DUNE: Uniform Navigational Environment  2019.02.1
List of all members | Public Member Functions | Public Attributes
Sensors::XR620CTD::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
void onUpdateParameters (void)
 
void onResourceRelease (void)
 
void onResourceAcquisition (void)
 
void onResourceInitialization (void)
 
bool readString (char *bfr, unsigned bfr_len, double timeout=1.0)
 
void stopSampling (void)
 
void getCalibration (void)
 
void setParameters (void)
 
void startSampling (void)
 
double applyCoefficients (int coeffs, double value)
 
double computeConductivity (void)
 
double computeTemperature (void)
 
double computePressure (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

SerialPort * m_uart
 
char m_bfr [256]
 
IMC::Conductivity m_cond
 
IMC::Salinity m_sali
 
IMC::SoundSpeed m_sspe
 
IMC::Temperature m_temp
 
IMC::Pressure m_pres
 
IMC::Depth m_depth
 
Math::MovingAverage< double > * m_avg_sspeed
 
Time::Counter< float > m_sspeed_timer
 
Parser m_parser
 
double m_coeffs [3][4]
 
Arguments m_args
 
bool m_wait_sample
 
Counter< double > m_wdog
 

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 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

Sensors::XR620CTD::Task::Task ( const std::string &  name,
Tasks::Context &  ctx 
)
inline

References Sensors::XR620CTD::Arguments::avg_ss_samples, Sensors::XR620CTD::Arguments::output_freq, Sensors::XR620CTD::Arguments::uart_baud, and Sensors::XR620CTD::Arguments::uart_dev.

Member Function Documentation

double Sensors::XR620CTD::Task::applyCoefficients ( int  coeffs,
double  value 
)
inline

Define measurement coefficients.

Parameters
[in]coeffsindex.
[in]valuemultiplier constant.
Returns
output value.
double Sensors::XR620CTD::Task::computeConductivity ( void  )
inline

Compute conductivity.

Returns
conductivity value.

References Sensors::XR620CTD::CHN_CONDUCTIVITY, and Sensors::XR620CTD::Parser::getDataField().

double Sensors::XR620CTD::Task::computePressure ( void  )
inline

Compute pressure.

Returns
pressure value.

References Sensors::XR620CTD::CHN_PRESSURE, and Sensors::XR620CTD::Parser::getDataField().

double Sensors::XR620CTD::Task::computeTemperature ( void  )
inline

Compute temperature.

Returns
temperature value.

References Sensors::XR620CTD::CHN_TEMPERATURE, and Sensors::XR620CTD::Parser::getDataField().

void Sensors::XR620CTD::Task::getCalibration ( void  )
inline

Get calibration from the device.

References Sensors::XR620CTD::CHN_CONDUCTIVITY, Sensors::XR620CTD::CHN_PRESSURE, Sensors::XR620CTD::CHN_TEMPERATURE, and Sensors::XR620CTD::Parser::readDoubleFromASCII().

void Sensors::XR620CTD::Task::onMain ( void  )
inlinevirtual

Implements DUNE::Tasks::Task.

References Sensors::XR620CTD::Parser::parse().

void Sensors::XR620CTD::Task::onResourceAcquisition ( void  )
inlinevirtual

Acquire resources.

Reimplemented from DUNE::Tasks::Task.

References Sensors::XR620CTD::Arguments::uart_baud, and Sensors::XR620CTD::Arguments::uart_dev.

void Sensors::XR620CTD::Task::onResourceInitialization ( void  )
inlinevirtual

Initialize resources.

Reimplemented from DUNE::Tasks::Task.

References Sensors::XR620CTD::Arguments::avg_ss_samples.

void Sensors::XR620CTD::Task::onResourceRelease ( void  )
inlinevirtual

Release allocated resources.

Reimplemented from DUNE::Tasks::Task.

void Sensors::XR620CTD::Task::onUpdateParameters ( void  )
inlinevirtual

Update parameters.

Reimplemented from DUNE::Tasks::Task.

References Sensors::XR620CTD::Arguments::output_freq.

bool Sensors::XR620CTD::Task::readString ( char *  bfr,
unsigned  bfr_len,
double  timeout = 1.0 
)
inline

Read string from serial port.

Parameters
[in]bfrpointer to data buffer.
[in]bfr_lenlength of the data buffer.
[in]timeoutincoming data timeout.
Returns
true if successful, false otherwise.
void Sensors::XR620CTD::Task::setParameters ( void  )
inline

Set device parameters.

References Sensors::XR620CTD::SetupCommands::cmd_get, Sensors::XR620CTD::SetupCommands::cmd_rpl, and Sensors::XR620CTD::SetupCommands::cmd_set.

void Sensors::XR620CTD::Task::startSampling ( void  )
inline

Start sampling data.

void Sensors::XR620CTD::Task::stopSampling ( void  )
inline

Stop sampling device.

Member Data Documentation

Arguments Sensors::XR620CTD::Task::m_args

Task arguments.

Math::MovingAverage<double>* Sensors::XR620CTD::Task::m_avg_sspeed

Sound Speed Moving Average.

char Sensors::XR620CTD::Task::m_bfr[256]

Scratch buffer.

double Sensors::XR620CTD::Task::m_coeffs[3][4]

Channel Coefficients.

IMC::Conductivity Sensors::XR620CTD::Task::m_cond

Conductivity.

IMC::Depth Sensors::XR620CTD::Task::m_depth

Depth.

Parser Sensors::XR620CTD::Task::m_parser

Parser.

IMC::Pressure Sensors::XR620CTD::Task::m_pres

Pressure.

IMC::Salinity Sensors::XR620CTD::Task::m_sali

Salinity.

IMC::SoundSpeed Sensors::XR620CTD::Task::m_sspe

Sound speed.

Time::Counter<float> Sensors::XR620CTD::Task::m_sspeed_timer

Counter to output Speed of Sound.

IMC::Temperature Sensors::XR620CTD::Task::m_temp

Temperature.

SerialPort* Sensors::XR620CTD::Task::m_uart

Serial port device.

bool Sensors::XR620CTD::Task::m_wait_sample

Waiting first sample.

Counter<double> Sensors::XR620CTD::Task::m_wdog

Input watchdog.

Collaboration diagram for Sensors::XR620CTD::Task:
Collaboration graph