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

void	onUpdateParameters (void)

void	consume (const IMC::EstimatedState *e_state)

void	trigger (void)

void	sendPulse (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

float	m_period

double	m_lat

double	m_lon

float	m_hei

float	m_roll

float	m_pitch

float	m_yaw

double	m_prev_lat

double	m_prev_lon

float	m_prev_hei

float	m_distance

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	onResourceAcquisition (void)

virtual void	onResourceRelease (void)

virtual void	onResourceInitialization (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

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

inline

Constructor.

Parameters

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

References Vision::PhotoTrigger::Arguments::altitude, DUNE::Tasks::Parameter::defaultValue(), Vision::PhotoTrigger::Arguments::dist_trigger, Vision::PhotoTrigger::Arguments::focal_l, Vision::PhotoTrigger::Arguments::freq, m_args, Vision::PhotoTrigger::Arguments::overlap, DUNE::Tasks::Task::param(), DUNE::Tasks::Task::paramActive(), and Vision::PhotoTrigger::Arguments::pcc_name.

Member Function Documentation

void Vision::PhotoTrigger::Task::consume ( const IMC::EstimatedState * e_state )

inline

References Vision::PhotoTrigger::Arguments::dist_trigger, DUNE::Tasks::Task::getSystemId(), m_args, m_distance, m_hei, m_lat, m_lon, m_pitch, m_prev_hei, m_prev_lat, m_prev_lon, m_roll, m_yaw, and trigger().

void Vision::PhotoTrigger::Task::onMain ( void )

inlinevirtual

Main loop.

Implements DUNE::Tasks::Task.

References DUNE::Tasks::Task::consumeMessages(), Vision::PhotoTrigger::Arguments::dist_trigger, DUNE::Tasks::Task::isActive(), m_args, sendPulse(), DUNE::Tasks::Task::stopping(), and DUNE::Tasks::Task::waitForMessages().

void Vision::PhotoTrigger::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 Vision::PhotoTrigger::Arguments::altitude, Vision::PhotoTrigger::Arguments::focal_l, Vision::PhotoTrigger::Arguments::freq, m_args, m_distance, m_period, and Vision::PhotoTrigger::Arguments::overlap.

void Vision::PhotoTrigger::Task::sendPulse ( void )

inline

References m_period, and trigger().

Referenced by onMain().

void Vision::PhotoTrigger::Task::trigger ( void )

inline

References DUNE::Tasks::Task::dispatch(), m_args, m_hei, m_lat, m_lon, m_pitch, m_roll, m_yaw, and Vision::PhotoTrigger::Arguments::pcc_name.

Referenced by consume(), and sendPulse().

Member Data Documentation

Arguments Vision::PhotoTrigger::Task::m_args

Task arguments.

Referenced by consume(), onMain(), onUpdateParameters(), Task(), and trigger().

float Vision::PhotoTrigger::Task::m_distance

Distance between shots.

Referenced by consume(), and onUpdateParameters().

float Vision::PhotoTrigger::Task::m_hei

Referenced by consume(), and trigger().

double Vision::PhotoTrigger::Task::m_lat

Current position.

Referenced by consume(), and trigger().

double Vision::PhotoTrigger::Task::m_lon

Referenced by consume(), and trigger().

float Vision::PhotoTrigger::Task::m_period

Trigger period.

Referenced by onUpdateParameters(), and sendPulse().

float Vision::PhotoTrigger::Task::m_pitch

Referenced by consume(), and trigger().

float Vision::PhotoTrigger::Task::m_prev_hei

Referenced by consume().

double Vision::PhotoTrigger::Task::m_prev_lat

Last picture position.

Referenced by consume().

double Vision::PhotoTrigger::Task::m_prev_lon

Referenced by consume().

float Vision::PhotoTrigger::Task::m_roll

Current attitude.

Referenced by consume(), and trigger().

float Vision::PhotoTrigger::Task::m_yaw

Referenced by consume(), and trigger().

Collaboration diagram for Vision::PhotoTrigger::Task:

Public Member Functions

Public Attributes

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation