DUNE: Uniform Navigational Environment  2022.04.0
List of all members | Public Member Functions | Public Attributes | Static Public Attributes
Sensors::Edgetech2205::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
void onUpdateParameters (void)
 
void onResourceRelease (void)
 
void onResourceInitialization (void)
 
void queueState (StateMachineStates state)
 
bool hasQueuedStates (void) const
 
StateMachineStates getCurrentState (void) const
 
StateMachineStates dequeueState (void)
 
void onRequestActivation (void)
 
bool connect (void)
 
void failActivation (const std::string &message)
 
void onRequestDeactivation (void)
 
void disconnect (void)
 
void onDeactivation (void)
 
void onActivation (void)
 
void requestLogName (void)
 
void consume (const IMC::PowerChannelState *msg)
 
void consume (const IMC::EstimatedState *msg)
 
void consume (const IMC::LoggingControl *msg)
 
void setPingAutoSelectMode (void)
 
void setTriggerCoupling (void)
 
void initConfig (void)
 
void setDataActive (SubsystemId subsys, const std::string &channels)
 
void setPing (SubsystemId subsys, const std::string &channels)
 
int getSubsysIndex (int subsys)
 
void dispatchDebugData (const std::string &text)
 
void handleSonarData (void)
 
void writeSubsystemData (SubsystemData *data)
 
void updateSubsystemData (SubsystemData *data)
 
void handlePacket (void)
 
bool readData (void)
 
void estimateTimeDelta (Counter< double > &reference_timer)
 
void openLog (const Path &path)
 
void logPacket (void)
 
void closeLog (void)
 
void controlPower (IMC::PowerChannelControl::OperationEnum op)
 
void turnPowerOn (void)
 
void turnPowerOff (void)
 
bool isPowered (void)
 
void updateStateMachine (void)
 
void onMain (void)
 

Public Attributes

TCPSocket * m_sock_dat
 
std::vector< uint8_t > m_bfr
 
Parser m_parser
 
CommandLink * m_cmd
 
Log * m_log
 
Counter< double > m_wdog
 
Counter< double > m_time_delta_timer
 
SubsystemData m_subsys_data [c_subsys_count]
 
StateMachineStates m_sm_state
 
std::queue< StateMachineStates > m_sm_state_queue
 
bool m_powered
 
Packet * m_packet
 
Arguments m_args
 

Static Public Attributes

static const unsigned c_buffer_size
 

Constructor & Destructor Documentation

◆ Task()

Sensors::Edgetech2205::Task::Task ( const std::string &  name,
Tasks::Context &  ctx 
)
inline

References Sensors::Edgetech2205::Arguments::addr, Sensors::Edgetech2205::Arguments::autosel_mode, Sensors::Edgetech2205::Arguments::channels_hf, Sensors::Edgetech2205::Arguments::channels_lf, Sensors::Edgetech2205::Arguments::ignored_sample_count, Sensors::Edgetech2205::Arguments::port_cmd, Sensors::Edgetech2205::Arguments::port_dat, Sensors::Edgetech2205::Arguments::power_channel, Sensors::Edgetech2205::Arguments::range_hf, Sensors::Edgetech2205::Arguments::range_lf, Sensors::Edgetech2205::Arguments::time_delta_init_samples, Sensors::Edgetech2205::Arguments::time_delta_init_tout, Sensors::Edgetech2205::Arguments::time_delta_max_latency, Sensors::Edgetech2205::Arguments::time_delta_periodicity, and Sensors::Edgetech2205::Arguments::trg_div.

Member Function Documentation

◆ closeLog()

void Sensors::Edgetech2205::Task::closeLog ( void  )
inline

References Sensors::Edgetech2205::Log::getPath().

◆ connect()

bool Sensors::Edgetech2205::Task::connect ( void  )
inline

References Sensors::Edgetech2205::Arguments::addr, and Sensors::Edgetech2205::Arguments::port_cmd.

◆ consume() [1/3]

void Sensors::Edgetech2205::Task::consume ( const IMC::PowerChannelState *  msg)
inline

References Sensors::Edgetech2205::Arguments::power_channel.

◆ consume() [2/3]

void Sensors::Edgetech2205::Task::consume ( const IMC::EstimatedState *  msg)
inline

References Sensors::Edgetech2205::SubsystemData::estates, and Sensors::Edgetech2205::EstimatedStateList::push_back().

◆ consume() [3/3]

void Sensors::Edgetech2205::Task::consume ( const IMC::LoggingControl *  msg)
inline

References Sensors::Edgetech2205::SM_ACT_LOG_WAIT, and Sensors::Edgetech2205::SM_ACT_SAMPLE.

◆ controlPower()

void Sensors::Edgetech2205::Task::controlPower ( IMC::PowerChannelControl::OperationEnum  op)
inline

References Sensors::Edgetech2205::Arguments::power_channel.

◆ dequeueState()

StateMachineStates Sensors::Edgetech2205::Task::dequeueState ( void  )
inline

◆ disconnect()

void Sensors::Edgetech2205::Task::disconnect ( void  )
inline

References Sensors::Edgetech2205::CommandLink::shutdown(), Sensors::Edgetech2205::SUBSYS_SSH, and Sensors::Edgetech2205::SUBSYS_SSL.

◆ dispatchDebugData()

void Sensors::Edgetech2205::Task::dispatchDebugData ( const std::string &  text)
inline

◆ estimateTimeDelta()

void Sensors::Edgetech2205::Task::estimateTimeDelta ( Counter< double > &  reference_timer)
inline

References Sensors::Edgetech2205::CommandLink::estimateTimeDelta(), Sensors::Edgetech2205::Arguments::time_delta_init_samples, Sensors::Edgetech2205::Arguments::time_delta_init_tout, and Sensors::Edgetech2205::Arguments::time_delta_max_latency.

◆ failActivation()

void Sensors::Edgetech2205::Task::failActivation ( const std::string &  message)
inline

◆ getCurrentState()

StateMachineStates Sensors::Edgetech2205::Task::getCurrentState ( void  ) const
inline

◆ getSubsysIndex()

int Sensors::Edgetech2205::Task::getSubsysIndex ( int  subsys)
inline

References Sensors::Edgetech2205::SUBSYS_SSH, and Sensors::Edgetech2205::SUBSYS_SSL.

◆ handlePacket()

void Sensors::Edgetech2205::Task::handlePacket ( void  )
inline

References Sensors::Edgetech2205::Packet::getMessageType(), and Sensors::Edgetech2205::MSG_ID_SONAR_DATA.

◆ handleSonarData()

void Sensors::Edgetech2205::Task::handleSonarData ( void  )
inline

References Sensors::Edgetech2205::Packet::get(), Sensors::Edgetech2205::Packet::getSubsystemNumber(), Sensors::Edgetech2205::Arguments::ignored_sample_count, Sensors::Edgetech2205::SubsystemData::ping_count, Sensors::Edgetech2205::SubsystemData::ping_number, and Sensors::Edgetech2205::SDATA_IDX_PING_NUMBER.

◆ hasQueuedStates()

bool Sensors::Edgetech2205::Task::hasQueuedStates ( void  ) const
inline

Test if state queue has pending state transitions.

Returns
true if state queue has pending states, false otherwise.

◆ initConfig()

void Sensors::Edgetech2205::Task::initConfig ( void  )
inline

Initialize sidescan configuration.

References Sensors::Edgetech2205::Arguments::channels_hf, Sensors::Edgetech2205::Arguments::channels_lf, Sensors::Edgetech2205::Arguments::range_hf, Sensors::Edgetech2205::Arguments::range_lf, Sensors::Edgetech2205::CommandLink::setPingRange(), Sensors::Edgetech2205::SUBSYS_SSH, and Sensors::Edgetech2205::SUBSYS_SSL.

◆ isPowered()

bool Sensors::Edgetech2205::Task::isPowered ( void  )
inline

Test if power channel is on.

Returns
true if power channel is on, false otherwise.

◆ logPacket()

void Sensors::Edgetech2205::Task::logPacket ( void  )
inline

References Sensors::Edgetech2205::Log::get(), and Sensors::Edgetech2205::Log::put().

◆ onActivation()

void Sensors::Edgetech2205::Task::onActivation ( void  )
inline

References Sensors::Edgetech2205::Arguments::addr, Sensors::Edgetech2205::Arguments::port_dat, Sensors::Edgetech2205::CommandLink::setPingTrigger(), Sensors::Edgetech2205::SUBSYS_SSH, Sensors::Edgetech2205::SUBSYS_SSL, and Sensors::Edgetech2205::TRIG_MODE_INTERNAL.

◆ onDeactivation()

void Sensors::Edgetech2205::Task::onDeactivation ( void  )
inline

◆ onMain()

void Sensors::Edgetech2205::Task::onMain ( void  )
inline

◆ onRequestActivation()

void Sensors::Edgetech2205::Task::onRequestActivation ( void  )
inline

References Sensors::Edgetech2205::SM_ACT_BEGIN.

◆ onRequestDeactivation()

void Sensors::Edgetech2205::Task::onRequestDeactivation ( void  )
inline

References Sensors::Edgetech2205::SM_DEACT_BEGIN.

◆ onResourceInitialization()

void Sensors::Edgetech2205::Task::onResourceInitialization ( void  )
inline

◆ onResourceRelease()

void Sensors::Edgetech2205::Task::onResourceRelease ( void  )
inline

◆ onUpdateParameters()

void Sensors::Edgetech2205::Task::onUpdateParameters ( void  )
inline

References Sensors::Edgetech2205::Arguments::addr, Sensors::Edgetech2205::Arguments::autosel_mode, Sensors::Edgetech2205::Arguments::channels_hf, Sensors::Edgetech2205::Arguments::channels_lf, Sensors::Edgetech2205::Arguments::port_cmd, Sensors::Edgetech2205::Arguments::port_dat, Sensors::Edgetech2205::Arguments::power_channel, Sensors::Edgetech2205::Arguments::range_hf, Sensors::Edgetech2205::Arguments::range_lf, Sensors::Edgetech2205::CommandLink::setPingRange(), Sensors::Edgetech2205::SUBSYS_SSH, and Sensors::Edgetech2205::SUBSYS_SSL.

◆ openLog()

void Sensors::Edgetech2205::Task::openLog ( const Path &  path)
inline

References Sensors::Edgetech2205::Log::get(), and Sensors::Edgetech2205::Log::getPath().

◆ queueState()

void Sensors::Edgetech2205::Task::queueState ( StateMachineStates  state)
inline

Push a new state to the state queue.

Parameters
[in]statestate machine state.

◆ readData()

bool Sensors::Edgetech2205::Task::readData ( void  )
inline

References Sensors::Edgetech2205::Parser::parse().

◆ requestLogName()

void Sensors::Edgetech2205::Task::requestLogName ( void  )
inline

◆ setDataActive()

void Sensors::Edgetech2205::Task::setDataActive ( SubsystemId  subsys,
const std::string &  channels 
)
inline

References Sensors::Edgetech2205::CHAN_PORT, Sensors::Edgetech2205::CHAN_STARBOARD, and Sensors::Edgetech2205::CommandLink::setDataActive().

◆ setPing()

void Sensors::Edgetech2205::Task::setPing ( SubsystemId  subsys,
const std::string &  channels 
)
inline

References Sensors::Edgetech2205::SubsystemData::active, and Sensors::Edgetech2205::CommandLink::setPing().

◆ setPingAutoSelectMode()

void Sensors::Edgetech2205::Task::setPingAutoSelectMode ( void  )
inline

References Sensors::Edgetech2205::Arguments::autosel_mode, Sensors::Edgetech2205::CommandLink::setPingAutoselectMode(), Sensors::Edgetech2205::SUBSYS_SSH, and Sensors::Edgetech2205::SUBSYS_SSL.

◆ setTriggerCoupling()

void Sensors::Edgetech2205::Task::setTriggerCoupling ( void  )
inline

References Sensors::Edgetech2205::Arguments::channels_hf, Sensors::Edgetech2205::Arguments::channels_lf, Sensors::Edgetech2205::CommandLink::setPingCoupling(), Sensors::Edgetech2205::CommandLink::setPingTrigger(), Sensors::Edgetech2205::SUBSYS_SSH, Sensors::Edgetech2205::SUBSYS_SSL, Sensors::Edgetech2205::Arguments::trg_div, Sensors::Edgetech2205::TRIG_MODE_COUPLED, and Sensors::Edgetech2205::TRIG_MODE_INTERNAL.

◆ turnPowerOff()

void Sensors::Edgetech2205::Task::turnPowerOff ( void  )
inline

◆ turnPowerOn()

void Sensors::Edgetech2205::Task::turnPowerOn ( void  )
inline

◆ updateStateMachine()

void Sensors::Edgetech2205::Task::updateStateMachine ( void  )
inline

References Sensors::Edgetech2205::CommandLink::estimateTimeDelta(), Sensors::Edgetech2205::SM_ACT_BEGIN, Sensors::Edgetech2205::SM_ACT_DONE, Sensors::Edgetech2205::SM_ACT_LOG_REQUEST, Sensors::Edgetech2205::SM_ACT_LOG_WAIT, Sensors::Edgetech2205::SM_ACT_POWER_ON, Sensors::Edgetech2205::SM_ACT_POWER_WAIT, Sensors::Edgetech2205::SM_ACT_SAMPLE, Sensors::Edgetech2205::SM_ACT_SS_SYNC, Sensors::Edgetech2205::SM_ACT_SS_WAIT, Sensors::Edgetech2205::SM_DEACT_BEGIN, Sensors::Edgetech2205::SM_DEACT_DISCONNECT, Sensors::Edgetech2205::SM_DEACT_DONE, Sensors::Edgetech2205::SM_DEACT_POWER_OFF, Sensors::Edgetech2205::SM_DEACT_POWER_WAIT, Sensors::Edgetech2205::SM_IDLE, and Sensors::Edgetech2205::Arguments::time_delta_max_latency.

◆ updateSubsystemData()

void Sensors::Edgetech2205::Task::updateSubsystemData ( SubsystemData *  data)
inline

References Sensors::Edgetech2205::SubsystemData::altitude, Sensors::Edgetech2205::SubsystemData::course, Sensors::Edgetech2205::SubsystemData::depth, Sensors::Edgetech2205::SubsystemData::estates, Sensors::Edgetech2205::EstimatedStateList::find(), Sensors::Edgetech2205::Packet::get(), Sensors::Edgetech2205::CommandLink::getEstimatedTimeDelta(), Sensors::Edgetech2205::Packet::getSubsystemNumber(), Sensors::Edgetech2205::Packet::getTimeStamp(), Sensors::Edgetech2205::SubsystemData::heading, Sensors::Edgetech2205::SubsystemData::latitude, Sensors::Edgetech2205::SubsystemData::latitude_rad, Sensors::Edgetech2205::SubsystemData::longitude, Sensors::Edgetech2205::SubsystemData::longitude_rad, Sensors::Edgetech2205::SubsystemData::msec_cpu, Sensors::Edgetech2205::SubsystemData::ping_count, Sensors::Edgetech2205::SubsystemData::ping_number, Sensors::Edgetech2205::SubsystemData::pitch, Sensors::Edgetech2205::SubsystemData::roll, Sensors::Edgetech2205::SDATA_IDX_MILLISECOND_TODAY, Sensors::Edgetech2205::SDATA_IDX_TIME, Sensors::Edgetech2205::SubsystemData::speed, Sensors::Edgetech2205::SubsystemData::time_bdt, Sensors::Edgetech2205::SubsystemData::time_epoch, Sensors::Edgetech2205::SubsystemData::time_msec_today, and Sensors::Edgetech2205::SubsystemData::validity.

◆ writeSubsystemData()

void Sensors::Edgetech2205::Task::writeSubsystemData ( SubsystemData *  data)
inline

References Sensors::Edgetech2205::SubsystemData::altitude, Sensors::Edgetech2205::SubsystemData::course, Sensors::Edgetech2205::SubsystemData::depth, Sensors::Edgetech2205::Packet::getMessageData(), Sensors::Edgetech2205::SubsystemData::heading, Sensors::Edgetech2205::SubsystemData::latitude, Sensors::Edgetech2205::SubsystemData::latitude_rad, Sensors::Edgetech2205::SubsystemData::longitude, Sensors::Edgetech2205::SubsystemData::longitude_rad, Sensors::Edgetech2205::SubsystemData::pitch, Sensors::Edgetech2205::SubsystemData::roll, Sensors::Edgetech2205::SDATA_IDX_ALTITUDE, Sensors::Edgetech2205::SDATA_IDX_ANNOTATION_STRING, Sensors::Edgetech2205::SDATA_IDX_COORDINATE_UNITS, Sensors::Edgetech2205::SDATA_IDX_COURSE, Sensors::Edgetech2205::SDATA_IDX_CPU_DAY, Sensors::Edgetech2205::SDATA_IDX_CPU_HOUR, Sensors::Edgetech2205::SDATA_IDX_CPU_MINUTES, Sensors::Edgetech2205::SDATA_IDX_CPU_SECONDS, Sensors::Edgetech2205::SDATA_IDX_CPU_TIME_BASIS, Sensors::Edgetech2205::SDATA_IDX_CPU_YEAR, Sensors::Edgetech2205::SDATA_IDX_DEPTH, Sensors::Edgetech2205::SDATA_IDX_HEADING, Sensors::Edgetech2205::SDATA_IDX_LATITUDE, Sensors::Edgetech2205::SDATA_IDX_LONGITUDE, Sensors::Edgetech2205::SDATA_IDX_MILLISECOND_TODAY, Sensors::Edgetech2205::SDATA_IDX_NMEA_HOUR, Sensors::Edgetech2205::SDATA_IDX_NMEA_MINUTES, Sensors::Edgetech2205::SDATA_IDX_NMEA_SECONDS, Sensors::Edgetech2205::SDATA_IDX_PITCH, Sensors::Edgetech2205::SDATA_IDX_ROLL, Sensors::Edgetech2205::SDATA_IDX_SPEED, Sensors::Edgetech2205::SDATA_IDX_TIME, Sensors::Edgetech2205::SDATA_IDX_VALIDITY, Sensors::Edgetech2205::Packet::set(), Sensors::Edgetech2205::SubsystemData::speed, Sensors::Edgetech2205::SubsystemData::time_bdt, Sensors::Edgetech2205::SubsystemData::time_epoch, Sensors::Edgetech2205::SubsystemData::time_msec_today, and Sensors::Edgetech2205::SubsystemData::validity.

Member Data Documentation

◆ c_buffer_size

const unsigned Sensors::Edgetech2205::Task::c_buffer_size
static

Buffer size.

◆ m_args

Arguments Sensors::Edgetech2205::Task::m_args

Configuration parameters.

◆ m_bfr

std::vector<uint8_t> Sensors::Edgetech2205::Task::m_bfr

Read buffer.

◆ m_cmd

CommandLink* Sensors::Edgetech2205::Task::m_cmd

Command link.

◆ m_log

Log* Sensors::Edgetech2205::Task::m_log

Log file.

◆ m_packet

Packet* Sensors::Edgetech2205::Task::m_packet

Current packet being parsed.

◆ m_parser

Parser Sensors::Edgetech2205::Task::m_parser

Parser.

◆ m_powered

bool Sensors::Edgetech2205::Task::m_powered

True if device is powered on.

◆ m_sm_state

StateMachineStates Sensors::Edgetech2205::Task::m_sm_state

Current state machine state.

◆ m_sm_state_queue

std::queue<StateMachineStates> Sensors::Edgetech2205::Task::m_sm_state_queue

State machine state queue.

◆ m_sock_dat

TCPSocket* Sensors::Edgetech2205::Task::m_sock_dat

Data socket.

◆ m_subsys_data

SubsystemData Sensors::Edgetech2205::Task::m_subsys_data[c_subsys_count]

Subsystem specific data.

◆ m_time_delta_timer

Counter<double> Sensors::Edgetech2205::Task::m_time_delta_timer

Timer for time delta estimation.

◆ m_wdog

Counter<double> Sensors::Edgetech2205::Task::m_wdog

Watchdog timer.

Collaboration diagram for Sensors::Edgetech2205::Task:
Collaboration graph