DUNE: Uniform Navigational Environment  2.4.1
Actuators::LED4R::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
 ~Task (void)
 
void onEntityReservation (void)
 
void onUpdateParameters (void)
 
void onResourceAcquisition (void)
 
void onResourceInitialization (void)
 
void onResourceRelease (void)
 
void setConfig (void)
 
void consume (const IMC::SetLedBrightness *msg)
 
void consume (const IMC::QueryLedBrightness *msg)
 
void clearLEDs (void)
 
bool setExternalDriver (bool enabled)
 
bool setExternalTrigger (bool enabled)
 
bool setPatternPulseWidth (uint16_t pwidth)
 
bool getConstantParameters (void)
 
void setBrightness (LED *led, uint8_t value)
 
bool getMonitors (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)
 
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)
 
State getState (void)
 
bool isCreated (void)
 
bool isStopping (void)
 
bool isRunning (void)
 
bool isStarting (void)
 
bool isDead (void)
 

Public Attributes

std::map< std::string, LED * > m_led_by_name
 
std::map< unsigned, LED * > m_led_by_id
 
SerialPort * m_uart
 
UCTK::Interface * m_ctl
 
uint16_t m_min_dur
 
uint16_t m_max_dur
 
uint16_t m_dif_dur
 
IMC::Current m_current
 
IMC::Voltage m_voltage
 
IMC::Voltage m_voltage_mcu
 
Counter< double > m_wdog
 
Arguments m_args
 

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
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 >
Parameterparam (const std::string &name, T &var)
 
template<typename Y , typename T >
Parameterparam (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 onEntityResolution (void)
 
virtual void onReportEntityState (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
Contextm_ctx
 

Constructor & Destructor Documentation

Actuators::LED4R::Task::~Task ( void  )
inlinevirtual

Destructor.

Reimplemented from DUNE::Tasks::Task.

References clearLEDs().

Member Function Documentation

void Actuators::LED4R::Task::clearLEDs ( void  )
inline

References m_led_by_id, and m_led_by_name.

Referenced by onUpdateParameters(), and ~Task().

void Actuators::LED4R::Task::consume ( const IMC::SetLedBrightness *  msg)
inline

References m_led_by_name, and setBrightness().

void Actuators::LED4R::Task::consume ( const IMC::QueryLedBrightness *  msg)
inline
bool Actuators::LED4R::Task::getConstantParameters ( void  )
inline
bool Actuators::LED4R::Task::getMonitors ( void  )
inline
void Actuators::LED4R::Task::onEntityReservation ( void  )
inlinevirtual

Called when the task is instructed to reserve all the entity identifiers it needs for normal execution.

See reserveEntity(). Derived classes that need to reserve entity identifiers other than that of the main entity should override this function.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Tasks::Task::getEntityLabel(), m_voltage_mcu, and DUNE::Tasks::Task::reserveEntity().

void Actuators::LED4R::Task::onResourceAcquisition ( void  )
inlinevirtual
void Actuators::LED4R::Task::onResourceRelease ( void  )
inlinevirtual

Release resources.

Reimplemented from DUNE::Tasks::Task.

References m_ctl, m_uart, setExternalDriver(), and setExternalTrigger().

void Actuators::LED4R::Task::onUpdateParameters ( void  )
inlinevirtual
void Actuators::LED4R::Task::setBrightness ( LED led,
uint8_t  value 
)
inline
bool Actuators::LED4R::Task::setExternalDriver ( bool  enabled)
inline
bool Actuators::LED4R::Task::setExternalTrigger ( bool  enabled)
inline
bool Actuators::LED4R::Task::setPatternPulseWidth ( uint16_t  pwidth)
inline

Member Data Documentation

Arguments Actuators::LED4R::Task::m_args
IMC::Current Actuators::LED4R::Task::m_current

Current.

Referenced by getMonitors().

uint16_t Actuators::LED4R::Task::m_dif_dur

Difference between maximum and minimum pulse durations.

Referenced by getConstantParameters(), and setBrightness().

std::map<unsigned, LED*> Actuators::LED4R::Task::m_led_by_id

Map of LEDs by id.

Referenced by clearLEDs(), and onUpdateParameters().

std::map<std::string, LED*> Actuators::LED4R::Task::m_led_by_name

Map of LEDs by name.

Referenced by clearLEDs(), consume(), onResourceInitialization(), and onUpdateParameters().

uint16_t Actuators::LED4R::Task::m_max_dur

Maximum pulse duration in ticks.

Referenced by getConstantParameters().

uint16_t Actuators::LED4R::Task::m_min_dur

Minimum pulse duration in ticks.

Referenced by getConstantParameters(), and setBrightness().

SerialPort* Actuators::LED4R::Task::m_uart

UART.

Referenced by onResourceAcquisition(), and onResourceRelease().

IMC::Voltage Actuators::LED4R::Task::m_voltage

Voltage.

Referenced by getMonitors().

IMC::Voltage Actuators::LED4R::Task::m_voltage_mcu

MCU voltage.

Referenced by getMonitors(), and onEntityReservation().

Counter<double> Actuators::LED4R::Task::m_wdog
Collaboration diagram for Actuators::LED4R::Task:
Collaboration graph