Sensors::Edgetech2205::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onUpdateParameters (void)
void	onResourceRelease (void)
void	onResourceInitialization (void)
void	queueState (StateMachineStates state)
bool	hasQueuedStates (void) const
StateMachineStates	getCurrentState (void) const
StateMachineStates	dequeueState (void)
void	onRequestActivation (void)
bool	connect (void)
void	failActivation (const std::string &message)
void	onRequestDeactivation (void)
void	disconnect (void)
void	onDeactivation (void)
void	onActivation (void)
void	requestLogName (void)
void	consume (const IMC::PowerChannelState *msg)
void	consume (const IMC::EstimatedState *msg)
void	consume (const IMC::LoggingControl *msg)
void	setPingAutoSelectMode (void)
void	setTriggerCoupling (void)
void	initConfig (void)
void	setDataActive (SubsystemId subsys, const std::string &channels)
void	setPing (SubsystemId subsys, const std::string &channels)
int	getSubsysIndex (int subsys)
void	dispatchDebugData (const std::string &text)
void	handleSonarData (void)
void	writeSubsystemData (SubsystemData *data)
void	updateSubsystemData (SubsystemData *data)
void	handlePacket (void)
bool	readData (void)
void	estimateTimeDelta (Counter< double > &reference_timer)
void	openLog (const Path &path)
void	logPacket (void)
void	closeLog (void)
void	controlPower (IMC::PowerChannelControl::OperationEnum op)
void	turnPowerOn (void)
void	turnPowerOff (void)
bool	isPowered (void)
void	updateStateMachine (void)
void	onMain (void)

Public Attributes
TCPSocket *	m_sock_dat
std::vector< uint8_t >	m_bfr
Parser	m_parser
CommandLink *	m_cmd
Log *	m_log
Counter< double >	m_wdog
Counter< double >	m_time_delta_timer
SubsystemData	m_subsys_data [c_subsys_count]
StateMachineStates	m_sm_state
std::queue< StateMachineStates >	m_sm_state_queue
bool	m_powered
Packet *	m_packet
Arguments	m_args

Static Public Attributes
static const unsigned	c_buffer_size

Constructor & Destructor Documentation

Sensors::Edgetech2205::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Sensors::Edgetech2205::Arguments::addr, Sensors::Edgetech2205::Arguments::autosel_mode, Sensors::Edgetech2205::Arguments::channels_hf, Sensors::Edgetech2205::Arguments::channels_lf, Sensors::Edgetech2205::Arguments::ignored_sample_count, Sensors::Edgetech2205::Arguments::port_cmd, Sensors::Edgetech2205::Arguments::port_dat, Sensors::Edgetech2205::Arguments::power_channel, Sensors::Edgetech2205::Arguments::range_hf, Sensors::Edgetech2205::Arguments::range_lf, Sensors::Edgetech2205::Arguments::time_delta_init_samples, Sensors::Edgetech2205::Arguments::time_delta_init_tout, Sensors::Edgetech2205::Arguments::time_delta_max_latency, Sensors::Edgetech2205::Arguments::time_delta_periodicity, and Sensors::Edgetech2205::Arguments::trg_div.

Member Function Documentation

void Sensors::Edgetech2205::Task::closeLog ( void  )

inline

References Sensors::Edgetech2205::Log::getPath().

bool Sensors::Edgetech2205::Task::connect ( void  )

inline

References Sensors::Edgetech2205::Arguments::addr, and Sensors::Edgetech2205::Arguments::port_cmd.

void Sensors::Edgetech2205::Task::consume ( const IMC::PowerChannelState *  msg )

inline

References Sensors::Edgetech2205::Arguments::power_channel.

void Sensors::Edgetech2205::Task::consume ( const IMC::EstimatedState *  msg )

inline

References Sensors::Edgetech2205::SubsystemData::estates, and Sensors::Edgetech2205::EstimatedStateList::push_back().

void Sensors::Edgetech2205::Task::consume ( const IMC::LoggingControl *  msg )

inline

References Sensors::Edgetech2205::SM_ACT_LOG_WAIT, and Sensors::Edgetech2205::SM_ACT_SAMPLE.

void Sensors::Edgetech2205::Task::controlPower ( IMC::PowerChannelControl::OperationEnum  op )

inline

References Sensors::Edgetech2205::Arguments::power_channel.

StateMachineStates Sensors::Edgetech2205::Task::dequeueState ( void  )

inline

void Sensors::Edgetech2205::Task::disconnect ( void  )

inline

References Sensors::Edgetech2205::CommandLink::shutdown(), Sensors::Edgetech2205::SUBSYS_SSH, and Sensors::Edgetech2205::SUBSYS_SSL.

void Sensors::Edgetech2205::Task::dispatchDebugData ( const std::string &  text )

inline

void Sensors::Edgetech2205::Task::estimateTimeDelta ( Counter< double > &  reference_timer )

inline

References Sensors::Edgetech2205::CommandLink::estimateTimeDelta(), Sensors::Edgetech2205::Arguments::time_delta_init_samples, Sensors::Edgetech2205::Arguments::time_delta_init_tout, and Sensors::Edgetech2205::Arguments::time_delta_max_latency.

void Sensors::Edgetech2205::Task::failActivation ( const std::string &  message )

inline

StateMachineStates Sensors::Edgetech2205::Task::getCurrentState ( void  ) const

inline

int Sensors::Edgetech2205::Task::getSubsysIndex ( int  subsys )

inline

References Sensors::Edgetech2205::SUBSYS_SSH, and Sensors::Edgetech2205::SUBSYS_SSL.

void Sensors::Edgetech2205::Task::handlePacket ( void  )

inline

References Sensors::Edgetech2205::Packet::getMessageType(), and Sensors::Edgetech2205::MSG_ID_SONAR_DATA.

void Sensors::Edgetech2205::Task::handleSonarData ( void  )

inline

References Sensors::Edgetech2205::Packet::get(), Sensors::Edgetech2205::Packet::getSubsystemNumber(), Sensors::Edgetech2205::Arguments::ignored_sample_count, Sensors::Edgetech2205::SubsystemData::ping_count, Sensors::Edgetech2205::SubsystemData::ping_number, and Sensors::Edgetech2205::SDATA_IDX_PING_NUMBER.

bool Sensors::Edgetech2205::Task::hasQueuedStates ( void  ) const

inline

Test if state queue has pending state transitions.

Returns

true if state queue has pending states, false otherwise.

void Sensors::Edgetech2205::Task::initConfig ( void  )

inline

Initialize sidescan configuration.

References Sensors::Edgetech2205::Arguments::channels_hf, Sensors::Edgetech2205::Arguments::channels_lf, Sensors::Edgetech2205::Arguments::range_hf, Sensors::Edgetech2205::Arguments::range_lf, Sensors::Edgetech2205::CommandLink::setPingRange(), Sensors::Edgetech2205::SUBSYS_SSH, and Sensors::Edgetech2205::SUBSYS_SSL.

bool Sensors::Edgetech2205::Task::isPowered ( void  )

inline

Test if power channel is on.

Returns

true if power channel is on, false otherwise.

void Sensors::Edgetech2205::Task::logPacket ( void  )

inline

References Sensors::Edgetech2205::Log::get(), and Sensors::Edgetech2205::Log::put().

void Sensors::Edgetech2205::Task::onActivation ( void  )

inline

References Sensors::Edgetech2205::Arguments::addr, Sensors::Edgetech2205::Arguments::port_dat, Sensors::Edgetech2205::CommandLink::setPingTrigger(), Sensors::Edgetech2205::SUBSYS_SSH, Sensors::Edgetech2205::SUBSYS_SSL, and Sensors::Edgetech2205::TRIG_MODE_INTERNAL.

void Sensors::Edgetech2205::Task::onDeactivation ( void  )

inline

void Sensors::Edgetech2205::Task::onMain ( void  )

inline

void Sensors::Edgetech2205::Task::onRequestActivation ( void  )

inline

References Sensors::Edgetech2205::SM_ACT_BEGIN.

void Sensors::Edgetech2205::Task::onRequestDeactivation ( void  )

inline

References Sensors::Edgetech2205::SM_DEACT_BEGIN.

void Sensors::Edgetech2205::Task::onResourceInitialization ( void  )

inline

void Sensors::Edgetech2205::Task::onResourceRelease ( void  )

inline

void Sensors::Edgetech2205::Task::onUpdateParameters ( void  )

inline

References Sensors::Edgetech2205::Arguments::addr, Sensors::Edgetech2205::Arguments::autosel_mode, Sensors::Edgetech2205::Arguments::channels_hf, Sensors::Edgetech2205::Arguments::channels_lf, Sensors::Edgetech2205::Arguments::port_cmd, Sensors::Edgetech2205::Arguments::port_dat, Sensors::Edgetech2205::Arguments::power_channel, Sensors::Edgetech2205::Arguments::range_hf, Sensors::Edgetech2205::Arguments::range_lf, Sensors::Edgetech2205::CommandLink::setPingRange(), Sensors::Edgetech2205::SUBSYS_SSH, and Sensors::Edgetech2205::SUBSYS_SSL.

void Sensors::Edgetech2205::Task::openLog ( const Path &  path )

inline

References Sensors::Edgetech2205::Log::get(), and Sensors::Edgetech2205::Log::getPath().

void Sensors::Edgetech2205::Task::queueState ( StateMachineStates  state )

inline

Push a new state to the state queue.

Parameters

[in]

state

state machine state.

bool Sensors::Edgetech2205::Task::readData ( void  )

inline

References Sensors::Edgetech2205::Parser::parse().

void Sensors::Edgetech2205::Task::requestLogName ( void  )

inline

void Sensors::Edgetech2205::Task::setDataActive ( SubsystemId  subsys, const std::string &  channels  )

inline

References Sensors::Edgetech2205::CHAN_PORT, Sensors::Edgetech2205::CHAN_STARBOARD, and Sensors::Edgetech2205::CommandLink::setDataActive().

void Sensors::Edgetech2205::Task::setPing ( SubsystemId  subsys, const std::string &  channels  )

inline

References Sensors::Edgetech2205::SubsystemData::active, and Sensors::Edgetech2205::CommandLink::setPing().

void Sensors::Edgetech2205::Task::setPingAutoSelectMode ( void  )

inline

References Sensors::Edgetech2205::Arguments::autosel_mode, Sensors::Edgetech2205::CommandLink::setPingAutoselectMode(), Sensors::Edgetech2205::SUBSYS_SSH, and Sensors::Edgetech2205::SUBSYS_SSL.

void Sensors::Edgetech2205::Task::setTriggerCoupling ( void  )

inline

References Sensors::Edgetech2205::Arguments::channels_hf, Sensors::Edgetech2205::Arguments::channels_lf, Sensors::Edgetech2205::CommandLink::setPingCoupling(), Sensors::Edgetech2205::CommandLink::setPingTrigger(), Sensors::Edgetech2205::SUBSYS_SSH, Sensors::Edgetech2205::SUBSYS_SSL, Sensors::Edgetech2205::Arguments::trg_div, Sensors::Edgetech2205::TRIG_MODE_COUPLED, and Sensors::Edgetech2205::TRIG_MODE_INTERNAL.

void Sensors::Edgetech2205::Task::turnPowerOff ( void  )

inline

void Sensors::Edgetech2205::Task::turnPowerOn ( void  )

inline

void Sensors::Edgetech2205::Task::updateStateMachine ( void  )

inline

References Sensors::Edgetech2205::CommandLink::estimateTimeDelta(), Sensors::Edgetech2205::SM_ACT_BEGIN, Sensors::Edgetech2205::SM_ACT_DONE, Sensors::Edgetech2205::SM_ACT_LOG_REQUEST, Sensors::Edgetech2205::SM_ACT_LOG_WAIT, Sensors::Edgetech2205::SM_ACT_POWER_ON, Sensors::Edgetech2205::SM_ACT_POWER_WAIT, Sensors::Edgetech2205::SM_ACT_SAMPLE, Sensors::Edgetech2205::SM_ACT_SS_SYNC, Sensors::Edgetech2205::SM_ACT_SS_WAIT, Sensors::Edgetech2205::SM_DEACT_BEGIN, Sensors::Edgetech2205::SM_DEACT_DISCONNECT, Sensors::Edgetech2205::SM_DEACT_DONE, Sensors::Edgetech2205::SM_DEACT_POWER_OFF, Sensors::Edgetech2205::SM_DEACT_POWER_WAIT, Sensors::Edgetech2205::SM_IDLE, and Sensors::Edgetech2205::Arguments::time_delta_max_latency.

void Sensors::Edgetech2205::Task::updateSubsystemData ( SubsystemData *  data )

inline

References Sensors::Edgetech2205::SubsystemData::altitude, Sensors::Edgetech2205::SubsystemData::course, Sensors::Edgetech2205::SubsystemData::depth, Sensors::Edgetech2205::SubsystemData::estates, Sensors::Edgetech2205::EstimatedStateList::find(), Sensors::Edgetech2205::Packet::get(), Sensors::Edgetech2205::CommandLink::getEstimatedTimeDelta(), Sensors::Edgetech2205::Packet::getSubsystemNumber(), Sensors::Edgetech2205::Packet::getTimeStamp(), Sensors::Edgetech2205::SubsystemData::heading, Sensors::Edgetech2205::SubsystemData::latitude, Sensors::Edgetech2205::SubsystemData::latitude_rad, Sensors::Edgetech2205::SubsystemData::longitude, Sensors::Edgetech2205::SubsystemData::longitude_rad, Sensors::Edgetech2205::SubsystemData::msec_cpu, Sensors::Edgetech2205::SubsystemData::ping_count, Sensors::Edgetech2205::SubsystemData::ping_number, Sensors::Edgetech2205::SubsystemData::pitch, Sensors::Edgetech2205::SubsystemData::roll, Sensors::Edgetech2205::SDATA_IDX_MILLISECOND_TODAY, Sensors::Edgetech2205::SDATA_IDX_TIME, Sensors::Edgetech2205::SubsystemData::speed, Sensors::Edgetech2205::SubsystemData::time_bdt, Sensors::Edgetech2205::SubsystemData::time_epoch, Sensors::Edgetech2205::SubsystemData::time_msec_today, and Sensors::Edgetech2205::SubsystemData::validity.

void Sensors::Edgetech2205::Task::writeSubsystemData ( SubsystemData *  data )

inline

References Sensors::Edgetech2205::SubsystemData::altitude, Sensors::Edgetech2205::SubsystemData::course, Sensors::Edgetech2205::SubsystemData::depth, Sensors::Edgetech2205::Packet::getMessageData(), Sensors::Edgetech2205::SubsystemData::heading, Sensors::Edgetech2205::SubsystemData::latitude, Sensors::Edgetech2205::SubsystemData::latitude_rad, Sensors::Edgetech2205::SubsystemData::longitude, Sensors::Edgetech2205::SubsystemData::longitude_rad, Sensors::Edgetech2205::SubsystemData::pitch, Sensors::Edgetech2205::SubsystemData::roll, Sensors::Edgetech2205::SDATA_IDX_ALTITUDE, Sensors::Edgetech2205::SDATA_IDX_ANNOTATION_STRING, Sensors::Edgetech2205::SDATA_IDX_COORDINATE_UNITS, Sensors::Edgetech2205::SDATA_IDX_COURSE, Sensors::Edgetech2205::SDATA_IDX_CPU_DAY, Sensors::Edgetech2205::SDATA_IDX_CPU_HOUR, Sensors::Edgetech2205::SDATA_IDX_CPU_MINUTES, Sensors::Edgetech2205::SDATA_IDX_CPU_SECONDS, Sensors::Edgetech2205::SDATA_IDX_CPU_TIME_BASIS, Sensors::Edgetech2205::SDATA_IDX_CPU_YEAR, Sensors::Edgetech2205::SDATA_IDX_DEPTH, Sensors::Edgetech2205::SDATA_IDX_HEADING, Sensors::Edgetech2205::SDATA_IDX_LATITUDE, Sensors::Edgetech2205::SDATA_IDX_LONGITUDE, Sensors::Edgetech2205::SDATA_IDX_MILLISECOND_TODAY, Sensors::Edgetech2205::SDATA_IDX_NMEA_HOUR, Sensors::Edgetech2205::SDATA_IDX_NMEA_MINUTES, Sensors::Edgetech2205::SDATA_IDX_NMEA_SECONDS, Sensors::Edgetech2205::SDATA_IDX_PITCH, Sensors::Edgetech2205::SDATA_IDX_ROLL, Sensors::Edgetech2205::SDATA_IDX_SPEED, Sensors::Edgetech2205::SDATA_IDX_TIME, Sensors::Edgetech2205::SDATA_IDX_VALIDITY, Sensors::Edgetech2205::Packet::set(), Sensors::Edgetech2205::SubsystemData::speed, Sensors::Edgetech2205::SubsystemData::time_bdt, Sensors::Edgetech2205::SubsystemData::time_epoch, Sensors::Edgetech2205::SubsystemData::time_msec_today, and Sensors::Edgetech2205::SubsystemData::validity.

Member Data Documentation

const unsigned Sensors::Edgetech2205::Task::c_buffer_size

static

Buffer size.

Arguments Sensors::Edgetech2205::Task::m_args

Configuration parameters.

std::vector<uint8_t> Sensors::Edgetech2205::Task::m_bfr

Read buffer.

CommandLink* Sensors::Edgetech2205::Task::m_cmd

Command link.

Log* Sensors::Edgetech2205::Task::m_log

Log file.

Packet* Sensors::Edgetech2205::Task::m_packet

Current packet being parsed.

Parser Sensors::Edgetech2205::Task::m_parser

Parser.

bool Sensors::Edgetech2205::Task::m_powered

True if device is powered on.

StateMachineStates Sensors::Edgetech2205::Task::m_sm_state

Current state machine state.

std::queue<StateMachineStates> Sensors::Edgetech2205::Task::m_sm_state_queue

State machine state queue.

TCPSocket* Sensors::Edgetech2205::Task::m_sock_dat

Data socket.

SubsystemData Sensors::Edgetech2205::Task::m_subsys_data[c_subsys_count]

Subsystem specific data.

Counter<double> Sensors::Edgetech2205::Task::m_time_delta_timer

Timer for time delta estimation.

Counter<double> Sensors::Edgetech2205::Task::m_wdog

Watchdog timer.

Collaboration diagram for Sensors::Edgetech2205::Task: