uint16_t Monitors::Medium::Task::m_gps_val_bits

GPS validation bits.

Referenced by consume(), and Task().

Time::Counter<float> Monitors::Medium::Task::m_in_water

Timer to check status of water measurements.

Referenced by consume(), inWater(), and onResourceInitialization().

Time::Counter<float> Monitors::Medium::Task::m_init

Initialization timer.

Referenced by onResourceInitialization(), and task().

unsigned Monitors::Medium::Task::m_medium_eid

Medium Sensor entity id.

Referenced by consume(), and onEntityResolution().

IMC::VehicleMedium Monitors::Medium::Task::m_vm

Vehicle Medium.

Referenced by checkUAV(), checkUUV(), checkWater(), updateStateMachine(), and waterMediumCheck().

Time::Counter<float> Monitors::Medium::Task::m_wet_devs

Timer to check if we're capable of detecting water.

Referenced by checkWater(), consume(), Task(), and waterMediumCheck().

Collaboration diagram for Monitors::Medium::Task: