DUNE: Uniform Navigational Environment  2016.05.0
Vision::UI2210MGL::Task Struct Reference

Detailed Description

Device driver task.

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
void onUpdateParameters (void)
void onResourceAcquisition (void)
void onResourceRelease (void)
void onResourceInitialization (void)
void consume (const IMC::LoggingControl *msg)
void onRequestActivation (void)
void onActivation (void)
void onDeactivation (void)
void saveImage (Frame *frame)
float pixel2wlen (int pix)
int wlen2pixel (float wlen)
void stopCapture (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
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)

Public Attributes

Arguments m_args
Path m_log_dir
HIDS m_cam
bool m_starting
cv::Mat m_image_cv
int m_calib_gain
double m_calib_time

Static Public Attributes

static const unsigned c_width
static const unsigned c_height

Additional Inherited Members

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

Constructor & Destructor Documentation

Member Function Documentation

void Vision::UI2210MGL::Task::consume ( const IMC::LoggingControl *  msg)
void Vision::UI2210MGL::Task::onActivation ( void  )

Called when the task starts/resumes normal execution.

Reimplemented from DUNE::Tasks::Task.

References m_capture, m_log_dir, and DUNE::Tasks::Task::setEntityState().

void Vision::UI2210MGL::Task::onDeactivation ( void  )

Called when the task stops normal execution and enters an idleness state.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Tasks::Task::setEntityState(), and stopCapture().

void Vision::UI2210MGL::Task::onRequestActivation ( void  )

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 DUNE::Tasks::Task::activate(), and DUNE::Tasks::Task::dispatch().

void Vision::UI2210MGL::Task::onResourceInitialization ( void  )

Initialize resources and start capturing frames.

Reimplemented from DUNE::Tasks::Task.

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

void Vision::UI2210MGL::Task::onResourceRelease ( void  )

Release allocated resources.

Reimplemented from DUNE::Tasks::Task.

References m_capture, and m_frame.

float Vision::UI2210MGL::Task::pixel2wlen ( int  pix)
void Vision::UI2210MGL::Task::stopCapture ( void  )
int Vision::UI2210MGL::Task::wlen2pixel ( float  wlen)

Member Data Documentation

const unsigned Vision::UI2210MGL::Task::c_height

Frame height. 480 is total, 250 is usable.

const unsigned Vision::UI2210MGL::Task::c_width

Frame width. Unclear if 640 or 960

Arguments Vision::UI2210MGL::Task::m_args
int Vision::UI2210MGL::Task::m_calib_gain

Current calibration gain.

Referenced by onMain().

double Vision::UI2210MGL::Task::m_calib_time

Time of last calibration gain change.

Referenced by onMain().

HIDS Vision::UI2210MGL::Task::m_cam

Camera handle.

Referenced by onResourceAcquisition().

CaptureUeye* Vision::UI2210MGL::Task::m_capture
Frame* Vision::UI2210MGL::Task::m_frame
cv::Mat Vision::UI2210MGL::Task::m_image_cv

OpenCV frame.

Referenced by saveImage().

Path Vision::UI2210MGL::Task::m_log_dir

Destination log folder.

Referenced by consume(), onActivation(), onUpdateParameters(), and saveImage().

bool Vision::UI2210MGL::Task::m_starting

Flag to allow ignoring the first run.

Referenced by onUpdateParameters().

Collaboration diagram for Vision::UI2210MGL::Task:
Collaboration graph