DUNE: Uniform Navigational Environment  2.6.1
Transports::Noptilus::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
 ~Task (void)
 
void onUpdateParameters (void)
 
void onEntityResolution (void)
 
void onActivation (void)
 
void onDeactivation (void)
 
void consume (const IMC::EstimatedState *msg)
 
void consume (const IMC::NavigationUncertainty *msg)
 
void consume (const IMC::Distance *msg)
 
void consume (const IMC::AcousticOperation *msg)
 
void consume (const IMC::UamRxFrame *msg)
 
void consume (const IMC::GpsFix *msg)
 
void clearPending (void)
 
void transmitPending (void)
 
void transmit (void)
 
void resetBeamsValue (void)
 
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
 
DebugLevel getDebugLevel (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

IMC::EstimatedState * m_estate
 
IMC::NavigationUncertainty * m_uncertainty
 
int16_t m_beams [c_dvl_beams]
 
unsigned m_dvl_eid [c_dvl_beams]
 
std::map< std::string,
IMC::Reference * > 
m_txs
 
std::string m_tx_last
 
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)
 
template<typename E >
E * 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 onReportEntityState (void)
 
virtual void onResourceAcquisition (void)
 
virtual void onResourceRelease (void)
 
virtual void onResourceInitialization (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
 
std::vector
< Entities::BasicEntity * > 
m_entities
 

Constructor & Destructor Documentation

Transports::Noptilus::Task::~Task ( void  )
inlinevirtual

Destructor.

Reimplemented from DUNE::Tasks::Task.

References m_estate.

Member Function Documentation

void Transports::Noptilus::Task::clearPending ( void  )
inline

References m_txs.

Referenced by transmitPending().

void Transports::Noptilus::Task::consume ( const IMC::EstimatedState *  msg)
inline
void Transports::Noptilus::Task::consume ( const IMC::NavigationUncertainty *  msg)
inline
void Transports::Noptilus::Task::consume ( const IMC::Distance *  msg)
inline
void Transports::Noptilus::Task::consume ( const IMC::AcousticOperation *  msg)
inline
void Transports::Noptilus::Task::consume ( const IMC::GpsFix *  msg)
inline
void Transports::Noptilus::Task::onActivation ( void  )
inlinevirtual

Called when the task starts/resumes normal execution.

Reimplemented from DUNE::Tasks::Task.

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

void Transports::Noptilus::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::Noptilus::Task::onEntityResolution ( void  )
inlinevirtual

Called when the task is instructed to resolve all the entity identifiers it needs for normal execution.

See resolveEntity(). Derived classes that need to resolve entity identifiers should override this function.

Reimplemented from DUNE::Tasks::Task.

References m_dvl_eid, and DUNE::Tasks::Task::resolveEntity().

void Transports::Noptilus::Task::onMain ( void  )
inlinevirtual
void Transports::Noptilus::Task::onUpdateParameters ( void  )
inlinevirtual
void Transports::Noptilus::Task::resetBeamsValue ( void  )
inline

References m_beams.

Referenced by Task(), and transmit().

void Transports::Noptilus::Task::transmit ( void  )
inline
void Transports::Noptilus::Task::transmitPending ( void  )
inline

Member Data Documentation

Arguments Transports::Noptilus::Task::m_args

Task arguments.

Referenced by consume(), onUpdateParameters(), Task(), and transmit().

int16_t Transports::Noptilus::Task::m_beams[c_dvl_beams]

DVL beam value.

Referenced by consume(), resetBeamsValue(), and transmit().

unsigned Transports::Noptilus::Task::m_dvl_eid[c_dvl_beams]

DVL beam entity id.

Referenced by consume(), and onEntityResolution().

IMC::EstimatedState* Transports::Noptilus::Task::m_estate

Last received estimated state.

Referenced by consume(), transmit(), and ~Task().

DUNE::Network::TDMA Transports::Noptilus::Task::m_tdma

TDMA slots.

Referenced by consume(), and onUpdateParameters().

std::string Transports::Noptilus::Task::m_tx_last

Destination of last transmission.

std::map<std::string, IMC::Reference*> Transports::Noptilus::Task::m_txs

Map of pending transmissions.

Referenced by clearPending(), consume(), and transmitPending().

IMC::NavigationUncertainty* Transports::Noptilus::Task::m_uncertainty

Last received navigation uncertainty.

Referenced by consume(), and transmit().

Collaboration diagram for Transports::Noptilus::Task:
Collaboration graph