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

void	onUpdateParameters (void)

void	onEntityReservation (void)

void	onEntityResolution (void)

void	onResourceAcquisition (void)

void	onResourceInitialization (void)

void	onResourceRelease (void)

void	consume (const IMC::IoEvent *msg)

void	consume (const IMC::VehicleMedium *msg)

void	consume (const IMC::DevDataText *msg)

void	consume (const IMC::Aborted *msg)

void	consume (const IMC::PlanControl *msg)

void	consume (const IMC::SoundSpeed *msg)

void	consume (const IMC::Salinity *msg)

void	consume (const IMC::Temperature *msg)

void	consume (const IMC::Conductivity *msg)

void	consume (const IMC::PlanDB *msg)

void	consume (const IMC::EstimatedState *msg)

std::string	lookupSystemName (unsigned addr)

void	handlePlanListGet (const PlanListGet *cmd)

void	sendPlanList (unsigned destination)

void	handlePositionGet (const PositionGet *cmd)

void	sendPosition (unsigned destination)

void	handlePlanStart (const PlanStart *cmd)

void	sendPlanStarted (unsigned destination, const std::string &plan_name)

void	handlePlanStop (const PlanStop *cmd)

void	handleRange (const Range *cmd)

void	sendPlanStopped (unsigned destination, const std::string &plan_name)

void	handleAbort (const Abort *cmd)

void	sendAborted (unsigned destination)

void	sendFailure (unsigned destination, FailureType fail)

void	sendError (unsigned destination, ErrorType error)

void	sendOk (const std::string &command)

void	handleSensorListGet (const SensorListGet *cmd)

void	handleSensorInfoGet (const SensorInfoGet *cmd)

void	handleSensorSampleGet (const SensorSampleGet *cmd)

void	sendSensorSample (const std::string &name, unsigned sensor_id, unsigned destination)

void	handleParam (const Param *cmd)

void	handleCommand (const std::string &line)

void	sendCommand (AbstractCommand &cmd)

double	getLoopDelay (void) const

void	updateScheduler (void)

void	requestNodeId (void)

void	setTxPower (unsigned level)

void	keepAlive (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

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
MapName	m_modem_names

MapAddr	m_modem_addrs

std::vector< std::string >	m_plan_list

unsigned	m_addr_local

unsigned	m_addr_bcast

bool	m_aborted

uint8_t	m_bfr [128]

std::string	m_line

Link *	m_link

Sensors *	m_sensors

Scheduler *	m_scheduler

Position	m_position

Counter< double >	m_wdog

Counter< double >	m_kalive

IMC::VehicleMedium	m_medium

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	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
Context &	m_ctx

Constructor & Destructor Documentation

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

inline

Constructor.

Parameters

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

References DUNE::Tasks::Parameter::defaultValue(), DUNE::Tasks::Parameter::description(), DUNE::Tasks::Task::getSystemName(), m_args, m_medium, m_modem_addrs, m_modem_names, DUNE::Tasks::Task::param(), DUNE::Tasks::Parameter::scope(), Transports::SUNSET::Arguments::sensors, Transports::SUNSET::Arguments::src_level_control, Transports::SUNSET::Arguments::src_level_underwater, Transports::SUNSET::Arguments::src_level_unknown, Transports::SUNSET::Arguments::src_level_water, Transports::SUNSET::Arguments::tcp_addr, Transports::SUNSET::Arguments::tcp_port, and DUNE::Tasks::Parameter::visibility().

Member Function Documentation

void Transports::SUNSET::Task::consume ( const IMC::IoEvent * msg )

inline

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

void Transports::SUNSET::Task::consume ( const IMC::VehicleMedium * msg )

inline

References DUNE::Tasks::Task::debug(), m_addr_local, m_args, m_medium, setTxPower(), Transports::SUNSET::Arguments::src_level_control, Transports::SUNSET::Arguments::src_level_underwater, Transports::SUNSET::Arguments::src_level_unknown, and Transports::SUNSET::Arguments::src_level_water.

void Transports::SUNSET::Task::consume ( const IMC::DevDataText * msg )

inline

References DUNE::Tasks::Task::getEntityId(), and handleCommand().

void Transports::SUNSET::Task::consume ( const IMC::Aborted * msg )

inline

References m_aborted.

void Transports::SUNSET::Task::consume ( const IMC::PlanControl * msg )

inline

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

void Transports::SUNSET::Task::consume ( const IMC::SoundSpeed * msg )

inline

References Transports::SUNSET::Sensors::getSensorId(), DUNE::Tasks::Task::getSystemId(), m_position, m_sensors, and Transports::SUNSET::Sensors::setMeasurement().

void Transports::SUNSET::Task::consume ( const IMC::Salinity * msg )

inline

References Transports::SUNSET::Sensors::getSensorId(), DUNE::Tasks::Task::getSystemId(), m_position, m_sensors, and Transports::SUNSET::Sensors::setMeasurement().

void Transports::SUNSET::Task::consume ( const IMC::Temperature * msg )

inline

References Transports::SUNSET::Sensors::getSensorId(), DUNE::Tasks::Task::getSystemId(), m_position, m_sensors, and Transports::SUNSET::Sensors::setMeasurement().

void Transports::SUNSET::Task::consume ( const IMC::Conductivity * msg )

inline

References Transports::SUNSET::Sensors::getSensorId(), DUNE::Tasks::Task::getSystemId(), m_position, m_sensors, and Transports::SUNSET::Sensors::setMeasurement().

void Transports::SUNSET::Task::consume ( const IMC::PlanDB * msg )

inline

References m_plan_list.

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

inline

References Transports::SUNSET::PositionType::altitude, Transports::SUNSET::PositionType::depth, DUNE::Tasks::Task::getSystemId(), Transports::SUNSET::Position::heading, Transports::SUNSET::PositionType::latitude, Transports::SUNSET::PositionType::longitude, m_position, and Transports::SUNSET::Position::value.

double Transports::SUNSET::Task::getLoopDelay ( void ) const

inline

References Transports::SUNSET::Scheduler::getRemaining(), and m_scheduler.

Referenced by onMain().

void Transports::SUNSET::Task::handleAbort ( const Abort * cmd )

inline

References DUNE::Tasks::Task::dispatch(), Transports::SUNSET::AbstractCommand::getSource(), DUNE::Tasks::Task::getSystemId(), m_aborted, sendAborted(), DUNE::Tasks::Task::waitForMessages(), and DUNE::Tasks::Task::war().

Referenced by handleCommand().

void Transports::SUNSET::Task::handleCommand ( const std::string & line )

inline

References DUNE::Tasks::Task::debug(), Transports::SUNSET::Factory::decode(), Transports::SUNSET::AbstractCommand::getName(), handleAbort(), handleParam(), handlePlanListGet(), handlePlanStart(), handlePlanStop(), handlePositionGet(), handleRange(), handleSensorInfoGet(), handleSensorListGet(), handleSensorSampleGet(), m_kalive, DUNE::Time::Counter< T >::reset(), and sendOk().

Referenced by consume().

void Transports::SUNSET::Task::handleParam ( const Param * cmd )

inline

References Transports::SUNSET::BROADCAST_ID, DUNE::Tasks::Task::inf(), m_addr_bcast, m_addr_local, Transports::SUNSET::Param::name, Transports::SUNSET::NODE_ID, Transports::SUNSET::TX_POWER, and Transports::SUNSET::Param::value.

Referenced by handleCommand().

void Transports::SUNSET::Task::handlePlanListGet ( const PlanListGet * cmd )

inline

References DUNE::Tasks::Task::dispatch(), Transports::SUNSET::FAIL_INTERNAL_ERROR, Transports::SUNSET::AbstractCommand::getSource(), m_plan_list, sendFailure(), sendPlanList(), and DUNE::Tasks::Task::waitForMessages().

Referenced by handleCommand().

void Transports::SUNSET::Task::handlePlanStart ( const PlanStart * cmd )

inline

References DUNE::Tasks::Task::dispatch(), Transports::SUNSET::AbstractCommand::getSource(), Transports::SUNSET::PlanStart::plan_name, and sendPlanStarted().

Referenced by handleCommand().

void Transports::SUNSET::Task::handlePlanStop ( const PlanStop * cmd )

inline

References DUNE::Tasks::Task::dispatch(), Transports::SUNSET::AbstractCommand::getSource(), and sendPlanStopped().

Referenced by handleCommand().

void Transports::SUNSET::Task::handlePositionGet ( const PositionGet * cmd )

inline

References Transports::SUNSET::PositionGet::frequency, Transports::SUNSET::AbstractCommand::getSource(), m_scheduler, and Transports::SUNSET::Scheduler::setSchedule().

Referenced by handleCommand().

void Transports::SUNSET::Task::handleRange ( const Range * cmd )

inline

References DUNE::Tasks::Task::dispatch(), lookupSystemName(), Transports::SUNSET::Range::target, Transports::SUNSET::Range::travel_time, and DUNE::Tasks::Task::war().

Referenced by handleCommand().

void Transports::SUNSET::Task::handleSensorInfoGet ( const SensorInfoGet * cmd )

inline

References Transports::SUNSET::FAIL_INVALID_REQUEST, Transports::SUNSET::Sensors::getSensorInfoList(), Transports::SUNSET::AbstractCommand::getSource(), m_addr_local, m_sensors, Transports::SUNSET::SensorInfoGet::measurement_name, sendCommand(), sendFailure(), Transports::SUNSET::AbstractCommand::setDestination(), Transports::SUNSET::AbstractCommand::setSource(), and Transports::SUNSET::SensorInfo::tuples.

Referenced by handleCommand().

void Transports::SUNSET::Task::handleSensorListGet ( const SensorListGet * cmd )

inline

References Transports::SUNSET::Sensors::getMeasurementList(), Transports::SUNSET::AbstractCommand::getSource(), m_addr_local, m_sensors, Transports::SUNSET::SensorList::measurement_names, sendCommand(), Transports::SUNSET::AbstractCommand::setDestination(), and Transports::SUNSET::AbstractCommand::setSource().

Referenced by handleCommand().

void Transports::SUNSET::Task::handleSensorSampleGet ( const SensorSampleGet * cmd )

inline

References Transports::SUNSET::ERR_INVALID_REQUEST, Transports::SUNSET::Sensors::exists(), Transports::SUNSET::AbstractCommand::getName(), Transports::SUNSET::AbstractCommand::getSource(), m_scheduler, m_sensors, Transports::SUNSET::SensorSampleGet::measurement_name, Transports::SUNSET::SensorSampleGet::sampling_frequency, sendError(), sendOk(), Transports::SUNSET::SensorSampleGet::sensor_identifier, and Transports::SUNSET::Scheduler::setSchedule().

Referenced by handleCommand().

void Transports::SUNSET::Task::keepAlive ( void )

inline

References m_kalive, DUNE::Time::Counter< T >::overflow(), requestNodeId(), and DUNE::Time::Counter< T >::reset().

Referenced by onMain().

std::string Transports::SUNSET::Task::lookupSystemName ( unsigned addr )

inline

References m_modem_addrs.

Referenced by handleRange().

void Transports::SUNSET::Task::onEntityReservation ( void )

inlinevirtual

Reserve entity identifiers.

Reimplemented from DUNE::Tasks::Task.

void Transports::SUNSET::Task::onEntityResolution ( void )

inlinevirtual

Resolve entity names.

Reimplemented from DUNE::Tasks::Task.

void Transports::SUNSET::Task::onMain ( void )

inlinevirtual

Main loop.

Implements DUNE::Tasks::Task.

References getLoopDelay(), keepAlive(), DUNE::Tasks::Task::stopping(), updateScheduler(), and DUNE::Tasks::Task::waitForMessages().

void Transports::SUNSET::Task::onResourceAcquisition ( void )

inlinevirtual

Acquire resources.

Reimplemented from DUNE::Tasks::Task.

References m_args, m_link, m_scheduler, m_sensors, Transports::SUNSET::Arguments::sensors, DUNE::Tasks::Task::setEntityState(), Transports::SUNSET::Arguments::tcp_addr, and Transports::SUNSET::Arguments::tcp_port.

void Transports::SUNSET::Task::onResourceInitialization ( void )

inlinevirtual

Initialize resources.

Reimplemented from DUNE::Tasks::Task.

References m_kalive, and DUNE::Time::Counter< T >::setTop().

void Transports::SUNSET::Task::onResourceRelease ( void )

inlinevirtual

Release resources.

Reimplemented from DUNE::Tasks::Task.

References m_link, m_scheduler, and m_sensors.

void Transports::SUNSET::Task::onUpdateParameters ( void )

inlinevirtual

Update internal state with new parameter values.

Reimplemented from DUNE::Tasks::Task.

void Transports::SUNSET::Task::requestNodeId ( void )

inline

References m_addr_local, Transports::SUNSET::ParamGet::name, Transports::SUNSET::NODE_ID, sendCommand(), and Transports::SUNSET::AbstractCommand::setDestination().

Referenced by keepAlive().

void Transports::SUNSET::Task::sendAborted ( unsigned destination )

inline

References sendCommand(), and Transports::SUNSET::AbstractCommand::setDestination().

Referenced by handleAbort().

void Transports::SUNSET::Task::sendCommand ( AbstractCommand & cmd )

inline

References Transports::SUNSET::AbstractCommand::encode(), m_addr_local, m_link, Transports::SUNSET::AbstractCommand::setSource(), and Transports::SUNSET::Link::write().

Referenced by handleSensorInfoGet(), handleSensorListGet(), requestNodeId(), sendAborted(), sendError(), sendFailure(), sendOk(), sendPlanList(), sendPlanStarted(), sendPlanStopped(), sendPosition(), sendSensorSample(), and setTxPower().

void Transports::SUNSET::Task::sendError	(	unsigned	destination,
		ErrorType	error
	)

inline

References Transports::SUNSET::CommandError::error_reason, m_addr_local, sendCommand(), Transports::SUNSET::AbstractCommand::setDestination(), and Transports::SUNSET::AbstractCommand::setSource().

Referenced by handleSensorSampleGet().

void Transports::SUNSET::Task::sendFailure	(	unsigned	destination,
		FailureType	fail
	)

inline

References Transports::SUNSET::CommandFailure::failure_reason, m_addr_local, sendCommand(), Transports::SUNSET::CommandFailure::sequence_number, Transports::SUNSET::AbstractCommand::setDestination(), and Transports::SUNSET::AbstractCommand::setSource().

Referenced by handlePlanListGet(), and handleSensorInfoGet().

void Transports::SUNSET::Task::sendOk ( const std::string & command )

inline

References m_addr_local, Transports::SUNSET::CommandOk::name, sendCommand(), Transports::SUNSET::AbstractCommand::setDestination(), and Transports::SUNSET::AbstractCommand::setSource().

Referenced by handleCommand(), and handleSensorSampleGet().

void Transports::SUNSET::Task::sendPlanList ( unsigned destination )

inline

References m_plan_list, Transports::SUNSET::PlanList::plan_names, sendCommand(), and Transports::SUNSET::AbstractCommand::setDestination().

Referenced by handlePlanListGet().

void Transports::SUNSET::Task::sendPlanStarted	(	unsigned	destination,
		const std::string &	plan_name
	)

inline

References Transports::SUNSET::PlanStarted::plan_name, sendCommand(), and Transports::SUNSET::AbstractCommand::setDestination().

Referenced by handlePlanStart().

void Transports::SUNSET::Task::sendPlanStopped	(	unsigned	destination,
		const std::string &	plan_name
	)

inline

References Transports::SUNSET::PlanStopped::plan_name, sendCommand(), and Transports::SUNSET::AbstractCommand::setDestination().

Referenced by handlePlanStop().

void Transports::SUNSET::Task::sendPosition ( unsigned destination )

inline

References m_position, sendCommand(), and Transports::SUNSET::AbstractCommand::setDestination().

Referenced by updateScheduler().

void Transports::SUNSET::Task::sendSensorSample	(	const std::string &	name,
		unsigned	sensor_id,
		unsigned	destination
	)

inline

References Transports::SUNSET::Sensors::getMeasurement(), m_sensors, Transports::SUNSET::SensorSample::measurement_name, and sendCommand().

Referenced by updateScheduler().

void Transports::SUNSET::Task::setTxPower ( unsigned level )

inline

References m_addr_local, Transports::SUNSET::ParamSet::name, sendCommand(), Transports::SUNSET::AbstractCommand::setDestination(), Transports::SUNSET::TX_POWER, and Transports::SUNSET::ParamSet::value.

Referenced by consume().

void Transports::SUNSET::Task::updateScheduler ( void )

inline

References Transports::SUNSET::Scheduler::dequeuePending(), Transports::SUNSET::ScheduleKey::destination, Transports::SUNSET::Scheduler::hasPending(), m_scheduler, Transports::SUNSET::ScheduleKey::measure_name, sendPosition(), sendSensorSample(), Transports::SUNSET::ScheduleKey::sensor_id, and Transports::SUNSET::Scheduler::update().

Referenced by onMain().

Member Data Documentation

bool Transports::SUNSET::Task::m_aborted

True if Aborted message was received.

Referenced by consume(), and handleAbort().

unsigned Transports::SUNSET::Task::m_addr_bcast

Broadcast address.

Referenced by handleParam().

unsigned Transports::SUNSET::Task::m_addr_local

Local node address.

Referenced by consume(), handleParam(), handleSensorInfoGet(), handleSensorListGet(), requestNodeId(), sendCommand(), sendError(), sendFailure(), sendOk(), and setTxPower().

Arguments Transports::SUNSET::Task::m_args

Task arguments.

Referenced by consume(), onResourceAcquisition(), and Task().

uint8_t Transports::SUNSET::Task::m_bfr[128]

Internal buffer.

Counter<double> Transports::SUNSET::Task::m_kalive

Keep-alive timer.

Referenced by handleCommand(), keepAlive(), and onResourceInitialization().

std::string Transports::SUNSET::Task::m_line

Command line being parsed.

Link* Transports::SUNSET::Task::m_link

Command link.

Referenced by onResourceAcquisition(), onResourceRelease(), and sendCommand().

IMC::VehicleMedium Transports::SUNSET::Task::m_medium

Medium.

Referenced by consume(), and Task().

MapAddr Transports::SUNSET::Task::m_modem_addrs

Map of Evologics modems by address.

Referenced by lookupSystemName(), and Task().

MapName Transports::SUNSET::Task::m_modem_names

Map of Evologics modems by name.

Referenced by Task().

std::vector<std::string> Transports::SUNSET::Task::m_plan_list

Plan list.

Referenced by consume(), handlePlanListGet(), and sendPlanList().

Position Transports::SUNSET::Task::m_position

Last position.

Referenced by consume(), and sendPosition().

Scheduler* Transports::SUNSET::Task::m_scheduler

Command scheduler.

Referenced by getLoopDelay(), handlePositionGet(), handleSensorSampleGet(), onResourceAcquisition(), onResourceRelease(), and updateScheduler().

Sensors* Transports::SUNSET::Task::m_sensors

Sensor table.

Referenced by consume(), handleSensorInfoGet(), handleSensorListGet(), handleSensorSampleGet(), onResourceAcquisition(), onResourceRelease(), and sendSensorSample().

Counter<double> Transports::SUNSET::Task::m_wdog

Watchdog.

Collaboration diagram for Transports::SUNSET::Task:

Public Member Functions

Public Attributes

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation