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

	~Task (void)

void	onEntityReservation (void)

void	onUpdateParameters (void)

void	onResourceAcquisition (void)

void	onResourceInitialization (void)

void	onResourceRelease (void)

void	setConfig (void)

void	consume (const IMC::SetLedBrightness *msg)

void	consume (const IMC::QueryLedBrightness *msg)

void	clearLEDs (void)

bool	setExternalDriver (bool enabled)

bool	setExternalTrigger (bool enabled)

bool	setPatternPulseWidth (uint16_t pwidth)

bool	getConstantParameters (void)

void	setBrightness (LED *led, uint8_t value)

bool	getMonitors (void)

void	onMain (void)

Public Member Functions inherited from DUNE::Tasks::Task
	Task (const std::string &name, Context &context)

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, LED * >	m_led_by_name

std::map< unsigned, LED * >	m_led_by_id

SerialPort *	m_uart

UCTK::Interface *	m_ctl

uint16_t	m_min_dur

uint16_t	m_max_dur

uint16_t	m_dif_dur

IMC::Current	m_current

IMC::Voltage	m_voltage

Entities::BasicEntity *	m_mcu_ent

Counter< double >	m_wdog

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	onEntityResolution (void)

virtual void	onReportEntityState (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

Actuators::LED4R::Task::Task	(	const std::string &	name,
		Tasks::Context &	ctx
	)

inline

Constructor.

Parameters

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

References Actuators::LED4R::Arguments::ext_drv, Actuators::LED4R::Arguments::ext_trg, Actuators::LED4R::Arguments::led_names, Actuators::LED4R::Arguments::led_patterns, Actuators::LED4R::Arguments::led_patterns_pw, Actuators::LED4R::Arguments::uart_dev, and Actuators::LED4R::Arguments::wdog_tout.

Actuators::LED4R::Task::~Task ( void )

inlinevirtual

Destructor.

Reimplemented from DUNE::Tasks::Task.

Member Function Documentation

void Actuators::LED4R::Task::clearLEDs ( void )

inline

void Actuators::LED4R::Task::consume ( const IMC::SetLedBrightness * msg )

inline

void Actuators::LED4R::Task::consume ( const IMC::QueryLedBrightness * msg )

inline

bool Actuators::LED4R::Task::getConstantParameters ( void )

inline

References Actuators::LED4R::PKT_ID_PARAMS.

bool Actuators::LED4R::Task::getMonitors ( void )

inline

References Actuators::LED4R::PKT_ID_STATE.

void Actuators::LED4R::Task::onEntityReservation ( void )

inlinevirtual

Called when the task is instructed to reserve all the entity identifiers it needs for normal execution.

See reserveEntity(). Derived classes that need to reserve entity identifiers other than that of the main entity should override this function.

Reimplemented from DUNE::Tasks::Task.

void Actuators::LED4R::Task::onMain ( void )

inlinevirtual

Main loop.

Implements DUNE::Tasks::Task.

void Actuators::LED4R::Task::onResourceAcquisition ( void )

inlinevirtual

Acquire resources.

Reimplemented from DUNE::Tasks::Task.

References Actuators::LED4R::Arguments::uart_dev.

void Actuators::LED4R::Task::onResourceInitialization ( void )

inlinevirtual

Initialize resources.

Reimplemented from DUNE::Tasks::Task.

References Actuators::LED4R::Arguments::led_patterns, and Actuators::LED4R::PKT_ID_LED_PATTERN.

void Actuators::LED4R::Task::onResourceRelease ( void )

inlinevirtual

Release resources.

Reimplemented from DUNE::Tasks::Task.

void Actuators::LED4R::Task::onUpdateParameters ( void )

inlinevirtual

Update internal state with new parameter values.

Reimplemented from DUNE::Tasks::Task.

References Actuators::LED4R::LED::brightness, Actuators::LED4R::LED::id, Actuators::LED4R::Arguments::led_names, Actuators::LED4R::LED::name, and Actuators::LED4R::Arguments::wdog_tout.

void Actuators::LED4R::Task::setBrightness	(	LED *	led,
		uint8_t	value
	)

inline

References Actuators::LED4R::LED::brightness, Actuators::LED4R::LED::id, and Actuators::LED4R::PKT_ID_LED_PW.

void Actuators::LED4R::Task::setConfig ( void )

inline

References Actuators::LED4R::Arguments::ext_drv, Actuators::LED4R::Arguments::ext_trg, and Actuators::LED4R::Arguments::led_patterns_pw.

bool Actuators::LED4R::Task::setExternalDriver ( bool enabled )

inline

References Actuators::LED4R::PKT_ID_LED_EXT_DRV.

bool Actuators::LED4R::Task::setExternalTrigger ( bool enabled )

inline

References Actuators::LED4R::PKT_ID_LED_EXT_TRG.

bool Actuators::LED4R::Task::setPatternPulseWidth ( uint16_t pwidth )

inline

References Actuators::LED4R::PKT_ID_LED_PATTERN_PW.

Member Data Documentation

Arguments Actuators::LED4R::Task::m_args

Task arguments.

UCTK::Interface* Actuators::LED4R::Task::m_ctl

Control Interface.

IMC::Current Actuators::LED4R::Task::m_current

Current.

uint16_t Actuators::LED4R::Task::m_dif_dur

Difference between maximum and minimum pulse durations.

std::map<unsigned, LED*> Actuators::LED4R::Task::m_led_by_id

Map of LEDs by id.

std::map<std::string, LED*> Actuators::LED4R::Task::m_led_by_name

Map of LEDs by name.

uint16_t Actuators::LED4R::Task::m_max_dur

Maximum pulse duration in ticks.

Entities::BasicEntity* Actuators::LED4R::Task::m_mcu_ent

MCU entity.

uint16_t Actuators::LED4R::Task::m_min_dur

Minimum pulse duration in ticks.

SerialPort* Actuators::LED4R::Task::m_uart

UART.

IMC::Voltage Actuators::LED4R::Task::m_voltage

Voltage.

Counter<double> Actuators::LED4R::Task::m_wdog

Watchdog.

Collaboration diagram for Actuators::LED4R::Task:

Public Member Functions

Public Attributes

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation