DUNE: Uniform Navigational Environment
2.6.1
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Device driver task.
Public Member Functions | |
Task (const std::string &name, Tasks::Context &ctx) | |
void | updateSlaveEntities (void) |
void | onUpdateParameters (void) |
bool | checkParameters (void) |
void | onResourceAcquisition (void) |
void | onResourceRelease (void) |
void | consume (const IMC::LoggingControl *msg) |
void | onRequestActivation (void) |
void | checkActivationProgress (void) |
void | onRequestDeactivation (void) |
void | checkDeactivationProgress (void) |
void | onActivation (void) |
void | onDeactivation (void) |
void | consume (const IMC::EntityActivationState *msg) |
void | consume (const IMC::EntityInfo *msg) |
void | setStrobePower (bool value) |
void | startVideo (void) |
void | stopVideo (void) |
void | captureFrame (ByteBuffer &dst, double timeout=2.0) |
void | setProperty (std::string property, std::string value) |
void | getProperty (std::string property, std::string &value) |
void | setProperties (void) |
void | updateFps (void) |
void | updateExposure (void) |
bool | checkExposure (void) |
void | updateGain (void) |
bool | checkGain (void) |
void | updateWhiteBalance (void) |
bool | checkWhiteBalance (void) |
void | updateGamma (void) |
void | updateMedianFilter (void) |
void | updateStrobe (void) |
void | changeVolume (void) |
void | captureAndSave (void) |
bool | checkConfiguration (void) |
bool | checkCaptureOk (void) |
bool | checkLogdirOk (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 |
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 | |
Arguments | m_args |
HTTPClient * | m_http |
std::string | m_boundary |
Path | m_log_dir |
Path | m_volume |
unsigned | m_volume_count |
unsigned | m_file_count |
double | m_timestamp |
Hardware::GPIO * | m_pwr_gpio |
Hardware::GPIO * | m_led_gpio |
bool | m_cfg_dirty |
EntityActivationMaster * | m_slave_entities |
Counter< double > | m_act_timer |
bool | m_log_dir_updated |
Static Public Attributes | |
static const unsigned | c_port |
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 > | |
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 | onResourceInitialization (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 |
std::vector < Entities::BasicEntity * > | m_entities |
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References Vision::Lumenera::Arguments::address, Vision::Lumenera::Arguments::auto_exposure, Vision::Lumenera::Arguments::auto_gain, Vision::Lumenera::Arguments::auto_whitebalance, Vision::Lumenera::Arguments::camera_capt, Vision::Lumenera::Arguments::camera_cfg, DUNE::Tasks::Parameter::defaultValue(), DUNE::Tasks::Parameter::description(), Vision::Lumenera::Arguments::exposure_knee, Vision::Lumenera::Arguments::exposure_max, Vision::Lumenera::Arguments::exposure_value, Vision::Lumenera::Arguments::fps, Vision::Lumenera::Arguments::gain_blue, Vision::Lumenera::Arguments::gain_green, Vision::Lumenera::Arguments::gain_knee, Vision::Lumenera::Arguments::gain_max, Vision::Lumenera::Arguments::gain_red, Vision::Lumenera::Arguments::gain_value, Vision::Lumenera::Arguments::gamma, Vision::Lumenera::Arguments::led_gpio, m_args, Vision::Lumenera::Arguments::median_filter, DUNE::Tasks::Task::param(), DUNE::Tasks::Task::paramActive(), Vision::Lumenera::Arguments::pwr_gpio, DUNE::Tasks::Parameter::scope(), Vision::Lumenera::Arguments::slave_entities, Vision::Lumenera::Arguments::strobe, Vision::Lumenera::Arguments::strobe_pwr, DUNE::Tasks::Parameter::visibility(), and Vision::Lumenera::Arguments::volume_size.
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References captureFrame(), changeVolume(), DUNE::Tasks::Task::debug(), m_args, m_file_count, m_volume, DUNE::Tasks::Task::spew(), stopVideo(), and Vision::Lumenera::Arguments::volume_size.
Referenced by onMain().
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References m_log_dir, m_volume, and m_volume_count.
Referenced by captureAndSave(), and onActivation().
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References DUNE::Tasks::Task::activate(), DUNE::Tasks::Task::activationFailed(), Vision::Lumenera::Arguments::camera_capt, Vision::Lumenera::Arguments::camera_cfg, Vision::Lumenera::EntityActivationMaster::checkActivation(), checkCaptureOk(), checkConfiguration(), checkLogdirOk(), Vision::Lumenera::EntityActivationMaster::deactivate(), DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::getActivationTime(), DUNE::Tasks::Task::getEntityState(), DUNE::Time::Counter< T >::getRemaining(), DUNE::Time::Counter< T >::getTop(), m_act_timer, m_args, m_slave_entities, DUNE::Time::Counter< T >::overflow(), DUNE::Tasks::Task::setEntityState(), and DUNE::Tasks::Task::trace().
Referenced by onMain().
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References DUNE::Tasks::Task::err(), DUNE::Tasks::Task::getEntityState(), m_http, DUNE::Tasks::Task::setEntityState(), startVideo(), and stopVideo().
Referenced by checkActivationProgress(), and onMain().
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References DUNE::Tasks::Task::inf(), m_cfg_dirty, and setProperties().
Referenced by checkActivationProgress(), and onMain().
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References Vision::Lumenera::EntityActivationMaster::checkDeactivation(), DUNE::Tasks::Task::deactivate(), DUNE::Tasks::Task::deactivationFailed(), DUNE::Time::Counter< T >::getTop(), m_act_timer, m_slave_entities, DUNE::Time::Counter< T >::overflow(), and DUNE::Tasks::Task::trace().
Referenced by onMain().
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References DUNE::Tasks::Task::dispatch(), and m_log_dir_updated.
Referenced by checkActivationProgress().
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References m_slave_entities, and Vision::Lumenera::EntityActivationMaster::onEntityInfo().
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Called when the task starts/resumes normal execution.
Reimplemented from DUNE::Tasks::Task.
References Vision::Lumenera::Arguments::camera_capt, changeVolume(), DUNE::Tasks::Task::inf(), m_args, m_file_count, m_volume_count, DUNE::Tasks::Task::setEntityState(), and setStrobePower().
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Called when the task stops normal execution and enters an idleness state.
Reimplemented from DUNE::Tasks::Task.
References DUNE::Tasks::Task::inf(), m_log_dir_updated, m_pwr_gpio, DUNE::Tasks::Task::setEntityState(), setStrobePower(), and stopVideo().
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Implements DUNE::Tasks::Task.
References Vision::Lumenera::Arguments::camera_capt, Vision::Lumenera::Arguments::camera_cfg, captureAndSave(), checkActivationProgress(), checkCaptureOk(), checkConfiguration(), checkDeactivationProgress(), DUNE::Tasks::Task::isActivating(), DUNE::Tasks::Task::isActive(), DUNE::Tasks::Task::isDeactivating(), m_args, DUNE::Tasks::Task::stopping(), and DUNE::Tasks::Task::waitForMessages().
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Called when an external activation request is received.
Derived classes that need to perform extra steps to prepare normal execution should replace the default behaviour of immediate activation with calls to activate() when the request is completed or activationFailed() if the request cannot be honoured.
Reimplemented from DUNE::Tasks::Task.
References Vision::Lumenera::EntityActivationMaster::activate(), DUNE::Tasks::Task::getActivationTime(), m_act_timer, m_pwr_gpio, m_slave_entities, DUNE::Time::Counter< T >::setTop(), and DUNE::Tasks::Task::trace().
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Called when an external deactivation request is received.
Derived classes that need to perform extra steps to prepare normal execution should replace the default behaviour of immediate deactivation with calls to deactivate() when the request is completed or deactivationFailed() if the request cannot be honoured.
Reimplemented from DUNE::Tasks::Task.
References Vision::Lumenera::EntityActivationMaster::deactivate(), DUNE::Tasks::Task::getDeactivationTime(), m_act_timer, m_slave_entities, DUNE::Time::Counter< T >::setTop(), and DUNE::Tasks::Task::trace().
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Called when the task is instructed to acquire resources whose configuration is defined by run-time parameters.
Reimplemented from DUNE::Tasks::Task.
References Vision::Lumenera::Arguments::led_gpio, m_args, m_led_gpio, m_pwr_gpio, m_slave_entities, Vision::Lumenera::Arguments::pwr_gpio, DUNE::Tasks::Task::setEntityState(), and updateSlaveEntities().
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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_led_gpio, m_pwr_gpio, m_slave_entities, DUNE::Tasks::Task::requestDeactivation(), and DUNE::Tasks::Task::trace().
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Called when the task is instructed to update its run-time parameters.
Derived classes that need to compute auxiliary values based on run-time parameters should override this function.
Reimplemented from DUNE::Tasks::Task.
References checkParameters(), DUNE::Tasks::Task::isActive(), m_cfg_dirty, and updateSlaveEntities().
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References updateExposure(), updateFps(), updateGain(), updateGamma(), updateMedianFilter(), updateStrobe(), and updateWhiteBalance().
Referenced by checkConfiguration().
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References Vision::Lumenera::Arguments::address, c_port, Vision::Lumenera::HTTPClient::getHeader(), and m_args.
Referenced by updateExposure(), updateFps(), updateGain(), updateGamma(), updateMedianFilter(), updateStrobe(), and updateWhiteBalance().
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References DUNE::Tasks::Task::dispatch(), m_args, Vision::Lumenera::Arguments::strobe, and Vision::Lumenera::Arguments::strobe_pwr.
Referenced by onActivation(), and onDeactivation().
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References DUNE::Tasks::Task::debug(), m_http, and m_led_gpio.
Referenced by captureAndSave(), checkCaptureOk(), onDeactivation(), and startVideo().
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References DUNE::Tasks::Task::debug(), Vision::Lumenera::Arguments::fps, m_args, and setProperty().
Referenced by setProperties().
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References DUNE::Tasks::Task::debug(), Vision::Lumenera::Arguments::gamma, m_args, and setProperty().
Referenced by setProperties().
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References DUNE::Tasks::Task::debug(), m_args, Vision::Lumenera::Arguments::median_filter, and setProperty().
Referenced by setProperties().
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References DUNE::Tasks::Task::debug(), m_args, setProperty(), and Vision::Lumenera::Arguments::strobe.
Referenced by setProperties().
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HTTP camera port.
Referenced by getProperty(), setProperty(), and startVideo().
Counter<double> Vision::Lumenera::Task::m_act_timer |
Activation timer.
Referenced by checkActivationProgress(), checkDeactivationProgress(), onRequestActivation(), and onRequestDeactivation().
Arguments Vision::Lumenera::Task::m_args |
Configuration parameters.
Referenced by captureAndSave(), checkActivationProgress(), checkExposure(), checkGain(), checkParameters(), checkWhiteBalance(), consume(), getProperty(), onActivation(), onMain(), onResourceAcquisition(), setProperty(), setStrobePower(), startVideo(), Task(), updateExposure(), updateFps(), updateGain(), updateGamma(), updateMedianFilter(), updateSlaveEntities(), updateStrobe(), and updateWhiteBalance().
std::string Vision::Lumenera::Task::m_boundary |
MJPEG boundary string.
Referenced by captureFrame(), and startVideo().
bool Vision::Lumenera::Task::m_cfg_dirty |
Config is dirty.
Referenced by checkConfiguration(), and onUpdateParameters().
unsigned Vision::Lumenera::Task::m_file_count |
Number of files in current volume.
Referenced by captureAndSave(), and onActivation().
HTTPClient* Vision::Lumenera::Task::m_http |
Video stream HTTP connection.
Referenced by captureFrame(), checkCaptureOk(), startVideo(), and stopVideo().
Hardware::GPIO* Vision::Lumenera::Task::m_led_gpio |
LEDs GPIO.
Referenced by onResourceAcquisition(), onResourceRelease(), startVideo(), and stopVideo().
Path Vision::Lumenera::Task::m_log_dir |
Destination log folder.
Referenced by changeVolume(), and consume().
bool Vision::Lumenera::Task::m_log_dir_updated |
True if received the logging path.
Referenced by checkLogdirOk(), consume(), and onDeactivation().
Hardware::GPIO* Vision::Lumenera::Task::m_pwr_gpio |
Power GPIO.
Referenced by onDeactivation(), onRequestActivation(), onResourceAcquisition(), and onResourceRelease().
EntityActivationMaster* Vision::Lumenera::Task::m_slave_entities |
Slave entities.
Referenced by checkActivationProgress(), checkDeactivationProgress(), consume(), onRequestActivation(), onRequestDeactivation(), onResourceAcquisition(), onResourceRelease(), and updateSlaveEntities().
double Vision::Lumenera::Task::m_timestamp |
Referenced by captureFrame().
Path Vision::Lumenera::Task::m_volume |
Current destination volume.
Referenced by captureAndSave(), and changeVolume().
unsigned Vision::Lumenera::Task::m_volume_count |
Current number of volumes.
Referenced by changeVolume(), and onActivation().