Sensors::Edgetech2205::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onUpdateParameters (void)
void	onIdle (void) override
bool	onConnect () override
void	onDisconnect () override
bool	onSynchronize () override
void	onInitializeDevice () override
bool	enableLogControl (void) override
void	onOpenLog (const Path &path) override
void	logPacket (void)
void	onCloseLog (void) override
void	onEstimatedState (const IMC::EstimatedState &msg) override
void	setPingAutoSelectMode (void)
void	setTriggerCoupling (void)
void	initConfig (void)
void	setDataActive (SubsystemId subsys, const std::string &channels)
void	setPing (SubsystemId subsys, const std::string &channels)
int	getSubsysIndex (int subsys)
void	dispatchDebugData (const std::string &text)
void	handleSonarData (void)
void	writeSubsystemData (SubsystemData *data)
void	updateSubsystemData (SubsystemData *data)
void	handlePacket (void)
bool	onReadData (void) override
void	estimateTimeDelta (Counter< double > &reference_timer)

Public Attributes
TCPSocket *	m_sock_dat
std::vector< uint8_t >	m_bfr
Parser	m_parser
CommandLink *	m_cmd
Log *	m_log
Counter< double >	m_start_timer
Counter< double >	m_time_delta_timer
SubsystemData	m_subsys_data [c_subsys_count]
Packet *	m_packet
Arguments	m_args

Static Public Attributes
static const unsigned	c_buffer_size

Constructor & Destructor Documentation

Task()

Sensors::Edgetech2205::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Sensors::Edgetech2205::Arguments::addr, Sensors::Edgetech2205::Arguments::autosel_mode, Sensors::Edgetech2205::Arguments::channels_hf, Sensors::Edgetech2205::Arguments::channels_lf, Sensors::Edgetech2205::Arguments::ignored_sample_count, Sensors::Edgetech2205::Arguments::port_cmd, Sensors::Edgetech2205::Arguments::port_dat, Sensors::Edgetech2205::Arguments::power_channel, Sensors::Edgetech2205::Arguments::range_hf, Sensors::Edgetech2205::Arguments::range_lf, Sensors::Edgetech2205::Arguments::time_delta_init_samples, Sensors::Edgetech2205::Arguments::time_delta_init_tout, Sensors::Edgetech2205::Arguments::time_delta_max_latency, Sensors::Edgetech2205::Arguments::time_delta_periodicity, and Sensors::Edgetech2205::Arguments::trg_div.

Member Function Documentation

dispatchDebugData()

void Sensors::Edgetech2205::Task::dispatchDebugData ( const std::string &  text )

inline

enableLogControl()

bool Sensors::Edgetech2205::Task::enableLogControl ( void  )

inlineoverride

Enable log control.

estimateTimeDelta()

void Sensors::Edgetech2205::Task::estimateTimeDelta ( Counter< double > &  reference_timer )

inline

References Sensors::Edgetech2205::CommandLink::estimateTimeDelta(), Sensors::Edgetech2205::Arguments::time_delta_init_samples, Sensors::Edgetech2205::Arguments::time_delta_init_tout, and Sensors::Edgetech2205::Arguments::time_delta_max_latency.

getSubsysIndex()

int Sensors::Edgetech2205::Task::getSubsysIndex ( int  subsys )

inline

References Sensors::Edgetech2205::SUBSYS_SSH, and Sensors::Edgetech2205::SUBSYS_SSL.

handlePacket()

void Sensors::Edgetech2205::Task::handlePacket ( void  )

inline

References Sensors::Edgetech2205::Packet::getMessageType(), and Sensors::Edgetech2205::MSG_ID_SONAR_DATA.

handleSonarData()

void Sensors::Edgetech2205::Task::handleSonarData ( void  )

inline

References Sensors::Edgetech2205::Packet::get(), Sensors::Edgetech2205::Packet::getSubsystemNumber(), Sensors::Edgetech2205::Arguments::ignored_sample_count, Sensors::Edgetech2205::SubsystemData::ping_count, Sensors::Edgetech2205::SubsystemData::ping_number, and Sensors::Edgetech2205::SDATA_IDX_PING_NUMBER.

initConfig()

void Sensors::Edgetech2205::Task::initConfig ( void  )

inline

Initialize sidescan configuration.

References Sensors::Edgetech2205::Arguments::channels_hf, Sensors::Edgetech2205::Arguments::channels_lf, Sensors::Edgetech2205::Arguments::range_hf, Sensors::Edgetech2205::Arguments::range_lf, Sensors::Edgetech2205::CommandLink::setPingRange(), Sensors::Edgetech2205::SUBSYS_SSH, and Sensors::Edgetech2205::SUBSYS_SSL.

logPacket()

void Sensors::Edgetech2205::Task::logPacket ( void  )

inline

References Sensors::Edgetech2205::Log::get(), and Sensors::Edgetech2205::Log::put().

onCloseLog()

void Sensors::Edgetech2205::Task::onCloseLog ( void  )

inlineoverride

References Sensors::Edgetech2205::Log::getPath().

onConnect()

bool Sensors::Edgetech2205::Task::onConnect ( void  )

inlineoverride

Try to connect to the device.

Returns

true if connection was established, false otherwise.

References Sensors::Edgetech2205::Arguments::addr, and Sensors::Edgetech2205::Arguments::port_cmd.

onDisconnect()

void Sensors::Edgetech2205::Task::onDisconnect ( void  )

inlineoverride

Disconnect from device.

References Sensors::Edgetech2205::CommandLink::shutdown(), Sensors::Edgetech2205::SUBSYS_SSH, and Sensors::Edgetech2205::SUBSYS_SSL.

onEstimatedState()

void Sensors::Edgetech2205::Task::onEstimatedState ( const IMC::EstimatedState &  msg )

inlineoverride

References Sensors::Edgetech2205::SubsystemData::estates, and Sensors::Edgetech2205::EstimatedStateList::push_back().

onIdle()

void Sensors::Edgetech2205::Task::onIdle ( void  )

inlineoverride

onInitializeDevice()

void Sensors::Edgetech2205::Task::onInitializeDevice ( void  )

inlineoverride

Device may be initialized.

References Sensors::Edgetech2205::Arguments::addr, Sensors::Edgetech2205::Arguments::port_dat, Sensors::Edgetech2205::CommandLink::setPingTrigger(), Sensors::Edgetech2205::SUBSYS_SSH, Sensors::Edgetech2205::SUBSYS_SSL, and Sensors::Edgetech2205::TRIG_MODE_INTERNAL.

onOpenLog()

void Sensors::Edgetech2205::Task::onOpenLog ( const Path &  path )

inlineoverride

References Sensors::Edgetech2205::Log::get().

onReadData()

bool Sensors::Edgetech2205::Task::onReadData ( void  )

inlineoverride

References Sensors::Edgetech2205::CommandLink::estimateTimeDelta(), Sensors::Edgetech2205::Parser::parse(), and Sensors::Edgetech2205::Arguments::time_delta_max_latency.

onSynchronize()

bool Sensors::Edgetech2205::Task::onSynchronize ( void  )

inlineoverride

Synchronize with device.

onUpdateParameters()

void Sensors::Edgetech2205::Task::onUpdateParameters ( void  )

inline

References Sensors::Edgetech2205::Arguments::addr, Sensors::Edgetech2205::Arguments::autosel_mode, Sensors::Edgetech2205::Arguments::channels_hf, Sensors::Edgetech2205::Arguments::channels_lf, Sensors::Edgetech2205::Arguments::port_cmd, Sensors::Edgetech2205::Arguments::port_dat, Sensors::Edgetech2205::Arguments::power_channel, Sensors::Edgetech2205::Arguments::range_hf, Sensors::Edgetech2205::Arguments::range_lf, Sensors::Edgetech2205::CommandLink::setPingRange(), Sensors::Edgetech2205::SUBSYS_SSH, and Sensors::Edgetech2205::SUBSYS_SSL.

setDataActive()

void Sensors::Edgetech2205::Task::setDataActive ( SubsystemId  subsys, const std::string &  channels  )

inline

References Sensors::Edgetech2205::CHAN_PORT, Sensors::Edgetech2205::CHAN_STARBOARD, and Sensors::Edgetech2205::CommandLink::setDataActive().

setPing()

void Sensors::Edgetech2205::Task::setPing ( SubsystemId  subsys, const std::string &  channels  )

inline

References Sensors::Edgetech2205::SubsystemData::active, and Sensors::Edgetech2205::CommandLink::setPing().

setPingAutoSelectMode()

void Sensors::Edgetech2205::Task::setPingAutoSelectMode ( void  )

inline

References Sensors::Edgetech2205::Arguments::autosel_mode, Sensors::Edgetech2205::CommandLink::setPingAutoselectMode(), Sensors::Edgetech2205::SUBSYS_SSH, and Sensors::Edgetech2205::SUBSYS_SSL.

setTriggerCoupling()

void Sensors::Edgetech2205::Task::setTriggerCoupling ( void  )

inline

References Sensors::Edgetech2205::Arguments::channels_hf, Sensors::Edgetech2205::Arguments::channels_lf, Sensors::Edgetech2205::CommandLink::setPingCoupling(), Sensors::Edgetech2205::CommandLink::setPingTrigger(), Sensors::Edgetech2205::SUBSYS_SSH, Sensors::Edgetech2205::SUBSYS_SSL, Sensors::Edgetech2205::Arguments::trg_div, Sensors::Edgetech2205::TRIG_MODE_COUPLED, and Sensors::Edgetech2205::TRIG_MODE_INTERNAL.

updateSubsystemData()

void Sensors::Edgetech2205::Task::updateSubsystemData ( SubsystemData *  data )

inline

References Sensors::Edgetech2205::SubsystemData::altitude, Sensors::Edgetech2205::SubsystemData::course, Sensors::Edgetech2205::SubsystemData::depth, Sensors::Edgetech2205::SubsystemData::estates, Sensors::Edgetech2205::EstimatedStateList::find(), Sensors::Edgetech2205::Packet::get(), Sensors::Edgetech2205::CommandLink::getEstimatedTimeDelta(), Sensors::Edgetech2205::Packet::getSubsystemNumber(), Sensors::Edgetech2205::Packet::getTimeStamp(), Sensors::Edgetech2205::SubsystemData::heading, Sensors::Edgetech2205::SubsystemData::latitude, Sensors::Edgetech2205::SubsystemData::latitude_rad, Sensors::Edgetech2205::SubsystemData::longitude, Sensors::Edgetech2205::SubsystemData::longitude_rad, Sensors::Edgetech2205::SubsystemData::msec_cpu, Sensors::Edgetech2205::SubsystemData::ping_count, Sensors::Edgetech2205::SubsystemData::ping_number, Sensors::Edgetech2205::SubsystemData::pitch, Sensors::Edgetech2205::SubsystemData::roll, Sensors::Edgetech2205::SDATA_IDX_MILLISECOND_TODAY, Sensors::Edgetech2205::SDATA_IDX_TIME, Sensors::Edgetech2205::SubsystemData::speed, Sensors::Edgetech2205::SubsystemData::time_bdt, Sensors::Edgetech2205::SubsystemData::time_epoch, Sensors::Edgetech2205::SubsystemData::time_msec_today, and Sensors::Edgetech2205::SubsystemData::validity.

writeSubsystemData()

void Sensors::Edgetech2205::Task::writeSubsystemData ( SubsystemData *  data )

inline

References Sensors::Edgetech2205::SubsystemData::altitude, Sensors::Edgetech2205::SubsystemData::course, Sensors::Edgetech2205::SubsystemData::depth, Sensors::Edgetech2205::Packet::getMessageData(), Sensors::Edgetech2205::SubsystemData::heading, Sensors::Edgetech2205::SubsystemData::latitude, Sensors::Edgetech2205::SubsystemData::latitude_rad, Sensors::Edgetech2205::SubsystemData::longitude, Sensors::Edgetech2205::SubsystemData::longitude_rad, Sensors::Edgetech2205::SubsystemData::pitch, Sensors::Edgetech2205::SubsystemData::roll, Sensors::Edgetech2205::SDATA_IDX_ALTITUDE, Sensors::Edgetech2205::SDATA_IDX_ANNOTATION_STRING, Sensors::Edgetech2205::SDATA_IDX_COORDINATE_UNITS, Sensors::Edgetech2205::SDATA_IDX_COURSE, Sensors::Edgetech2205::SDATA_IDX_CPU_DAY, Sensors::Edgetech2205::SDATA_IDX_CPU_HOUR, Sensors::Edgetech2205::SDATA_IDX_CPU_MINUTES, Sensors::Edgetech2205::SDATA_IDX_CPU_SECONDS, Sensors::Edgetech2205::SDATA_IDX_CPU_TIME_BASIS, Sensors::Edgetech2205::SDATA_IDX_CPU_YEAR, Sensors::Edgetech2205::SDATA_IDX_DEPTH, Sensors::Edgetech2205::SDATA_IDX_HEADING, Sensors::Edgetech2205::SDATA_IDX_LATITUDE, Sensors::Edgetech2205::SDATA_IDX_LONGITUDE, Sensors::Edgetech2205::SDATA_IDX_MILLISECOND_TODAY, Sensors::Edgetech2205::SDATA_IDX_NMEA_HOUR, Sensors::Edgetech2205::SDATA_IDX_NMEA_MINUTES, Sensors::Edgetech2205::SDATA_IDX_NMEA_SECONDS, Sensors::Edgetech2205::SDATA_IDX_PITCH, Sensors::Edgetech2205::SDATA_IDX_ROLL, Sensors::Edgetech2205::SDATA_IDX_SPEED, Sensors::Edgetech2205::SDATA_IDX_TIME, Sensors::Edgetech2205::SDATA_IDX_VALIDITY, Sensors::Edgetech2205::Packet::set(), Sensors::Edgetech2205::SubsystemData::speed, Sensors::Edgetech2205::SubsystemData::time_bdt, Sensors::Edgetech2205::SubsystemData::time_epoch, Sensors::Edgetech2205::SubsystemData::time_msec_today, and Sensors::Edgetech2205::SubsystemData::validity.

Member Data Documentation

c_buffer_size

const unsigned Sensors::Edgetech2205::Task::c_buffer_size

static

Buffer size.

m_args

Arguments Sensors::Edgetech2205::Task::m_args

Configuration parameters.

m_bfr

std::vector<uint8_t> Sensors::Edgetech2205::Task::m_bfr

Read buffer.

m_cmd

CommandLink* Sensors::Edgetech2205::Task::m_cmd

Command link.

m_log

Log* Sensors::Edgetech2205::Task::m_log

Log file.

m_packet

Packet* Sensors::Edgetech2205::Task::m_packet

Current packet being parsed.

m_parser

Parser Sensors::Edgetech2205::Task::m_parser

Parser.

m_sock_dat

TCPSocket* Sensors::Edgetech2205::Task::m_sock_dat

Data socket.

m_start_timer

Counter<double> Sensors::Edgetech2205::Task::m_start_timer

Start timer.

m_subsys_data

SubsystemData Sensors::Edgetech2205::Task::m_subsys_data[c_subsys_count]

Subsystem specific data.

m_time_delta_timer

Counter<double> Sensors::Edgetech2205::Task::m_time_delta_timer

Timer for time delta estimation.

Collaboration diagram for Sensors::Edgetech2205::Task: