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

	~Task (void)

void	onEntityResolution (void)

void	consume (const IMC::EstimatedState *msg)

void	consume (const IMC::Temperature *msg)

void	onUpdateParameters (void)

void	onEntityReservation (void)

void	onResourceAcquisition (void)

void	onResourceRelease (void)

void	onResourceInitialization (void)

void	setup (void)

void	startMonitoring (void)

void	stopMonitoring (void)

void	disableInChannels (void)

void	setupInternal (void)

void	checkDigital (void)

bool	setSensor (const std::string &cmd, const std::string &option)

bool	sendCommand (const std::string &cmd)

bool	sendCommand (const std::string &cmd, const std::string &reply)

void	dispatchValue (IMC::Message *msg, double value, double factor, double tstamp, bool raw=false, unsigned index=0)

void	dispatchValue (IMC::Message *msg, double value, double tstamp)

void	dispatchDepth (unsigned id, double value, double tstamp)

void	dispatchPH (unsigned id, double value, double tstamp)

void	dispatchRedox (unsigned id, double value, double tstamp)

unsigned	getChannels (void)

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
SerialPort *	m_uart

IMC::Message *	m_msgs [c_total]

Counter< double >	m_wdog

bool	m_slots [c_total]

double	m_lat

bool	m_need_setup

bool	m_ready_cond

bool	m_ready_sspe

Arguments	m_args

Counter< double >	m_temp_wdog

unsigned	m_temp_eid

float	m_temp

Probes	m_probes

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	onReportEntityState (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::MetrecX::Task::Task	(	const std::string &	name,
		Tasks::Context &	ctx
	)

inline

Sensors::MetrecX::Task::~Task ( void )

inlinevirtual

Destructor.

Reimplemented from DUNE::Tasks::Task.

References m_msgs, and onResourceRelease().

Member Function Documentation

void Sensors::MetrecX::Task::checkDigital ( void )

inline

Cross check of what internal channels may be turned on and what channels the user want turned on.

References Sensors::MetrecX::DSF_CONDUCTIVITY, Sensors::MetrecX::DSF_PRESSURE, Sensors::MetrecX::DSF_SV, Sensors::MetrecX::DSF_TEMPERATURE, m_args, m_ready_cond, m_ready_sspe, and Sensors::MetrecX::Arguments::msgs.

Referenced by setup().

void Sensors::MetrecX::Task::consume ( const IMC::EstimatedState * msg )

inline

References DUNE::Tasks::Task::getSystemId(), and m_lat.

void Sensors::MetrecX::Task::consume ( const IMC::Temperature * msg )

inline

References m_temp, m_temp_eid, m_temp_wdog, and DUNE::Time::Counter< T >::overflow().

void Sensors::MetrecX::Task::disableInChannels ( void )

inline

Disable all input channels.

References setSensor().

Referenced by onMain(), and setupInternal().

void Sensors::MetrecX::Task::dispatchDepth	(	unsigned	id,
		double	value,
		double	tstamp
	)

inline

Dispatch depth.

Parameters

[in]	id	entity id.
[in]	value	depth value.
[in]	tstamp	current timestamp.

References DUNE::Tasks::Task::dispatch(), Sensors::MetrecX::Arguments::geop_anomaly, m_args, and m_lat.

Referenced by dispatchValue().

void Sensors::MetrecX::Task::dispatchPH	(	unsigned	id,
		double	value,
		double	tstamp
	)

inline

Dispatch pH.

Parameters

[in]	id	entity id.
[in]	value	ph reading.
[in]	tstamp	current timestamp.

References Sensors::MetrecX::Arguments::calbuffer, DUNE::Tasks::Task::dispatch(), m_args, m_temp, Sensors::MetrecX::Arguments::offset, and Sensors::MetrecX::Arguments::slope.

Referenced by dispatchValue().

void Sensors::MetrecX::Task::dispatchRedox	(	unsigned	id,
		double	value,
		double	tstamp
	)

inline

Dispatch Redox.

Parameters

[in]	id	entity id.
[in]	value	redox reading.
[in]	tstamp	current timestamp.

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

Referenced by dispatchValue().

void Sensors::MetrecX::Task::dispatchValue	(	IMC::Message *	msg,
		double	value,
		double	factor,
		double	tstamp,
		bool	raw = `false`,
		unsigned	index = `0`
	)

inline

Dispatch value.

Parameters

[in]	msg	IMC message.
[in]	value	measurement value.
[in]	factor	multiplication factor.
[in]	tstamp	current timestamp.
[in]	raw	dispatch raw voltage.

References Sensors::MetrecX::Probes::conversion(), DUNE::Tasks::Task::dispatch(), dispatchDepth(), dispatchPH(), dispatchRedox(), DUNE::Tasks::Task::getEntityId(), DUNE::Tasks::Task::getEntityLabel(), m_args, m_probes, m_temp, m_temp_wdog, Sensors::MetrecX::Arguments::msgs, DUNE::Time::Counter< T >::reset(), DUNE::Tasks::Task::resolveEntity(), and DUNE::Tasks::Task::war().

Referenced by onMain().

void Sensors::MetrecX::Task::dispatchValue	(	IMC::Message *	msg,
		double	value,
		double	tstamp
	)

inline

Dispatch value.

Parameters

[in]	msg	IMC message.
[in]	value	value.
[in]	tstamp	current timestamp.

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

unsigned Sensors::MetrecX::Task::getChannels ( void )

inline

Get active channels.

Returns: active channels.

References m_slots.

Referenced by onMain().

void Sensors::MetrecX::Task::onEntityReservation ( void )

inlinevirtual

Reserve entities.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Tasks::Task::getEntityLabel(), Sensors::MetrecX::Arguments::labels, m_args, Sensors::MetrecX::Arguments::msgs, onUpdateParameters(), DUNE::Tasks::Task::reserveEntity(), and DUNE::Tasks::Task::resolveEntity().

void Sensors::MetrecX::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 Sensors::MetrecX::Arguments::elabel_temp, m_args, m_temp_eid, and DUNE::Tasks::Task::resolveEntity().

void Sensors::MetrecX::Task::onMain ( void )

inlinevirtual

Main loop.

Implements DUNE::Tasks::Task.

References DUNE::Tasks::Task::consumeMessages(), disableInChannels(), dispatchValue(), Sensors::MetrecX::Arguments::factors, getChannels(), m_args, m_msgs, m_need_setup, m_slots, m_uart, m_wdog, DUNE::Time::Counter< T >::overflow(), DUNE::Time::Counter< T >::reset(), DUNE::Tasks::Task::setEntityState(), setup(), stopMonitoring(), and DUNE::Tasks::Task::stopping().

void Sensors::MetrecX::Task::onResourceAcquisition ( void )

inlinevirtual

Acquire resources.

Reimplemented from DUNE::Tasks::Task.

References m_args, m_uart, DUNE::Tasks::Task::setEntityState(), Sensors::MetrecX::Arguments::uart_baud, and Sensors::MetrecX::Arguments::uart_dev.

void Sensors::MetrecX::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 m_uart, sendCommand(), and setup().

void Sensors::MetrecX::Task::onResourceRelease ( void )

inlinevirtual

Release resources.

Reimplemented from DUNE::Tasks::Task.

References m_uart.

Referenced by ~Task().

void Sensors::MetrecX::Task::onUpdateParameters ( void )

inlinevirtual

Update internal state with new parameter values.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Tasks::Task::getEntityLabel(), Sensors::MetrecX::Arguments::labels, m_args, m_msgs, m_need_setup, m_slots, Sensors::MetrecX::Arguments::msgs, and DUNE::Tasks::Task::resolveEntity().

Referenced by onEntityReservation().

bool Sensors::MetrecX::Task::sendCommand ( const std::string & cmd )

inline

Send command to device.

Parameters

[in] cmd command.

Returns: true if command was received successfully, false otherwise.

Referenced by onResourceInitialization(), setSensor(), and startMonitoring().

bool Sensors::MetrecX::Task::sendCommand	(	const std::string &	cmd,
		const std::string &	reply
	)

inline

Send command to device.

Parameters

[in]	cmd	command.
[in]	reply	expected reply.

Returns: true if command was received successfully, false otherwise.

References m_uart, and DUNE::Tasks::Task::spew().

bool Sensors::MetrecX::Task::setSensor	(	const std::string &	cmd,
		const std::string &	option
	)

inline

Set sensor option.

Parameters

[in] cmd command.

Returns: true if command was received successfully, false otherwise.

References sendCommand().

Referenced by disableInChannels(), and setupInternal().

void Sensors::MetrecX::Task::setup ( void )

inline

Setup device.

References checkDigital(), m_need_setup, setupInternal(), and startMonitoring().

Referenced by onMain(), and onResourceInitialization().

void Sensors::MetrecX::Task::setupInternal ( void )

inline

Setup internal channels.

References disableInChannels(), DUNE::Tasks::Task::err(), Sensors::MetrecX::ICM_DENSITY, Sensors::MetrecX::ICM_SALINITY, Sensors::MetrecX::ICM_SSPEED, m_msgs, m_ready_cond, m_ready_sspe, m_slots, and setSensor().

Referenced by setup().

void Sensors::MetrecX::Task::startMonitoring ( void )

inline

Start monitoring device.

References Sensors::MetrecX::Arguments::input_timeout, m_args, m_wdog, sendCommand(), and DUNE::Time::Counter< T >::setTop().

Referenced by setup().

void Sensors::MetrecX::Task::stopMonitoring ( void )

inline

Stop monitoring device.

References m_uart.

Referenced by onMain().

Member Data Documentation

Arguments Sensors::MetrecX::Task::m_args

Task arguments.

Referenced by checkDigital(), dispatchDepth(), dispatchPH(), dispatchValue(), onEntityReservation(), onEntityResolution(), onMain(), onResourceAcquisition(), onUpdateParameters(), startMonitoring(), and Task().

double Sensors::MetrecX::Task::m_lat

Vehicle Latitude.

Referenced by consume(), dispatchDepth(), and Task().

IMC::Message* Sensors::MetrecX::Task::m_msgs[c_total]

Digital messages.

Referenced by onMain(), onUpdateParameters(), setupInternal(), Task(), and ~Task().

bool Sensors::MetrecX::Task::m_need_setup

Waiting setup.

Referenced by onMain(), onUpdateParameters(), setup(), and Task().

Probes Sensors::MetrecX::Task::m_probes

Probes.

Referenced by dispatchValue().

bool Sensors::MetrecX::Task::m_ready_cond

Ready with conductivity, temperature and pressure.

Referenced by checkDigital(), setupInternal(), and Task().

bool Sensors::MetrecX::Task::m_ready_sspe

Ready with sound speed, temperature and pressure.

Referenced by checkDigital(), setupInternal(), and Task().

bool Sensors::MetrecX::Task::m_slots[c_total]

Array of active slots.

Referenced by getChannels(), onMain(), onUpdateParameters(), setupInternal(), and Task().

float Sensors::MetrecX::Task::m_temp

Temperature for pH calculation.

Referenced by consume(), dispatchPH(), and dispatchValue().

unsigned Sensors::MetrecX::Task::m_temp_eid

Temperature entity id.

Referenced by consume(), and onEntityResolution().

Counter<double> Sensors::MetrecX::Task::m_temp_wdog

Internal temperature presence watchdog.

Referenced by consume(), dispatchValue(), and Task().

SerialPort* Sensors::MetrecX::Task::m_uart

Serial port handle.

Referenced by onMain(), onResourceAcquisition(), onResourceInitialization(), onResourceRelease(), sendCommand(), and stopMonitoring().

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

Task Watchdog.

Referenced by onMain(), and startMonitoring().

Collaboration diagram for Sensors::MetrecX::Task:

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

Public Member Functions

Public Attributes

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation