DUNE: Uniform Navigational Environment  2022.04.1
List of all members | Public Member Functions | Public Attributes | Static Public Attributes
Vision::Lumenera::Task Struct Reference

Detailed Description

Device driver task.

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
void updateSlaveEntities (void)
 
void onUpdateParameters (void)
 
bool checkParameters (void)
 
void onResourceAcquisition (void)
 
void onResourceRelease (void)
 
void consume (const IMC::LoggingControl *msg)
 
void consume (const IMC::EstimatedState *msg)
 
void onRequestActivation (void)
 
void checkActivationProgress (void)
 
void onRequestDeactivation (void)
 
void checkDeactivationProgress (void)
 
void onActivation (void)
 
void onDeactivation (void)
 
void consume (const IMC::EntityActivationState *msg)
 
void consume (const IMC::EntityInfo *msg)
 
void startVideo (void)
 
void stopVideo (void)
 
bool captureFrame (Log::Frame *frame, double timeout=2.0)
 
void setProperty (std::string property, std::string value)
 
void getProperty (std::string property, std::string &value)
 
void setProperties (void)
 
void updateFps (void)
 
void updateExposure (void)
 
bool checkExposure (void)
 
void updateGain (void)
 
bool checkGain (void)
 
void updateWhiteBalance (void)
 
bool checkWhiteBalance (void)
 
void updateGamma (void)
 
void updateMedianFilter (void)
 
void updateStrobe (void)
 
void changeLogFile (void)
 
void captureAndSave (void)
 
bool checkConfiguration (void)
 
bool updateActualFrameRate (void)
 
bool checkCaptureOk (void)
 
bool checkLogdirOk (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

Arguments m_args
 
HTTPClient * m_http
 
std::string m_boundary
 
Path m_log_dir
 
double m_timestamp
 
Hardware::GPIO * m_pwr_gpio
 
Hardware::GPIO * m_led_gpio
 
bool m_cfg_dirty
 
EntityActivationMaster * m_slave_entities
 
Counter< double > m_act_timer
 
bool m_log_dir_updated
 
IMC::EstimatedState m_estate
 
Counter< double > m_cooldown_timer
 
Log * m_log
 
int m_actual_frame_rate
 

Static Public Attributes

static const unsigned c_port
 
static const unsigned c_width
 
static const unsigned c_height
 

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 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()

Vision::Lumenera::Task::Task ( const std::string &  name,
Tasks::Context &  ctx 
)
inline

References Vision::Lumenera::Arguments::address, Vision::Lumenera::Arguments::auto_exposure, Vision::Lumenera::Arguments::auto_gain, Vision::Lumenera::Arguments::auto_whitebalance, Vision::Lumenera::Arguments::camera_capt, Vision::Lumenera::Arguments::camera_cfg, Vision::Lumenera::Arguments::exposure_knee, Vision::Lumenera::Arguments::exposure_max, Vision::Lumenera::Arguments::exposure_value, Vision::Lumenera::Arguments::fps, Vision::Lumenera::Arguments::gain_blue, Vision::Lumenera::Arguments::gain_green, Vision::Lumenera::Arguments::gain_knee, Vision::Lumenera::Arguments::gain_max, Vision::Lumenera::Arguments::gain_red, Vision::Lumenera::Arguments::gain_value, Vision::Lumenera::Arguments::gamma, Vision::Lumenera::Arguments::led_gpio, Vision::Lumenera::Arguments::led_type, Vision::Lumenera::Arguments::log_prefix, Vision::Lumenera::Arguments::max_file_size, Vision::Lumenera::Arguments::median_filter, Vision::Lumenera::Arguments::pwr_gpio, and Vision::Lumenera::Arguments::slave_entities.

Member Function Documentation

◆ captureAndSave()

void Vision::Lumenera::Task::captureAndSave ( void  )
inline

References Vision::Lumenera::Log::getFreeFrame(), Vision::Lumenera::Log::getSize(), Vision::Lumenera::Arguments::max_file_size, Vision::Lumenera::Log::put(), and Vision::Lumenera::Log::putFree().

◆ captureFrame()

bool Vision::Lumenera::Task::captureFrame ( Log::Frame *  frame,
double  timeout = 2.0 
)
inline

References Vision::Lumenera::HTTPClient::getBinary(), Vision::Lumenera::Log::Frame::getBuffer(), Vision::Lumenera::HTTPClient::getHeader(), Vision::Lumenera::Log::Frame::setTimeStamp(), and Vision::Lumenera::HTTPClient::skipToBoundary().

◆ changeLogFile()

void Vision::Lumenera::Task::changeLogFile ( void  )
inline

◆ checkActivationProgress()

void Vision::Lumenera::Task::checkActivationProgress ( void  )
inline

References Vision::Lumenera::Arguments::camera_capt, Vision::Lumenera::Arguments::camera_cfg, Vision::Lumenera::EntityActivationMaster::checkActivation(), and Vision::Lumenera::EntityActivationMaster::deactivate().

◆ checkCaptureOk()

bool Vision::Lumenera::Task::checkCaptureOk ( void  )
inline

◆ checkConfiguration()

bool Vision::Lumenera::Task::checkConfiguration ( void  )
inline

◆ checkDeactivationProgress()

void Vision::Lumenera::Task::checkDeactivationProgress ( void  )
inline

References Vision::Lumenera::EntityActivationMaster::checkDeactivation().

◆ checkExposure()

bool Vision::Lumenera::Task::checkExposure ( void  )
inline

References Vision::Lumenera::Arguments::auto_exposure, Vision::Lumenera::Arguments::exposure_knee, Vision::Lumenera::Arguments::exposure_max, and Vision::Lumenera::Arguments::exposure_value.

◆ checkGain()

bool Vision::Lumenera::Task::checkGain ( void  )
inline

References Vision::Lumenera::Arguments::auto_gain, Vision::Lumenera::Arguments::gain_knee, Vision::Lumenera::Arguments::gain_max, and Vision::Lumenera::Arguments::gain_value.

◆ checkLogdirOk()

bool Vision::Lumenera::Task::checkLogdirOk ( void  )
inline

◆ checkParameters()

bool Vision::Lumenera::Task::checkParameters ( void  )
inline

References Vision::Lumenera::Arguments::fps, Vision::Lumenera::Arguments::gamma, Vision::Lumenera::Arguments::led_type, and Vision::Lumenera::Arguments::median_filter.

◆ checkWhiteBalance()

bool Vision::Lumenera::Task::checkWhiteBalance ( void  )
inline

References Vision::Lumenera::Arguments::auto_whitebalance, Vision::Lumenera::Arguments::gain_blue, Vision::Lumenera::Arguments::gain_green, and Vision::Lumenera::Arguments::gain_red.

◆ consume() [1/4]

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

References Vision::Lumenera::Arguments::camera_capt, and Vision::Lumenera::Arguments::log_prefix.

◆ consume() [2/4]

void Vision::Lumenera::Task::consume ( const IMC::EstimatedState *  msg)
inline

◆ consume() [3/4]

void Vision::Lumenera::Task::consume ( const IMC::EntityActivationState *  msg)
inline

References Vision::Lumenera::EntityActivationMaster::onEntityActivationState().

◆ consume() [4/4]

void Vision::Lumenera::Task::consume ( const IMC::EntityInfo *  msg)
inline

References Vision::Lumenera::EntityActivationMaster::onEntityInfo().

◆ getProperty()

void Vision::Lumenera::Task::getProperty ( std::string  property,
std::string &  value 
)
inline

References Vision::Lumenera::Arguments::address, and Vision::Lumenera::HTTPClient::getHeader().

◆ onActivation()

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

Called when the task starts/resumes normal execution.

Reimplemented from DUNE::Tasks::Task.

◆ onDeactivation()

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

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

Reimplemented from DUNE::Tasks::Task.

◆ onMain()

void Vision::Lumenera::Task::onMain ( void  )
inlinevirtual

Implements DUNE::Tasks::Task.

References Vision::Lumenera::Arguments::camera_capt, and Vision::Lumenera::Arguments::camera_cfg.

◆ onRequestActivation()

void Vision::Lumenera::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.

References Vision::Lumenera::EntityActivationMaster::activate().

◆ onRequestDeactivation()

void Vision::Lumenera::Task::onRequestDeactivation ( void  )
inlinevirtual

Called when an external deactivation request is received.

Derived classes that need to perform extra steps to prepare normal execution should replace the default behaviour of immediate deactivation with calls to deactivate() when the request is completed or deactivationFailed() if the request cannot be honoured.

Reimplemented from DUNE::Tasks::Task.

References Vision::Lumenera::EntityActivationMaster::deactivate().

◆ onResourceAcquisition()

void Vision::Lumenera::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 Vision::Lumenera::Arguments::led_gpio, and Vision::Lumenera::Arguments::pwr_gpio.

◆ onResourceRelease()

void Vision::Lumenera::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.

◆ onUpdateParameters()

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

Called when the task is instructed to update its run-time parameters.

Derived classes that need to compute auxiliary values based on run-time parameters should override this function.

Reimplemented from DUNE::Tasks::Task.

◆ setProperties()

void Vision::Lumenera::Task::setProperties ( void  )
inline

◆ setProperty()

void Vision::Lumenera::Task::setProperty ( std::string  property,
std::string  value 
)
inline

References Vision::Lumenera::Arguments::address, and Vision::Lumenera::HTTPClient::getHeader().

◆ startVideo()

void Vision::Lumenera::Task::startVideo ( void  )
inline

References Vision::Lumenera::Arguments::address, and Vision::Lumenera::HTTPClient::getHeader().

◆ stopVideo()

void Vision::Lumenera::Task::stopVideo ( void  )
inline

◆ updateActualFrameRate()

bool Vision::Lumenera::Task::updateActualFrameRate ( void  )
inline

◆ updateExposure()

void Vision::Lumenera::Task::updateExposure ( void  )
inline

References Vision::Lumenera::Arguments::auto_exposure, Vision::Lumenera::Arguments::exposure_knee, Vision::Lumenera::Arguments::exposure_max, and Vision::Lumenera::Arguments::exposure_value.

◆ updateFps()

void Vision::Lumenera::Task::updateFps ( void  )
inline

References Vision::Lumenera::Arguments::fps.

◆ updateGain()

void Vision::Lumenera::Task::updateGain ( void  )
inline

References Vision::Lumenera::Arguments::auto_gain, Vision::Lumenera::Arguments::gain_knee, Vision::Lumenera::Arguments::gain_max, and Vision::Lumenera::Arguments::gain_value.

◆ updateGamma()

void Vision::Lumenera::Task::updateGamma ( void  )
inline

References Vision::Lumenera::Arguments::gamma.

◆ updateMedianFilter()

void Vision::Lumenera::Task::updateMedianFilter ( void  )
inline

References Vision::Lumenera::Arguments::median_filter.

◆ updateSlaveEntities()

void Vision::Lumenera::Task::updateSlaveEntities ( void  )
inline

References Vision::Lumenera::EntityActivationMaster::addEntity(), Vision::Lumenera::EntityActivationMaster::clear(), and Vision::Lumenera::Arguments::slave_entities.

◆ updateStrobe()

void Vision::Lumenera::Task::updateStrobe ( void  )
inline

References Vision::Lumenera::Arguments::led_type.

◆ updateWhiteBalance()

void Vision::Lumenera::Task::updateWhiteBalance ( void  )
inline

References Vision::Lumenera::Arguments::auto_whitebalance, Vision::Lumenera::Arguments::gain_blue, Vision::Lumenera::Arguments::gain_green, and Vision::Lumenera::Arguments::gain_red.

Member Data Documentation

◆ c_height

const unsigned Vision::Lumenera::Task::c_height
static

Default image height.

◆ c_port

const unsigned Vision::Lumenera::Task::c_port
static

HTTP camera port.

◆ c_width

const unsigned Vision::Lumenera::Task::c_width
static

Default image width.

◆ m_act_timer

Counter<double> Vision::Lumenera::Task::m_act_timer

Activation timer.

◆ m_actual_frame_rate

int Vision::Lumenera::Task::m_actual_frame_rate

Actual frame rate.

◆ m_args

Arguments Vision::Lumenera::Task::m_args

Configuration parameters.

◆ m_boundary

std::string Vision::Lumenera::Task::m_boundary

MJPEG boundary string.

◆ m_cfg_dirty

bool Vision::Lumenera::Task::m_cfg_dirty

Config is dirty.

◆ m_cooldown_timer

Counter<double> Vision::Lumenera::Task::m_cooldown_timer

Cooldown timer.

◆ m_estate

IMC::EstimatedState Vision::Lumenera::Task::m_estate

Last estimated state.

◆ m_http

HTTPClient* Vision::Lumenera::Task::m_http

Video stream HTTP connection.

◆ m_led_gpio

Hardware::GPIO* Vision::Lumenera::Task::m_led_gpio

LEDs GPIO.

◆ m_log

Log* Vision::Lumenera::Task::m_log

Log instance.

◆ m_log_dir

Path Vision::Lumenera::Task::m_log_dir

Destination log folder.

◆ m_log_dir_updated

bool Vision::Lumenera::Task::m_log_dir_updated

True if received the logging path.

◆ m_pwr_gpio

Hardware::GPIO* Vision::Lumenera::Task::m_pwr_gpio

Power GPIO.

◆ m_slave_entities

EntityActivationMaster* Vision::Lumenera::Task::m_slave_entities

Slave entities.

◆ m_timestamp

double Vision::Lumenera::Task::m_timestamp
Collaboration diagram for Vision::Lumenera::Task:
Collaboration graph