Simulators::EvoSimulator::Task Struct Reference

Classes
struct	pos

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onUpdateParameters (void)
void	onResourceAcquisition (void)
void	onResourceRelease (void)
void	autoAssign (void)
void	simulatorSetup ()
void	consume (const IMC::SimulatedState *msg)
void	consume (const IMC::GpsFix *msg)
void	waitReply (std::string parameter)
template<typename T >
void	sendSetting (std::string parameter, std::vector< T > values)
template<typename T >
void	sendSetting (std::string parameter, T value)
void	checkSocket ()
void	updateState ()
void	checkReset (std::string str)
void	transport (unsigned in, unsigned out)
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
SafeTCPSocket *	m_socket [NUM_SOCK]
IMC::SimulatedState	m_sstate
Time::Counter< double >	m_pos_update
std::vector< uint8_t >	m_bfr
Matrix	m_rotation
struct Simulators::EvoSimulator::Task::pos	m_origin

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	onResourceInitialization (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()

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

inline

Constructor.

Parameters

[in]	name	task name.
[in]	ctx	context.

References Simulators::EvoSimulator::Arguments::addr_section, Simulators::EvoSimulator::Arguments::auto_assign, Simulators::EvoSimulator::Arguments::set::ber, Simulators::EvoSimulator::Arguments::set::betta, Simulators::EvoSimulator::Arguments::local_address, Simulators::EvoSimulator::Arguments::local_port, Simulators::EvoSimulator::Arguments::modem_address, Simulators::EvoSimulator::Arguments::modem_port, Simulators::EvoSimulator::Arguments::ref, Simulators::EvoSimulator::Arguments::set::rmax, Simulators::EvoSimulator::Arguments::set::rshallow, Simulators::EvoSimulator::Arguments::settings, Simulators::EvoSimulator::Arguments::settings_port, Simulators::EvoSimulator::Arguments::state_port, and Simulators::EvoSimulator::Arguments::update_period.

Member Function Documentation

autoAssign()

void Simulators::EvoSimulator::Task::autoAssign ( void  )

inline

Auto assign simualtor IP (node) and local port based on local evologics address.

References Simulators::EvoSimulator::Arguments::addr_section, Simulators::EvoSimulator::SafeTCPSocket::address, Simulators::EvoSimulator::Arguments::local_port, and Simulators::EvoSimulator::Arguments::modem_address.

checkReset()

void Simulators::EvoSimulator::Task::checkReset ( std::string  str )

inline

Check string for a reset command.

Parameters

[in]

str

string to check

References Simulators::EvoSimulator::SafeTCPSocket::connect(), Simulators::EvoSimulator::MODEM, Simulators::EvoSimulator::Arguments::modem_address, and Simulators::EvoSimulator::Arguments::modem_port.

checkSocket()

void Simulators::EvoSimulator::Task::checkSocket ( )

inline

Check listener socket for connection requests.

References Simulators::EvoSimulator::SafeTCPSocket::accept(), Simulators::EvoSimulator::DRIVER, Simulators::EvoSimulator::LISTENER, Simulators::EvoSimulator::SafeTCPSocket::name, Simulators::EvoSimulator::SafeTCPSocket::poll(), and Simulators::EvoSimulator::SafeTCPSocket::sock.

consume() [1/2]

void Simulators::EvoSimulator::Task::consume ( const IMC::SimulatedState *  msg )

inline

Consume vehicle position.

consume() [2/2]

void Simulators::EvoSimulator::Task::consume ( const IMC::GpsFix *  msg )

inline

Consume vehicle position.

onMain()

void Simulators::EvoSimulator::Task::onMain ( void  )

inlinevirtual

Main loop.

Implements DUNE::Tasks::Task.

References Simulators::EvoSimulator::DRIVER, and Simulators::EvoSimulator::MODEM.

onResourceAcquisition()

void Simulators::EvoSimulator::Task::onResourceAcquisition ( void  )

inlinevirtual

Acquire resources by binding to the local TCP port.

Reimplemented from DUNE::Tasks::Task.

References Simulators::EvoSimulator::Arguments::auto_assign, Simulators::EvoSimulator::SafeTCPSocket::connect(), Simulators::EvoSimulator::LISTENER, Simulators::EvoSimulator::Arguments::local_address, Simulators::EvoSimulator::Arguments::local_port, Simulators::EvoSimulator::MODEM, Simulators::EvoSimulator::Arguments::modem_address, Simulators::EvoSimulator::Arguments::modem_port, Simulators::EvoSimulator::SafeTCPSocket::SafeTCPSocket(), Simulators::EvoSimulator::SETTINGS, Simulators::EvoSimulator::Arguments::settings_port, Simulators::EvoSimulator::SafeTCPSocket::startListen(), Simulators::EvoSimulator::STATE, Simulators::EvoSimulator::Arguments::state_port, DUNE::Math::Matrix::toDCM(), and Simulators::EvoSimulator::Arguments::update_period.

onResourceRelease()

void Simulators::EvoSimulator::Task::onResourceRelease ( void  )

inlinevirtual

Release resources. Clears TCP sockets.

Reimplemented from DUNE::Tasks::Task.

References Simulators::EvoSimulator::NUM_SOCK.

onUpdateParameters()

void Simulators::EvoSimulator::Task::onUpdateParameters ( void  )

inlinevirtual

Update internal state with new parameter values.

Reimplemented from DUNE::Tasks::Task.

References Simulators::EvoSimulator::Arguments::set::ber, Simulators::EvoSimulator::Arguments::set::betta, Simulators::EvoSimulator::Arguments::local_address, Simulators::EvoSimulator::Arguments::local_port, Simulators::EvoSimulator::Arguments::modem_address, Simulators::EvoSimulator::Arguments::modem_port, Simulators::EvoSimulator::Arguments::ref, Simulators::EvoSimulator::Arguments::set::rmax, Simulators::EvoSimulator::Arguments::set::rshallow, Simulators::EvoSimulator::Arguments::settings, and Simulators::EvoSimulator::Arguments::settings_port.

sendSetting() [1/2]

template<typename T >

void Simulators::EvoSimulator::Task::sendSetting ( std::string  parameter, std::vector< T >  values  )

inline

Send setting to modem.

Parameters

[in]	parameter	name of setting to send
[in]	values	setting values

References Simulators::EvoSimulator::SETTINGS, and Simulators::EvoSimulator::SafeTCPSocket::writeString().

sendSetting() [2/2]

template<typename T >

void Simulators::EvoSimulator::Task::sendSetting ( std::string  parameter, T  value  )

inline

Send setting to modem.

Parameters

[in]	parameter	name of setting to send
[in]	value	setting value

simulatorSetup()

void Simulators::EvoSimulator::Task::simulatorSetup ( )

inline

Send initial settings to modem (acoustic model parameters)

References Simulators::EvoSimulator::Arguments::set::ber, Simulators::EvoSimulator::Arguments::set::betta, Simulators::EvoSimulator::Arguments::set::rmax, Simulators::EvoSimulator::Arguments::set::rshallow, and Simulators::EvoSimulator::Arguments::settings.

transport()

void Simulators::EvoSimulator::Task::transport ( unsigned  in, unsigned  out  )

inline

Relay incomming messages (modem to driver or driver to modem)

Parameters

[in]	in	identifier of incomming message socket
[in]	out	identifier of outgoing message socket

References Simulators::EvoSimulator::DRIVER, Simulators::EvoSimulator::MODEM, Simulators::EvoSimulator::SafeTCPSocket::name, Simulators::EvoSimulator::SafeTCPSocket::poll(), Simulators::EvoSimulator::SafeTCPSocket::read(), and Simulators::EvoSimulator::SafeTCPSocket::write().

updateState()

void Simulators::EvoSimulator::Task::updateState ( void  )

inline

Update modem position and attitude based on vehicle position and attitude.

References DUNE::Math::Matrix::size(), Simulators::EvoSimulator::STATE, DUNE::Math::Matrix::vertCat(), and Simulators::EvoSimulator::SafeTCPSocket::writeString().

waitReply()

void Simulators::EvoSimulator::Task::waitReply ( std::string  parameter )

inline

Wait for simulator reply after sending setting.

Parameters

[in]

parameter

name of setting to wait for

References Simulators::EvoSimulator::SafeTCPSocket::poll(), Simulators::EvoSimulator::SafeTCPSocket::read(), and Simulators::EvoSimulator::SETTINGS.

Member Data Documentation

m_args

Arguments Simulators::EvoSimulator::Task::m_args

m_bfr

std::vector<uint8_t> Simulators::EvoSimulator::Task::m_bfr

Read buffer.

m_origin

struct Simulators::EvoSimulator::Task::pos Simulators::EvoSimulator::Task::m_origin

m_pos_update

Time::Counter<double> Simulators::EvoSimulator::Task::m_pos_update

Position update timer.

m_rotation

Matrix Simulators::EvoSimulator::Task::m_rotation

Rotation matrix.

m_socket

SafeTCPSocket* Simulators::EvoSimulator::Task::m_socket[NUM_SOCK]

TCP sockets.

m_sstate

IMC::SimulatedState Simulators::EvoSimulator::Task::m_sstate

Last received SimulatedState.

Collaboration diagram for Simulators::EvoSimulator::Task: