Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)

	~Task (void)

void	onUpdateParameters (void)

void	onResourceInitialization (void)

void	onActivation (void)

void	onDeactivation (void)

void	onResourceRelease (void)

void	consume (const IMC::EstimatedState *msg)

void	consume (const IMC::PlanControlState *msg)

void	consume (const IMC::FuelLevel *msg)

void	consume (const IMC::AcousticOperation *msg)

void	consume (const IMC::UamRxFrame *msg)

void	consume (const IMC::UamTxStatus *msg)

void	consume (const IMC::UamRxRange *msg)

void	clearLastOp (void)

void	sendFrame (const std::string &sys, Codes code, bool ack)

void	sendFrame (const std::string &sys, const std::vector< uint8_t > &data, bool ack)

void	replaceLastOp (const IMC::AcousticOperation *msg)

void	sendAbort (const std::string &sys)

void	recvAbort (uint16_t imc_src, uint16_t imc_dst, const IMC::UamRxFrame *msg)

void	sendRange (const std::string &sys)

void	recvRange (uint16_t imc_src, uint16_t imc_dst, const IMC::UamRxFrame *msg)

void	sendMessage (const std::string &sys, const InlineMessage< IMC::Message > &imsg)

void	recvMessage (const IMC::UamRxFrame *msg)

void	sendPlanControl (const std::string &sys, const IMC::PlanControl *msg)

void	recvPlanControl (uint16_t imc_src, uint16_t imc_dst, const IMC::UamRxFrame *msg)

void	sendRestartSystem (const std::string &sys, const IMC::RestartSystem *msg)

void	recvRestartSystem (uint16_t imc_src, uint16_t imc_dst, const IMC::UamRxFrame *msg)

void	sendReport (void)

void	recvReport (uint16_t imc_src, uint16_t imc_dst, const IMC::UamRxFrame *msg)

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

unsigned int	resolveEntity (const std::string &label) const

std::string	resolveEntity (unsigned int id) 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
IMC::EstimatedState	m_estate

Counter< double >	m_report_timer

float	m_progress

float	m_fuel_level

float	m_fuel_conf

IMC::PlanControl *	m_pc

Counter< double >	m_rep_timer

uint16_t	m_seq

IMC::AcousticOperation *	m_last_acop

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)

bool	stopping (void)

bool	isActive (void) const

bool	isActivating (void) const

bool	isDeactivating (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 , typename M >
void	bind (T task_obj, const std::vector< uint32_t > &list, void(T::consumer)(const M *)=&T::consume)

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	onResourceAcquisition (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
Context &	m_ctx

Constructor & Destructor Documentation

Transports::UAN::Task::Task	(	const std::string &	name,
		Tasks::Context &	ctx
	)

inline

Constructor.

Parameters

[in]	name	task name.
[in]	ctx	context.

References DUNE::Tasks::Parameter::defaultValue(), m_args, DUNE::Tasks::Task::param(), DUNE::Tasks::Task::paramActive(), Transports::UAN::Arguments::report_enable, Transports::UAN::Arguments::report_period, DUNE::Tasks::Parameter::units(), and DUNE::Tasks::Parameter::visibility().

Transports::UAN::Task::~Task ( void )

inlinevirtual

Destructor.

Reimplemented from DUNE::Tasks::Task.

References onResourceRelease().

Member Function Documentation

void Transports::UAN::Task::clearLastOp ( void )

inline

References m_last_acop.

Referenced by onResourceRelease(), and replaceLastOp().

void Transports::UAN::Task::consume ( const IMC::EstimatedState * msg )

inline

References DUNE::Tasks::Task::getSystemId(), and m_estate.

void Transports::UAN::Task::consume ( const IMC::PlanControlState * msg )

inline

References m_progress.

void Transports::UAN::Task::consume ( const IMC::FuelLevel * msg )

inline

References m_fuel_conf, and m_fuel_level.

void Transports::UAN::Task::consume ( const IMC::AcousticOperation * msg )

inline

References DUNE::Tasks::Task::getSystemId(), replaceLastOp(), sendAbort(), sendMessage(), and sendRange().

void Transports::UAN::Task::consume ( const IMC::UamRxFrame * msg )

inline

References Transports::UAN::CODE_ABORT, Transports::UAN::CODE_PLAN, Transports::UAN::CODE_RANGE, Transports::UAN::CODE_REPORT, DUNE::Tasks::Task::debug(), recvAbort(), recvPlanControl(), recvRange(), recvReport(), and DUNE::Tasks::Task::resolveSystemName().

void Transports::UAN::Task::consume ( const IMC::UamTxStatus * msg )

inline

References DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::getEntityId(), DUNE::Tasks::Task::getSystemId(), and m_last_acop.

void Transports::UAN::Task::consume ( const IMC::UamRxRange * msg )

inline

References DUNE::Tasks::Task::dispatch(), and m_last_acop.

void Transports::UAN::Task::onActivation ( void )

inlinevirtual

Called when the task starts/resumes normal execution.

Reimplemented from DUNE::Tasks::Task.

References m_rep_timer, DUNE::Time::Counter< T >::reset(), and DUNE::Tasks::Task::setEntityState().

void Transports::UAN::Task::onDeactivation ( void )

inlinevirtual

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

Reimplemented from DUNE::Tasks::Task.

References DUNE::Tasks::Task::setEntityState().

void Transports::UAN::Task::onMain ( void )

inlinevirtual

Main loop.

Implements DUNE::Tasks::Task.

References DUNE::Tasks::Task::isActive(), m_args, m_rep_timer, DUNE::Time::Counter< T >::overflow(), Transports::UAN::Arguments::report_enable, DUNE::Time::Counter< T >::reset(), sendReport(), DUNE::Tasks::Task::stopping(), and DUNE::Tasks::Task::waitForMessages().

void Transports::UAN::Task::onResourceInitialization ( void )

inlinevirtual

Initialize resources.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::getEntityLabel(), m_rep_timer, DUNE::Time::Counter< T >::reset(), and DUNE::Tasks::Task::setEntityState().

void Transports::UAN::Task::onResourceRelease ( void )

inlinevirtual

Release resources.

Reimplemented from DUNE::Tasks::Task.

References clearLastOp().

Referenced by ~Task().

void Transports::UAN::Task::onUpdateParameters ( void )

inlinevirtual

Update internal state with new parameter values.

Reimplemented from DUNE::Tasks::Task.

References m_args, m_rep_timer, Transports::UAN::Arguments::report_period, and DUNE::Time::Counter< T >::setTop().

void Transports::UAN::Task::recvAbort	(	uint16_t	imc_src,
		uint16_t	imc_dst,
		const IMC::UamRxFrame *	msg
	)

inline

References DUNE::Tasks::Task::dispatch(), and DUNE::Tasks::Task::war().

Referenced by consume().

void Transports::UAN::Task::recvMessage ( const IMC::UamRxFrame * msg )

inline

void Transports::UAN::Task::recvPlanControl	(	uint16_t	imc_src,
		uint16_t	imc_dst,
		const IMC::UamRxFrame *	msg
	)

inline

References DUNE::Tasks::Task::dispatch(), and DUNE::Tasks::Task::war().

Referenced by consume().

void Transports::UAN::Task::recvRange	(	uint16_t	imc_src,
		uint16_t	imc_dst,
		const IMC::UamRxFrame *	msg
	)

inline

Referenced by consume().

void Transports::UAN::Task::recvReport	(	uint16_t	imc_src,
		uint16_t	imc_dst,
		const IMC::UamRxFrame *	msg
	)

inline

References Transports::UAN::Report::alt, Transports::UAN::Report::depth, DUNE::Tasks::Task::dispatch(), Transports::UAN::Report::fuel_conf, Transports::UAN::Report::fuel_level, Transports::UAN::Report::lat, Transports::UAN::Report::lon, Transports::UAN::Report::progress, and Transports::UAN::Report::yaw.

Referenced by consume().

void Transports::UAN::Task::recvRestartSystem	(	uint16_t	imc_src,
		uint16_t	imc_dst,
		const IMC::UamRxFrame *	msg
	)

inline

References DUNE::Tasks::Task::dispatch().

void Transports::UAN::Task::replaceLastOp ( const IMC::AcousticOperation * msg )

inline

References clearLastOp(), DUNE::Tasks::Task::getEntityId(), DUNE::Tasks::Task::getSystemId(), and m_last_acop.

Referenced by consume().

void Transports::UAN::Task::sendAbort ( const std::string & sys )

inline

References Transports::UAN::CODE_ABORT, and sendFrame().

Referenced by consume().

void Transports::UAN::Task::sendFrame	(	const std::string &	sys,
		Codes	code,
		bool	ack
	)

inline

Referenced by sendAbort(), sendPlanControl(), sendRange(), sendReport(), and sendRestartSystem().

void Transports::UAN::Task::sendFrame	(	const std::string &	sys,
		const std::vector< uint8_t > &	data,
		bool	ack
	)

inline

References DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::getSystemId(), and m_seq.

void Transports::UAN::Task::sendMessage	(	const std::string &	sys,
		const InlineMessage< IMC::Message > &	imsg
	)

inline

References sendPlanControl().

Referenced by consume().

void Transports::UAN::Task::sendPlanControl	(	const std::string &	sys,
		const IMC::PlanControl *	msg
	)

inline

References Transports::UAN::CODE_PLAN, and sendFrame().

Referenced by sendMessage().

void Transports::UAN::Task::sendRange ( const std::string & sys )

inline

References Transports::UAN::CODE_RANGE, sendFrame(), and DUNE::Tasks::Task::spew().

Referenced by consume().

void Transports::UAN::Task::sendReport ( void )

inline

References Transports::UAN::Report::alt, Transports::UAN::CODE_REPORT, Transports::UAN::Report::depth, Transports::UAN::Report::fuel_conf, Transports::UAN::Report::fuel_level, Transports::UAN::Report::lat, Transports::UAN::Report::lon, m_estate, m_fuel_conf, m_fuel_level, m_progress, Transports::UAN::Report::progress, sendFrame(), and Transports::UAN::Report::yaw.

Referenced by onMain().

void Transports::UAN::Task::sendRestartSystem	(	const std::string &	sys,
		const IMC::RestartSystem *	msg
	)

inline

References Transports::UAN::CODE_RESTART, and sendFrame().

Member Data Documentation

Arguments Transports::UAN::Task::m_args

Task arguments.

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

IMC::EstimatedState Transports::UAN::Task::m_estate

Estimated state.

Referenced by consume(), and sendReport().

float Transports::UAN::Task::m_fuel_conf

Last fuel level confidence.

Referenced by consume(), and sendReport().

float Transports::UAN::Task::m_fuel_level

Last fuel level.

Referenced by consume(), and sendReport().

IMC::AcousticOperation* Transports::UAN::Task::m_last_acop

Last acoustic operation.

Referenced by clearLastOp(), consume(), and replaceLastOp().

IMC::PlanControl* Transports::UAN::Task::m_pc

Saved plan control.

float Transports::UAN::Task::m_progress

Last progress.

Referenced by consume(), and sendReport().

Counter<double> Transports::UAN::Task::m_rep_timer

Report timer.

Referenced by onActivation(), onMain(), onResourceInitialization(), and onUpdateParameters().

Counter<double> Transports::UAN::Task::m_report_timer

Report timer.

uint16_t Transports::UAN::Task::m_seq

Sequence number.

Referenced by sendFrame().

Collaboration diagram for Transports::UAN::Task:

Public Member Functions

Public Attributes

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation