Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)

void	onResourceRelease (void)

void	onResourceAcquisition (void)

void	onResourceInitialization (void)

void	onUpdateParameters (void)

int	readString (void)

bool	setParameter (const char command, const char label, int value)

void	changeCalibrationState (CalibrationStates state)

void	consume (const IMC::DevCalibrationControl *msg)

void	calibrating (void)

void	terminateCalibration (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
SerialPort *	m_uart

IMC::EulerAngles	m_euler

IMC::MagneticField	m_mag

IMC::Acceleration	m_accel

IMC::Temperature	m_temp

IMC::DevCalibrationState	m_states [STA_MAX]

CalibrationStates	m_state

int	m_accumulator

char	m_bfr [c_bfr_size]

double	m_tstamp

Arguments	m_args

Counter< double >	m_wdog

Static Public Attributes
static const unsigned	c_bfr_size

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	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::OS4000::Task::Task	(	const std::string &	name,
		Tasks::Context &	ctx
	)

inline

References Sensors::OS4000::Arguments::data_rate, Sensors::OS4000::Arguments::data_tout, Sensors::OS4000::STA_BOOT, Sensors::OS4000::STA_CALIBRATED, Sensors::OS4000::STA_ERROR, Sensors::OS4000::STA_NUM_STEPS, Sensors::OS4000::STA_ROTATE, Sensors::OS4000::STA_WAIT_LEVEL, Sensors::OS4000::Arguments::uart_baud, and Sensors::OS4000::Arguments::uart_dev.

Member Function Documentation

◆ calibrating()

void Sensors::OS4000::Task::calibrating ( void )

inline

References Sensors::OS4000::STA_CALIBRATED.

◆ changeCalibrationState()

void Sensors::OS4000::Task::changeCalibrationState ( CalibrationStates state )

inline

Change calibration state.

Parameters

[in] state calibration state.

◆ consume()

void Sensors::OS4000::Task::consume ( const IMC::DevCalibrationControl * msg )

inline

References Sensors::OS4000::STA_BOOT, Sensors::OS4000::STA_CALIBRATED, Sensors::OS4000::STA_ERROR, Sensors::OS4000::STA_ROTATE, and Sensors::OS4000::STA_WAIT_LEVEL.

◆ onMain()

void Sensors::OS4000::Task::onMain ( void )

inlinevirtual

Implements DUNE::Tasks::Task.

References Sensors::OS4000::STA_ROTATE, and Sensors::OS4000::STA_WAIT_LEVEL.

◆ onResourceAcquisition()

void Sensors::OS4000::Task::onResourceAcquisition ( void )

inlinevirtual

Acquire resources.

Reimplemented from DUNE::Tasks::Task.

References Sensors::OS4000::Arguments::uart_baud, and Sensors::OS4000::Arguments::uart_dev.

◆ onResourceInitialization()

void Sensors::OS4000::Task::onResourceInitialization ( void )

inlinevirtual

Initialize resources.

Reimplemented from DUNE::Tasks::Task.

References Sensors::OS4000::Arguments::data_rate, and Sensors::OS4000::STA_BOOT.

◆ onResourceRelease()

void Sensors::OS4000::Task::onResourceRelease ( void )

inlinevirtual

Release allocated resources.

Reimplemented from DUNE::Tasks::Task.

◆ onUpdateParameters()

void Sensors::OS4000::Task::onUpdateParameters ( void )

inlinevirtual

Update Task parameters.

Reimplemented from DUNE::Tasks::Task.

References Sensors::OS4000::Arguments::data_tout.

◆ readString()

int Sensors::OS4000::Task::readString ( void )

inline

Read a string from the serial port,.

Returns: amount of bytes actually read.

◆ setParameter()

bool Sensors::OS4000::Task::setParameter	(	const char *	command,
		const char *	label,
		int	value
	)

inline

Define a given parameter in the device.

Parameters

[in]	command	input command.
[in]	label	label of the parameter.
[in]	value	value of the parameter.

Returns: true if successful, false otherwise.

◆ terminateCalibration()

void Sensors::OS4000::Task::terminateCalibration ( void )

inline

Member Data Documentation

◆ c_bfr_size

const unsigned Sensors::OS4000::Task::c_bfr_size

static

Internal read buffer.

◆ m_accel

IMC::Acceleration Sensors::OS4000::Task::m_accel

Acceleration message.

◆ m_accumulator

int Sensors::OS4000::Task::m_accumulator

Calibration characters accumulator.

◆ m_args

Arguments Sensors::OS4000::Task::m_args

Task arguments.

◆ m_bfr

char Sensors::OS4000::Task::m_bfr[c_bfr_size]

Internal read buffer.

◆ m_euler

IMC::EulerAngles Sensors::OS4000::Task::m_euler

Euler angles message.

◆ m_mag

IMC::MagneticField Sensors::OS4000::Task::m_mag

Magnetic field message.

◆ m_state

CalibrationStates Sensors::OS4000::Task::m_state

Calibration states.

◆ m_states

IMC::DevCalibrationState Sensors::OS4000::Task::m_states[STA_MAX]

Device Calibration State message.

◆ m_temp

IMC::Temperature Sensors::OS4000::Task::m_temp

Temperature.

◆ m_tstamp

double Sensors::OS4000::Task::m_tstamp

Read timestamp.

◆ m_uart

SerialPort* Sensors::OS4000::Task::m_uart

Serial port.

◆ m_wdog

Counter<double> Sensors::OS4000::Task::m_wdog

Watchdog.

Collaboration diagram for Sensors::OS4000::Task:

Public Member Functions

Public Attributes

Static Public Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ Task()

Member Function Documentation

◆ calibrating()

◆ changeCalibrationState()

◆ consume()

◆ onMain()

◆ onResourceAcquisition()

◆ onResourceInitialization()

◆ onResourceRelease()

◆ onUpdateParameters()

◆ readString()

◆ setParameter()

◆ terminateCalibration()

Member Data Documentation

◆ c_bfr_size

◆ m_accel

◆ m_accumulator

◆ m_args

◆ m_bfr

◆ m_euler

◆ m_mag

◆ m_state

◆ m_states

◆ m_temp

◆ m_tstamp

◆ m_uart

◆ m_wdog