DUNE: Uniform Navigational Environment  2016.05.0
Sensors::Imagenex881A::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
void onUpdateParameters (void)
void onResourceAcquisition (void)
void onResourceRelease (void)
void onResourceInitialization (void)
void onRequestActivation (void)
void onActivation (void)
void onDeactivation (void)
void checkActivationProgress (void)
void consume (const IMC::SoundSpeed *msg)
uint8_t getIndex (uint8_t value, const uint8_t *table, uint8_t table_size)
void setRange (void)
void setStartGain (void)
void setAbsorption (float absorption)
void setStepSize (void)
void setProfile (void)
void setDataBits (void)
void setDataPoints (void)
void setProfileMinRange (void)
void setSwitchDelay (void)
void setFrequency (uint16_t frequency)
void updateState (float heading)
void setSectorWidth (void)
void setTrainAngle (void)
void testComms (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

SerialPort * m_uart
Parser m_parser
IMC::Distance m_distance
IMC::SonarData m_sonar
IMC::DeviceState m_device_state
uint8_t m_sdata [c_sdata_size]
double m_sound_speed
IMC::PowerChannelControl m_power_channel_control
Counter< double > m_countdown
Counter< double > m_wdog
Arguments m_args

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 Sensors::Imagenex881A::Task::consume ( const IMC::SoundSpeed *  msg)

References m_sound_speed.

uint8_t Sensors::Imagenex881A::Task::getIndex ( uint8_t  value,
const uint8_t *  table,
uint8_t  table_size 

Get index from table according with given value.

[in]valuevalue to be checked in the table.
[in]tablevector with parameters.
[in]table_sizesize of the vector.
index of the vector.

Referenced by setRange().

void Sensors::Imagenex881A::Task::onActivation ( void  )

Called when the task starts/resumes normal execution.

Reimplemented from DUNE::Tasks::Task.

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

void Sensors::Imagenex881A::Task::onDeactivation ( void  )

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

Reimplemented from DUNE::Tasks::Task.

References DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::inf(), m_power_channel_control, and DUNE::Tasks::Task::setEntityState().

void Sensors::Imagenex881A::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::dispatch(), m_countdown, m_power_channel_control, and DUNE::Time::Counter< T >::reset().

void Sensors::Imagenex881A::Task::onResourceAcquisition ( void  )
void Sensors::Imagenex881A::Task::onResourceInitialization ( void  )

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::requestDeactivation(), and DUNE::Tasks::Task::setEntityState().

void Sensors::Imagenex881A::Task::onResourceRelease ( void  )

Release resources.

Reimplemented from DUNE::Tasks::Task.

References m_uart, and DUNE::Tasks::Task::requestDeactivation().

void Sensors::Imagenex881A::Task::setAbsorption ( float  absorption)

Set switch data absorption.

[in]absorptionabsorption level.

References DUNE::Math::abs(), m_sdata, and Sensors::Imagenex881A::SD_ABSORPTION.

Referenced by onUpdateParameters().

void Sensors::Imagenex881A::Task::setDataBits ( void  )

Set switch data number of bits per data point.

References Sensors::Imagenex881A::Arguments::data_bits, m_args, m_sdata, m_sonar, and Sensors::Imagenex881A::SD_DATA_BITS.

Referenced by onUpdateParameters().

void Sensors::Imagenex881A::Task::setDataPoints ( void  )

Set switch data number of data points.

References Sensors::Imagenex881A::Arguments::data_points, m_args, m_sdata, and Sensors::Imagenex881A::SD_DATA_POINTS.

Referenced by onUpdateParameters().

void Sensors::Imagenex881A::Task::setFrequency ( uint16_t  frequency)

Set switch data frequency.

[in]frequencyoperation frequency.

References m_distance, m_sdata, m_sonar, and Sensors::Imagenex881A::SD_FREQUENCY.

Referenced by onUpdateParameters().

void Sensors::Imagenex881A::Task::setProfile ( void  )
void Sensors::Imagenex881A::Task::setProfileMinRange ( void  )
void Sensors::Imagenex881A::Task::setRange ( void  )
void Sensors::Imagenex881A::Task::setSectorWidth ( void  )
void Sensors::Imagenex881A::Task::setStartGain ( void  )
void Sensors::Imagenex881A::Task::setStepSize ( void  )
void Sensors::Imagenex881A::Task::setSwitchDelay ( void  )
void Sensors::Imagenex881A::Task::setTrainAngle ( void  )
void Sensors::Imagenex881A::Task::testComms ( void  )

Test communication with device.

References m_sdata, and m_uart.

Referenced by checkActivationProgress().

void Sensors::Imagenex881A::Task::updateState ( float  heading)

Update state.

[in]headingbeam orientation.

References m_device_state, and m_distance.

Referenced by onMain().

Member Data Documentation

Counter<double> Sensors::Imagenex881A::Task::m_countdown

Activation/deactivation timer.

Referenced by checkActivationProgress(), onRequestActivation(), and onUpdateParameters().

IMC::DeviceState Sensors::Imagenex881A::Task::m_device_state

Device State message.

Referenced by onUpdateParameters(), and updateState().

IMC::Distance Sensors::Imagenex881A::Task::m_distance

Distance message.

Referenced by onMain(), onUpdateParameters(), setFrequency(), Task(), and updateState().

Parser Sensors::Imagenex881A::Task::m_parser

Response frame parser.

Referenced by onMain().

IMC::PowerChannelControl Sensors::Imagenex881A::Task::m_power_channel_control

Power channel control.

Referenced by onDeactivation(), onRequestActivation(), and onUpdateParameters().

IMC::SonarData Sensors::Imagenex881A::Task::m_sonar

Profile message.

Referenced by onMain(), setDataBits(), setFrequency(), and Task().

double Sensors::Imagenex881A::Task::m_sound_speed

Last valid sound speed value.

Referenced by consume(), onMain(), and onUpdateParameters().

SerialPort* Sensors::Imagenex881A::Task::m_uart
Counter<double> Sensors::Imagenex881A::Task::m_wdog
Collaboration diagram for Sensors::Imagenex881A::Task:
Collaboration graph