Vision::PointGrey::Task Struct Reference

Detailed Description

Device driver task.

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onUpdateParameters (void)
void	onResourceInitialization (void)
void	consume (const IMC::LoggingControl *msg)
void	consume (const IMC::EstimatedState *msg)
void	onRequestActivation (void)
void	onRequestDeactivation (void)
void	onActivation (void)
void	onDeactivation (void)
int	moveLogFiles (void)
std::string	getStorageUsageLogs (void)
int	set_cpu_governor (void)
bool	init_gpio_strobe (void)
bool	init_gpio_driver (void)
bool	setGpioDirection (int gpio, bool isOut)
bool	setGpio (CommandType mode, int gpio)
void	updateStrobe (void)
void	getInfoCamera (void)
bool	setUpCamera (void)
bool	pollForTriggerReady (void)
bool	set_shutter_value (float value)
bool	fireSoftwareTrigger (void)
bool	getImage (void)
int	sendImageThread (int cnt_thread)
void	releaseRamCached (void)
void	saveInfoExif (void)
template<class T >
std::string	to_string (const T &t)
void	triggerFrame (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
int	m_lat_deg
int	m_lat_min
double	m_lat_sec
int	m_lon_deg
int	m_lon_min
double	m_lon_sec
char	m_text_exif_timestamp [16]
std::string	m_back_path_log
std::string	m_back_path_main_log
std::string	m_back_epoch
std::string	m_back_time
std::string	m_path_image
std::string	m_back_path_image
Path	m_log_dir
Time::Counter< float >	m_cnt_fps
Time::Counter< float >	m_clean_cached_ram
Time::Counter< float >	m_update_cnt_frames
int	m_thread_cnt
long unsigned int	m_frame_cnt
long unsigned int	m_frame_lost_cnt
std::string	m_note_comment
unsigned int	m_cnt_photos_by_folder
unsigned	m_folder_number
std::string	m_log_name
bool	m_is_to_capture
bool	m_is_strobe
bool	m_is_on
float	m_strobe_delay
bool	m_isStartTask
bool	m_isCapturing
char	m_buffer [64]
std::string	m_storage
Time::Counter< float >	m_timeout_reading
std::string	m_result
bool	m_read_storage
bool	m_read_path

Additional Inherited Members
Public Types inherited from DUNE::Concurrency::Runnable
enum	State {   StateStarting, StateRunning, StateStopping, StateDead,   StateUnknown }
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	onResourceAcquisition (void)
virtual void	onResourceRelease (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

Task()

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

inline

References Vision::PointGrey::Arguments::channel_strobe, Vision::PointGrey::Arguments::copyright, Vision::PointGrey::Arguments::delay_capture, Vision::PointGrey::Arguments::disk_statistics, Vision::PointGrey::Arguments::gpio_drive_power, Vision::PointGrey::Arguments::gpio_strobe, Vision::PointGrey::Arguments::led_type, Vision::PointGrey::Arguments::lens_maker, Vision::PointGrey::Arguments::lens_model, Vision::PointGrey::Arguments::number_fs, Vision::PointGrey::Arguments::number_photos, Vision::PointGrey::Arguments::save_image_dir, Vision::PointGrey::Arguments::shutter_value, Vision::PointGrey::Arguments::split_photos, and Vision::PointGrey::Arguments::system_name.

Member Function Documentation

consume() [1/2]

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

inline

References Vision::PointGrey::Arguments::save_image_dir, Vision::PointGrey::Arguments::split_photos, and Vision::PointGrey::Arguments::system_name.

consume() [2/2]

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

inline

References Vision::PointGrey::Arguments::system_name.

fireSoftwareTrigger()

bool Vision::PointGrey::Task::fireSoftwareTrigger ( void  )

inline

getImage()

bool Vision::PointGrey::Task::getImage ( void  )

inline

References Vision::PointGrey::Arguments::delay_capture, Vision::PointGrey::GPIO_HIGH, Vision::PointGrey::GPIO_LOW, and Vision::PointGrey::Arguments::gpio_strobe.

getInfoCamera()

void Vision::PointGrey::Task::getInfoCamera ( void  )

inline

References Vision::PointGrey::Arguments::copyright, Vision::PointGrey::Arguments::lens_maker, and Vision::PointGrey::Arguments::lens_model.

getStorageUsageLogs()

std::string Vision::PointGrey::Task::getStorageUsageLogs ( void  )

inline

init_gpio_driver()

bool Vision::PointGrey::Task::init_gpio_driver ( void  )

inline

References Vision::PointGrey::Arguments::gpio_drive_power, and Vision::PointGrey::GPIO_HIGH.

init_gpio_strobe()

bool Vision::PointGrey::Task::init_gpio_strobe ( void  )

inline

References Vision::PointGrey::GPIO_LOW, and Vision::PointGrey::Arguments::gpio_strobe.

moveLogFiles()

int Vision::PointGrey::Task::moveLogFiles ( void  )

inline

onActivation()

void Vision::PointGrey::Task::onActivation ( void  )

inlinevirtual

Called when the task starts/resumes normal execution.

Reimplemented from DUNE::Tasks::Task.

References Vision::PointGrey::Arguments::led_type, Vision::PointGrey::Arguments::number_fs, and Vision::PointGrey::Arguments::shutter_value.

onDeactivation()

void Vision::PointGrey::Task::onDeactivation ( void  )

inlinevirtual

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

Reimplemented from DUNE::Tasks::Task.

References Vision::PointGrey::Arguments::disk_statistics, Vision::PointGrey::GPIO_LOW, and Vision::PointGrey::Arguments::gpio_strobe.

onMain()

void Vision::PointGrey::Task::onMain ( void  )

inlinevirtual

Implements DUNE::Tasks::Task.

References Vision::PointGrey::Arguments::disk_statistics, Vision::PointGrey::GPIO_LOW, Vision::PointGrey::Arguments::gpio_strobe, Vision::PointGrey::Arguments::led_type, and Vision::PointGrey::Arguments::number_fs.

onRequestActivation()

void Vision::PointGrey::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.

onRequestDeactivation()

void Vision::PointGrey::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.

onResourceInitialization()

void Vision::PointGrey::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 Vision::PointGrey::Arguments::delay_capture, Vision::PointGrey::Arguments::disk_statistics, Vision::PointGrey::Arguments::gpio_drive_power, Vision::PointGrey::GPIO_LOW, Vision::PointGrey::Arguments::gpio_strobe, Vision::PointGrey::Arguments::number_fs, Vision::PointGrey::Arguments::number_photos, and Vision::PointGrey::Arguments::split_photos.

onUpdateParameters()

void Vision::PointGrey::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 Vision::PointGrey::Arguments::delay_capture, Vision::PointGrey::Arguments::number_fs, and Vision::PointGrey::Arguments::shutter_value.

pollForTriggerReady()

bool Vision::PointGrey::Task::pollForTriggerReady ( void  )

inline

releaseRamCached()

void Vision::PointGrey::Task::releaseRamCached ( void  )

inline

saveInfoExif()

void Vision::PointGrey::Task::saveInfoExif ( void  )

inline

References Vision::PointGrey::Arguments::copyright, Vision::PointGrey::Arguments::lens_maker, Vision::PointGrey::Arguments::lens_model, and Vision::PointGrey::SaveImage::m_exif_data.

sendImageThread()

int Vision::PointGrey::Task::sendImageThread ( int  cnt_thread )

inline

References Vision::PointGrey::SaveImage::saveNewImage().

set_cpu_governor()

int Vision::PointGrey::Task::set_cpu_governor ( void  )

inline

set_shutter_value()

bool Vision::PointGrey::Task::set_shutter_value ( float  value )

inline

setGpio()

bool Vision::PointGrey::Task::setGpio ( CommandType  mode, int  gpio  )

inline

References Vision::PointGrey::GPIO_HIGH, and Vision::PointGrey::GPIO_LOW.

setGpioDirection()

bool Vision::PointGrey::Task::setGpioDirection ( int  gpio, bool  isOut  )

inline

setUpCamera()

bool Vision::PointGrey::Task::setUpCamera ( void  )

inline

References Vision::PointGrey::Arguments::shutter_value.

to_string()

template<class T >

std::string Vision::PointGrey::Task::to_string ( const T &  t )

inline

triggerFrame()

void Vision::PointGrey::Task::triggerFrame ( void  )

inline

References Vision::PointGrey::Arguments::number_photos, Vision::PointGrey::Arguments::save_image_dir, Vision::PointGrey::Arguments::split_photos, and Vision::PointGrey::Arguments::system_name.

updateStrobe()

void Vision::PointGrey::Task::updateStrobe ( void  )

inline

References Vision::PointGrey::GPIO_HIGH, Vision::PointGrey::Arguments::gpio_strobe, and Vision::PointGrey::Arguments::led_type.

Member Data Documentation

m_args

Arguments Vision::PointGrey::Task::m_args

Configuration parameters.

m_back_epoch

std::string Vision::PointGrey::Task::m_back_epoch

Buffer to backup epoch.

m_back_path_image

std::string Vision::PointGrey::Task::m_back_path_image

Buffer for backup of path to save image.

m_back_path_log

std::string Vision::PointGrey::Task::m_back_path_log

Buffer to backup path log.

m_back_path_main_log

std::string Vision::PointGrey::Task::m_back_path_main_log

Buffer to backup path to main system log.

m_back_time

std::string Vision::PointGrey::Task::m_back_time

Buffer to backup time.

m_buffer

char Vision::PointGrey::Task::m_buffer[64]

buffer for path to get storage usage of logs

m_clean_cached_ram

Time::Counter<float> Vision::PointGrey::Task::m_clean_cached_ram

Timer to control the cached ram.

m_cnt_fps

Time::Counter<float> Vision::PointGrey::Task::m_cnt_fps

Timer to control fps.

m_cnt_photos_by_folder

unsigned int Vision::PointGrey::Task::m_cnt_photos_by_folder

Number of photos in folder.

m_folder_number

unsigned Vision::PointGrey::Task::m_folder_number

Number of folder.

m_frame_cnt

long unsigned int Vision::PointGrey::Task::m_frame_cnt

Number of frames captured.

m_frame_lost_cnt

long unsigned int Vision::PointGrey::Task::m_frame_lost_cnt

Number of frames lost.

m_is_on

bool Vision::PointGrey::Task::m_is_on

flag to control led - on

m_is_strobe

bool Vision::PointGrey::Task::m_is_strobe

flag to control led - strobe

m_is_to_capture

bool Vision::PointGrey::Task::m_is_to_capture

Flag to control capture of image.

m_isCapturing

bool Vision::PointGrey::Task::m_isCapturing

Control state of capture.

m_isStartTask

bool Vision::PointGrey::Task::m_isStartTask

Flag to control init state.

m_lat_deg

int Vision::PointGrey::Task::m_lat_deg

Latitude deg.

m_lat_min

int Vision::PointGrey::Task::m_lat_min

Latitude min.

m_lat_sec

double Vision::PointGrey::Task::m_lat_sec

Latitude sec.

m_log_dir

Path Vision::PointGrey::Task::m_log_dir

Path to save image.

m_log_name

std::string Vision::PointGrey::Task::m_log_name

Bufer for name log.

m_lon_deg

int Vision::PointGrey::Task::m_lon_deg

Longitude deg.

m_lon_min

int Vision::PointGrey::Task::m_lon_min

Longitude min.

m_lon_sec

double Vision::PointGrey::Task::m_lon_sec

Longitude sec.

m_note_comment

std::string Vision::PointGrey::Task::m_note_comment

Buffer for the note comment of user.

m_path_image

std::string Vision::PointGrey::Task::m_path_image

Buffer for path to save image.

m_read_path

bool Vision::PointGrey::Task::m_read_path

Flag to control read of path from LoggingControl.

m_read_storage

bool Vision::PointGrey::Task::m_read_storage

Flag to control reading of used storage.

m_result

std::string Vision::PointGrey::Task::m_result

string for result output

m_storage

std::string Vision::PointGrey::Task::m_storage

Storage usage value.

m_strobe_delay

float Vision::PointGrey::Task::m_strobe_delay

Strobe delay.

m_text_exif_timestamp

char Vision::PointGrey::Task::m_text_exif_timestamp[16]

Buffer for exif timestamp.

m_thread_cnt

int Vision::PointGrey::Task::m_thread_cnt

Id thread.

m_timeout_reading

Time::Counter<float> Vision::PointGrey::Task::m_timeout_reading

Timer to control reading of storage.

m_update_cnt_frames

Time::Counter<float> Vision::PointGrey::Task::m_update_cnt_frames

Timer to control the refresh of captured frames.

Collaboration diagram for Vision::PointGrey::Task: