DUNE: Uniform Navigational Environment  2022.04.0
List of all members | Public Member Functions | Public Attributes
Sensors::SW100::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
void onResourceAcquisition (void)
 
void onResourceInitialization (void)
 
void onResourceRelease (void)
 
void consume (const IMC::VehicleMedium *msg)
 
void consume (const IMC::VehicleState *msg)
 
bool ableToCalibrate (void)
 
void task (void)
 
- Public Member Functions inherited from DUNE::Tasks::Periodic
 Periodic (const std::string &name, Context &ctx)
 
virtual ~Periodic (void)
 
void setFrequency (double freq)
 
double getFrequency (void) const
 
double getRunTime (void) const
 
unsigned getRunCount (void) const
 
- 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

Driver * m_driver
 
SerialPort * m_uart
 
IMC::Depth m_depth
 
IMC::Salinity m_salinity
 
IMC::Conductivity m_conductivity
 
IMC::Temperature m_temperature
 
IMC::DepthOffset m_depth_offset
 
MovingAverage< double > m_depth_avg
 
bool m_at_surface
 
bool m_maneuvering
 
CalibrationState m_cs
 
Arguments m_args
 
Counter< double > m_wdog
 

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 onUpdateParameters (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

◆ Task()

Sensors::SW100::Task::Task ( const std::string &  name,
Tasks::Context &  ctx 
)
inline

References Sensors::SW100::Arguments::data_timeout, Sensors::SW100::Arguments::depth_cal, Sensors::SW100::Arguments::uart_baud, and Sensors::SW100::Arguments::uart_dev.

Member Function Documentation

◆ ableToCalibrate()

bool Sensors::SW100::Task::ableToCalibrate ( void  )
inline

◆ consume() [1/2]

void Sensors::SW100::Task::consume ( const IMC::VehicleMedium *  msg)
inline

◆ consume() [2/2]

void Sensors::SW100::Task::consume ( const IMC::VehicleState *  msg)
inline

◆ onResourceAcquisition()

void Sensors::SW100::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 Sensors::SW100::Arguments::uart_baud, and Sensors::SW100::Arguments::uart_dev.

◆ onResourceInitialization()

void Sensors::SW100::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::SW100::Arguments::data_timeout.

◆ onResourceRelease()

void Sensors::SW100::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.

◆ task()

void Sensors::SW100::Task::task ( void  )
inlinevirtual

The task to be executed on each cycle.

Implements DUNE::Tasks::Periodic.

References DUNE::Math::MovingAverage< T >::clear(), Sensors::SW100::CS_ABLE, Sensors::SW100::CS_UNABLE, Sensors::SW100::Arguments::depth_cal, Sensors::SW100::Driver::getData(), Sensors::SW100::Driver::read(), Sensors::SW100::Driver::setup(), and DUNE::Math::MovingAverage< T >::update().

Member Data Documentation

◆ m_args

Arguments Sensors::SW100::Task::m_args

Task arguments.

◆ m_at_surface

bool Sensors::SW100::Task::m_at_surface

Vehicle is at the surface.

◆ m_conductivity

IMC::Conductivity Sensors::SW100::Task::m_conductivity

Measured conductivity.

◆ m_cs

CalibrationState Sensors::SW100::Task::m_cs

Calibration state.

◆ m_depth

IMC::Depth Sensors::SW100::Task::m_depth

Measured depth.

◆ m_depth_avg

MovingAverage<double> Sensors::SW100::Task::m_depth_avg

Moving average to compute depth offset.

◆ m_depth_offset

IMC::DepthOffset Sensors::SW100::Task::m_depth_offset

Depth Offset.

◆ m_driver

Driver* Sensors::SW100::Task::m_driver

Device driver.

◆ m_maneuvering

bool Sensors::SW100::Task::m_maneuvering

Vehicle is maneuvering.

◆ m_salinity

IMC::Salinity Sensors::SW100::Task::m_salinity

Measured salinity.

◆ m_temperature

IMC::Temperature Sensors::SW100::Task::m_temperature

Measured temperature.

◆ m_uart

SerialPort* Sensors::SW100::Task::m_uart

Serial port.

◆ m_wdog

Counter<double> Sensors::SW100::Task::m_wdog

Watchdog.

Collaboration diagram for Sensors::SW100::Task:
Collaboration graph