DUNE: Uniform Navigational Environment
2019.02.0
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Public Member Functions | |
Task (const std::string &name, Tasks::Context &ctx) | |
void | onEntityReservation (void) |
unsigned | getEid (std::string label) |
void | onResourceAcquisition (void) |
void | onResourceInitialization (void) |
void | onResourceRelease (void) |
void | initBoard (bool noRestart) |
std::string | minutesToTime (int minutes) |
void | dispatchData (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 | |
SerialPort * | m_uart |
Poll | m_poll |
Arguments | m_args |
DriverBatMan * | m_driver |
Counter< double > | m_wdog |
IMC::Temperature | m_tmp |
IMC::Voltage | m_volt [c_max_values_voltage] |
IMC::Voltage | m_bat_volt |
IMC::Current | m_amp [c_max_values_current] |
IMC::FuelLevel | m_fuel |
char | m_bufer_entity [128] |
double | m_tstamp |
int | m_count_attempts |
bool | m_is_first_reset |
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 | 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 |
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inline |
Constructor.
[in] | name | task name. |
[in] | ctx | context. |
References Power::BATMANv2::Arguments::cell_elabels, DUNE::Tasks::Parameter::defaultValue(), Power::BATMANv2::Arguments::dispatch_fuel_level, Power::BATMANv2::Arguments::err_lvl, Power::BATMANv2::Arguments::err_volt_lvl, Power::BATMANv2::Arguments::fcap_elabel, Power::BATMANv2::Arguments::input_timeout, m_args, Power::BATMANv2::Arguments::number_attempts, Power::BATMANv2::Arguments::number_cell, DUNE::Tasks::Task::param(), Power::BATMANv2::Arguments::rcap_elabel, Power::BATMANv2::Arguments::scale_factor, Power::BATMANv2::Arguments::uart_baud, Power::BATMANv2::Arguments::uart_dev, and Power::BATMANv2::Arguments::war_lvl.
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inline |
References Power::BATMANv2::DriverBatMan::BatManData::cell_volt, Power::BATMANv2::DriverBatMan::BatManData::current, DUNE::Tasks::Task::dispatch(), Power::BATMANv2::Arguments::dispatch_fuel_level, Power::BATMANv2::Arguments::err_lvl, Power::BATMANv2::Arguments::err_volt_lvl, Power::BATMANv2::DriverBatMan::BatManData::f_cap, Power::BATMANv2::DriverBatMan::BatManData::health, m_amp, m_args, m_bat_volt, Power::BATMANv2::DriverBatMan::m_batManData, m_bufer_entity, m_driver, m_fuel, m_tmp, m_tstamp, m_volt, minutesToTime(), Power::BATMANv2::Arguments::number_cell, Power::BATMANv2::DriverBatMan::BatManData::r_cap, Power::BATMANv2::DriverBatMan::resetStateNewData(), DUNE::Tasks::Task::setEntityState(), Power::BATMANv2::DriverBatMan::BatManData::temperature, Power::BATMANv2::DriverBatMan::BatManData::time_empty, Power::BATMANv2::DriverBatMan::BatManData::time_full, Power::BATMANv2::DriverBatMan::BatManData::voltage, and Power::BATMANv2::Arguments::war_lvl.
Referenced by onMain().
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inline |
References DUNE::Tasks::Task::reserveEntity(), and DUNE::Tasks::Task::resolveEntity().
Referenced by onEntityReservation().
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inline |
References DUNE::Tasks::Task::debug(), Power::BATMANv2::DriverBatMan::getFirmwareVersion(), Power::BATMANv2::DriverBatMan::getVersionFirmware(), DUNE::Tasks::Task::inf(), Power::BATMANv2::DriverBatMan::initBatMan(), Power::BATMANv2::Arguments::input_timeout, m_args, m_driver, m_wdog, Power::BATMANv2::Arguments::number_cell, DUNE::Time::Counter< T >::reset(), Power::BATMANv2::Arguments::scale_factor, Power::BATMANv2::DriverBatMan::sendCommandNoRsp(), DUNE::Tasks::Task::setEntityState(), DUNE::Time::Counter< T >::setTop(), Power::BATMANv2::DriverBatMan::startAcquisition(), and DUNE::Tasks::Task::war().
Referenced by onMain(), and onResourceInitialization().
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inline |
References DUNE::Math::min().
Referenced by dispatchData().
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inlinevirtual |
Reserve entity identifiers.
Reimplemented from DUNE::Tasks::Task.
References Power::BATMANv2::Arguments::cell_elabels, Power::BATMANv2::Arguments::fcap_elabel, getEid(), m_amp, m_args, m_bat_volt, m_volt, Power::BATMANv2::Arguments::number_cell, and Power::BATMANv2::Arguments::rcap_elabel.
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inlinevirtual |
Main loop.
Implements DUNE::Tasks::Task.
References DUNE::Tasks::Task::debug(), dispatchData(), Power::BATMANv2::DriverBatMan::haveNewData(), initBoard(), Power::BATMANv2::Arguments::input_timeout, m_args, m_count_attempts, m_driver, m_is_first_reset, m_tstamp, m_uart, m_wdog, Power::BATMANv2::Arguments::number_attempts, DUNE::Time::Counter< T >::overflow(), DUNE::Time::Counter< T >::reset(), Power::BATMANv2::DriverBatMan::sendCommandNoRsp(), DUNE::Tasks::Task::setEntityState(), Power::BATMANv2::DriverBatMan::stopAcquisition(), DUNE::Tasks::Task::stopping(), DUNE::Tasks::Task::waitForMessages(), and DUNE::Tasks::Task::war().
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inlinevirtual |
Acquire resources.
Reimplemented from DUNE::Tasks::Task.
References m_args, m_count_attempts, m_driver, m_poll, m_uart, Power::BATMANv2::Arguments::number_cell, DUNE::Tasks::Task::setEntityState(), Power::BATMANv2::Arguments::uart_baud, and Power::BATMANv2::Arguments::uart_dev.
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inlinevirtual |
Initialize resources.
Reimplemented from DUNE::Tasks::Task.
References initBoard(), m_driver, m_is_first_reset, m_uart, and Power::BATMANv2::DriverBatMan::stopAcquisition().
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inlinevirtual |
IMC::Current Power::BATMANv2::Task::m_amp[c_max_values_current] |
Current message.
Referenced by dispatchData(), and onEntityReservation().
Arguments Power::BATMANv2::Task::m_args |
Task arguments.
Referenced by dispatchData(), initBoard(), onEntityReservation(), onMain(), onResourceAcquisition(), and Task().
IMC::Voltage Power::BATMANv2::Task::m_bat_volt |
Voltage of batteries message.
Referenced by dispatchData(), and onEntityReservation().
char Power::BATMANv2::Task::m_bufer_entity[128] |
Buffer forEntityState.
Referenced by dispatchData().
int Power::BATMANv2::Task::m_count_attempts |
Count for attempts.
Referenced by onMain(), and onResourceAcquisition().
DriverBatMan* Power::BATMANv2::Task::m_driver |
Driver of BatMan.
Referenced by dispatchData(), initBoard(), onMain(), onResourceAcquisition(), onResourceInitialization(), and onResourceRelease().
IMC::FuelLevel Power::BATMANv2::Task::m_fuel |
Fuel Level message.
Referenced by dispatchData().
bool Power::BATMANv2::Task::m_is_first_reset |
Flag to control reset of board.
Referenced by onMain(), and onResourceInitialization().
Poll Power::BATMANv2::Task::m_poll |
I/O Multiplexer.
Referenced by onResourceAcquisition(), and onResourceRelease().
IMC::Temperature Power::BATMANv2::Task::m_tmp |
Temperature message.
Referenced by dispatchData().
double Power::BATMANv2::Task::m_tstamp |
Read timestamp.
Referenced by dispatchData(), and onMain().
SerialPort* Power::BATMANv2::Task::m_uart |
Serial port handle.
Referenced by onMain(), onResourceAcquisition(), onResourceInitialization(), and onResourceRelease().
IMC::Voltage Power::BATMANv2::Task::m_volt[c_max_values_voltage] |
Voltage message.
Referenced by dispatchData(), and onEntityReservation().
Counter<double> Power::BATMANv2::Task::m_wdog |
Watchdog.
Referenced by initBoard(), and onMain().