DUNE: Uniform Navigational Environment  2.6.0-rc4
Navigation::AUV::CLRanger::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
 ~Task (void)
 
void onUpdateParameters (void)
 
void onResourceInitialization (void)
 
void onDeactivation (void)
 
void consume (const IMC::EstimatedState *msg)
 
void consume (const IMC::GpsFix *msg)
 
void consume (const IMC::LblConfig *msg)
 
void consume (const IMC::UamRxFrame *msg)
 
void consume (const IMC::UamRxRange *msg)
 
void updateLblConfig (const IMC::EstimatedState *estate)
 
void setTDMA (void)
 
const IMC::LblBeacon * getNextBeacon (void)
 
void pingNextBeacon (void)
 
void ping (const std::string &sys_name)
 
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
 
IMC::LblConfig m_lbl_config
 
MessageList< IMC::LblBeacon >
::const_iterator 
m_cursor
 
DUNE::Network::TDMA m_tdma
 
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 >
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 , 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 onResourceRelease (void)
 
virtual void onRequestActivation (void)
 
virtual void onRequestDeactivation (void)
 
virtual void onActivation (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

Navigation::AUV::CLRanger::Task::~Task ( void  )
inlinevirtual

Destructor.

Reimplemented from DUNE::Tasks::Task.

References m_estate.

Member Function Documentation

void Navigation::AUV::CLRanger::Task::consume ( const IMC::EstimatedState *  msg)
inline
void Navigation::AUV::CLRanger::Task::consume ( const IMC::GpsFix *  msg)
inline
void Navigation::AUV::CLRanger::Task::consume ( const IMC::LblConfig *  msg)
inline
void Navigation::AUV::CLRanger::Task::consume ( const IMC::UamRxFrame *  msg)
inline
void Navigation::AUV::CLRanger::Task::consume ( const IMC::UamRxRange *  msg)
inline
const IMC::LblBeacon* Navigation::AUV::CLRanger::Task::getNextBeacon ( void  )
inline

Get next beacon in the list.

Returns
next beacon.

References DUNE::Tasks::Task::getSystemName(), m_cursor, and m_lbl_config.

Referenced by pingNextBeacon().

void Navigation::AUV::CLRanger::Task::onDeactivation ( void  )
inlinevirtual

On task deactivation.

Reimplemented from DUNE::Tasks::Task.

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

void Navigation::AUV::CLRanger::Task::onMain ( void  )
inlinevirtual
void Navigation::AUV::CLRanger::Task::onResourceInitialization ( void  )
inlinevirtual

Initialize resources.

Reimplemented from DUNE::Tasks::Task.

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

void Navigation::AUV::CLRanger::Task::onUpdateParameters ( void  )
inlinevirtual

Update internal state with new parameter values.

Reimplemented from DUNE::Tasks::Task.

References setTDMA().

void Navigation::AUV::CLRanger::Task::ping ( const std::string &  sys_name)
inline

Ping system.

Parameters
[in]sys_namesystem name.

References DUNE::Tasks::Task::dispatch(), Navigation::AUV::CLRanger::Arguments::dst, DUNE::Tasks::Task::getSystemId(), m_args, and m_estate.

Referenced by pingNextBeacon().

void Navigation::AUV::CLRanger::Task::pingNextBeacon ( void  )
inline

Ping next beacon in the list.

References getNextBeacon(), and ping().

Referenced by consume().

void Navigation::AUV::CLRanger::Task::updateLblConfig ( const IMC::EstimatedState *  estate)
inline

Member Data Documentation

Arguments Navigation::AUV::CLRanger::Task::m_args

Task arguments.

Referenced by ping(), setTDMA(), Task(), and updateLblConfig().

MessageList<IMC::LblBeacon>::const_iterator Navigation::AUV::CLRanger::Task::m_cursor

Cursor.

Referenced by consume(), and getNextBeacon().

IMC::EstimatedState* Navigation::AUV::CLRanger::Task::m_estate

Last received estimated state.

Referenced by consume(), ping(), updateLblConfig(), and ~Task().

IMC::LblConfig Navigation::AUV::CLRanger::Task::m_lbl_config

Current LBL configuration.

Referenced by consume(), getNextBeacon(), setTDMA(), and updateLblConfig().

DUNE::Network::TDMA Navigation::AUV::CLRanger::Task::m_tdma

TDMA slots.

Referenced by consume(), and setTDMA().

Collaboration diagram for Navigation::AUV::CLRanger::Task:
Collaboration graph