DUNE: Uniform Navigational Environment  2019.02.1
List of all members | Public Member Functions | Public Attributes
Actuators::LED4R::Task Struct Reference

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]nametask name.
[in]ctxcontext.

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:
Collaboration graph