DUNE: Uniform Navigational Environment
2020.01.0
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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 | bind (unsigned int message_id, AbstractConsumer *consumer) |
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 |
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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.
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Called when the task starts/resumes normal execution.
Reimplemented from DUNE::Tasks::Task.
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Called when the task stops normal execution and enters an idleness state.
Reimplemented from DUNE::Tasks::Task.
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Implements DUNE::Tasks::Task.
References Vision::Lumenera::Arguments::camera_capt, and Vision::Lumenera::Arguments::camera_cfg.
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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().
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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().
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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.
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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.
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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.
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References Vision::Lumenera::Arguments::fps.
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References Vision::Lumenera::Arguments::gamma.
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References Vision::Lumenera::Arguments::median_filter.
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References Vision::Lumenera::Arguments::led_type.
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Default image height.
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HTTP camera port.
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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.
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 |