DUNE: Uniform Navigational Environment  2.6.1
Sensors::MLBLTracker::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
 ~Task (void)
 
void onUpdateParameters (void)
 
void onResourceAcquisition (void)
 
void onResourceRelease (void)
 
void onResourceInitialization (void)
 
void resetOp (void)
 
bool hasTransducer (void)
 
void sendCommand (const std::string &cmd)
 
void consume (const IMC::AcousticOperation *msg)
 
void transmitMessage (const std::string &sys, const InlineMessage< IMC::Message > &imsg)
 
void abort (const std::string &sys)
 
void ping (const std::string &sys)
 
void pingMicroModem (const std::string &sys)
 
void pingNarrowBand (const std::string &sys)
 
void handleCAMPR (std::auto_ptr< NMEAReader > &stn)
 
void handleSNTTA (std::auto_ptr< NMEAReader > &stn)
 
void handleCAMUA (std::auto_ptr< NMEAReader > &stn)
 
void handleCAMPCSNPNT (std::auto_ptr< NMEAReader > &stn)
 
void handleCAMUC (std::auto_ptr< NMEAReader > &stn)
 
void handleCARXD (std::auto_ptr< NMEAReader > &stn)
 
void readSentence (void)
 
void checkTimeouts (void)
 
void configureModem (const std::string &code, const std::string &parameter, const unsigned value)
 
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

SerialPort * m_uart
 
NarrowBandMap m_nbmap
 
MicroModemMap m_ummap
 
AddressMap m_mimap
 
AddressMap m_immap
 
Arguments m_args
 
double m_op_deadline
 
unsigned m_address
 
IMC::AcousticOperation m_acop
 
IMC::AcousticOperation m_acop_out
 
IMC::DevDataText m_dev_data
 
IMC::PlanControl * m_pc
 
Operation m_op
 
GPIO * m_gpio_txd
 
Counter< double > m_last_stn
 

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 onEntityResolution (void)
 
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
Contextm_ctx
 
std::vector
< Entities::BasicEntity * > 
m_entities
 

Constructor & Destructor Documentation

Sensors::MLBLTracker::Task::~Task ( void  )
inlinevirtual

Destructor.

Reimplemented from DUNE::Tasks::Task.

References onResourceRelease().

Member Function Documentation

void Sensors::MLBLTracker::Task::abort ( const std::string &  sys)
inline
void Sensors::MLBLTracker::Task::configureModem ( const std::string &  code,
const std::string &  parameter,
const unsigned  value 
)
inline

Configure a modem parameter.

Parameters
[in]codeNMEA code of the message to be transmitted.
[in]parametermodem parameter to be configured.
[in]valuenew configuration value.

References sendCommand().

Referenced by onResourceAcquisition().

void Sensors::MLBLTracker::Task::consume ( const IMC::AcousticOperation *  msg)
inline
void Sensors::MLBLTracker::Task::handleCAMPCSNPNT ( std::auto_ptr< NMEAReader > &  stn)
inline
void Sensors::MLBLTracker::Task::handleCAMPR ( std::auto_ptr< NMEAReader > &  stn)
inline
void Sensors::MLBLTracker::Task::handleCAMUA ( std::auto_ptr< NMEAReader > &  stn)
inline
void Sensors::MLBLTracker::Task::handleCAMUC ( std::auto_ptr< NMEAReader > &  stn)
inline
void Sensors::MLBLTracker::Task::handleCARXD ( std::auto_ptr< NMEAReader > &  stn)
inline
void Sensors::MLBLTracker::Task::handleSNTTA ( std::auto_ptr< NMEAReader > &  stn)
inline
bool Sensors::MLBLTracker::Task::hasTransducer ( void  )
inline
void Sensors::MLBLTracker::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 configureModem(), DUNE::Tasks::Task::err(), Sensors::MLBLTracker::Arguments::gpio_txd, m_address, m_args, m_gpio_txd, m_uart, DUNE::Tasks::Task::setEntityState(), Sensors::MLBLTracker::Arguments::uart_baud, and Sensors::MLBLTracker::Arguments::uart_dev.

void Sensors::MLBLTracker::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 DUNE::Tasks::Task::dispatch(), and DUNE::Tasks::Task::getEntityLabel().

void Sensors::MLBLTracker::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_gpio_txd, m_pc, and m_uart.

Referenced by ~Task().

void Sensors::MLBLTracker::Task::onUpdateParameters ( void  )
inlinevirtual
void Sensors::MLBLTracker::Task::ping ( const std::string &  sys)
inline
void Sensors::MLBLTracker::Task::pingMicroModem ( const std::string &  sys)
inline
void Sensors::MLBLTracker::Task::resetOp ( void  )
inline
void Sensors::MLBLTracker::Task::sendCommand ( const std::string &  cmd)
inline
void Sensors::MLBLTracker::Task::transmitMessage ( const std::string &  sys,
const InlineMessage< IMC::Message > &  imsg 
)
inline

Member Data Documentation

IMC::AcousticOperation Sensors::MLBLTracker::Task::m_acop
IMC::AcousticOperation Sensors::MLBLTracker::Task::m_acop_out
unsigned Sensors::MLBLTracker::Task::m_address
IMC::DevDataText Sensors::MLBLTracker::Task::m_dev_data

Referenced by readSentence(), and sendCommand().

GPIO* Sensors::MLBLTracker::Task::m_gpio_txd
AddressMap Sensors::MLBLTracker::Task::m_immap

Referenced by onUpdateParameters().

Counter<double> Sensors::MLBLTracker::Task::m_last_stn

Referenced by onMain(), and onUpdateParameters().

AddressMap Sensors::MLBLTracker::Task::m_mimap
NarrowBandMap Sensors::MLBLTracker::Task::m_nbmap

Referenced by abort(), ping(), pingNarrowBand(), and Task().

Operation Sensors::MLBLTracker::Task::m_op
double Sensors::MLBLTracker::Task::m_op_deadline
IMC::PlanControl* Sensors::MLBLTracker::Task::m_pc
SerialPort* Sensors::MLBLTracker::Task::m_uart
MicroModemMap Sensors::MLBLTracker::Task::m_ummap
Collaboration diagram for Sensors::MLBLTracker::Task:
Collaboration graph