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

void	onUpdateParameters (void)

bool	onConnect () override

void	onDisconnect () override

void	onInitializeDevice () override

void	onEntityResolution (void)

void	consume (const IMC::EstimatedState *msg)

void	consume (const IMC::Temperature *msg)

void	onEntityReservation (void)

void	setup (void)

void	startMonitoring (void)

void	stopMonitoring (void)

void	disableInChannels (void)

void	setupInternal (void)

void	checkDigital (void)

bool	setSensor (const std::string &cmd, const std::string &option)

bool	sendCommand (const std::string &cmd)

bool	sendCommand (const std::string &cmd, const std::string &reply)

void	dispatchValue (IMC::Message *msg, double value, double factor, double tstamp, bool raw=false, unsigned index=0)

void	dispatchValue (IMC::Message *msg, double value, double tstamp)

void	dispatchDepth (unsigned id, double value, double tstamp)

void	dispatchPH (unsigned id, double value, double tstamp)

void	dispatchRedox (unsigned id, double value, double tstamp)

unsigned	getChannels (void)

bool	onReadData () override

Public Attributes
SerialPort *	m_uart

IMC::Message *	m_msgs [c_total]

Counter< double >	m_wdog

bool	m_slots [c_total]

double	m_lat

bool	m_need_setup

bool	m_ready_cond

bool	m_ready_sspe

Arguments	m_args

Counter< double >	m_temp_wdog

unsigned	m_temp_eid

float	m_temp

Probes	m_probes

char	m_bfr [255]

double	m_values [c_total]

Constructor & Destructor Documentation

◆ Task()

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

inline

Constructor.

Parameters

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

References Sensors::MetrecX::Arguments::calbuffer, Sensors::MetrecX::Arguments::elabel_temp, Sensors::MetrecX::Arguments::factors, Sensors::MetrecX::Arguments::geop_anomaly, Sensors::MetrecX::Arguments::input_timeout, Sensors::MetrecX::Arguments::io_dev, Sensors::MetrecX::Arguments::labels, Sensors::MetrecX::Arguments::msgs, Sensors::MetrecX::Arguments::offset, and Sensors::MetrecX::Arguments::slope.

Member Function Documentation

◆ checkDigital()

void Sensors::MetrecX::Task::checkDigital ( void )

inline

Cross check of what internal channels may be turned on and what channels the user want turned on.

References Sensors::MetrecX::DSF_CONDUCTIVITY, Sensors::MetrecX::DSF_PRESSURE, Sensors::MetrecX::DSF_SV, Sensors::MetrecX::DSF_TEMPERATURE, and Sensors::MetrecX::Arguments::msgs.

◆ consume() [1/2]

void Sensors::MetrecX::Task::consume ( const IMC::EstimatedState * msg )

inline

◆ consume() [2/2]

void Sensors::MetrecX::Task::consume ( const IMC::Temperature * msg )

inline

◆ disableInChannels()

void Sensors::MetrecX::Task::disableInChannels ( void )

inline

Disable all input channels.

◆ dispatchDepth()

void Sensors::MetrecX::Task::dispatchDepth	(	unsigned	id,
		double	value,
		double	tstamp
	)

inline

Dispatch depth.

Parameters

[in]	id	entity id.
[in]	value	depth value.
[in]	tstamp	current timestamp.

References Sensors::MetrecX::Arguments::geop_anomaly.

◆ dispatchPH()

void Sensors::MetrecX::Task::dispatchPH	(	unsigned	id,
		double	value,
		double	tstamp
	)

inline

Dispatch pH.

Parameters

[in]	id	entity id.
[in]	value	ph reading.
[in]	tstamp	current timestamp.

References Sensors::MetrecX::Arguments::calbuffer, Sensors::MetrecX::Arguments::offset, and Sensors::MetrecX::Arguments::slope.

◆ dispatchRedox()

void Sensors::MetrecX::Task::dispatchRedox	(	unsigned	id,
		double	value,
		double	tstamp
	)

inline

Dispatch Redox.

Parameters

[in]	id	entity id.
[in]	value	redox reading.
[in]	tstamp	current timestamp.

◆ dispatchValue() [1/2]

void Sensors::MetrecX::Task::dispatchValue	(	IMC::Message *	msg,
		double	value,
		double	factor,
		double	tstamp,
		bool	raw = `false`,
		unsigned	index = `0`
	)

inline

Dispatch value.

Parameters

[in]	msg	IMC message.
[in]	value	measurement value.
[in]	factor	multiplication factor.
[in]	tstamp	current timestamp.
[in]	raw	dispatch raw voltage.

References Sensors::MetrecX::Probes::conversion(), and Sensors::MetrecX::Arguments::msgs.

◆ dispatchValue() [2/2]

void Sensors::MetrecX::Task::dispatchValue	(	IMC::Message *	msg,
		double	value,
		double	tstamp
	)

inline

Dispatch value.

Parameters

[in]	msg	IMC message.
[in]	value	value.
[in]	tstamp	current timestamp.

◆ getChannels()

unsigned Sensors::MetrecX::Task::getChannels ( void )

inline

Get active channels.

Returns: active channels.

◆ onConnect()

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

inlineoverride

Try to connect to the device.

Returns: true if connection was established, false otherwise.

References Sensors::MetrecX::Arguments::io_dev.

◆ onDisconnect()

void Sensors::MetrecX::Task::onDisconnect ( void )

inlineoverride

Disconnect from device.

◆ onEntityReservation()

void Sensors::MetrecX::Task::onEntityReservation ( void )

inline

Reserve entities.

References Sensors::MetrecX::Arguments::labels, and Sensors::MetrecX::Arguments::msgs.

◆ onEntityResolution()

void Sensors::MetrecX::Task::onEntityResolution ( void )

inline

References Sensors::MetrecX::Arguments::elabel_temp.

◆ onInitializeDevice()

void Sensors::MetrecX::Task::onInitializeDevice ( void )

inlineoverride

Device may be initialized.

◆ onReadData()

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

inlineoverride

Get data from device.

Returns: true if data was received, false otherwise.

References Sensors::MetrecX::Arguments::factors.

◆ onUpdateParameters()

void Sensors::MetrecX::Task::onUpdateParameters ( void )

inline

Update internal state with new parameter values.

References Sensors::MetrecX::Arguments::labels, and Sensors::MetrecX::Arguments::msgs.

◆ sendCommand() [1/2]

bool Sensors::MetrecX::Task::sendCommand ( const std::string & cmd )

inline

Send command to device.

Parameters

[in] cmd command.

Returns: true if command was received successfully, false otherwise.

◆ sendCommand() [2/2]

bool Sensors::MetrecX::Task::sendCommand	(	const std::string &	cmd,
		const std::string &	reply
	)

inline

Send command to device.

Parameters

[in]	cmd	command.
[in]	reply	expected reply.

Returns: true if command was received successfully, false otherwise.

◆ setSensor()

bool Sensors::MetrecX::Task::setSensor	(	const std::string &	cmd,
		const std::string &	option
	)

inline

Set sensor option.

Parameters

[in] cmd command.

Returns: true if command was received successfully, false otherwise.

◆ setup()

void Sensors::MetrecX::Task::setup ( void )

inline

Setup device.

◆ setupInternal()

void Sensors::MetrecX::Task::setupInternal ( void )

inline

Setup internal channels.

References Sensors::MetrecX::ICM_DENSITY, Sensors::MetrecX::ICM_SALINITY, and Sensors::MetrecX::ICM_SSPEED.

◆ startMonitoring()

void Sensors::MetrecX::Task::startMonitoring ( void )

inline

Start monitoring device.

References Sensors::MetrecX::Arguments::input_timeout.

◆ stopMonitoring()

void Sensors::MetrecX::Task::stopMonitoring ( void )

inline

Stop monitoring device.

Member Data Documentation

◆ m_args

Arguments Sensors::MetrecX::Task::m_args

Task arguments.

◆ m_bfr

char Sensors::MetrecX::Task::m_bfr[255]

Input buffer.

◆ m_lat

double Sensors::MetrecX::Task::m_lat

Vehicle Latitude.

◆ m_msgs

IMC::Message* Sensors::MetrecX::Task::m_msgs[c_total]

Digital messages.

◆ m_need_setup

bool Sensors::MetrecX::Task::m_need_setup

Waiting setup.

◆ m_probes

Probes Sensors::MetrecX::Task::m_probes

Probes.

◆ m_ready_cond

bool Sensors::MetrecX::Task::m_ready_cond

Ready with conductivity, temperature and pressure.

◆ m_ready_sspe

bool Sensors::MetrecX::Task::m_ready_sspe

Ready with sound speed, temperature and pressure.

◆ m_slots

bool Sensors::MetrecX::Task::m_slots[c_total]

Array of active slots.

◆ m_temp

float Sensors::MetrecX::Task::m_temp

Temperature for pH calculation.

◆ m_temp_eid

unsigned Sensors::MetrecX::Task::m_temp_eid

Temperature entity id.

◆ m_temp_wdog

Counter<double> Sensors::MetrecX::Task::m_temp_wdog

Internal temperature presence watchdog.

◆ m_uart

SerialPort* Sensors::MetrecX::Task::m_uart

Serial port handle.

◆ m_values

double Sensors::MetrecX::Task::m_values[c_total]

Sensor values.

◆ m_wdog

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

Task Watchdog.

Collaboration diagram for Sensors::MetrecX::Task:

Public Member Functions

Public Attributes

Constructor & Destructor Documentation

◆ Task()

Member Function Documentation

◆ checkDigital()

◆ consume() [1/2]

◆ consume() [2/2]

◆ disableInChannels()

◆ dispatchDepth()

◆ dispatchPH()

◆ dispatchRedox()

◆ dispatchValue() [1/2]

◆ dispatchValue() [2/2]

◆ getChannels()

◆ onConnect()

◆ onDisconnect()

◆ onEntityReservation()

◆ onEntityResolution()

◆ onInitializeDevice()

◆ onReadData()

◆ onUpdateParameters()

◆ sendCommand() [1/2]

◆ sendCommand() [2/2]

◆ setSensor()

◆ setup()

◆ setupInternal()

◆ startMonitoring()

◆ stopMonitoring()

Member Data Documentation

◆ m_args

◆ m_bfr

◆ m_lat

◆ m_msgs

◆ m_need_setup

◆ m_probes

◆ m_ready_cond

◆ m_ready_sspe

◆ m_slots

◆ m_temp

◆ m_temp_eid

◆ m_temp_wdog

◆ m_uart

◆ m_values

◆ m_wdog