Actuators::LED4R::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
	~Task (void)
void	onEntityReservation (void)
void	onUpdateParameters (void)
void	onResourceAcquisition (void)
void	onResourceInitialization (void)
void	onResourceRelease (void)
void	setConfig (void)
void	consume (const IMC::SetLedBrightness *msg)
void	consume (const IMC::QueryLedBrightness *msg)
void	clearLEDs (void)
bool	setExternalDriver (bool enabled)
bool	setExternalTrigger (bool enabled)
bool	setPatternPulseWidth (uint16_t pwidth)
bool	getConstantParameters (void)
void	setBrightness (LED *led, uint8_t value)
bool	getMonitors (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
std::map< std::string, LED * >	m_led_by_name
std::map< unsigned, LED * >	m_led_by_id
SerialPort *	m_uart
UCTK::Interface *	m_ctl
uint16_t	m_min_dur
uint16_t	m_max_dur
uint16_t	m_dif_dur
IMC::Current	m_current
IMC::Voltage	m_voltage
Entities::BasicEntity *	m_mcu_ent
Counter< double >	m_wdog
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	onEntityResolution (void)
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

Actuators::LED4R::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

Constructor.

Parameters

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

References DUNE::Tasks::Parameter::defaultValue(), Actuators::LED4R::Arguments::ext_drv, Actuators::LED4R::Arguments::ext_trg, Actuators::LED4R::Arguments::led_names, Actuators::LED4R::Arguments::led_patterns, Actuators::LED4R::Arguments::led_patterns_pw, m_args, DUNE::Tasks::Parameter::maximumValue(), DUNE::Tasks::Parameter::minimumValue(), DUNE::Tasks::Task::param(), DUNE::Tasks::Parameter::scope(), Actuators::LED4R::Arguments::uart_dev, DUNE::Tasks::Parameter::units(), DUNE::Tasks::Parameter::visibility(), and Actuators::LED4R::Arguments::wdog_tout.

Actuators::LED4R::Task::~Task ( void  )

inlinevirtual

Destructor.

Reimplemented from DUNE::Tasks::Task.

References clearLEDs().

Member Function Documentation

void Actuators::LED4R::Task::clearLEDs ( void  )

inline

References m_led_by_id, and m_led_by_name.

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

void Actuators::LED4R::Task::consume ( const IMC::SetLedBrightness *  msg )

inline

References m_led_by_name, and setBrightness().

void Actuators::LED4R::Task::consume ( const IMC::QueryLedBrightness *  msg )

inline

References DUNE::Tasks::Task::dispatchReply(), and m_led_by_name.

bool Actuators::LED4R::Task::getConstantParameters ( void  )

inline

References m_ctl, m_dif_dur, m_max_dur, m_min_dur, and Actuators::LED4R::PKT_ID_PARAMS.

Referenced by onResourceInitialization().

bool Actuators::LED4R::Task::getMonitors ( void  )

inline

References DUNE::Tasks::Task::dispatch(), m_ctl, m_current, m_mcu_ent, m_voltage, m_wdog, Actuators::LED4R::PKT_ID_STATE, and DUNE::Time::Counter< T >::reset().

Referenced by onMain().

void Actuators::LED4R::Task::onEntityReservation ( void  )

inlinevirtual

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

See reserveEntity(). Derived classes that need to reserve entity identifiers other than that of the main entity should override this function.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Tasks::Task::getEntityLabel(), and m_mcu_ent.

void Actuators::LED4R::Task::onMain ( void  )

inlinevirtual

Main loop.

Implements DUNE::Tasks::Task.

References getMonitors(), m_wdog, DUNE::Time::Counter< T >::overflow(), DUNE::Tasks::Task::setEntityState(), DUNE::Tasks::Task::stopping(), and DUNE::Tasks::Task::waitForMessages().

void Actuators::LED4R::Task::onResourceAcquisition ( void  )

inlinevirtual

Acquire resources.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Tasks::Task::inf(), m_args, m_ctl, m_uart, Actuators::LED4R::Arguments::uart_dev, and DUNE::Tasks::Task::war().

void Actuators::LED4R::Task::onResourceInitialization ( void  )

inlinevirtual

Initialize resources.

Reimplemented from DUNE::Tasks::Task.

References getConstantParameters(), Actuators::LED4R::Arguments::led_patterns, m_args, m_ctl, m_led_by_name, m_wdog, Actuators::LED4R::PKT_ID_LED_PATTERN, DUNE::Time::Counter< T >::reset(), setBrightness(), setConfig(), and DUNE::Tasks::Task::setEntityState().

void Actuators::LED4R::Task::onResourceRelease ( void  )

inlinevirtual

Release resources.

Reimplemented from DUNE::Tasks::Task.

References m_ctl, m_uart, setExternalDriver(), and setExternalTrigger().

void Actuators::LED4R::Task::onUpdateParameters ( void  )

inlinevirtual

Update internal state with new parameter values.

Reimplemented from DUNE::Tasks::Task.

References Actuators::LED4R::LED::brightness, clearLEDs(), Actuators::LED4R::LED::id, Actuators::LED4R::Arguments::led_names, m_args, m_led_by_id, m_led_by_name, m_wdog, Actuators::LED4R::LED::name, setConfig(), DUNE::Time::Counter< T >::setTop(), and Actuators::LED4R::Arguments::wdog_tout.

void Actuators::LED4R::Task::setBrightness ( LED *  led, uint8_t  value  )

inline

References Actuators::LED4R::LED::brightness, Actuators::LED4R::LED::id, m_ctl, m_dif_dur, m_min_dur, m_wdog, Actuators::LED4R::PKT_ID_LED_PW, and DUNE::Time::Counter< T >::reset().

Referenced by consume(), and onResourceInitialization().

void Actuators::LED4R::Task::setConfig ( void  )

inline

References Actuators::LED4R::Arguments::ext_drv, Actuators::LED4R::Arguments::ext_trg, Actuators::LED4R::Arguments::led_patterns_pw, m_args, m_ctl, setExternalDriver(), setExternalTrigger(), and setPatternPulseWidth().

Referenced by onResourceInitialization(), and onUpdateParameters().

bool Actuators::LED4R::Task::setExternalDriver ( bool  enabled )

inline

References m_ctl, and Actuators::LED4R::PKT_ID_LED_EXT_DRV.

Referenced by onResourceRelease(), and setConfig().

bool Actuators::LED4R::Task::setExternalTrigger ( bool  enabled )

inline

References m_ctl, and Actuators::LED4R::PKT_ID_LED_EXT_TRG.

Referenced by onResourceRelease(), and setConfig().

bool Actuators::LED4R::Task::setPatternPulseWidth ( uint16_t  pwidth )

inline

References m_ctl, and Actuators::LED4R::PKT_ID_LED_PATTERN_PW.

Referenced by setConfig().

Member Data Documentation

Arguments Actuators::LED4R::Task::m_args

Task arguments.

Referenced by onResourceAcquisition(), onResourceInitialization(), onUpdateParameters(), setConfig(), and Task().

UCTK::Interface* Actuators::LED4R::Task::m_ctl

Control Interface.

Referenced by getConstantParameters(), getMonitors(), onResourceAcquisition(), onResourceInitialization(), onResourceRelease(), setBrightness(), setConfig(), setExternalDriver(), setExternalTrigger(), and setPatternPulseWidth().

IMC::Current Actuators::LED4R::Task::m_current

Current.

Referenced by getMonitors().

uint16_t Actuators::LED4R::Task::m_dif_dur

Difference between maximum and minimum pulse durations.

Referenced by getConstantParameters(), and setBrightness().

std::map<unsigned, LED*> Actuators::LED4R::Task::m_led_by_id

Map of LEDs by id.

Referenced by clearLEDs(), and onUpdateParameters().

std::map<std::string, LED*> Actuators::LED4R::Task::m_led_by_name

Map of LEDs by name.

Referenced by clearLEDs(), consume(), onResourceInitialization(), and onUpdateParameters().

uint16_t Actuators::LED4R::Task::m_max_dur

Maximum pulse duration in ticks.

Referenced by getConstantParameters().

Entities::BasicEntity* Actuators::LED4R::Task::m_mcu_ent

MCU entity.

Referenced by getMonitors(), and onEntityReservation().

uint16_t Actuators::LED4R::Task::m_min_dur

Minimum pulse duration in ticks.

Referenced by getConstantParameters(), and setBrightness().

SerialPort* Actuators::LED4R::Task::m_uart

UART.

Referenced by onResourceAcquisition(), and onResourceRelease().

IMC::Voltage Actuators::LED4R::Task::m_voltage

Voltage.

Referenced by getMonitors().

Counter<double> Actuators::LED4R::Task::m_wdog

Watchdog.

Referenced by getMonitors(), onMain(), onResourceInitialization(), onUpdateParameters(), and setBrightness().

Collaboration diagram for Actuators::LED4R::Task: