Sensors::MLBLTracker::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
	~Task (void)
void	onUpdateParameters (void)
void	onResourceAcquisition (void)
bool	openSocket (void)
void	onResourceRelease (void)
void	onResourceInitialization (void)
void	resetOp (void)
bool	hasTransducer (void)
void	sendCommand (const std::string &cmd)
void	consume (const IMC::EstimatedState *msg)
void	consume (const IMC::AcousticOperation *msg)
void	transmitMessage (const std::string &sys, const InlineMessage< IMC::Message > &imsg)
void	reverseRange (const std::string &sys)
void	abort (const std::string &sys)
void	ping (const std::string &sys)
void	pingMicroModem (const std::string &sys)
void	pingNarrowBand (const std::string &sys)
void	handleRangeModem (NMEAReader *const stn)
void	handleRangeTransponder (NMEAReader *const stn)
void	handleMiniPacketReception (NMEAReader *const stn)
void	handleRangeInProgress (NMEAReader *const stn)
void	handleMiniPacketEcho (NMEAReader *const stn)
void	handleBinaryReception (NMEAReader *const stn)
void	readSentence (void)
void	process (const std::string msg)
void	checkTimeouts (void)
void	configureModem (const std::string &code, const std::string &parameter, const unsigned value)
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
IO::Handle *	m_handle
NarrowBandMap	m_nbmap
MicroModemMap	m_ummap
AddressMap	m_mimap
AddressMap	m_immap
Arguments	m_args
double	m_op_deadline
unsigned	m_address
IMC::AcousticOperation	m_acop
IMC::AcousticOperation	m_acop_out
IMC::DevDataText	m_dev_data
IMC::PlanControl *	m_pc
Operation	m_op
GPIO *	m_gpio_txd
Counter< double >	m_last_stn
bool	m_ignore_gpio
std::string	m_line
IMC::EstimatedState *	m_estate

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

inline

References Sensors::MLBLTracker::Arguments::addr_section, DUNE::Tasks::Parameter::defaultValue(), Sensors::MLBLTracker::Arguments::gpio_txd, m_args, m_ignore_gpio, m_nbmap, DUNE::Tasks::Task::param(), Sensors::MLBLTracker::Arguments::rx_length, Sensors::MLBLTracker::Arguments::sspeed, Sensors::MLBLTracker::Arguments::tout_abort, Sensors::MLBLTracker::Arguments::tout_input, Sensors::MLBLTracker::Arguments::tout_mmping, Sensors::MLBLTracker::Arguments::tout_nbping, Sensors::MLBLTracker::Arguments::turn_around_time, Sensors::MLBLTracker::Arguments::tx_length, Sensors::MLBLTracker::Arguments::uart_baud, Sensors::MLBLTracker::Arguments::uart_dev, and DUNE::Tasks::Parameter::units().

Sensors::MLBLTracker::Task::~Task ( void  )

inlinevirtual

Destructor.

Reimplemented from DUNE::Tasks::Task.

References onResourceRelease().

Member Function Documentation

void Sensors::MLBLTracker::Task::abort ( const std::string &  sys )

inline

Abort system.

Parameters

[in]

sys

system to be aborted.

References DUNE::Tasks::Task::dispatch(), m_acop_out, m_address, m_args, m_nbmap, m_op, m_op_deadline, m_ummap, Sensors::MLBLTracker::OP_ABORT, sendCommand(), and Sensors::MLBLTracker::Arguments::tout_abort.

Referenced by consume().

void Sensors::MLBLTracker::Task::checkTimeouts ( void  )

inline

Check operation timeouts.

References DUNE::Tasks::Task::dispatch(), m_acop, m_acop_out, m_op, m_op_deadline, Sensors::MLBLTracker::OP_ABORT, Sensors::MLBLTracker::OP_NONE, Sensors::MLBLTracker::OP_PING_MM, Sensors::MLBLTracker::OP_PING_NB, and resetOp().

Referenced by onMain().

void Sensors::MLBLTracker::Task::configureModem ( const std::string &  code, const std::string &  parameter, const unsigned  value  )

inline

Configure a modem parameter.

Parameters

[in]	code	NMEA code of the message to be transmitted.
[in]	parameter	modem parameter to be configured.
[in]	value	new configuration value.

References sendCommand().

Referenced by onResourceAcquisition().

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

inline

References m_estate.

void Sensors::MLBLTracker::Task::consume ( const IMC::AcousticOperation *  msg )

inline

References abort(), DUNE::Tasks::Task::dispatch(), hasTransducer(), m_acop, m_acop_out, m_op, Sensors::MLBLTracker::OP_NONE, ping(), reverseRange(), and transmitMessage().

void Sensors::MLBLTracker::Task::handleBinaryReception ( NMEAReader *const  stn )

inline

Handle reception of binary message.

Parameters

[in]

stn

sentence to be handled.

References DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::inf(), m_mimap, and DUNE::Tasks::Task::trace().

Referenced by process().

void Sensors::MLBLTracker::Task::handleMiniPacketEcho ( NMEAReader *const  stn )

inline

Requested mini-packet transmission is in progress.

Parameters

[in]

stn

sentence to be handled.

References DUNE::Tasks::Task::dispatch(), m_acop, and m_acop_out.

Referenced by process().

void Sensors::MLBLTracker::Task::handleMiniPacketReception ( NMEAReader *const  stn )

inline

Handle a mini-packet reception.

Parameters

[in]

stn

sentence to be handled.

References DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::dispatchReply(), DUNE::Tasks::Task::inf(), m_acop, m_acop_out, m_mimap, m_pc, and resetOp().

Referenced by process().

void Sensors::MLBLTracker::Task::handleRangeInProgress ( NMEAReader *const  stn )

inline

A requested range is in progress.

Parameters

[in]

stn

sentence to be handled.

References DUNE::Tasks::Task::dispatch(), m_acop, and m_acop_out.

Referenced by process().

void Sensors::MLBLTracker::Task::handleRangeModem ( NMEAReader *const  stn )

inline

Handle received range from modem.

Parameters

[in]

stn

sentence to be handled.

References DUNE::Tasks::Task::dispatch(), m_acop, m_acop_out, m_address, m_args, resetOp(), and Sensors::MLBLTracker::Arguments::sspeed.

Referenced by process().

void Sensors::MLBLTracker::Task::handleRangeTransponder ( NMEAReader *const  stn )

inline

Handle received range from transponder.

Parameters

[in]

stn

sentence to be handled.

References DUNE::Tasks::Task::dispatch(), m_acop, m_acop_out, m_args, resetOp(), and Sensors::MLBLTracker::Arguments::sspeed.

Referenced by process().

bool Sensors::MLBLTracker::Task::hasTransducer ( void  )

inline

References DUNE::Tasks::Task::err(), m_gpio_txd, and m_ignore_gpio.

Referenced by consume().

void Sensors::MLBLTracker::Task::onMain ( void  )

inlinevirtual

Implements DUNE::Tasks::Task.

References checkTimeouts(), DUNE::Tasks::Task::consumeMessages(), m_handle, m_last_stn, DUNE::Time::Counter< T >::overflow(), readSentence(), DUNE::Time::Counter< T >::reset(), DUNE::Tasks::Task::setEntityState(), and DUNE::Tasks::Task::stopping().

void Sensors::MLBLTracker::Task::onResourceAcquisition ( void  )

inlinevirtual

Called when the task is instructed to acquire resources whose configuration is defined by run-time parameters.

Reimplemented from DUNE::Tasks::Task.

References configureModem(), DUNE::Tasks::Task::err(), Sensors::MLBLTracker::Arguments::gpio_txd, m_address, m_args, m_gpio_txd, m_handle, openSocket(), DUNE::Tasks::Task::setEntityState(), Sensors::MLBLTracker::Arguments::turn_around_time, Sensors::MLBLTracker::Arguments::uart_baud, and Sensors::MLBLTracker::Arguments::uart_dev.

void Sensors::MLBLTracker::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::dispatch(), and DUNE::Tasks::Task::getEntityLabel().

void Sensors::MLBLTracker::Task::onResourceRelease ( void  )

inlinevirtual

Called when the task is instructed to release resources.

Derived classes that override this function must not assume that any resource was previously acquired. This function must be implemented in such a way that it can be called at any time.

Reimplemented from DUNE::Tasks::Task.

References m_gpio_txd, m_handle, and m_pc.

Referenced by ~Task().

void Sensors::MLBLTracker::Task::onUpdateParameters ( void  )

inlinevirtual

Called when the task is instructed to update its run-time parameters.

Derived classes that need to compute auxiliary values based on run-time parameters should override this function.

Reimplemented from DUNE::Tasks::Task.

References Sensors::MLBLTracker::Arguments::addr_section, DUNE::Tasks::Context::config, DUNE::Parsers::Config::get(), DUNE::Tasks::Task::getSystemName(), Sensors::MLBLTracker::Arguments::gpio_txd, m_address, m_args, DUNE::Tasks::Task::m_ctx, m_gpio_txd, m_ignore_gpio, m_immap, m_last_stn, m_mimap, m_ummap, DUNE::Parsers::Config::options(), DUNE::Tasks::Task::paramChanged(), DUNE::Tasks::Task::resolveSystemName(), DUNE::Time::Counter< T >::setTop(), and Sensors::MLBLTracker::Arguments::tout_input.

bool Sensors::MLBLTracker::Task::openSocket ( void  )

inline

Check if we have a TCP socket as device input argument.

Returns

true if it is a TCP socket, false otherwise.

References m_args, m_handle, m_ignore_gpio, and Sensors::MLBLTracker::Arguments::uart_dev.

Referenced by onResourceAcquisition().

void Sensors::MLBLTracker::Task::ping ( const std::string &  sys )

inline

Range system.

Parameters

[in]

sys

system to be ranged.

References DUNE::Tasks::Task::dispatch(), m_acop_out, m_nbmap, m_ummap, pingMicroModem(), and pingNarrowBand().

Referenced by consume().

void Sensors::MLBLTracker::Task::pingMicroModem ( const std::string &  sys )

inline

Ping a modem address.

Parameters

[in]

sys

system to be pinged.

References m_address, m_args, m_op, m_op_deadline, m_ummap, Sensors::MLBLTracker::OP_PING_MM, sendCommand(), and Sensors::MLBLTracker::Arguments::tout_mmping.

Referenced by ping().

void Sensors::MLBLTracker::Task::pingNarrowBand ( const std::string &  sys )

inline

Ping a narrow band frequency.

Parameters

[in]

sys

transducer to be pinged.

References m_args, m_nbmap, m_op, m_op_deadline, Sensors::MLBLTracker::OP_PING_NB, Sensors::MLBLTracker::Arguments::rx_length, sendCommand(), Sensors::MLBLTracker::Arguments::tout_nbping, and Sensors::MLBLTracker::Arguments::tx_length.

Referenced by ping().

void Sensors::MLBLTracker::Task::process ( const std::string  msg )

inline

Process sentence.

Parameters

[in]

msg

sentence.

References DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::err(), handleBinaryReception(), handleMiniPacketEcho(), handleMiniPacketReception(), handleRangeInProgress(), handleRangeModem(), handleRangeTransponder(), and m_dev_data.

Referenced by readSentence().

void Sensors::MLBLTracker::Task::readSentence ( void  )

inline

Read sentence.

References m_handle, m_line, process(), and DUNE::Tasks::Task::setEntityState().

Referenced by onMain().

void Sensors::MLBLTracker::Task::resetOp ( void  )

inline

References m_op, m_op_deadline, and Sensors::MLBLTracker::OP_NONE.

Referenced by checkTimeouts(), handleMiniPacketReception(), handleRangeModem(), and handleRangeTransponder().

void Sensors::MLBLTracker::Task::reverseRange ( const std::string &  sys )

inline

References DUNE::Tasks::Task::dispatch(), m_acop_out, m_address, m_estate, m_ummap, and sendCommand().

Referenced by consume().

void Sensors::MLBLTracker::Task::sendCommand ( const std::string &  cmd )

inline

Send and log command.

Parameters

[in]

cmd

command to be sent.

References DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::inf(), m_dev_data, and m_handle.

Referenced by abort(), configureModem(), pingMicroModem(), pingNarrowBand(), reverseRange(), and transmitMessage().

void Sensors::MLBLTracker::Task::transmitMessage ( const std::string &  sys, const InlineMessage< IMC::Message > &  imsg  )

inline

Transmit message to modem.

Parameters

[in]	sys	destination system.
[in]	imsg	message to be sent.

References DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::err(), m_acop_out, m_address, m_pc, m_ummap, and sendCommand().

Referenced by consume().

Member Data Documentation

IMC::AcousticOperation Sensors::MLBLTracker::Task::m_acop

Referenced by checkTimeouts(), consume(), handleMiniPacketEcho(), handleMiniPacketReception(), handleRangeInProgress(), handleRangeModem(), and handleRangeTransponder().

IMC::AcousticOperation Sensors::MLBLTracker::Task::m_acop_out

Referenced by abort(), checkTimeouts(), consume(), handleMiniPacketEcho(), handleMiniPacketReception(), handleRangeInProgress(), handleRangeModem(), handleRangeTransponder(), ping(), reverseRange(), and transmitMessage().

unsigned Sensors::MLBLTracker::Task::m_address

Referenced by abort(), handleRangeModem(), onResourceAcquisition(), onUpdateParameters(), pingMicroModem(), reverseRange(), and transmitMessage().

Arguments Sensors::MLBLTracker::Task::m_args

Referenced by abort(), handleRangeModem(), handleRangeTransponder(), onResourceAcquisition(), onUpdateParameters(), openSocket(), pingMicroModem(), pingNarrowBand(), and Task().

IMC::DevDataText Sensors::MLBLTracker::Task::m_dev_data

Referenced by process(), and sendCommand().

IMC::EstimatedState* Sensors::MLBLTracker::Task::m_estate

Referenced by consume(), and reverseRange().

GPIO* Sensors::MLBLTracker::Task::m_gpio_txd

Referenced by hasTransducer(), onResourceAcquisition(), onResourceRelease(), and onUpdateParameters().

IO::Handle* Sensors::MLBLTracker::Task::m_handle

Referenced by onMain(), onResourceAcquisition(), onResourceRelease(), openSocket(), readSentence(), and sendCommand().

bool Sensors::MLBLTracker::Task::m_ignore_gpio

Referenced by hasTransducer(), onUpdateParameters(), openSocket(), and Task().

AddressMap Sensors::MLBLTracker::Task::m_immap

Referenced by onUpdateParameters().

Counter<double> Sensors::MLBLTracker::Task::m_last_stn

Referenced by onMain(), and onUpdateParameters().

std::string Sensors::MLBLTracker::Task::m_line

Current line.

Referenced by readSentence().

AddressMap Sensors::MLBLTracker::Task::m_mimap

Referenced by handleBinaryReception(), handleMiniPacketReception(), and onUpdateParameters().

NarrowBandMap Sensors::MLBLTracker::Task::m_nbmap

Referenced by abort(), ping(), pingNarrowBand(), and Task().

Operation Sensors::MLBLTracker::Task::m_op

Referenced by abort(), checkTimeouts(), consume(), pingMicroModem(), pingNarrowBand(), and resetOp().

double Sensors::MLBLTracker::Task::m_op_deadline

Referenced by abort(), checkTimeouts(), pingMicroModem(), pingNarrowBand(), and resetOp().

IMC::PlanControl* Sensors::MLBLTracker::Task::m_pc

Referenced by handleMiniPacketReception(), onResourceRelease(), and transmitMessage().

MicroModemMap Sensors::MLBLTracker::Task::m_ummap

Referenced by abort(), onUpdateParameters(), ping(), pingMicroModem(), reverseRange(), and transmitMessage().

Collaboration diagram for Sensors::MLBLTracker::Task: