DUNE: Uniform Navigational Environment  2022.04.0
Vision::DFK51BG02H::Task Struct Reference

Detailed Description

Device driver task.

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
 ~Task (void)
 
void onUpdateParameters (void)
 
void onResourceAcquisition (void)
 
void onResourceRelease (void)
 
void onResourceInitialization (void)
 
void consume (const IMC::LoggingControl *msg)
 
void onRequestActivation (void)
 
void onActivation (void)
 
void onDeactivation (void)
 
void onMain (void)
 
- Public Member Functions inherited from DUNE::Tasks::Task
 Task (const std::string &name, Context &context)
 
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
 
GVCPm_gvcp
 
GVSPm_gvsp
 
uint8_t * m_rgb24_bfr
 
Counter< double > m_kalive
 
Path m_log_dir
 
std::queue< Frame * > m_frames
 
std::string m_pgm_header
 
JPEGCompressor m_jpeg
 
BayerDecoder m_debayer
 
WhiteBalance m_white
 
double m_exposure
 
AutoExposure m_ae
 

Static Public Attributes

static const unsigned c_width
 
static const unsigned c_height
 
static const unsigned c_pkts_per_frame
 

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::BasicEntitygetLocalEntity (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 >
Parameterparam (const std::string &name, T &var)
 
template<typename Y , typename T >
Parameterparam (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 onRequestDeactivation (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
Contextm_ctx
 
std::vector< Entities::BasicEntity * > m_entities
 

Constructor & Destructor Documentation

◆ Task()

◆ ~Task()

Vision::DFK51BG02H::Task::~Task ( void  )
inlinevirtual

Destructor.

Reimplemented from DUNE::Tasks::Task.

Member Function Documentation

◆ consume()

void Vision::DFK51BG02H::Task::consume ( const IMC::LoggingControl *  msg)
inline

◆ onActivation()

void Vision::DFK51BG02H::Task::onActivation ( void  )
inlinevirtual

Called when the task starts/resumes normal execution.

Reimplemented from DUNE::Tasks::Task.

◆ onDeactivation()

void Vision::DFK51BG02H::Task::onDeactivation ( void  )
inlinevirtual

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

Reimplemented from DUNE::Tasks::Task.

◆ onMain()

◆ onRequestActivation()

void Vision::DFK51BG02H::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.

◆ onResourceAcquisition()

void Vision::DFK51BG02H::Task::onResourceAcquisition ( void  )
inlinevirtual

◆ onResourceInitialization()

◆ onResourceRelease()

void Vision::DFK51BG02H::Task::onResourceRelease ( void  )
inlinevirtual

Release allocated resources.

Reimplemented from DUNE::Tasks::Task.

◆ onUpdateParameters()

void Vision::DFK51BG02H::Task::onUpdateParameters ( void  )
inlinevirtual

Member Data Documentation

◆ c_height

const unsigned Vision::DFK51BG02H::Task::c_height
static

Frame height.

◆ c_pkts_per_frame

const unsigned Vision::DFK51BG02H::Task::c_pkts_per_frame
static

Packets per frame.

◆ c_width

const unsigned Vision::DFK51BG02H::Task::c_width
static

Frame width.

◆ m_ae

AutoExposure Vision::DFK51BG02H::Task::m_ae

Automatic exposure control.

◆ m_args

Arguments Vision::DFK51BG02H::Task::m_args

Configuration parameters.

◆ m_debayer

BayerDecoder Vision::DFK51BG02H::Task::m_debayer

Bayer decoder.

◆ m_exposure

double Vision::DFK51BG02H::Task::m_exposure

◆ m_frames

std::queue<Frame*> Vision::DFK51BG02H::Task::m_frames

Array of frames.

◆ m_gvcp

GVCP* Vision::DFK51BG02H::Task::m_gvcp

GVCP.

◆ m_gvsp

GVSP* Vision::DFK51BG02H::Task::m_gvsp

GVSP.

◆ m_jpeg

JPEGCompressor Vision::DFK51BG02H::Task::m_jpeg

Compressor.

◆ m_kalive

Counter<double> Vision::DFK51BG02H::Task::m_kalive

Keep-alive counter.

◆ m_log_dir

Path Vision::DFK51BG02H::Task::m_log_dir

Destination log folder.

◆ m_pgm_header

std::string Vision::DFK51BG02H::Task::m_pgm_header

PGM header.

◆ m_rgb24_bfr

uint8_t* Vision::DFK51BG02H::Task::m_rgb24_bfr

RGB24 buffer.

◆ m_white

WhiteBalance Vision::DFK51BG02H::Task::m_white
Collaboration diagram for Vision::DFK51BG02H::Task:
Collaboration graph