Vision::Lumenera::Task Struct Reference

Detailed Description

Device driver task.

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	updateSlaveEntities (void)
void	onUpdateParameters (void)
bool	checkParameters (void)
void	onResourceAcquisition (void)
void	onResourceRelease (void)
void	consume (const IMC::LoggingControl *msg)
void	consume (const IMC::EstimatedState *msg)
void	onRequestActivation (void)
void	checkActivationProgress (void)
void	onRequestDeactivation (void)
void	checkDeactivationProgress (void)
void	onActivation (void)
void	onDeactivation (void)
void	consume (const IMC::EntityActivationState *msg)
void	consume (const IMC::EntityInfo *msg)
void	startVideo (void)
void	stopVideo (void)
bool	captureFrame (Log::Frame *frame, double timeout=2.0)
void	setProperty (std::string property, std::string value)
void	getProperty (std::string property, std::string &value)
void	setProperties (void)
void	updateFps (void)
void	updateExposure (void)
bool	checkExposure (void)
void	updateGain (void)
bool	checkGain (void)
void	updateWhiteBalance (void)
bool	checkWhiteBalance (void)
void	updateGamma (void)
void	updateMedianFilter (void)
void	updateStrobe (void)
void	changeLogFile (void)
void	captureAndSave (void)
bool	checkConfiguration (void)
bool	updateActualFrameRate (void)
bool	checkCaptureOk (void)
bool	checkLogdirOk (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
Arguments	m_args
HTTPClient *	m_http
std::string	m_boundary
Path	m_log_dir
double	m_timestamp
Hardware::GPIO *	m_pwr_gpio
Hardware::GPIO *	m_led_gpio
bool	m_cfg_dirty
EntityActivationMaster *	m_slave_entities
Counter< double >	m_act_timer
bool	m_log_dir_updated
IMC::EstimatedState	m_estate
Counter< double >	m_cooldown_timer
Log *	m_log
int	m_actual_frame_rate

Static Public Attributes
static const unsigned	c_port
static const unsigned	c_width
static const unsigned	c_height

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	onResourceInitialization (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

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

inline

References Vision::Lumenera::Arguments::address, Vision::Lumenera::Arguments::auto_exposure, Vision::Lumenera::Arguments::auto_gain, Vision::Lumenera::Arguments::auto_whitebalance, Vision::Lumenera::Arguments::camera_capt, Vision::Lumenera::Arguments::camera_cfg, Vision::Lumenera::Arguments::exposure_knee, Vision::Lumenera::Arguments::exposure_max, Vision::Lumenera::Arguments::exposure_value, Vision::Lumenera::Arguments::fps, Vision::Lumenera::Arguments::gain_blue, Vision::Lumenera::Arguments::gain_green, Vision::Lumenera::Arguments::gain_knee, Vision::Lumenera::Arguments::gain_max, Vision::Lumenera::Arguments::gain_red, Vision::Lumenera::Arguments::gain_value, Vision::Lumenera::Arguments::gamma, Vision::Lumenera::Arguments::led_gpio, Vision::Lumenera::Arguments::led_type, Vision::Lumenera::Arguments::log_prefix, Vision::Lumenera::Arguments::max_file_size, Vision::Lumenera::Arguments::median_filter, Vision::Lumenera::Arguments::pwr_gpio, and Vision::Lumenera::Arguments::slave_entities.

Member Function Documentation

void Vision::Lumenera::Task::captureAndSave ( void  )

inline

References Vision::Lumenera::Log::getFreeFrame(), Vision::Lumenera::Log::getSize(), Vision::Lumenera::Arguments::max_file_size, Vision::Lumenera::Log::put(), and Vision::Lumenera::Log::putFree().

bool Vision::Lumenera::Task::captureFrame ( Log::Frame *  frame, double  timeout = 2.0  )

inline

References Vision::Lumenera::HTTPClient::getBinary(), Vision::Lumenera::Log::Frame::getBuffer(), Vision::Lumenera::HTTPClient::getHeader(), Vision::Lumenera::Log::Frame::setTimeStamp(), and Vision::Lumenera::HTTPClient::skipToBoundary().

void Vision::Lumenera::Task::changeLogFile ( void  )

inline

void Vision::Lumenera::Task::checkActivationProgress ( void  )

inline

References Vision::Lumenera::Arguments::camera_capt, Vision::Lumenera::Arguments::camera_cfg, Vision::Lumenera::EntityActivationMaster::checkActivation(), and Vision::Lumenera::EntityActivationMaster::deactivate().

bool Vision::Lumenera::Task::checkCaptureOk ( void  )

inline

bool Vision::Lumenera::Task::checkConfiguration ( void  )

inline

void Vision::Lumenera::Task::checkDeactivationProgress ( void  )

inline

References Vision::Lumenera::EntityActivationMaster::checkDeactivation().

bool Vision::Lumenera::Task::checkExposure ( void  )

inline

References Vision::Lumenera::Arguments::auto_exposure, Vision::Lumenera::Arguments::exposure_knee, Vision::Lumenera::Arguments::exposure_max, and Vision::Lumenera::Arguments::exposure_value.

bool Vision::Lumenera::Task::checkGain ( void  )

inline

References Vision::Lumenera::Arguments::auto_gain, Vision::Lumenera::Arguments::gain_knee, Vision::Lumenera::Arguments::gain_max, and Vision::Lumenera::Arguments::gain_value.

bool Vision::Lumenera::Task::checkLogdirOk ( void  )

inline

bool Vision::Lumenera::Task::checkParameters ( void  )

inline

References Vision::Lumenera::Arguments::fps, Vision::Lumenera::Arguments::gamma, Vision::Lumenera::Arguments::led_type, and Vision::Lumenera::Arguments::median_filter.

bool Vision::Lumenera::Task::checkWhiteBalance ( void  )

inline

References Vision::Lumenera::Arguments::auto_whitebalance, Vision::Lumenera::Arguments::gain_blue, Vision::Lumenera::Arguments::gain_green, and Vision::Lumenera::Arguments::gain_red.

void Vision::Lumenera::Task::consume ( const IMC::LoggingControl *  msg )

inline

References Vision::Lumenera::Arguments::camera_capt, and Vision::Lumenera::Arguments::log_prefix.

void Vision::Lumenera::Task::consume ( const IMC::EstimatedState *  msg )

inline

void Vision::Lumenera::Task::consume ( const IMC::EntityActivationState *  msg )

inline

References Vision::Lumenera::EntityActivationMaster::onEntityActivationState().

void Vision::Lumenera::Task::consume ( const IMC::EntityInfo *  msg )

inline

References Vision::Lumenera::EntityActivationMaster::onEntityInfo().

void Vision::Lumenera::Task::getProperty ( std::string  property, std::string &  value  )

inline

References Vision::Lumenera::Arguments::address, and Vision::Lumenera::HTTPClient::getHeader().

void Vision::Lumenera::Task::onActivation ( void  )

inlinevirtual

Called when the task starts/resumes normal execution.

Reimplemented from DUNE::Tasks::Task.

void Vision::Lumenera::Task::onDeactivation ( void  )

inlinevirtual

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

Reimplemented from DUNE::Tasks::Task.

void Vision::Lumenera::Task::onMain ( void  )

inlinevirtual

Implements DUNE::Tasks::Task.

References Vision::Lumenera::Arguments::camera_capt, and Vision::Lumenera::Arguments::camera_cfg.

void Vision::Lumenera::Task::onRequestActivation ( void  )

inlinevirtual

Called when an external activation request is received.

Derived classes that need to perform extra steps to prepare normal execution should replace the default behaviour of immediate activation with calls to activate() when the request is completed or activationFailed() if the request cannot be honoured.

Reimplemented from DUNE::Tasks::Task.

References Vision::Lumenera::EntityActivationMaster::activate().

void Vision::Lumenera::Task::onRequestDeactivation ( void  )

inlinevirtual

Called when an external deactivation request is received.

Derived classes that need to perform extra steps to prepare normal execution should replace the default behaviour of immediate deactivation with calls to deactivate() when the request is completed or deactivationFailed() if the request cannot be honoured.

Reimplemented from DUNE::Tasks::Task.

References Vision::Lumenera::EntityActivationMaster::deactivate().

void Vision::Lumenera::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 Vision::Lumenera::Arguments::led_gpio, and Vision::Lumenera::Arguments::pwr_gpio.

void Vision::Lumenera::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 Vision::Lumenera::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.

void Vision::Lumenera::Task::setProperties ( void  )

inline

void Vision::Lumenera::Task::setProperty ( std::string  property, std::string  value  )

inline

References Vision::Lumenera::Arguments::address, and Vision::Lumenera::HTTPClient::getHeader().

void Vision::Lumenera::Task::startVideo ( void  )

inline

References Vision::Lumenera::Arguments::address, and Vision::Lumenera::HTTPClient::getHeader().

void Vision::Lumenera::Task::stopVideo ( void  )

inline

bool Vision::Lumenera::Task::updateActualFrameRate ( void  )

inline

void Vision::Lumenera::Task::updateExposure ( void  )

inline

References Vision::Lumenera::Arguments::auto_exposure, Vision::Lumenera::Arguments::exposure_knee, Vision::Lumenera::Arguments::exposure_max, and Vision::Lumenera::Arguments::exposure_value.

void Vision::Lumenera::Task::updateFps ( void  )

inline

References Vision::Lumenera::Arguments::fps.

void Vision::Lumenera::Task::updateGain ( void  )

inline

References Vision::Lumenera::Arguments::auto_gain, Vision::Lumenera::Arguments::gain_knee, Vision::Lumenera::Arguments::gain_max, and Vision::Lumenera::Arguments::gain_value.

void Vision::Lumenera::Task::updateGamma ( void  )

inline

References Vision::Lumenera::Arguments::gamma.

void Vision::Lumenera::Task::updateMedianFilter ( void  )

inline

References Vision::Lumenera::Arguments::median_filter.

void Vision::Lumenera::Task::updateSlaveEntities ( void  )

inline

References Vision::Lumenera::EntityActivationMaster::addEntity(), Vision::Lumenera::EntityActivationMaster::clear(), and Vision::Lumenera::Arguments::slave_entities.

void Vision::Lumenera::Task::updateStrobe ( void  )

inline

References Vision::Lumenera::Arguments::led_type.

void Vision::Lumenera::Task::updateWhiteBalance ( void  )

inline

References Vision::Lumenera::Arguments::auto_whitebalance, Vision::Lumenera::Arguments::gain_blue, Vision::Lumenera::Arguments::gain_green, and Vision::Lumenera::Arguments::gain_red.

Member Data Documentation

const unsigned Vision::Lumenera::Task::c_height

static

Default image height.

const unsigned Vision::Lumenera::Task::c_port

static

HTTP camera port.

const unsigned Vision::Lumenera::Task::c_width

static

Default image width.

Counter<double> Vision::Lumenera::Task::m_act_timer

Activation timer.

int Vision::Lumenera::Task::m_actual_frame_rate

Actual frame rate.

Arguments Vision::Lumenera::Task::m_args

Configuration parameters.

std::string Vision::Lumenera::Task::m_boundary

MJPEG boundary string.

bool Vision::Lumenera::Task::m_cfg_dirty

Config is dirty.

Counter<double> Vision::Lumenera::Task::m_cooldown_timer

Cooldown timer.

IMC::EstimatedState Vision::Lumenera::Task::m_estate

Last estimated state.

HTTPClient* Vision::Lumenera::Task::m_http

Video stream HTTP connection.

Hardware::GPIO* Vision::Lumenera::Task::m_led_gpio

LEDs GPIO.

Log* Vision::Lumenera::Task::m_log

Log instance.

Path Vision::Lumenera::Task::m_log_dir

Destination log folder.

bool Vision::Lumenera::Task::m_log_dir_updated

True if received the logging path.

Hardware::GPIO* Vision::Lumenera::Task::m_pwr_gpio

Power GPIO.

EntityActivationMaster* Vision::Lumenera::Task::m_slave_entities

Slave entities.

double Vision::Lumenera::Task::m_timestamp

Collaboration diagram for Vision::Lumenera::Task: