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

	~Task (void)

void	onResourceAcquisition (void)

void	onResourceInitialization (void)

void	onResourceRelease (void)

void	consume (const IMC::EstimatedState *msg)

void	consume (const IMC::PlanControlState *msg)

void	consume (const IMC::FuelLevel *msg)

void	consume (const IMC::AcousticOperation *msg)

void	consume (const IMC::UamRxFrame *msg)

void	consume (const IMC::UamTxStatus *msg)

void	consume (const IMC::UamRxRange *msg)

void	consume (const IMC::UsblPositionExtended *msg)

void	consume (const IMC::UsblAnglesExtended *msg)

void	consume (const IMC::UsblConfig *msg)

void	consume (const IMC::ReportControl *msg)

void	announceUSBL (void)

void	clearLastOp (void)

void	sendFrame (const std::string &sys, Codes code, bool ack)

void	sendFrame (const std::string &sys, const std::vector< uint8_t > &data, bool ack)

void	replaceLastOp (const IMC::AcousticOperation *msg)

void	sendAbort (const std::string &sys)

void	recvAbort (uint16_t imc_src, uint16_t imc_dst, const IMC::UamRxFrame *msg)

void	sendRange (const std::string &sys)

void	recvRange (uint16_t imc_src, uint16_t imc_dst, const IMC::UamRxFrame *msg)

void	sendMessage (const std::string &sys, const InlineMessage< IMC::Message > &imsg)

void	recvMessage (uint16_t imc_src, uint16_t imc_dst, const IMC::UamRxFrame *msg)

void	sendRawMessage (const std::string &sys, const IMC::Message *msg)

void	sendPlanControl (const std::string &sys, const IMC::PlanControl *msg)

void	recvPlanControl (uint16_t imc_src, uint16_t imc_dst, const IMC::UamRxFrame *msg)

void	sendRestartSystem (const std::string &sys, const IMC::RestartSystem *msg)

void	recvRestartSystem (uint16_t imc_src, uint16_t imc_dst, const IMC::UamRxFrame *msg)

void	sendReport (void)

void	recvReport (uint16_t imc_src, uint16_t imc_dst, const IMC::UamRxFrame *msg)

void	onUsblModem (void)

void	onUsblNode (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
IMC::EstimatedState	m_estate

float	m_progress

float	m_fuel_level

float	m_fuel_conf

uint16_t	m_seq

IMC::AcousticOperation *	m_last_acop

std::vector< const IMC::AcousticOperation * >	m_msg_requests

Counter< double >	m_msg_send_timer

bool	m_send_next

Supervisors::Reporter::Client *	m_reporter

UsblTools::Node::Arguments	m_node_args

UsblTools::Node *	m_usbl_node

UsblTools::Modem *	m_usbl_modem

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	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

Constructor & Destructor Documentation

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

inline

Constructor.

Parameters

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

References DUNE::Tasks::Parameter::defaultValue(), m_args, m_node_args, DUNE::Tasks::Task::param(), Transports::UAN::Arguments::report_enable, Transports::UAN::Arguments::usbl_announce, and Transports::UAN::Arguments::usbl_max_wait.

Transports::UAN::Task::~Task ( void )

inlinevirtual

Destructor.

Reimplemented from DUNE::Tasks::Task.

References onResourceRelease().

Member Function Documentation

void Transports::UAN::Task::announceUSBL ( void )

inline

Announce USBL service.

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

Referenced by consume(), and onResourceInitialization().

void Transports::UAN::Task::clearLastOp ( void )

inline

Clear last operation.

References m_last_acop.

Referenced by onResourceRelease(), and replaceLastOp().

void Transports::UAN::Task::consume ( const IMC::EstimatedState * msg )

inline

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

void Transports::UAN::Task::consume ( const IMC::PlanControlState * msg )

inline

References m_progress.

void Transports::UAN::Task::consume ( const IMC::FuelLevel * msg )

inline

References m_fuel_conf, and m_fuel_level.

void Transports::UAN::Task::consume ( const IMC::AcousticOperation * msg )

inline

References DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::getSystemId(), m_msg_requests, replaceLastOp(), sendAbort(), sendMessage(), and sendRange().

void Transports::UAN::Task::consume ( const IMC::UamRxFrame * msg )

inline

References Transports::UAN::CODE_ABORT, Transports::UAN::CODE_PLAN, Transports::UAN::CODE_RANGE, Transports::UAN::CODE_RAW, Transports::UAN::CODE_REPORT, Transports::UAN::CODE_USBL, DUNE::Tasks::Task::debug(), m_usbl_modem, m_usbl_node, recvAbort(), recvMessage(), recvPlanControl(), recvRange(), recvReport(), DUNE::Tasks::Task::resolveSystemName(), and sendFrame().

void Transports::UAN::Task::consume ( const IMC::UamTxStatus * msg )

inline

References DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::getEntityId(), DUNE::Tasks::Task::getSystemId(), m_last_acop, m_msg_requests, m_msg_send_timer, m_send_next, DUNE::Time::Counter< T >::reset(), and DUNE::Time::Counter< T >::setTop().

void Transports::UAN::Task::consume ( const IMC::UamRxRange * msg )

inline

References DUNE::Tasks::Task::dispatch(), and m_last_acop.

void Transports::UAN::Task::consume ( const IMC::UsblPositionExtended * msg )

inline

References announceUSBL(), Transports::UAN::CODE_USBL, m_estate, m_usbl_modem, and sendFrame().

void Transports::UAN::Task::consume ( const IMC::UsblAnglesExtended * msg )

inline

References announceUSBL(), Transports::UAN::CODE_USBL, m_usbl_modem, and sendFrame().

void Transports::UAN::Task::consume ( const IMC::UsblConfig * msg )

inline

References m_usbl_node.

void Transports::UAN::Task::consume ( const IMC::ReportControl * msg )

inline

References Supervisors::Reporter::Client::consume(), and m_reporter.

void Transports::UAN::Task::onMain ( void )

inlinevirtual

Main loop.

Implements DUNE::Tasks::Task.

References m_args, m_msg_requests, m_msg_send_timer, m_reporter, m_send_next, onUsblModem(), onUsblNode(), DUNE::Time::Counter< T >::overflow(), replaceLastOp(), Transports::UAN::Arguments::report_enable, sendMessage(), sendReport(), DUNE::Tasks::Task::stopping(), Supervisors::Reporter::Client::trigger(), and DUNE::Tasks::Task::waitForMessages().

void Transports::UAN::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 Supervisors::Reporter::IS_ACOUSTIC, m_node_args, m_reporter, and m_usbl_node.

void Transports::UAN::Task::onResourceInitialization ( void )

inlinevirtual

Initialize resources.

Reimplemented from DUNE::Tasks::Task.

References announceUSBL(), DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::getEntityLabel(), m_args, DUNE::Tasks::Task::setEntityState(), and Transports::UAN::Arguments::usbl_announce.

void Transports::UAN::Task::onResourceRelease ( void )

inlinevirtual

Release resources.

Reimplemented from DUNE::Tasks::Task.

References clearLastOp(), m_reporter, m_usbl_modem, and m_usbl_node.

Referenced by ~Task().

void Transports::UAN::Task::onUsblModem ( void )

inline

Main loop of USBL modem.

References m_args, m_usbl_modem, sendRange(), and Transports::UAN::Arguments::usbl_max_wait.

Referenced by onMain().

void Transports::UAN::Task::onUsblNode ( void )

inline

Main loop of USBL node.

References Transports::UAN::CODE_USBL, m_usbl_node, and sendFrame().

Referenced by onMain().

void Transports::UAN::Task::recvAbort	(	uint16_t	imc_src,
		uint16_t	imc_dst,
		const IMC::UamRxFrame *	msg
	)

inline

References DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::getSystemId(), DUNE::Tasks::Task::inf(), and DUNE::Tasks::Task::war().

Referenced by consume().

void Transports::UAN::Task::recvMessage	(	uint16_t	imc_src,
		uint16_t	imc_dst,
		const IMC::UamRxFrame *	msg
	)

inline

References DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::dispatch(), and DUNE::Tasks::Task::err().

Referenced by consume().

void Transports::UAN::Task::recvPlanControl	(	uint16_t	imc_src,
		uint16_t	imc_dst,
		const IMC::UamRxFrame *	msg
	)

inline

References DUNE::Tasks::Task::dispatch(), and DUNE::Tasks::Task::war().

Referenced by consume().

void Transports::UAN::Task::recvRange	(	uint16_t	imc_src,
		uint16_t	imc_dst,
		const IMC::UamRxFrame *	msg
	)

inline

Referenced by consume().

void Transports::UAN::Task::recvReport	(	uint16_t	imc_src,
		uint16_t	imc_dst,
		const IMC::UamRxFrame *	msg
	)

inline

References Transports::UAN::Report::alt, Transports::UAN::Report::depth, DUNE::Tasks::Task::dispatch(), Transports::UAN::Report::fuel_conf, Transports::UAN::Report::fuel_level, Transports::UAN::Report::lat, Transports::UAN::Report::lon, Transports::UAN::Report::progress, and Transports::UAN::Report::yaw.

Referenced by consume().

void Transports::UAN::Task::recvRestartSystem	(	uint16_t	imc_src,
		uint16_t	imc_dst,
		const IMC::UamRxFrame *	msg
	)

inline

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

void Transports::UAN::Task::replaceLastOp ( const IMC::AcousticOperation * msg )

inline

References clearLastOp(), DUNE::Tasks::Task::getEntityId(), DUNE::Tasks::Task::getSystemId(), and m_last_acop.

Referenced by consume(), and onMain().

void Transports::UAN::Task::sendAbort ( const std::string & sys )

inline

References Transports::UAN::CODE_ABORT, and sendFrame().

Referenced by consume().

void Transports::UAN::Task::sendFrame	(	const std::string &	sys,
		Codes	code,
		bool	ack
	)

inline

Referenced by consume(), onUsblNode(), sendAbort(), sendPlanControl(), sendRange(), sendRawMessage(), sendReport(), and sendRestartSystem().

void Transports::UAN::Task::sendFrame	(	const std::string &	sys,
		const std::vector< uint8_t > &	data,
		bool	ack
	)

inline

References DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::getSystemId(), and m_seq.

void Transports::UAN::Task::sendMessage	(	const std::string &	sys,
		const InlineMessage< IMC::Message > &	imsg
	)

inline

References sendPlanControl(), and sendRawMessage().

Referenced by consume(), and onMain().

void Transports::UAN::Task::sendPlanControl	(	const std::string &	sys,
		const IMC::PlanControl *	msg
	)

inline

References Transports::UAN::CODE_PLAN, and sendFrame().

Referenced by sendMessage().

void Transports::UAN::Task::sendRange ( const std::string & sys )

inline

References Transports::UAN::CODE_RANGE, sendFrame(), and DUNE::Tasks::Task::spew().

Referenced by consume(), and onUsblModem().

void Transports::UAN::Task::sendRawMessage	(	const std::string &	sys,
		const IMC::Message *	msg
	)

inline

References Transports::UAN::CODE_RAW, and sendFrame().

Referenced by sendMessage().

void Transports::UAN::Task::sendReport ( void )

inline

References Transports::UAN::Report::alt, Transports::UAN::CODE_REPORT, Transports::UAN::Report::depth, Transports::UAN::Report::fuel_conf, Transports::UAN::Report::fuel_level, Transports::UAN::Report::lat, Transports::UAN::Report::lon, m_estate, m_fuel_conf, m_fuel_level, m_progress, Transports::UAN::Report::progress, sendFrame(), and Transports::UAN::Report::yaw.

Referenced by onMain().

void Transports::UAN::Task::sendRestartSystem	(	const std::string &	sys,
		const IMC::RestartSystem *	msg
	)

inline

References Transports::UAN::CODE_RESTART, and sendFrame().

Member Data Documentation

Arguments Transports::UAN::Task::m_args

Task arguments.

Referenced by onMain(), onResourceInitialization(), onUsblModem(), and Task().

IMC::EstimatedState Transports::UAN::Task::m_estate

Estimated state.

Referenced by consume(), and sendReport().

float Transports::UAN::Task::m_fuel_conf

Last fuel level confidence.

Referenced by consume(), and sendReport().

float Transports::UAN::Task::m_fuel_level

Last fuel level.

Referenced by consume(), and sendReport().

IMC::AcousticOperation* Transports::UAN::Task::m_last_acop

Last acoustic operation.

Referenced by clearLastOp(), consume(), and replaceLastOp().

std::vector<const IMC::AcousticOperation*> Transports::UAN::Task::m_msg_requests

Vector of pending message requests.

Referenced by consume(), and onMain().

Counter<double> Transports::UAN::Task::m_msg_send_timer

Timer for sending preceding message.

Referenced by consume(), and onMain().

UsblTools::Node::Arguments Transports::UAN::Task::m_node_args

USBL Node arguments.

Referenced by onResourceAcquisition(), and Task().

float Transports::UAN::Task::m_progress

Last progress.

Referenced by consume(), and sendReport().

Supervisors::Reporter::Client* Transports::UAN::Task::m_reporter

Reporter API.

Referenced by consume(), onMain(), onResourceAcquisition(), and onResourceRelease().

bool Transports::UAN::Task::m_send_next

When set should wait and send next message.

Referenced by consume(), and onMain().

uint16_t Transports::UAN::Task::m_seq

Sequence number.

Referenced by sendFrame().

UsblTools::Modem* Transports::UAN::Task::m_usbl_modem

USBL Modem.

Referenced by consume(), onResourceRelease(), and onUsblModem().

UsblTools::Node* Transports::UAN::Task::m_usbl_node

USBL Node.

Referenced by consume(), onResourceAcquisition(), onResourceRelease(), and onUsblNode().

Collaboration diagram for Transports::UAN::Task:

Public Member Functions

Public Attributes

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation