Sensors::Imagenex852::Task Struct Reference

Detailed Description

Task.

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onUpdateParameters (void)
bool	onConnect () override
void	onDisconnect () override
bool	onSynchronize (void) override
void	onInitializeDevice () override
void	consume (const IMC::UamTxStatus *msg)
void	onSoundSpeed (double value) override
void	consume (const IMC::VehicleMedium *msg)
bool	onReadData () override
void	filterRange (DUNE::IMC::Distance &dist, DUNE::IMC::SonarData &profile)

Public Attributes
SerialPort *	m_uart
Trigger	m_trigger
IMC::Distance	m_dist
IMC::SonarData	m_profile
Arguments	m_args
Counter< double >	m_wdog
uint8_t	m_bfr [1024]
double	m_sound_speed
SwitchData	m_switch
Parser	m_parser
PatternFilter *	m_pfilt
Monitors::MediumHandler	m_hand
bool	m_uam_tx_ip

Constructor & Destructor Documentation

Task()

Sensors::Imagenex852::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

Task constructor.

References Sensors::Imagenex852::Arguments::auto_activation, Sensors::Imagenex852::Arguments::data_points, Sensors::Imagenex852::Arguments::filter_enabled, Sensors::Imagenex852::Arguments::filter_median_size, Sensors::Imagenex852::Arguments::filter_threshold, Sensors::Imagenex852::Arguments::io_dev, Sensors::Imagenex852::Arguments::orientation, Sensors::Imagenex852::Arguments::pattern_diff, Sensors::Imagenex852::Arguments::pattern_filter, Sensors::Imagenex852::Arguments::position, Sensors::Imagenex852::Arguments::profile_range, Sensors::Imagenex852::Arguments::pulse_length, Sensors::Imagenex852::Arguments::range, Sensors::Imagenex852::Arguments::sample_frequency, Sensors::Imagenex852::Arguments::sspeed, Sensors::Imagenex852::Arguments::sspeed_dyn, Sensors::Imagenex852::Arguments::start_gain, and Sensors::Imagenex852::Arguments::surface.

Member Function Documentation

consume() [1/2]

void Sensors::Imagenex852::Task::consume ( const IMC::UamTxStatus *  msg )

inline

consume() [2/2]

void Sensors::Imagenex852::Task::consume ( const IMC::VehicleMedium *  msg )

inline

References Sensors::Imagenex852::Arguments::auto_activation, and Sensors::Imagenex852::Arguments::surface.

filterRange()

void Sensors::Imagenex852::Task::filterRange ( DUNE::IMC::Distance &  dist, DUNE::IMC::SonarData &  profile  )

inline

Filter profile range using information in data points.

Parameters

[in,out]	dist	Distance message.
[in,out]	profile	SonarData message.

References DUNE::IMC::SonarData::data, Sensors::Imagenex852::Arguments::data_points, Sensors::Imagenex852::Arguments::filter_median_size, Sensors::Imagenex852::Arguments::filter_threshold, Sensors::Imagenex852::SwitchData::getRange(), DUNE::Math::median(), and DUNE::IMC::Distance::value.

onConnect()

bool Sensors::Imagenex852::Task::onConnect ( void  )

inlineoverride

Try to connect to the device.

Returns

true if connection was established, false otherwise.

References Sensors::Imagenex852::Arguments::io_dev, Sensors::Imagenex852::Arguments::pattern_diff, and Sensors::Imagenex852::Arguments::pattern_filter.

onDisconnect()

void Sensors::Imagenex852::Task::onDisconnect ( void  )

inlineoverride

Disconnect from device.

References Sensors::Imagenex852::Trigger::setActive().

onInitializeDevice()

void Sensors::Imagenex852::Task::onInitializeDevice ( void  )

inlineoverride

Initialize device.

References Sensors::Imagenex852::Trigger::setActive().

onReadData()

bool Sensors::Imagenex852::Task::onReadData ( void  )

inlineoverride

Get data from device.

Returns

true if data was received, false otherwise.

References Sensors::Imagenex852::Arguments::filter_enabled, Sensors::Imagenex852::PatternFilter::filterPattern(), Sensors::Imagenex852::Parser::getDataPointsCount(), Sensors::Imagenex852::SwitchData::getProfileMinRange(), Sensors::Imagenex852::Parser::getProfileRange(), Sensors::Imagenex852::Parser::getRange(), Sensors::Imagenex852::Parser::parse(), Sensors::Imagenex852::Arguments::pattern_filter, and Sensors::Imagenex852::Arguments::sspeed_dyn.

onSoundSpeed()

void Sensors::Imagenex852::Task::onSoundSpeed ( double  value )

inlineoverride

onSynchronize()

bool Sensors::Imagenex852::Task::onSynchronize ( void  )

inlineoverride

References Sensors::Imagenex852::SwitchData::data(), Sensors::Imagenex852::Trigger::setActive(), Sensors::Imagenex852::Trigger::setSwitchData(), Sensors::Imagenex852::Trigger::setUART(), and Sensors::Imagenex852::SwitchData::size().

onUpdateParameters()

void Sensors::Imagenex852::Task::onUpdateParameters ( void  )

inline

Update parameters.

References Sensors::Imagenex852::Arguments::data_points, Sensors::Imagenex852::Arguments::io_dev, Sensors::Imagenex852::Arguments::orientation, Sensors::Imagenex852::Arguments::position, Sensors::Imagenex852::Arguments::profile_range, Sensors::Imagenex852::Arguments::pulse_length, Sensors::Imagenex852::Arguments::range, Sensors::Imagenex852::Arguments::sample_frequency, Sensors::Imagenex852::SwitchData::setDataPoints(), Sensors::Imagenex852::SwitchData::setProfileMinRange(), Sensors::Imagenex852::SwitchData::setPulseLength(), Sensors::Imagenex852::SwitchData::setRange(), Sensors::Imagenex852::Trigger::setSampleFrequency(), Sensors::Imagenex852::SwitchData::setStartGain(), Sensors::Imagenex852::Arguments::sspeed, and Sensors::Imagenex852::Arguments::start_gain.

Member Data Documentation

m_args

Arguments Sensors::Imagenex852::Task::m_args

Task arguments.

m_bfr

uint8_t Sensors::Imagenex852::Task::m_bfr[1024]

Device buffer.

m_dist

IMC::Distance Sensors::Imagenex852::Task::m_dist

Distance message.

m_hand

Monitors::MediumHandler Sensors::Imagenex852::Task::m_hand

Medium handler.

m_parser

Parser Sensors::Imagenex852::Task::m_parser

Return data parser.

m_pfilt

PatternFilter* Sensors::Imagenex852::Task::m_pfilt

Pattern filter.

m_profile

IMC::SonarData Sensors::Imagenex852::Task::m_profile

Profile message.

m_sound_speed

double Sensors::Imagenex852::Task::m_sound_speed

Last valid sound speed value.

m_switch

SwitchData Sensors::Imagenex852::Task::m_switch

Switch data.

m_trigger

Trigger Sensors::Imagenex852::Task::m_trigger

Shot trigger.

m_uam_tx_ip

bool Sensors::Imagenex852::Task::m_uam_tx_ip

Underwater acoustic modem transmission in progress.

m_uart

SerialPort* Sensors::Imagenex852::Task::m_uart

Serial port handle.

m_wdog

Counter<double> Sensors::Imagenex852::Task::m_wdog

Watchdog.

Collaboration diagram for Sensors::Imagenex852::Task: