DUNE: Uniform Navigational Environment  2016.05.0
DUNE::Hardware::BasicDeviceDriver Class Referenceabstract

Public Member Functions

 BasicDeviceDriver (const std::string &name, DUNE::Tasks::Context &ctx)
void consume (const IMC::EstimatedState *msg)
void consume (const IMC::LoggingControl *msg)
void consume (const IMC::SoundSpeed *msg)
void consume (const IMC::PowerChannelState *msg)
- 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
const char * getEntityLabel (void) const
void setEntityLabel (const std::string &label)
- 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)

Protected Member Functions

void setPowerOffDelay (double value)
void setPostPowerOnDelay (double value)
void clearPowerChannelNames (void)
void addPowerChannelName (const std::string &name)
virtual bool onConnect (void)=0
virtual void onDisconnect (void)=0
virtual bool enableLogControl (void)
virtual bool onReadData (void)=0
virtual bool onSynchronize (void)
virtual void onEstimatedState (const DUNE::IMC::EstimatedState &msg)
virtual void onSoundSpeed (double value)
virtual void onOpenLog (const DUNE::FileSystem::Path &path)
virtual void onCloseLog (void)
virtual void onInitializeDevice (void)=0
void clearFaultCount (void)
void clearTimeoutCount (void)
- Protected Member Functions inherited from DUNE::Tasks::Task
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 bool onWriteParamsXML (std::ostream &os) const
virtual void onEntityReservation (void)
virtual void onEntityResolution (void)
virtual void onReportEntityState (void)
virtual void onResourceAcquisition (void)
virtual void onUpdateParameters (void)
virtual void onQueryEntityParameters (const IMC::QueryEntityParameters *msg)
virtual void onSetEntityParameters (const IMC::SetEntityParameters *msg)
virtual void onPushEntityParameters (const IMC::PushEntityParameters *msg)
virtual void onPopEntityParameters (const IMC::PopEntityParameters *msg)
- Protected Member Functions inherited from DUNE::Concurrency::Thread
void startImpl (void)
void stopImpl (void)
void joinImpl (void)
void setPriorityImpl (Scheduler::Policy policy, unsigned priority)

Additional Inherited Members

- Public Types inherited from DUNE::Concurrency::Runnable
enum  State {
  StateStarting, StateRunning, StateStopping, StateDead,
- Protected Attributes inherited from DUNE::Tasks::Task
< Entities::BasicEntity * > 

Constructor & Destructor Documentation

DUNE::Hardware::BasicDeviceDriver::BasicDeviceDriver ( const std::string &  name,
DUNE::Tasks::Context ctx 

Member Function Documentation

void DUNE::Hardware::BasicDeviceDriver::addPowerChannelName ( const std::string &  name)
void DUNE::Hardware::BasicDeviceDriver::clearFaultCount ( void  )
void DUNE::Hardware::BasicDeviceDriver::clearPowerChannelNames ( void  )
void DUNE::Hardware::BasicDeviceDriver::clearTimeoutCount ( void  )
void DUNE::Hardware::BasicDeviceDriver::consume ( const IMC::EstimatedState msg)

Consume estimated state messages.

[in]msgEstimatedState message.

References DUNE::IMC::Message::getSource(), DUNE::Tasks::Task::getSystemId(), DUNE::Tasks::Task::isActive(), and onEstimatedState().

void DUNE::Hardware::BasicDeviceDriver::consume ( const IMC::SoundSpeed msg)

Consume sound speed messages.

[in]msgSoundSpeed message.

References DUNE::Tasks::Task::isActive(), onSoundSpeed(), and DUNE::IMC::SoundSpeed::value.

void DUNE::Hardware::BasicDeviceDriver::consume ( const IMC::PowerChannelState msg)

Consume power channel state messages.

[in]msgPowerChannelState message.
[in]msgpower channel state.

References DUNE::Tasks::Task::debug(), DUNE::IMC::PowerChannelState::name, DUNE::IMC::PowerChannelState::PCS_ON, and DUNE::IMC::PowerChannelState::state.

virtual bool DUNE::Hardware::BasicDeviceDriver::enableLogControl ( void  )

Referenced by consume().

void DUNE::Hardware::BasicDeviceDriver::onCloseLog ( void  )
virtual bool DUNE::Hardware::BasicDeviceDriver::onConnect ( void  )
protectedpure virtual
virtual void DUNE::Hardware::BasicDeviceDriver::onDisconnect ( void  )
protectedpure virtual
void DUNE::Hardware::BasicDeviceDriver::onEstimatedState ( const DUNE::IMC::EstimatedState msg)

Referenced by consume().

virtual void DUNE::Hardware::BasicDeviceDriver::onInitializeDevice ( void  )
protectedpure virtual
void DUNE::Hardware::BasicDeviceDriver::onOpenLog ( const DUNE::FileSystem::Path path)
virtual bool DUNE::Hardware::BasicDeviceDriver::onReadData ( void  )
protectedpure virtual
void DUNE::Hardware::BasicDeviceDriver::onSoundSpeed ( double  value)

Referenced by consume().

bool DUNE::Hardware::BasicDeviceDriver::onSynchronize ( void  )
void DUNE::Hardware::BasicDeviceDriver::setPostPowerOnDelay ( double  value)

Set post power-on delay.

[in]valuedelay in second.
void DUNE::Hardware::BasicDeviceDriver::setPowerOffDelay ( double  value)

Set the amount of time to wait before powering down the device.

[in]valuedelay in second.
Collaboration diagram for DUNE::Hardware::BasicDeviceDriver:
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