Sensors::MLBL::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onResourceAcquisition (void)
void	onResourceRelease (void)
void	onUpdateParameters (void)
void	onResourceInitialization (void)
bool	consumeResult (Results value)
void	addResult (Results value)
void	setAndSendState (EntityStates state)
void	onEntityResolution (void)
void	handleConfigParam (NMEAReader *const stn)
void	handleMiniPacket (NMEAReader *const stn)
void	handleTransponderTravelTimes (NMEAReader *const stn)
void	handlePingReply (NMEAReader *const stn)
void	processInput (double timeout=c_cmd_reply_tout)
void	handleBinaryMessage (NMEAReader *const stn)
void	ping (void)
void	pingMicroModem (unsigned index)
void	pingNarrowBand (void)
void	fullAcousticReport (void)
void	consume (const IMC::LblConfig *msg)
void	consume (const IMC::SoundSpeed *msg)
void	consume (const IMC::EstimatedState *msg)
void	consume (const IMC::VehicleMedium *msg)
void	consume (const IMC::PlanControlState *msg)
void	consume (const IMC::FuelLevel *msg)
void	consume (const IMC::ReportControl *msg)
void	consume (const IMC::Salinity *msg)
void	reportRanges (double now)
void	configureModem (const std::string &code, const std::string &parameter, const unsigned value)
void	sendDelayedCommand (const std::string &cmd, double delay_bef, double delay_aft)
void	sendCommand (const std::string &cmd)
void	logCommand (const std::string &cmd)
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
LBL	m_lbl
IMC::LblConfig	m_lbl_config
NarrowBandMap	m_nbmap
MicroModemSystemsMap	m_smap
MicroModemAddressMap	m_amap
SerialPort *	m_uart
IMC::EntityState	m_states [STA_MAX]
char	m_bfr [c_bfr_size]
Arguments	m_args
EntityStates	m_state
unsigned	m_addr
unsigned	m_result
double	m_last_input
double	m_sound_speed
int	m_sound_speed_eid
IMC::EstimatedState	m_estate
bool	m_stop_comms
int8_t	m_progress
float	m_fuel_level
float	m_fuel_conf
Time::Counter< float >	m_pinger
Supervisors::Reporter::Client *	m_reporter
IMC::Salinity *	m_salinity

Static Public Attributes
static const int	c_bfr_size

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

inline

References Sensors::MLBL::Arguments::addr_section, Sensors::MLBL::Arguments::good_range_age, Sensors::MLBL::Arguments::mpk_delay_aft, Sensors::MLBL::Arguments::mpk_delay_bef, Sensors::MLBL::Arguments::only_underwater, Sensors::MLBL::Arguments::ping_period, Sensors::MLBL::Arguments::ping_tout_mm, Sensors::MLBL::Arguments::ping_tout_nb, Sensors::MLBL::Arguments::ping_wait_nb, Sensors::MLBL::Arguments::report, Sensors::MLBL::Arguments::report_delay_aft, Sensors::MLBL::Arguments::report_delay_bef, Sensors::MLBL::Arguments::rx_length, Sensors::MLBL::Arguments::sound_speed_def, Sensors::MLBL::Arguments::sound_speed_elabel, Sensors::MLBL::STA_ACTIVE, Sensors::MLBL::STA_BOOT, Sensors::MLBL::STA_ERR_COM, Sensors::MLBL::STA_ERR_SRC, Sensors::MLBL::STA_ERR_STP, Sensors::MLBL::STA_IDLE, Sensors::MLBL::STA_NO_BEACONS, Sensors::MLBL::Arguments::turn_around_time, Sensors::MLBL::Arguments::tx_length, Sensors::MLBL::Arguments::uart_baud, and Sensors::MLBL::Arguments::uart_dev.

Member Function Documentation

void Sensors::MLBL::Task::addResult ( Results  value )

inline

void Sensors::MLBL::Task::configureModem ( const std::string &  code, const std::string &  parameter, const unsigned  value  )

inline

Configure a modem parameter.

Parameters

[in]	code	NMEA code of the message to be transmitted.
[in]	parameter	modem parameter to be configured.
[in]	value	new configuration value.

void Sensors::MLBL::Task::consume ( const IMC::LblConfig *  msg )

inline

References Sensors::MLBL::BT_MODEM, Sensors::MLBL::BT_TRANSPONDER, Sensors::MLBL::LBL::clear(), Sensors::MLBL::Beacon::depth, Sensors::MLBL::Beacon::id, Sensors::MLBL::Beacon::lat, Sensors::MLBL::Beacon::lon, Sensors::MLBL::Beacon::name, Sensors::MLBL::LBL::push_back(), Sensors::MLBL::Beacon::query_frequency, Sensors::MLBL::Beacon::reply_frequency, Sensors::MLBL::STA_ACTIVE, Sensors::MLBL::STA_ERR_COM, Sensors::MLBL::STA_ERR_SRC, Sensors::MLBL::STA_ERR_STP, Sensors::MLBL::STA_IDLE, and Sensors::MLBL::Beacon::type.

void Sensors::MLBL::Task::consume ( const IMC::SoundSpeed *  msg )

inline

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

inline

void Sensors::MLBL::Task::consume ( const IMC::VehicleMedium *  msg )

inline

References Sensors::MLBL::Arguments::only_underwater.

void Sensors::MLBL::Task::consume ( const IMC::PlanControlState *  msg )

inline

void Sensors::MLBL::Task::consume ( const IMC::FuelLevel *  msg )

inline

void Sensors::MLBL::Task::consume ( const IMC::ReportControl *  msg )

inline

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

void Sensors::MLBL::Task::consume ( const IMC::Salinity *  msg )

inline

bool Sensors::MLBL::Task::consumeResult ( Results  value )

inline

void Sensors::MLBL::Task::fullAcousticReport ( void  )

inline

References Supervisors::Reporter::Client::ack(), Sensors::MLBL::Arguments::good_range_age, and Sensors::MLBL::LBL::size().

void Sensors::MLBL::Task::handleBinaryMessage ( NMEAReader *const  stn )

inline

References Sensors::MLBL::Arguments::mpk_delay_aft, Sensors::MLBL::Arguments::mpk_delay_bef, Sensors::MLBL::RS_MPK_ACKD, Sensors::MLBL::RS_MPK_SENT, and Sensors::MLBL::RS_MPK_STAR.

void Sensors::MLBL::Task::handleConfigParam ( NMEAReader *const  stn )

inline

References Sensors::MLBL::RS_CTO_ACKD, Sensors::MLBL::RS_NRV_ACKD, Sensors::MLBL::RS_SRC_ACKD, Sensors::MLBL::RS_TAT_ACKD, Sensors::MLBL::RS_XST_ACKD, and Sensors::MLBL::Arguments::turn_around_time.

void Sensors::MLBL::Task::handleMiniPacket ( NMEAReader *const  stn )

inline

References Sensors::MLBL::Arguments::mpk_delay_aft, Sensors::MLBL::Arguments::mpk_delay_bef, Sensors::MLBL::RS_MPK_ACKD, Sensors::MLBL::RS_MPK_SENT, and Sensors::MLBL::RS_MPK_STAR.

void Sensors::MLBL::Task::handlePingReply ( NMEAReader *const  stn )

inline

References Sensors::MLBL::LBL::size().

void Sensors::MLBL::Task::handleTransponderTravelTimes ( NMEAReader *const  stn )

inline

References Sensors::MLBL::BT_TRANSPONDER, Sensors::MLBL::RS_PNG_TIME, and Sensors::MLBL::LBL::size().

void Sensors::MLBL::Task::logCommand ( const std::string &  cmd )

inline

Log NMEA message.

Parameters

[in]

cmd

NMEA message to be logged.

void Sensors::MLBL::Task::onEntityResolution ( void  )

inlinevirtual

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

See resolveEntity(). Derived classes that need to resolve entity identifiers should override this function.

Reimplemented from DUNE::Tasks::Task.

References Sensors::MLBL::Arguments::sound_speed_def, and Sensors::MLBL::Arguments::sound_speed_elabel.

void Sensors::MLBL::Task::onMain ( void  )

inlinevirtual

Implements DUNE::Tasks::Task.

References Sensors::MLBL::LBL::empty(), Sensors::MLBL::Arguments::report, Sensors::MLBL::STA_ERR_COM, and Supervisors::Reporter::Client::trigger().

void Sensors::MLBL::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_ACOUSTIC, Sensors::MLBL::STA_BOOT, Sensors::MLBL::Arguments::uart_baud, and Sensors::MLBL::Arguments::uart_dev.

void Sensors::MLBL::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 Sensors::MLBL::Arguments::addr_section, Sensors::MLBL::LBL::empty(), Sensors::MLBL::RS_CTO_ACKD, Sensors::MLBL::RS_NRV_ACKD, Sensors::MLBL::RS_SRC_ACKD, Sensors::MLBL::RS_TAT_ACKD, Sensors::MLBL::RS_XST_ACKD, Sensors::MLBL::STA_ERR_SRC, Sensors::MLBL::STA_ERR_STP, Sensors::MLBL::STA_IDLE, Sensors::MLBL::STA_NO_BEACONS, and Sensors::MLBL::Arguments::turn_around_time.

void Sensors::MLBL::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 Sensors::MLBL::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 Sensors::MLBL::Arguments::ping_period, and Sensors::MLBL::Arguments::sound_speed_def.

void Sensors::MLBL::Task::ping ( void  )

inline

References Sensors::MLBL::LBL::isModem(), and Sensors::MLBL::LBL::next().

void Sensors::MLBL::Task::pingMicroModem ( unsigned  index )

inline

References Sensors::MLBL::Arguments::ping_tout_mm.

void Sensors::MLBL::Task::pingNarrowBand ( void  )

inline

References Sensors::MLBL::BT_TRANSPONDER, Sensors::MLBL::Arguments::ping_tout_nb, Sensors::MLBL::Arguments::ping_wait_nb, Sensors::MLBL::RS_PNG_ACKD, Sensors::MLBL::RS_PNG_TIME, Sensors::MLBL::Arguments::rx_length, Sensors::MLBL::LBL::size(), Sensors::MLBL::STA_ACTIVE, and Sensors::MLBL::Arguments::tx_length.

void Sensors::MLBL::Task::processInput ( double  timeout = c_cmd_reply_tout )

inline

References Sensors::MLBL::RS_MPK_ACKD, Sensors::MLBL::RS_MPK_SENT, Sensors::MLBL::RS_MPK_STAR, Sensors::MLBL::RS_PNG_ACKD, Sensors::MLBL::STA_ACTIVE, Sensors::MLBL::STA_IDLE, and Sensors::MLBL::STA_NO_BEACONS.

void Sensors::MLBL::Task::reportRanges ( double  now )

inline

References Supervisors::Reporter::Client::ack(), Sensors::MLBL::Arguments::good_range_age, Sensors::MLBL::Arguments::mpk_delay_aft, Sensors::MLBL::Arguments::mpk_delay_bef, Sensors::MLBL::Arguments::report_delay_aft, Sensors::MLBL::Arguments::report_delay_bef, Sensors::MLBL::RS_MPK_ACKD, Sensors::MLBL::RS_MPK_SENT, Sensors::MLBL::RS_MPK_STAR, and Sensors::MLBL::LBL::size().

void Sensors::MLBL::Task::sendCommand ( const std::string &  cmd )

inline

Send command to modem and log it.

Parameters

[in]

cmd

NMEA message to be transmitted.

void Sensors::MLBL::Task::sendDelayedCommand ( const std::string &  cmd, double  delay_bef, double  delay_aft  )

inline

Send a command to the modem processing input before and after.

Parameters

[in]	cmd	NMEA message to be transmitted.
[in]	delay_bef	time to process input from modem before.
[in]	delay_aft	time to process input from modem after.

void Sensors::MLBL::Task::setAndSendState ( EntityStates  state )

inline

Member Data Documentation

const int Sensors::MLBL::Task::c_bfr_size

static

Maximum buffer size.

unsigned Sensors::MLBL::Task::m_addr

Modem address.

MicroModemAddressMap Sensors::MLBL::Task::m_amap

Arguments Sensors::MLBL::Task::m_args

Task arguments.

char Sensors::MLBL::Task::m_bfr[c_bfr_size]

Internal buffer.

IMC::EstimatedState Sensors::MLBL::Task::m_estate

Estimated state.

float Sensors::MLBL::Task::m_fuel_conf

Last fuel level confidence.

float Sensors::MLBL::Task::m_fuel_level

Last fuel level.

double Sensors::MLBL::Task::m_last_input

Time of last serial port input.

LBL Sensors::MLBL::Task::m_lbl

LBL setup.

IMC::LblConfig Sensors::MLBL::Task::m_lbl_config

Current LBL configuration.

NarrowBandMap Sensors::MLBL::Task::m_nbmap

Map of narrow band transponders.

Time::Counter<float> Sensors::MLBL::Task::m_pinger

Pinger.

int8_t Sensors::MLBL::Task::m_progress

Last progress.

Supervisors::Reporter::Client* Sensors::MLBL::Task::m_reporter

Reporter API.

unsigned Sensors::MLBL::Task::m_result

Bitfield with results of last processInput().

IMC::Salinity* Sensors::MLBL::Task::m_salinity

Last received salinity message.

MicroModemSystemsMap Sensors::MLBL::Task::m_smap

double Sensors::MLBL::Task::m_sound_speed

Current sound speed (m/s).

int Sensors::MLBL::Task::m_sound_speed_eid

Sound speed entity id.

EntityStates Sensors::MLBL::Task::m_state

Current state.

IMC::EntityState Sensors::MLBL::Task::m_states[STA_MAX]

Entity states.

bool Sensors::MLBL::Task::m_stop_comms

Stop reports on the ground.

SerialPort* Sensors::MLBL::Task::m_uart

Serial port handle.

Collaboration diagram for Sensors::MLBL::Task: