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

Detailed Description

Task.

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
void onUpdateParameters (void)
 
void onResourceRelease (void)
 
void onActivation (void)
 
void onDeactivation (void)
 
void onEntityReservation (void)
 
void onResourceAcquisition (void)
 
void onResourceInitialization (void)
 
void onResourceDeactivation (void)
 
bool sendCommand (const char *cmd)
 
void readCommand (char *bfr, unsigned bfr_len, double timeout=1.0)
 
void stopSampling (void)
 
void startSampling (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::GroundVelocity m_gvel
 
IMC::WaterVelocity m_wvel
 
IMC::Distance m_brange [4]
 
unsigned m_samples
 
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)
 
- 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::WorkhorseNavigator::Task::onActivation ( void  )
inlinevirtual

Called when the task starts/resumes normal execution.

Reimplemented from DUNE::Tasks::Task.

References startSampling().

void Sensors::WorkhorseNavigator::Task::onDeactivation ( void  )
inlinevirtual

Called when the task stops normal execution and enters an idleness state.

Reimplemented from DUNE::Tasks::Task.

References stopSampling().

void Sensors::WorkhorseNavigator::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 m_brange, and DUNE::Tasks::Task::reserveEntity().

void Sensors::WorkhorseNavigator::Task::onResourceAcquisition ( void  )
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::WorkhorseNavigator::Arguments::uart_baud, and Sensors::WorkhorseNavigator::Arguments::uart_dev.

void Sensors::WorkhorseNavigator::Task::onResourceDeactivation ( void  )
inline

References m_uart.

Referenced by onResourceRelease().

void Sensors::WorkhorseNavigator::Task::onResourceInitialization ( void  )
inlinevirtual

Called when the task is instructed to initialize resources acquired previously or whose initialization depends on run-time parameters.

Reimplemented from DUNE::Tasks::Task.

References m_uart, sendCommand(), DUNE::Tasks::Task::setEntityState(), startSampling(), and stopSampling().

void Sensors::WorkhorseNavigator::Task::onResourceRelease ( void  )
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, and onResourceDeactivation().

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

Called when the task is instructed to update its run-time parameters.

Derived classes that need to compute auxiliary values based on run-time parameters should override this function.

Reimplemented from DUNE::Tasks::Task.

References m_args, DUNE::Tasks::Task::paramChanged(), and Sensors::WorkhorseNavigator::Arguments::rotation.

void Sensors::WorkhorseNavigator::Task::readCommand ( char *  bfr,
unsigned  bfr_len,
double  timeout = 1.0 
)
inline

References m_uart.

Referenced by sendCommand(), and stopSampling().

bool Sensors::WorkhorseNavigator::Task::sendCommand ( const char *  cmd)
inline

References m_uart, and readCommand().

Referenced by onResourceInitialization(), and startSampling().

void Sensors::WorkhorseNavigator::Task::startSampling ( void  )
inline
void Sensors::WorkhorseNavigator::Task::stopSampling ( void  )
inline

References m_uart, and readCommand().

Referenced by onDeactivation(), and onResourceInitialization().

Member Data Documentation

Arguments Sensors::WorkhorseNavigator::Task::m_args
IMC::Distance Sensors::WorkhorseNavigator::Task::m_brange[4]

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

IMC::GroundVelocity Sensors::WorkhorseNavigator::Task::m_gvel

Referenced by onMain().

unsigned Sensors::WorkhorseNavigator::Task::m_samples

Referenced by onMain().

IMC::WaterVelocity Sensors::WorkhorseNavigator::Task::m_wvel

Referenced by onMain().

Collaboration diagram for Sensors::WorkhorseNavigator::Task:
Collaboration graph