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

void	onUpdateParameters (void)

void	onResourceRelease (void)

void	onResourceAcquisition (void)

void	onResourceInitialization (void)

void	onActivation (void)

void	onDeactivation (void)

void	consume (const IMC::GpsFix *msg)

void	consume (const IMC::ReportControl *msg)

void	consume (const IMC::TextMessage *msg)

void	consume (const IMC::Abort *msg)

void	consume (const IMC::Heartbeat *msg)

void	consume (const IMC::FuelLevel *msg)

void	consume (const IMC::Voltage *msg)

void	consume (const IMC::PlanControlState *msg)

void	consume (const IMC::VehicleMedium *msg)

void	consume (const IMC::VehicleState *msg)

char	vehicleStateChar (const uint8_t vstate)

void	sendSMS (const char *prefix, unsigned timeout, std::string recipient="")

void	sendScheduled (void)

void	sendDistress (void)

void	task (void)

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

virtual	~Periodic (void)

void	setFrequency (double freq)

double	getFrequency (void) const

double	getRunTime (void) const

unsigned	getRunCount (void) const

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::string	m_emsg

float	m_fuel

float	m_fuel_conf

float	m_bat_voltage

bool	m_in_mission

float	m_progress

unsigned	m_req

uint8_t	m_vstate

Counter< double >	m_lost_coms_timer

DUNE::Monitors::MediumHandler	m_hand

Supervisors::Reporter::Client *	m_reporter

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	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

Monitors::Emergency::Task::Task	(	const std::string &	name,
		Tasks::Context &	ctx
	)

inline

References Monitors::Emergency::Arguments::heartbeat_tout, Monitors::Emergency::Arguments::interface, Monitors::Emergency::Arguments::recipient, Monitors::Emergency::Arguments::sms_abort_ttl, and Monitors::Emergency::Arguments::sms_lost_coms_ttl.

Member Function Documentation

void Monitors::Emergency::Task::consume ( const IMC::GpsFix * msg )

inline

void Monitors::Emergency::Task::consume ( const IMC::ReportControl * msg )

inline

References Supervisors::Reporter::Client::consume().

void Monitors::Emergency::Task::consume ( const IMC::TextMessage * msg )

inline

References Monitors::Emergency::Arguments::sms_lost_coms_ttl.

void Monitors::Emergency::Task::consume ( const IMC::Abort * msg )

inline

References Monitors::Emergency::Arguments::sms_abort_ttl.

void Monitors::Emergency::Task::consume ( const IMC::Heartbeat * msg )

inline

void Monitors::Emergency::Task::consume ( const IMC::FuelLevel * msg )

inline

void Monitors::Emergency::Task::consume ( const IMC::Voltage * msg )

inline

void Monitors::Emergency::Task::consume ( const IMC::PlanControlState * msg )

inline

void Monitors::Emergency::Task::consume ( const IMC::VehicleMedium * msg )

inline

References DUNE::Monitors::MediumHandler::isUnderwater(), and DUNE::Monitors::MediumHandler::update().

void Monitors::Emergency::Task::consume ( const IMC::VehicleState * msg )

inline

void Monitors::Emergency::Task::onActivation ( void )

inlinevirtual

Called when the task starts/resumes normal execution.

Reimplemented from DUNE::Tasks::Task.

void Monitors::Emergency::Task::onDeactivation ( void )

inlinevirtual

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

Reimplemented from DUNE::Tasks::Task.

void Monitors::Emergency::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.

References Supervisors::Reporter::IS_GSM.

void Monitors::Emergency::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.

References Monitors::Emergency::Arguments::heartbeat_tout.

void Monitors::Emergency::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.

void Monitors::Emergency::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 Monitors::Emergency::Arguments::heartbeat_tout.

void Monitors::Emergency::Task::sendDistress ( void )

inline

Send distress messages if active and not underwater, or, if not executing mission and waiting at water surface.

References DUNE::Monitors::MediumHandler::isUnderwater(), DUNE::Monitors::MediumHandler::isWaterSurface(), and Monitors::Emergency::Arguments::sms_lost_coms_ttl.

void Monitors::Emergency::Task::sendScheduled ( void )

inline

Send all scheduled reports.

References DUNE::Monitors::MediumHandler::isUnderwater(), Monitors::Emergency::Arguments::recipient, Monitors::Emergency::Arguments::sms_lost_coms_ttl, and Supervisors::Reporter::Client::trigger().

void Monitors::Emergency::Task::sendSMS	(	const char *	prefix,
		unsigned	timeout,
		std::string	recipient = `""`
	)

inline

Send SMS request.

Parameters

[in]	prefix	message prefix.
[in]	timeout	time to live.
[in]	recipient	destination recipient.

References DUNE::IMC::IridiumMsgTx::data, Monitors::Emergency::Arguments::interface, Monitors::Emergency::Arguments::recipient, DUNE::IMC::IridiumMsgTx::req_id, and DUNE::IMC::IridiumMsgTx::ttl.

void Monitors::Emergency::Task::task ( void )

inlinevirtual

The task to be executed on each cycle.

Implements DUNE::Tasks::Periodic.

char Monitors::Emergency::Task::vehicleStateChar ( const uint8_t vstate )

inline

Member Data Documentation

Arguments Monitors::Emergency::Task::m_args

Task arguments.

float Monitors::Emergency::Task::m_bat_voltage

Batteries voltage.

std::string Monitors::Emergency::Task::m_emsg

Emergency message.

float Monitors::Emergency::Task::m_fuel

Fuel level.

float Monitors::Emergency::Task::m_fuel_conf

Confidence in fuel level.

DUNE::Monitors::MediumHandler Monitors::Emergency::Task::m_hand

Medium handler.

bool Monitors::Emergency::Task::m_in_mission

True if executing plan.

Counter<double> Monitors::Emergency::Task::m_lost_coms_timer

Lost communications timer.

float Monitors::Emergency::Task::m_progress

Executing plan's progress.

Supervisors::Reporter::Client* Monitors::Emergency::Task::m_reporter

Reporter API.

unsigned Monitors::Emergency::Task::m_req

Iridium request identifier.

uint8_t Monitors::Emergency::Task::m_vstate

Vehicle State.

Collaboration diagram for Monitors::Emergency::Task:

Public Member Functions

Public Attributes

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation