Sensors::XR620CTD::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onUpdateParameters (void)
void	onResourceRelease (void)
void	onResourceAcquisition (void)
void	onResourceInitialization (void)
bool	readString (char *bfr, unsigned bfr_len, double timeout=1.0)
void	stopSampling (void)
void	getCalibration (void)
void	setParameters (void)
void	startSampling (void)
double	applyCoefficients (int coeffs, double value)
double	computeConductivity (void)
double	computeTemperature (void)
double	computePressure (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
char	m_bfr [256]
IMC::Conductivity	m_cond
IMC::Salinity	m_sali
IMC::SoundSpeed	m_sspe
IMC::Temperature	m_temp
IMC::Pressure	m_pres
IMC::Depth	m_depth
Math::MovingAverage< double > *	m_avg_sspeed
Time::Counter< float >	m_sspeed_timer
Parser	m_parser
double	m_coeffs [3][4]
Arguments	m_args
bool	m_wait_sample
Counter< double >	m_wdog

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::XR620CTD::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Sensors::XR620CTD::Arguments::avg_ss_samples, DUNE::Tasks::Parameter::defaultValue(), m_args, Sensors::XR620CTD::Arguments::output_freq, DUNE::Tasks::Task::param(), Sensors::XR620CTD::Arguments::uart_baud, Sensors::XR620CTD::Arguments::uart_dev, and DUNE::Tasks::Parameter::units().

Member Function Documentation

double Sensors::XR620CTD::Task::applyCoefficients ( int  coeffs, double  value  )

inline

Define measurement coefficients.

Parameters

[in]	coeffs	index.
[in]	value	multiplier constant.

Returns

output value.

References m_coeffs.

Referenced by computeConductivity(), computePressure(), and computeTemperature().

double Sensors::XR620CTD::Task::computeConductivity ( void  )

inline

Compute conductivity.

Returns

conductivity value.

References applyCoefficients(), Sensors::XR620CTD::CHN_CONDUCTIVITY, Sensors::XR620CTD::Parser::getDataField(), and m_parser.

Referenced by onMain().

double Sensors::XR620CTD::Task::computePressure ( void  )

inline

Compute pressure.

Returns

pressure value.

References applyCoefficients(), Sensors::XR620CTD::CHN_PRESSURE, Sensors::XR620CTD::Parser::getDataField(), and m_parser.

Referenced by onMain().

double Sensors::XR620CTD::Task::computeTemperature ( void  )

inline

Compute temperature.

Returns

temperature value.

References applyCoefficients(), Sensors::XR620CTD::CHN_TEMPERATURE, Sensors::XR620CTD::Parser::getDataField(), and m_parser.

Referenced by onMain().

void Sensors::XR620CTD::Task::getCalibration ( void  )

inline

Get calibration from the device.

References Sensors::XR620CTD::CHN_CONDUCTIVITY, Sensors::XR620CTD::CHN_PRESSURE, Sensors::XR620CTD::CHN_TEMPERATURE, DUNE::Tasks::Task::consumeMessages(), m_bfr, m_coeffs, m_uart, Sensors::XR620CTD::Parser::readDoubleFromASCII(), readString(), and DUNE::Tasks::Task::stopping().

Referenced by onResourceInitialization().

void Sensors::XR620CTD::Task::onMain ( void  )

inlinevirtual

Implements DUNE::Tasks::Task.

References computeConductivity(), computePressure(), computeTemperature(), DUNE::Tasks::Task::consumeMessages(), DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::err(), DUNE::Tasks::Task::getEntityState(), m_avg_sspeed, m_bfr, m_cond, m_depth, m_parser, m_pres, m_sali, m_sspe, m_sspeed_timer, m_temp, m_uart, m_wait_sample, m_wdog, DUNE::Time::Counter< T >::overflow(), Sensors::XR620CTD::Parser::parse(), DUNE::Time::Counter< T >::reset(), DUNE::Tasks::Task::setEntityState(), and DUNE::Tasks::Task::stopping().

void Sensors::XR620CTD::Task::onResourceAcquisition ( void  )

inlinevirtual

Acquire resources.

Reimplemented from DUNE::Tasks::Task.

References m_args, m_uart, m_wdog, DUNE::Time::Counter< T >::setTop(), Sensors::XR620CTD::Arguments::uart_baud, and Sensors::XR620CTD::Arguments::uart_dev.

void Sensors::XR620CTD::Task::onResourceInitialization ( void  )

inlinevirtual

Initialize resources.

Reimplemented from DUNE::Tasks::Task.

References Sensors::XR620CTD::Arguments::avg_ss_samples, getCalibration(), m_args, m_avg_sspeed, m_uart, m_wait_sample, setParameters(), startSampling(), and stopSampling().

void Sensors::XR620CTD::Task::onResourceRelease ( void  )

inlinevirtual

Release allocated resources.

Reimplemented from DUNE::Tasks::Task.

References m_avg_sspeed, and m_uart.

void Sensors::XR620CTD::Task::onUpdateParameters ( void  )

inlinevirtual

Update parameters.

Reimplemented from DUNE::Tasks::Task.

References m_args, m_sspeed_timer, Sensors::XR620CTD::Arguments::output_freq, and DUNE::Tasks::Task::paramChanged().

bool Sensors::XR620CTD::Task::readString ( char *  bfr, unsigned  bfr_len, double  timeout = 1.0  )

inline

Read string from serial port.

Parameters

[in]	bfr	pointer to data buffer.
[in]	bfr_len	length of the data buffer.
[in]	timeout	incoming data timeout.

Returns

true if successful, false otherwise.

References m_uart.

Referenced by getCalibration(), setParameters(), and stopSampling().

void Sensors::XR620CTD::Task::setParameters ( void  )

inline

Set device parameters.

References Sensors::XR620CTD::SetupCommands::cmd_get, Sensors::XR620CTD::SetupCommands::cmd_rpl, Sensors::XR620CTD::SetupCommands::cmd_set, DUNE::Tasks::Task::consumeMessages(), m_bfr, m_uart, readString(), and DUNE::Tasks::Task::stopping().

Referenced by onResourceInitialization().

void Sensors::XR620CTD::Task::startSampling ( void  )

inline

Start sampling data.

References m_uart, m_wait_sample, and DUNE::Tasks::Task::setEntityState().

Referenced by onResourceInitialization().

void Sensors::XR620CTD::Task::stopSampling ( void  )

inline

Stop sampling device.

References DUNE::Tasks::Task::consumeMessages(), m_bfr, m_uart, readString(), DUNE::Tasks::Task::setEntityState(), and DUNE::Tasks::Task::stopping().

Referenced by onResourceInitialization().

Member Data Documentation

Arguments Sensors::XR620CTD::Task::m_args

Task arguments.

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

Math::MovingAverage<double>* Sensors::XR620CTD::Task::m_avg_sspeed

Sound Speed Moving Average.

Referenced by onMain(), onResourceInitialization(), and onResourceRelease().

char Sensors::XR620CTD::Task::m_bfr[256]

Scratch buffer.

Referenced by getCalibration(), onMain(), setParameters(), and stopSampling().

double Sensors::XR620CTD::Task::m_coeffs[3][4]

Channel Coefficients.

Referenced by applyCoefficients(), and getCalibration().

IMC::Conductivity Sensors::XR620CTD::Task::m_cond

Conductivity.

Referenced by onMain().

IMC::Depth Sensors::XR620CTD::Task::m_depth

Depth.

Referenced by onMain().

Parser Sensors::XR620CTD::Task::m_parser

Parser.

Referenced by computeConductivity(), computePressure(), computeTemperature(), and onMain().

IMC::Pressure Sensors::XR620CTD::Task::m_pres

Pressure.

Referenced by onMain().

IMC::Salinity Sensors::XR620CTD::Task::m_sali

Salinity.

Referenced by onMain().

IMC::SoundSpeed Sensors::XR620CTD::Task::m_sspe

Sound speed.

Referenced by onMain().

Time::Counter<float> Sensors::XR620CTD::Task::m_sspeed_timer

Counter to output Speed of Sound.

Referenced by onMain(), and onUpdateParameters().

IMC::Temperature Sensors::XR620CTD::Task::m_temp

Temperature.

Referenced by onMain().

SerialPort* Sensors::XR620CTD::Task::m_uart

Serial port device.

Referenced by getCalibration(), onMain(), onResourceAcquisition(), onResourceInitialization(), onResourceRelease(), readString(), setParameters(), startSampling(), and stopSampling().

bool Sensors::XR620CTD::Task::m_wait_sample

Waiting first sample.

Referenced by onMain(), onResourceInitialization(), and startSampling().

Counter<double> Sensors::XR620CTD::Task::m_wdog

Input watchdog.

Referenced by onMain(), and onResourceAcquisition().

Collaboration diagram for Sensors::XR620CTD::Task: