DUNE: Uniform Navigational Environment  2.5.1
Sensors::OS4000::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
void onResourceRelease (void)
 
void onResourceAcquisition (void)
 
void onResourceInitialization (void)
 
void onUpdateParameters (void)
 
int readString (void)
 
bool setParameter (const char *command, const char *label, int value)
 
void changeCalibrationState (CalibrationStates state)
 
void consume (const IMC::DevCalibrationControl *msg)
 
void calibrating (void)
 
void terminateCalibration (void)
 
void onMain (void)
 
- Public Member Functions inherited from DUNE::Tasks::Task
 Task (const std::string &name, Context &context)
 
virtual ~Task (void)
 
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

SerialPort * m_uart
 
IMC::EulerAngles m_euler
 
IMC::MagneticField m_mag
 
IMC::Acceleration m_accel
 
IMC::Temperature m_temp
 
IMC::DevCalibrationState m_states [STA_MAX]
 
CalibrationStates m_state
 
int m_accumulator
 
char m_bfr [c_bfr_size]
 
double m_tstamp
 
Arguments m_args
 
Counter< double > m_wdog
 

Static Public Attributes

static const unsigned c_bfr_size
 

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 onEntityReservation (void)
 
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

Member Function Documentation

void Sensors::OS4000::Task::changeCalibrationState ( CalibrationStates  state)
inline

Change calibration state.

Parameters
[in]statecalibration state.

References DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::dispatch(), m_state, and m_states.

Referenced by calibrating(), and consume().

void Sensors::OS4000::Task::onResourceAcquisition ( void  )
inlinevirtual
void Sensors::OS4000::Task::onResourceInitialization ( void  )
inlinevirtual
void Sensors::OS4000::Task::onResourceRelease ( void  )
inlinevirtual

Release allocated resources.

Reimplemented from DUNE::Tasks::Task.

References m_uart.

void Sensors::OS4000::Task::onUpdateParameters ( void  )
inlinevirtual

Update Task parameters.

Reimplemented from DUNE::Tasks::Task.

References Sensors::OS4000::Arguments::data_tout, m_args, m_wdog, and DUNE::Time::Counter< T >::setTop().

int Sensors::OS4000::Task::readString ( void  )
inline

Read a string from the serial port,.

Returns
amount of bytes actually read.

References c_bfr_size, DUNE::Tasks::Task::consumeMessages(), m_bfr, and m_uart.

Referenced by onMain(), and setParameter().

bool Sensors::OS4000::Task::setParameter ( const char *  command,
const char *  label,
int  value 
)
inline

Define a given parameter in the device.

Parameters
[in]commandinput command.
[in]labellabel of the parameter.
[in]valuevalue of the parameter.
Returns
true if successful, false otherwise.

References DUNE::Tasks::Task::debug(), m_bfr, m_uart, readString(), and DUNE::Tasks::Task::stopping().

Referenced by onResourceInitialization().

void Sensors::OS4000::Task::terminateCalibration ( void  )
inline

Member Data Documentation

const unsigned Sensors::OS4000::Task::c_bfr_size
static

Internal read buffer.

Referenced by readString().

IMC::Acceleration Sensors::OS4000::Task::m_accel

Acceleration message.

Referenced by onMain().

int Sensors::OS4000::Task::m_accumulator

Calibration characters accumulator.

Referenced by calibrating(), onResourceInitialization(), and terminateCalibration().

Arguments Sensors::OS4000::Task::m_args
char Sensors::OS4000::Task::m_bfr[c_bfr_size]

Internal read buffer.

Referenced by onMain(), readString(), and setParameter().

IMC::EulerAngles Sensors::OS4000::Task::m_euler

Euler angles message.

Referenced by onMain().

IMC::MagneticField Sensors::OS4000::Task::m_mag

Magnetic field message.

Referenced by onMain().

CalibrationStates Sensors::OS4000::Task::m_state

Calibration states.

Referenced by changeCalibrationState(), consume(), onMain(), and onResourceInitialization().

IMC::DevCalibrationState Sensors::OS4000::Task::m_states[STA_MAX]

Device Calibration State message.

Referenced by changeCalibrationState(), onMain(), and Task().

IMC::Temperature Sensors::OS4000::Task::m_temp

Temperature.

Referenced by onMain().

double Sensors::OS4000::Task::m_tstamp

Read timestamp.

SerialPort* Sensors::OS4000::Task::m_uart
Counter<double> Sensors::OS4000::Task::m_wdog
Collaboration diagram for Sensors::OS4000::Task:
Collaboration graph