DUNE: Uniform Navigational Environment  2019.02.0
List of all members | Public Member Functions | Public Attributes
Sensors::SADC::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
void onEntityReservation (void)
 
void onResourceAcquisition (void)
 
void onResourceInitialization (void)
 
void onResourceRelease (void)
 
void config_SADC (void)
 
bool check_connection_sadc (float c_timeout)
 
void process_feedback (void)
 
bool checkSerialPort (void)
 
bool processInput (double timeout, bool isData)
 
bool checkDataSADC (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

IMC::SadcReadings m_sadc
 
IMC::Voltage m_volt [c_max_adc]
 
Arguments m_args
 
SerialPort * m_uart
 
Poll m_poll
 
double m_tstamp
 
DriverSADC * m_driver
 
uint8_t m_buffer [c_max_buffer]
 
bool m_is_correct_conf
 
float m_voltage_value
 

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 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

Sensors::SADC::Task::Task ( const std::string &  name,
Tasks::Context &  ctx 
)
inline

Constructor.

Parameters
[in]nametask name.
[in]ctxcontext.

References Sensors::SADC::Arguments::adc_conversion_factor, Sensors::SADC::Arguments::adc_elabels, Sensors::SADC::Arguments::adc_fixed_gain, Sensors::SADC::Arguments::adc_fixed_gain_value, Sensors::SADC::Arguments::adc_state, DUNE::Tasks::Parameter::defaultValue(), m_args, Sensors::SADC::Arguments::max_value, DUNE::Tasks::Parameter::maximumValue(), Sensors::SADC::Arguments::min_value, DUNE::Tasks::Parameter::minimumValue(), Sensors::SADC::Arguments::number_sample_switch, DUNE::Tasks::Task::param(), Sensors::SADC::Arguments::sample_rate, Sensors::SADC::Arguments::timeout_uart, Sensors::SADC::Arguments::uart_baud, Sensors::SADC::Arguments::uart_dev, and DUNE::Tasks::Parameter::visibility().

Member Function Documentation

bool Sensors::SADC::Task::check_connection_sadc ( float  c_timeout)
inline

Check connection to sadc board.

References Sensors::SADC::DriverSADC::disable_output(), Sensors::SADC::DriverSADC::enable_output(), m_driver, m_uart, and processInput().

Referenced by onResourceInitialization().

bool Sensors::SADC::Task::checkDataSADC ( void  )
inline

References Sensors::SADC::Arguments::adc_state, DUNE::Tasks::Task::err(), m_args, m_uart, processInput(), DUNE::Tasks::Task::setEntityState(), and Sensors::SADC::Arguments::timeout_uart.

Referenced by onMain().

bool Sensors::SADC::Task::checkSerialPort ( void  )
inline

Read data send by SADC board.

References DUNE::Tasks::Task::err(), m_buffer, m_driver, m_poll, m_tstamp, m_uart, Sensors::SADC::DriverSADC::parse(), and DUNE::Tasks::Task::setEntityState().

Referenced by processInput().

void Sensors::SADC::Task::config_SADC ( void  )
inline

Config board SADC.

References Sensors::SADC::Arguments::adc_fixed_gain, Sensors::SADC::Arguments::adc_fixed_gain_value, Sensors::SADC::Arguments::adc_state, Sensors::SADC::DriverSADC::disable_channel(), Sensors::SADC::DriverSADC::disable_output(), Sensors::SADC::DriverSADC::enable_auto_gain(), Sensors::SADC::DriverSADC::enable_channel(), Sensors::SADC::DriverSADC::enable_output(), DUNE::Tasks::Task::err(), Sensors::SADC::DriverSADC::fix_gain(), DUNE::Tasks::Task::inf(), m_args, m_driver, m_is_correct_conf, m_uart, Sensors::SADC::Arguments::max_value, Sensors::SADC::Arguments::min_value, Sensors::SADC::Arguments::number_sample_switch, process_feedback(), Sensors::SADC::Arguments::sample_rate, Sensors::SADC::DriverSADC::set_max_change_gain(), Sensors::SADC::DriverSADC::set_min_change_gain(), Sensors::SADC::DriverSADC::set_number_sample_sw(), and Sensors::SADC::DriverSADC::set_sample_ps().

Referenced by onResourceInitialization().

void Sensors::SADC::Task::onEntityReservation ( void  )
inlinevirtual

Reserve entity identifiers.

Reimplemented from DUNE::Tasks::Task.

References Sensors::SADC::Arguments::adc_elabels, Sensors::SADC::Arguments::adc_state, m_args, m_volt, DUNE::Tasks::Task::reserveEntity(), and DUNE::Tasks::Task::resolveEntity().

void Sensors::SADC::Task::onMain ( void  )
inlinevirtual

Main loop.

Implements DUNE::Tasks::Task.

References checkDataSADC(), DUNE::Tasks::Task::consumeMessages(), m_is_correct_conf, DUNE::Tasks::Task::setEntityState(), DUNE::Tasks::Task::stopping(), and DUNE::Tasks::Task::waitForMessages().

void Sensors::SADC::Task::onResourceAcquisition ( void  )
inlinevirtual

Acquire resources.

Reimplemented from DUNE::Tasks::Task.

References m_args, m_uart, Sensors::SADC::Arguments::uart_baud, and Sensors::SADC::Arguments::uart_dev.

void Sensors::SADC::Task::onResourceInitialization ( void  )
inlinevirtual

Initialize resources.

Reimplemented from DUNE::Tasks::Task.

References check_connection_sadc(), config_SADC(), m_driver, m_is_correct_conf, m_poll, m_uart, and DUNE::Tasks::Task::setEntityState().

void Sensors::SADC::Task::onResourceRelease ( void  )
inlinevirtual

Release resources.

Reimplemented from DUNE::Tasks::Task.

References Sensors::SADC::DriverSADC::disable_output(), Sensors::SADC::DriverSADC::enable_output(), m_driver, m_poll, and m_uart.

void Sensors::SADC::Task::process_feedback ( void  )
inline

Check feadback of commands.

References m_args, m_is_correct_conf, processInput(), and Sensors::SADC::Arguments::timeout_uart.

Referenced by config_SADC().

bool Sensors::SADC::Task::processInput ( double  timeout,
bool  isData 
)
inline

References Sensors::SADC::Arguments::adc_conversion_factor, Sensors::SADC::DriverSADC::SADCState::channel, checkSerialPort(), DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::err(), Sensors::SADC::DriverSADC::SADCState::gain, DUNE::Tasks::Task::getSystemId(), m_args, m_driver, m_poll, m_sadc, Sensors::SADC::DriverSADC::m_sadc, m_tstamp, m_volt, m_voltage_value, Sensors::SADC::DriverSADC::translate(), Sensors::SADC::DriverSADC::translate_feadback(), and Sensors::SADC::DriverSADC::SADCState::value.

Referenced by check_connection_sadc(), checkDataSADC(), and process_feedback().

Member Data Documentation

Arguments Sensors::SADC::Task::m_args

Task arguments.

Referenced by checkDataSADC(), config_SADC(), onEntityReservation(), onResourceAcquisition(), process_feedback(), processInput(), and Task().

uint8_t Sensors::SADC::Task::m_buffer[c_max_buffer]

Scratch buffer.

Referenced by checkSerialPort().

DriverSADC* Sensors::SADC::Task::m_driver

Parser for message.

Referenced by check_connection_sadc(), checkSerialPort(), config_SADC(), onResourceInitialization(), onResourceRelease(), and processInput().

bool Sensors::SADC::Task::m_is_correct_conf

Flag to check correct configuration of SADC.

Referenced by config_SADC(), onMain(), onResourceInitialization(), and process_feedback().

Poll Sensors::SADC::Task::m_poll

I/O Multiplexer.

Referenced by checkSerialPort(), onResourceInitialization(), onResourceRelease(), and processInput().

IMC::SadcReadings Sensors::SADC::Task::m_sadc

Rpm message.

Referenced by processInput().

double Sensors::SADC::Task::m_tstamp

Read timestamp.

Referenced by checkSerialPort(), and processInput().

SerialPort* Sensors::SADC::Task::m_uart

Serial port device.

Referenced by check_connection_sadc(), checkDataSADC(), checkSerialPort(), config_SADC(), onResourceAcquisition(), onResourceInitialization(), and onResourceRelease().

IMC::Voltage Sensors::SADC::Task::m_volt[c_max_adc]

Voltage message.

Referenced by onEntityReservation(), and processInput().

float Sensors::SADC::Task::m_voltage_value

Value of adc in voltage.

Referenced by processInput().

Collaboration diagram for Sensors::SADC::Task:
Collaboration graph