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

void	onResourceAcquisition (void)

void	onResourceInitialization (void)

void	onResourceRelease (void)

void	onActivation (void)

void	onDeactivation (void)

void	handleIridiumCommand (IridiumCommand *irCmd)

void	handleUpdates (std::vector< DevicePosition > positions)

void	consume (const IMC::IridiumMsgRx *msg)

void	consume (const IMC::PlanControlState *msg)

void	consume (const IMC::FuelLevel *msg)

void	consume (const IMC::VehicleState *msg)

void	consume (const IMC::Announce *msg)

void	consume (const IMC::IridiumTxStatus *msg)

bool	sendAnnounce (void)

bool	sendDeviceUpdates (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
std::map< std::string, IMC::Announce >	m_last_announces

double	m_last_dev_update_time

double	m_last_announce_time

bool	m_update_pool_empty

bool	m_announce_pool_empty

int	m_dev_update_req_id

int	m_announce_req_id

IMC::FuelLevel	m_fuel_state

IMC::PlanControlState	m_plan_state

IMC::VehicleState	m_vehicle_state

Random::Generator *	m_rnd

Arguments	m_args

Additional Inherited Members
Public Types inherited from DUNE::Concurrency::Runnable
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	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::Iridium::Task::Task	(	const std::string &	name,
		Tasks::Context &	ctx
	)

inline

References Transports::Iridium::Arguments::delay_between_announces, Transports::Iridium::Arguments::delay_between_device_updates, Transports::Iridium::Arguments::max_age_secs, and Transports::Iridium::Arguments::text_origin.

Member Function Documentation

void Transports::Iridium::Task::consume ( const IMC::IridiumMsgRx * msg )

inline

References DUNE::IMC::IridiumMessage::deserialize(), DUNE::IMC::Message::getName(), DUNE::IMC::Message::getTimeStamp(), Transports::Iridium::Arguments::max_age_secs, DUNE::IMC::ImcIridiumMessage::msg, DUNE::IMC::IridiumMessage::msg_id, DUNE::IMC::Message::setSource(), and DUNE::IMC::IridiumMessage::source.

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

inline

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

inline

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

inline

void Transports::Iridium::Task::consume ( const IMC::Announce * msg )

inline

void Transports::Iridium::Task::consume ( const IMC::IridiumTxStatus * msg )

inline

void Transports::Iridium::Task::handleIridiumCommand ( IridiumCommand * irCmd )

inline

References Transports::Iridium::Arguments::text_origin.

void Transports::Iridium::Task::handleUpdates ( std::vector< DevicePosition > positions )

inline

void Transports::Iridium::Task::onActivation ( void )

inlinevirtual

Called when the task starts/resumes normal execution.

Reimplemented from DUNE::Tasks::Task.

void Transports::Iridium::Task::onDeactivation ( void )

inlinevirtual

Called when the task stops normal execution and enters an idleness state.

Reimplemented from DUNE::Tasks::Task.

void Transports::Iridium::Task::onMain ( void )

inlinevirtual

Implements DUNE::Tasks::Task.

References Transports::Iridium::Arguments::delay_between_announces, and Transports::Iridium::Arguments::delay_between_device_updates.

void Transports::Iridium::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.

void Transports::Iridium::Task::onResourceInitialization ( void )

inlinevirtual

Called when the task is instructed to initialize resources acquired previously or whose initialization depends on run-time parameters.

Reimplemented from DUNE::Tasks::Task.

void Transports::Iridium::Task::onResourceRelease ( void )

inlinevirtual

Called when the task is instructed to release resources.

Derived classes that override this function must not assume that any resource was previously acquired. This function must be implemented in such a way that it can be called at any time.

Reimplemented from DUNE::Tasks::Task.

bool Transports::Iridium::Task::sendAnnounce ( void )

inline

References DUNE::IMC::IridiumMsgTx::data, DUNE::IMC::IridiumMessage::destination, DUNE::Math::Random::Generator::random(), DUNE::IMC::IridiumMsgTx::req_id, DUNE::IMC::ImcIridiumMessage::serialize(), DUNE::IMC::Message::setTimeStamp(), DUNE::IMC::IridiumMessage::source, and DUNE::IMC::IridiumMsgTx::ttl.

bool Transports::Iridium::Task::sendDeviceUpdates ( void )

inline

References DUNE::IMC::IridiumMessage::destination, DUNE::IMC::DeviceUpdate::positions, DUNE::Math::Random::Generator::random(), DUNE::IMC::DeviceUpdate::serialize(), and DUNE::IMC::IridiumMessage::source.

Member Data Documentation

bool Transports::Iridium::Task::m_announce_pool_empty

int Transports::Iridium::Task::m_announce_req_id

Arguments Transports::Iridium::Task::m_args

int Transports::Iridium::Task::m_dev_update_req_id

IMC::FuelLevel Transports::Iridium::Task::m_fuel_state

double Transports::Iridium::Task::m_last_announce_time

std::map<std::string, IMC::Announce> Transports::Iridium::Task::m_last_announces

double Transports::Iridium::Task::m_last_dev_update_time

IMC::PlanControlState Transports::Iridium::Task::m_plan_state

Random::Generator* Transports::Iridium::Task::m_rnd

bool Transports::Iridium::Task::m_update_pool_empty

IMC::VehicleState Transports::Iridium::Task::m_vehicle_state

Collaboration diagram for Transports::Iridium::Task:

Public Member Functions

Public Attributes

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation