Transports::Radio::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	consume (const IMC::Voltage *msg)
void	consume (const IMC::TelemetryMsg *msg)
void	consume (const IMC::PowerChannelState *msg)
void	consume (const IMC::ReportControl *msg)
void	consume (const IMC::EstimatedState *msg)
void	consume (const IMC::PlanControlState *msg)
void	consume (const IMC::FuelLevel *msg)
void	consume (const IMC::VehicleState *msg)
void	consume (const IMC::VtolState *msg)
void	consume (const IMC::IndicatedSpeed *msg)
void	consume (const IMC::CommSystemsQuery *msg)
void	onUpdateParameters (void)
void	onEntityReservation (void)
void	onEntityResolution (void)
void	onRequestActivation (void)
void	onRequestDeactivation (void)
void	onResourceAcquisition (void)
void	controlPower (IMC::PowerChannelControl::OperationEnum op)
void	turnPowerOn (void)
void	turnPowerOff (void)
bool	isPowered (void)
void	failActivation (const std::string &message)
void	hardwareUpdateStateMachine (void)
void	onResourceInitialization (void)
void	onResourceRelease (void)
void	radioReport (void)
void	highSpeedReport (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
Arguments	m_args
StateMachineStates	m_sm_state
RadioDriver *	m_radio
MapName	m_radio_names
MapAddr	m_radio_addrs
bool	m_powered
Supervisors::Reporter::Client *	m_reporter
Telemetry *	m_telemetry
Time::Counter< double >	m_conn_watchdog
std::string	m_rxData
unsigned	m_voltage_eid
IMC::CommSystemsQuery *	m_comm_systems_query
uint16_t	m_systemID
Time::Counter< double >	m_fast_treport_counter

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

inline

References Transports::Radio::Arguments::addr_section, Transports::Radio::RadioConfParam::air_speed, Transports::Radio::Arguments::coms_mode, DUNE::Tasks::Parameter::defaultValue(), Transports::Radio::RadioConfParam::duty_cycle, Transports::Radio::Arguments::elabel_voltage, Transports::Radio::RadioConfParam::error_correction, Transports::Radio::Arguments::high_speed_report, m_args, m_conn_watchdog, Transports::Radio::RadioConfParam::mavlink_framing, Transports::Radio::RadioConfParam::mum_channels, DUNE::Tasks::Task::param(), DUNE::Tasks::Task::paramActive(), Transports::Radio::Arguments::power_channel, Transports::Radio::RadioConfParam::power_level, Transports::Radio::RadioConfParam::radio_model, Transports::Radio::Arguments::radio_period, Transports::Radio::Arguments::radioParams, Transports::Radio::Arguments::report_enable, Transports::Radio::RadioConfParam::rssi_report, DUNE::Tasks::Parameter::scope(), Transports::Radio::RadioConfParam::tdm_report, Transports::Radio::RadioConfParam::uart_baud, Transports::Radio::RadioConfParam::uart_dev, DUNE::Tasks::Parameter::units(), Transports::Radio::RadioConfParam::vehicle_name, and DUNE::Tasks::Parameter::visibility().

Member Function Documentation

void Transports::Radio::Task::consume ( const IMC::Voltage *  msg )

inline

References Transports::Radio::Telemetry::consume(), m_telemetry, and m_voltage_eid.

void Transports::Radio::Task::consume ( const IMC::TelemetryMsg *  msg )

inline

References Transports::Radio::Telemetry::consume(), and m_telemetry.

void Transports::Radio::Task::consume ( const IMC::PowerChannelState *  msg )

inline

References m_args, m_powered, and Transports::Radio::Arguments::power_channel.

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

inline

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

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

inline

References Transports::Radio::Telemetry::consume(), and m_telemetry.

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

inline

References Transports::Radio::Telemetry::consume(), and m_telemetry.

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

inline

References Transports::Radio::Telemetry::consume(), and m_telemetry.

void Transports::Radio::Task::consume ( const IMC::VehicleState *  msg )

inline

References Transports::Radio::Telemetry::consume(), and m_telemetry.

void Transports::Radio::Task::consume ( const IMC::VtolState *  msg )

inline

References Transports::Radio::Telemetry::consume(), and m_telemetry.

void Transports::Radio::Task::consume ( const IMC::IndicatedSpeed *  msg )

inline

Consume air Speed messages.

Parameters

[in]

msg

IndicatedSpeed message.

References Transports::Radio::Telemetry::consume(), and m_telemetry.

void Transports::Radio::Task::consume ( const IMC::CommSystemsQuery *  msg )

inline

References DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::getSystemId(), m_comm_systems_query, m_radio_addrs, m_radio_names, m_sm_state, and Transports::Radio::SM_ACT_DONE.

void Transports::Radio::Task::controlPower ( IMC::PowerChannelControl::OperationEnum  op )

inline

References DUNE::Tasks::Task::dispatch(), m_args, and Transports::Radio::Arguments::power_channel.

Referenced by turnPowerOff(), and turnPowerOn().

void Transports::Radio::Task::failActivation ( const std::string &  message )

inline

References DUNE::Tasks::Task::activationFailed(), m_args, m_radio, m_sm_state, m_telemetry, Transports::Radio::Arguments::power_channel, DUNE::Tasks::Task::setEntityState(), Transports::Radio::SM_IDLE, and turnPowerOff().

Referenced by hardwareUpdateStateMachine().

void Transports::Radio::Task::hardwareUpdateStateMachine ( void  )

inline

References DUNE::Tasks::Task::activate(), Transports::Radio::RadioDriver::clearNewRxData(), Transports::Radio::RadioDriver::configDevice(), Transports::Radio::RadioDriver::connectToDevice(), DUNE::Tasks::Task::deactivate(), DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::err(), failActivation(), isPowered(), m_args, m_conn_watchdog, m_fast_treport_counter, m_radio, m_radio_addrs, m_radio_names, m_sm_state, m_systemID, m_telemetry, Transports::Radio::RadioDriver::maxDataPacket(), Transports::Radio::Arguments::power_channel, Transports::Radio::Arguments::radio_period, Transports::Radio::Arguments::radioParams, DUNE::Tasks::Task::requestDeactivation(), DUNE::Tasks::Task::setEntityState(), Transports::Radio::SM_ACT_BEGIN, Transports::Radio::SM_ACT_CONFIG, Transports::Radio::SM_ACT_CONNECT, Transports::Radio::SM_ACT_DONE, Transports::Radio::SM_ACT_MODEM_WAIT, Transports::Radio::SM_ACT_POWER_ON, Transports::Radio::SM_ACT_POWER_WAIT, Transports::Radio::SM_DEACT_BEGIN, Transports::Radio::SM_DEACT_DISCONNECT, Transports::Radio::SM_DEACT_DONE, Transports::Radio::SM_DEACT_POWER_OFF, Transports::Radio::SM_DEACT_POWER_WAIT, Transports::Radio::SM_IDLE, DUNE::Tasks::Task::spew(), turnPowerOff(), turnPowerOn(), and Transports::Radio::RadioConfParam::uart_dev.

Referenced by onMain(), onRequestActivation(), and onRequestDeactivation().

void Transports::Radio::Task::highSpeedReport ( void  )

inline

References Transports::Radio::Telemetry::createReport(), Transports::Radio::Arguments::high_speed_report, Transports::Radio::Telemetry::isIdle(), m_args, m_fast_treport_counter, m_reporter, m_telemetry, and Transports::Radio::Arguments::radio_period.

Referenced by onMain().

bool Transports::Radio::Task::isPowered ( void  )

inline

Test if power channel is on.

Returns

true if power channel is on, false otherwise.

References m_powered.

Referenced by hardwareUpdateStateMachine().

void Transports::Radio::Task::onEntityReservation ( void  )

inlinevirtual

Reserve entity identifiers.

Reimplemented from DUNE::Tasks::Task.

void Transports::Radio::Task::onEntityResolution ( void  )

inlinevirtual

Resolve entity names.

Reimplemented from DUNE::Tasks::Task.

References Transports::Radio::Arguments::elabel_voltage, m_args, m_voltage_eid, and DUNE::Tasks::Task::resolveEntity().

void Transports::Radio::Task::onMain ( void  )

inlinevirtual

Main loop.

Implements DUNE::Tasks::Task.

References Transports::Radio::Telemetry::anyDataToProcess(), Transports::Radio::Telemetry::anyDatatosend(), DUNE::Tasks::Task::consumeMessages(), hardwareUpdateStateMachine(), highSpeedReport(), DUNE::Tasks::Task::isActive(), m_radio, m_rxData, m_sm_state, m_telemetry, Transports::Radio::RadioDriver::newRxData(), Transports::Radio::RadioDriver::processInput(), radioReport(), Transports::Radio::Telemetry::recivedDataTimeOut(), Transports::Radio::Telemetry::recivedDataToDecode(), Transports::Radio::RadioDriver::sendData(), Transports::Radio::SM_ACT_DONE, DUNE::Tasks::Task::stopping(), Transports::Radio::Telemetry::updateTxState(), and DUNE::Tasks::Task::waitForMessages().

void Transports::Radio::Task::onRequestActivation ( void  )

inlinevirtual

Open TCP socket.

Returns

true if socket was opened, false otherwise.

Reimplemented from DUNE::Tasks::Task.

References Transports::Radio::Arguments::addr_section, Transports::Radio::Arguments::coms_mode, DUNE::Tasks::Context::config, DUNE::Tasks::Task::debug(), DUNE::Parsers::Config::get(), DUNE::Tasks::Task::getSystemName(), hardwareUpdateStateMachine(), m_args, m_comm_systems_query, DUNE::Tasks::Task::m_ctx, m_radio, m_sm_state, m_systemID, Transports::Radio::RadioConfParam::max_frequency, Transports::Radio::RadioConfParam::min_frequency, Transports::Radio::RadioConfParam::net_id, Transports::Radio::RadioConfParam::radio_model, Transports::Radio::Arguments::radioParams, Transports::Radio::SM_ACT_BEGIN, and Transports::Radio::RadioConfParam::vehicle_name.

void Transports::Radio::Task::onRequestDeactivation ( void  )

inlinevirtual

Called when an external deactivation request is received.

Derived classes that need to perform extra steps to prepare normal execution should replace the default behaviour of immediate deactivation with calls to deactivate() when the request is completed or deactivationFailed() if the request cannot be honoured.

Reimplemented from DUNE::Tasks::Task.

References hardwareUpdateStateMachine(), m_sm_state, and Transports::Radio::SM_DEACT_BEGIN.

void Transports::Radio::Task::onResourceAcquisition ( void  )

inlinevirtual

Acquire resources.

Reimplemented from DUNE::Tasks::Task.

References Supervisors::Reporter::IS_RADIO, m_comm_systems_query, m_reporter, and DUNE::Tasks::Task::setEntityState().

void Transports::Radio::Task::onResourceInitialization ( void  )

inlinevirtual

Initialize resources.

Reimplemented from DUNE::Tasks::Task.

References Transports::Radio::Arguments::addr_section, Transports::Radio::Arguments::coms_mode, DUNE::Tasks::Context::config, DUNE::Tasks::Task::dispatch(), DUNE::Parsers::Config::get(), DUNE::Tasks::Task::getEntityLabel(), m_args, DUNE::Tasks::Task::m_ctx, m_radio_addrs, m_radio_names, and DUNE::Parsers::Config::options().

void Transports::Radio::Task::onResourceRelease ( void  )

inlinevirtual

Release resources.

Reimplemented from DUNE::Tasks::Task.

References m_reporter, and m_telemetry.

void Transports::Radio::Task::onUpdateParameters ( void  )

inlinevirtual

Update internal state with new parameter values.

Reimplemented from DUNE::Tasks::Task.

References m_args, m_powered, and Transports::Radio::Arguments::power_channel.

void Transports::Radio::Task::radioReport ( void  )

inline

References Transports::Radio::Telemetry::createReport(), Transports::Radio::Telemetry::isIdle(), m_args, m_reporter, m_telemetry, Transports::Radio::Arguments::report_enable, and Supervisors::Reporter::Client::trigger().

Referenced by onMain().

void Transports::Radio::Task::turnPowerOff ( void  )

inline

Turn power channel off.

References controlPower(), and DUNE::Tasks::Task::debug().

Referenced by failActivation(), and hardwareUpdateStateMachine().

void Transports::Radio::Task::turnPowerOn ( void  )

inline

Turn power channel on.

References controlPower(), and DUNE::Tasks::Task::debug().

Referenced by hardwareUpdateStateMachine().

Member Data Documentation

Arguments Transports::Radio::Task::m_args

Constructor.

Parameters

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

Referenced by consume(), controlPower(), failActivation(), hardwareUpdateStateMachine(), highSpeedReport(), onEntityResolution(), onRequestActivation(), onResourceInitialization(), onUpdateParameters(), radioReport(), and Task().

IMC::CommSystemsQuery* Transports::Radio::Task::m_comm_systems_query

Driver configuration.

Referenced by consume(), onRequestActivation(), and onResourceAcquisition().

Time::Counter<double> Transports::Radio::Task::m_conn_watchdog

timrer to config modem

Referenced by hardwareUpdateStateMachine(), and Task().

Time::Counter<double> Transports::Radio::Task::m_fast_treport_counter

Higth speed radio report.

Referenced by hardwareUpdateStateMachine(), and highSpeedReport().

bool Transports::Radio::Task::m_powered

True if modem is powered on.

Referenced by consume(), isPowered(), and onUpdateParameters().

RadioDriver* Transports::Radio::Task::m_radio

Referenced by failActivation(), hardwareUpdateStateMachine(), onMain(), and onRequestActivation().

MapAddr Transports::Radio::Task::m_radio_addrs

Map of radio modems by address.

Referenced by consume(), hardwareUpdateStateMachine(), and onResourceInitialization().

MapName Transports::Radio::Task::m_radio_names

Map of radio modems by name.

Referenced by consume(), hardwareUpdateStateMachine(), and onResourceInitialization().

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

Reporter API.

Referenced by consume(), highSpeedReport(), onResourceAcquisition(), onResourceRelease(), and radioReport().

std::string Transports::Radio::Task::m_rxData

Data collected by radio.

Referenced by onMain().

StateMachineStates Transports::Radio::Task::m_sm_state

Current state machine state.

Referenced by consume(), failActivation(), hardwareUpdateStateMachine(), onMain(), onRequestActivation(), and onRequestDeactivation().

uint16_t Transports::Radio::Task::m_systemID

System ID.

Referenced by hardwareUpdateStateMachine(), and onRequestActivation().

Telemetry* Transports::Radio::Task::m_telemetry

Telemetry communication manager.

Referenced by consume(), failActivation(), hardwareUpdateStateMachine(), highSpeedReport(), onMain(), onResourceRelease(), and radioReport().

unsigned Transports::Radio::Task::m_voltage_eid

IMU entity id.

Referenced by consume(), and onEntityResolution().

Collaboration diagram for Transports::Radio::Task: