DUNE: Uniform Navigational Environment  2.5.1
UserInterfaces::RCViaArdupilot::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
void initializePWMContainer ()
 
void setupRate (uint8_t rate)
 
void onResourceAcquisition (void)
 
void openConnection (void)
 
void onResourceRelease (void)
 
bool poll (double timeout)
 
int sendData (uint8_t *bfr, uint8_t size)
 
int receiveData (uint8_t *buf, size_t blen)
 
void handleArdupilotData (void)
 
void handleStatusTextPacket (const mavlink_message_t *msg)
 
void handleRCChannelsRawPacket (const mavlink_message_t *msg)
 
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
 
Arguments m_args
 
int m_sysid
 
uint8_t m_buf [512]
 
mavlink_message_t m_msg
 
bool m_got_first_rc_input
 
double m_time_of_previous_packet
 
IMC::PWM m_pwm [NUMBER_OF_CHANNELS]
 

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 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
Contextm_ctx
 

Constructor & Destructor Documentation

UserInterfaces::RCViaArdupilot::Task::Task ( const std::string &  name,
Tasks::Context &  ctx 
)
inline

Member Function Documentation

void UserInterfaces::RCViaArdupilot::Task::handleArdupilotData ( void  )
inline
void UserInterfaces::RCViaArdupilot::Task::handleRCChannelsRawPacket ( const mavlink_message_t *  msg)
inline
void UserInterfaces::RCViaArdupilot::Task::handleStatusTextPacket ( const mavlink_message_t *  msg)
inline
void UserInterfaces::RCViaArdupilot::Task::initializePWMContainer ( )
inline

References m_pwm.

Referenced by Task().

void UserInterfaces::RCViaArdupilot::Task::onResourceAcquisition ( void  )
inlinevirtual

Acquire resources.

Reimplemented from DUNE::Tasks::Task.

References openConnection(), and setupRate().

void UserInterfaces::RCViaArdupilot::Task::onResourceRelease ( void  )
inlinevirtual

Release resources.

Reimplemented from DUNE::Tasks::Task.

References m_uart.

void UserInterfaces::RCViaArdupilot::Task::openConnection ( void  )
inline
bool UserInterfaces::RCViaArdupilot::Task::poll ( double  timeout)
inline

References m_uart.

Referenced by handleArdupilotData().

int UserInterfaces::RCViaArdupilot::Task::receiveData ( uint8_t *  buf,
size_t  blen 
)
inline
int UserInterfaces::RCViaArdupilot::Task::sendData ( uint8_t *  bfr,
uint8_t  size 
)
inline

References m_uart, and DUNE::Tasks::Task::trace().

Referenced by setupRate().

void UserInterfaces::RCViaArdupilot::Task::setupRate ( uint8_t  rate)
inline

Member Data Documentation

Arguments UserInterfaces::RCViaArdupilot::Task::m_args

Task arguments.

Referenced by openConnection(), and Task().

uint8_t UserInterfaces::RCViaArdupilot::Task::m_buf[512]

Mavlink transmission buffer.

Referenced by handleArdupilotData().

bool UserInterfaces::RCViaArdupilot::Task::m_got_first_rc_input

Got first RC input.

mavlink_message_t UserInterfaces::RCViaArdupilot::Task::m_msg

Parser Variables.

Referenced by handleArdupilotData().

IMC::PWM UserInterfaces::RCViaArdupilot::Task::m_pwm[NUMBER_OF_CHANNELS]

Holds current sent PWM values.

Referenced by handleRCChannelsRawPacket(), and initializePWMContainer().

int UserInterfaces::RCViaArdupilot::Task::m_sysid

Ardupilot system id.

Referenced by handleArdupilotData(), and setupRate().

double UserInterfaces::RCViaArdupilot::Task::m_time_of_previous_packet

Time of previous packet.

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

SerialPort* UserInterfaces::RCViaArdupilot::Task::m_uart

Serial port handle.

Referenced by onMain(), onResourceRelease(), openConnection(), poll(), receiveData(), and sendData().

Collaboration diagram for UserInterfaces::RCViaArdupilot::Task:
Collaboration graph