DUNE: Uniform Navigational Environment
2.3.1
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Public Member Functions | |
Task (const std::string &name, Tasks::Context &ctx) | |
~Task (void) | |
void | onResourceAcquisition (void) |
void | onResourceRelease (void) |
void | consume (const IMC::Pulse *msg) |
int | parse (uint8_t byte) |
void | sendMessage (uint8_t mid, const uint8_t *data, unsigned int data_len) |
bool | sendMessageWithAck (uint8_t mid, const uint8_t *data, unsigned int data_len) |
bool | sendGoToConfig (void) |
bool | sendGoToMeasurement (void) |
bool | sendSetOutputMode (void) |
bool | sendSetOutputSettings (void) |
bool | sendSyncInSettings (void) |
bool | setup (void) |
void | onMain (void) |
Public Member Functions inherited from DUNE::Tasks::Task | |
Task (const std::string &name, Context &context) | |
const char * | getName (void) const |
const char * | getSystemName (void) const |
unsigned int | getSystemId (void) const |
unsigned int | getEntityId (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 |
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) |
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) |
State | getState (void) |
bool | isCreated (void) |
bool | isStopping (void) |
bool | isRunning (void) |
bool | isStarting (void) |
bool | isDead (void) |
Public Attributes | |
ParserStates | m_state |
uint8_t | m_mid |
uint8_t | m_data_len |
uint8_t | m_data_idx |
uint8_t | m_data [c_max_data_len] |
unsigned int | m_csum |
SerialPort * | m_uart |
uint8_t * | m_bfr |
IMC::EulerAngles | m_euler |
IMC::Acceleration | m_accel |
IMC::AngularVelocity | m_agvel |
IMC::Temperature | m_temp |
Arguments | m_args |
Static Public Attributes | |
static const uint8_t | c_preamble |
static const int | c_max_data_len |
static const int | c_max_bfr_len |
Additional Inherited Members | |
Public Types inherited from DUNE::Concurrency::Runnable | |
enum | State { StateStarting, StateRunning, StateStopping, StateDead, StateUnknown } |
Static Public Member Functions inherited from DUNE::Concurrency::Thread | |
static unsigned | native (void) |
Protected Member Functions inherited from DUNE::Tasks::Task | |
const char * | getEntityLabel (void) const |
void | setEntityLabel (const std::string &label) |
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) |
unsigned int | resolveEntity (const std::string &label) const |
std::string | resolveEntity (unsigned int id) const |
bool | stopping (void) |
bool | isActive (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 > | |
void | bind (T *task_obj, const std::vector< std::string > &list) |
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 void | onEntityReservation (void) |
virtual void | onEntityResolution (void) |
virtual void | onReportEntityState (void) |
virtual void | onResourceInitialization (void) |
virtual void | onUpdateParameters (void) |
virtual void | onRequestActivation (void) |
virtual void | onRequestDeactivation (void) |
virtual void | onActivation (void) |
virtual void | onDeactivation (void) |
Protected Member Functions inherited from DUNE::Concurrency::Thread | |
void | startImpl (void) |
void | stopImpl (void) |
void | joinImpl (void) |
void | setPriorityImpl (Scheduler::Policy policy, unsigned priority) |
Protected Attributes inherited from DUNE::Tasks::Task | |
Context & | m_ctx |
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inline |
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inlinevirtual |
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inline |
References c_max_bfr_len, DUNE::Tasks::Task::dispatch(), m_accel, m_agvel, m_bfr, m_data, m_euler, m_temp, m_uart, parse(), and DUNE::Tasks::Task::war().
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inlinevirtual |
Implements DUNE::Tasks::Task.
References m_uart, setup(), DUNE::Tasks::Task::stopping(), and DUNE::Tasks::Task::waitForMessages().
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inlinevirtual |
Called when the task is instructed to acquire resources whose configuration is defined by run-time parameters.
Reimplemented from DUNE::Tasks::Task.
References m_args, m_uart, Sensors::MTi::Arguments::uart_baud, and Sensors::MTi::Arguments::uart_dev.
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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.
References m_uart.
Referenced by ~Task().
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inline |
References c_preamble, DUNE::Tasks::Task::err(), m_csum, m_data, m_data_idx, m_data_len, m_mid, m_state, Sensors::MTi::PS_BID, Sensors::MTi::PS_CS, Sensors::MTi::PS_DATA, Sensors::MTi::PS_LEN, Sensors::MTi::PS_MID, and Sensors::MTi::PS_NONE.
Referenced by consume(), and sendMessageWithAck().
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inline |
References sendMessageWithAck().
Referenced by setup().
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inline |
References sendMessageWithAck().
Referenced by setup().
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inline |
References c_preamble, m_bfr, m_uart, and DUNE::Math::sum().
Referenced by sendMessageWithAck().
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inline |
References c_max_bfr_len, m_bfr, m_uart, parse(), and sendMessage().
Referenced by sendGoToConfig(), sendGoToMeasurement(), sendSetOutputMode(), sendSetOutputSettings(), and sendSyncInSettings().
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inline |
References sendMessageWithAck().
Referenced by setup().
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inline |
References sendMessageWithAck().
Referenced by setup().
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inline |
References sendMessageWithAck().
Referenced by setup().
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inline |
References DUNE::Tasks::Task::err(), DUNE::Tasks::Task::inf(), m_uart, sendGoToConfig(), sendGoToMeasurement(), sendSetOutputMode(), sendSetOutputSettings(), and sendSyncInSettings().
Referenced by onMain().
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static |
Referenced by consume(), sendMessageWithAck(), and Task().
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static |
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static |
Referenced by parse(), and sendMessage().
IMC::Acceleration Sensors::MTi::Task::m_accel |
Referenced by consume().
IMC::AngularVelocity Sensors::MTi::Task::m_agvel |
Referenced by consume().
Arguments Sensors::MTi::Task::m_args |
Referenced by onResourceAcquisition(), and Task().
uint8_t* Sensors::MTi::Task::m_bfr |
Referenced by consume(), sendMessage(), sendMessageWithAck(), Task(), and ~Task().
unsigned int Sensors::MTi::Task::m_csum |
Referenced by parse().
uint8_t Sensors::MTi::Task::m_data[c_max_data_len] |
uint8_t Sensors::MTi::Task::m_data_idx |
Referenced by parse().
uint8_t Sensors::MTi::Task::m_data_len |
Referenced by parse().
IMC::EulerAngles Sensors::MTi::Task::m_euler |
Referenced by consume().
uint8_t Sensors::MTi::Task::m_mid |
Referenced by parse().
ParserStates Sensors::MTi::Task::m_state |
Referenced by parse().
IMC::Temperature Sensors::MTi::Task::m_temp |
Referenced by consume().
SerialPort* Sensors::MTi::Task::m_uart |
Referenced by consume(), onMain(), onResourceAcquisition(), onResourceRelease(), sendMessage(), sendMessageWithAck(), and setup().