Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)

	~Task (void)

void	onUpdateParameters (void)

void	onResourceAcquisition (void)

bool	openSocket (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	handleRangeModem (NMEAReader *const stn)

void	handleRangeTransponder (NMEAReader *const stn)

void	handleMiniPacketReception (NMEAReader *const stn)

void	handleRangeInProgress (NMEAReader *const stn)

void	handleMiniPacketEcho (NMEAReader *const stn)

void	handleBinaryReception (NMEAReader *const stn)

void	readSentence (void)

void	process (const std::string msg)

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

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
IO::Handle *	m_handle

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

bool	m_ignore_gpio

std::string	m_line

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
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 bool	onWriteParamsXML (std::ostream &os) const

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)

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
Context &	m_ctx

std::vector < Entities::BasicEntity * >	m_entities

Constructor & Destructor Documentation

Sensors::MLBLTracker::Task::Task	(	const std::string &	name,
		Tasks::Context &	ctx
	)

inline

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

Abort system.

Parameters

[in] sys system to be aborted.

References DUNE::Tasks::Task::dispatch(), m_acop_out, m_address, m_args, m_nbmap, m_op, m_op_deadline, m_ummap, Sensors::MLBLTracker::OP_ABORT, sendCommand(), and Sensors::MLBLTracker::Arguments::tout_abort.

Referenced by consume().

void Sensors::MLBLTracker::Task::checkTimeouts ( void )

inline

Check operation timeouts.

References DUNE::Tasks::Task::dispatch(), m_acop, m_acop_out, m_op, m_op_deadline, Sensors::MLBLTracker::OP_ABORT, Sensors::MLBLTracker::OP_NONE, Sensors::MLBLTracker::OP_PING_MM, Sensors::MLBLTracker::OP_PING_NB, and resetOp().

Referenced by onMain().

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

inline

Configure a modem parameter.

Parameters

[in]	code	NMEA code of the message to be transmitted.
[in]	parameter	modem parameter to be configured.
[in]	value	new configuration value.

References sendCommand().

Referenced by onResourceAcquisition().

void Sensors::MLBLTracker::Task::consume ( const IMC::AcousticOperation * msg )

inline

References abort(), DUNE::Tasks::Task::dispatch(), hasTransducer(), m_acop, m_acop_out, m_op, Sensors::MLBLTracker::OP_NONE, ping(), and transmitMessage().

void Sensors::MLBLTracker::Task::handleBinaryReception ( NMEAReader *const stn )

inline

Handle reception of binary message.

Parameters

[in] stn sentence to be handled.

References DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::inf(), m_mimap, and DUNE::Tasks::Task::trace().

Referenced by process().

void Sensors::MLBLTracker::Task::handleMiniPacketEcho ( NMEAReader *const stn )

inline

Requested mini-packet transmission is in progress.

Parameters

[in] stn sentence to be handled.

References DUNE::Tasks::Task::dispatch(), m_acop, and m_acop_out.

Referenced by process().

void Sensors::MLBLTracker::Task::handleMiniPacketReception ( NMEAReader *const stn )

inline

Handle a mini-packet reception.

Parameters

[in] stn sentence to be handled.

References DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::dispatchReply(), DUNE::Tasks::Task::inf(), m_acop, m_acop_out, m_mimap, m_pc, and resetOp().

Referenced by process().

void Sensors::MLBLTracker::Task::handleRangeInProgress ( NMEAReader *const stn )

inline

A requested range is in progress.

Parameters

[in] stn sentence to be handled.

References DUNE::Tasks::Task::dispatch(), m_acop, and m_acop_out.

Referenced by process().

void Sensors::MLBLTracker::Task::handleRangeModem ( NMEAReader *const stn )

inline

Handle received range from modem.

Parameters

[in] stn sentence to be handled.

References DUNE::Tasks::Task::dispatch(), m_acop, m_acop_out, m_address, m_args, resetOp(), and Sensors::MLBLTracker::Arguments::sspeed.

Referenced by process().

void Sensors::MLBLTracker::Task::handleRangeTransponder ( NMEAReader *const stn )

inline

Handle received range from transponder.

Parameters

[in] stn sentence to be handled.

References DUNE::Tasks::Task::dispatch(), m_acop, m_acop_out, m_args, resetOp(), and Sensors::MLBLTracker::Arguments::sspeed.

Referenced by process().

bool Sensors::MLBLTracker::Task::hasTransducer ( void )

inline

References DUNE::Tasks::Task::err(), m_gpio_txd, and m_ignore_gpio.

Referenced by consume().

void Sensors::MLBLTracker::Task::onMain ( void )

inlinevirtual

Implements DUNE::Tasks::Task.

References checkTimeouts(), DUNE::Tasks::Task::consumeMessages(), m_handle, m_last_stn, DUNE::Time::Counter< T >::overflow(), readSentence(), DUNE::Time::Counter< T >::reset(), DUNE::Tasks::Task::setEntityState(), and DUNE::Tasks::Task::stopping().

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_handle, openSocket(), DUNE::Tasks::Task::setEntityState(), Sensors::MLBLTracker::Arguments::turn_around_time, 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_handle, and m_pc.

Referenced by ~Task().

void Sensors::MLBLTracker::Task::onUpdateParameters ( void )

inlinevirtual

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 Sensors::MLBLTracker::Arguments::addr_section, DUNE::Tasks::Context::config, DUNE::Parsers::Config::get(), DUNE::Tasks::Task::getSystemName(), Sensors::MLBLTracker::Arguments::gpio_txd, m_address, m_args, DUNE::Tasks::Task::m_ctx, m_gpio_txd, m_ignore_gpio, m_immap, m_last_stn, m_mimap, m_ummap, DUNE::Parsers::Config::options(), DUNE::Tasks::Task::paramChanged(), DUNE::Tasks::Task::resolveSystemName(), DUNE::Time::Counter< T >::setTop(), and Sensors::MLBLTracker::Arguments::tout_input.