DUNE: Uniform Navigational Environment  2016.05.0
Actuators::MCD4R::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
 ~Task (void)
 
void onEntityReservation (void)
 
void onUpdateParameters (void)
 
void onResourceAcquisition (void)
 
void onResourceInitialization (void)
 
void onResourceRelease (void)
 
void addRemoteAction (const std::string &action, const std::string &type)
 
bool actCommand (ActuateCommands cmd, int8_t dir)
 
bool cameraPan (PanCommands dir)
 
bool cameraTilt (TiltCommands dir)
 
bool cameraZoom (ZoomCommands dir)
 
bool cameraFocus (FocusCommands cmd)
 
bool cameraExposure (ExposureCommands cmd)
 
bool armPulse (PulseCommands dir)
 
bool armFinger (FingerCommands dir)
 
bool toggleLaser (void)
 
bool dispatchState (void)
 
void consume (const IMC::SetLedBrightness *msg)
 
void consume (const IMC::QueryLedBrightness *msg)
 
void consume (const IMC::RemoteActions *msg)
 
void consume (const IMC::RemoteActionsRequest *msg)
 
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

SerialPort * m_uart
 
UCTK::Interface * m_ctl
 
IMC::Current m_current [SC_TOTAL]
 
IMC::Voltage m_voltage [SV_TOTAL]
 
Counter< double > m_wdog
 
IMC::RemoteActionsRequest m_actions
 
bool m_laser
 
Time::Counter< float > m_laser_cnt
 
Arguments m_args
 

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

Constructor & Destructor Documentation

Actuators::MCD4R::Task::Task ( const std::string &  name,
Tasks::Context &  ctx 
)
inline
Actuators::MCD4R::Task::~Task ( void  )
inlinevirtual

Destructor.

Reimplemented from DUNE::Tasks::Task.

Member Function Documentation

bool Actuators::MCD4R::Task::actCommand ( ActuateCommands  cmd,
int8_t  dir 
)
inline

Generic actuation command.

Parameters
[in]cmdactuator to interface with
[in]dircommand to apply to actuator
Returns
true if successful in sending command

References m_ctl, and Actuators::MCD4R::PKT_ID_ACTUATE.

Referenced by armFinger(), armPulse(), cameraExposure(), cameraFocus(), cameraPan(), cameraTilt(), cameraZoom(), consume(), and toggleLaser().

void Actuators::MCD4R::Task::addRemoteAction ( const std::string &  action,
const std::string &  type 
)
inline

Add a new remote action.

Parameters
[in]actionname of the action to add
[in]typetype of the action to add

References m_actions.

Referenced by onResourceInitialization().

bool Actuators::MCD4R::Task::armFinger ( FingerCommands  dir)
inline

Command arm's finger.

Parameters
[in]dirarm's finger direction
Returns
true if successful in sending command

References Actuators::MCD4R::ACT_ARM_FINGER, and actCommand().

bool Actuators::MCD4R::Task::armPulse ( PulseCommands  dir)
inline

Command arm's pulse.

Parameters
[in]dirarm's pulse direction
Returns
true if successful in sending command

References Actuators::MCD4R::ACT_ARM_PULSE, and actCommand().

bool Actuators::MCD4R::Task::cameraExposure ( ExposureCommands  cmd)
inline

Command camera's exposure.

Parameters
[in]cmdexposure command
Returns
true if successful in sending command

References Actuators::MCD4R::ACT_CAM_EXPO, and actCommand().

bool Actuators::MCD4R::Task::cameraFocus ( FocusCommands  cmd)
inline

Command camera's focus.

Parameters
[in]cmdfocus command
Returns
true if successful in sending command

References Actuators::MCD4R::ACT_CAM_FOCUS, and actCommand().

bool Actuators::MCD4R::Task::cameraPan ( PanCommands  dir)
inline

Pan camera forward, reverse or stop.

Parameters
[in]dirdirection to which it should pan
Returns
true if successful in sending command

References Actuators::MCD4R::ACT_CAM_PAN, and actCommand().

bool Actuators::MCD4R::Task::cameraTilt ( TiltCommands  dir)
inline

Tilt camera forward reverse or stop.

Parameters
[in]dirdirection to which it should tilt
Returns
true if successful in sending command

References Actuators::MCD4R::ACT_CAM_TILT, and actCommand().

bool Actuators::MCD4R::Task::cameraZoom ( ZoomCommands  dir)
inline

Zoom camera.

Parameters
[in]dirzoom direction
Returns
true if successful in sending command

References Actuators::MCD4R::ACT_CAM_ZOOM, and actCommand().

void Actuators::MCD4R::Task::consume ( const IMC::SetLedBrightness *  msg)
inline
void Actuators::MCD4R::Task::consume ( const IMC::QueryLedBrightness *  msg)
inline
void Actuators::MCD4R::Task::consume ( const IMC::RemoteActions *  msg)
inline
void Actuators::MCD4R::Task::consume ( const IMC::RemoteActionsRequest *  msg)
inline
bool Actuators::MCD4R::Task::dispatchState ( void  )
inline
void Actuators::MCD4R::Task::onEntityReservation ( void  )
inlinevirtual

Called when the task is instructed to reserve all the entity identifiers it needs for normal execution.

See reserveEntity(). Derived classes that need to reserve entity identifiers other than that of the main entity should override this function.

Reimplemented from DUNE::Tasks::Task.

References Actuators::MCD4R::c_current_labels, Actuators::MCD4R::c_voltage_labels, DUNE::Tasks::Task::getEntityLabel(), m_current, m_voltage, DUNE::Tasks::Task::reserveEntity(), Actuators::MCD4R::SC_TOTAL, and Actuators::MCD4R::SV_TOTAL.

void Actuators::MCD4R::Task::onResourceAcquisition ( void  )
inlinevirtual
void Actuators::MCD4R::Task::onResourceInitialization ( void  )
inlinevirtual
void Actuators::MCD4R::Task::onResourceRelease ( void  )
inlinevirtual

Release resources.

Reimplemented from DUNE::Tasks::Task.

References m_ctl, and m_uart.

void Actuators::MCD4R::Task::onUpdateParameters ( void  )
inlinevirtual

Update internal state with new parameter values.

Reimplemented from DUNE::Tasks::Task.

References m_args, m_wdog, DUNE::Time::Counter< T >::setTop(), and Actuators::MCD4R::Arguments::wdog_tout.

bool Actuators::MCD4R::Task::toggleLaser ( void  )
inline

Toggle laser value.

Returns
true if successful in sending command

References Actuators::MCD4R::ACT_LASER, actCommand(), m_laser, and m_laser_cnt.

Referenced by consume().

Member Data Documentation

IMC::RemoteActionsRequest Actuators::MCD4R::Task::m_actions

Set of remote actions.

Referenced by addRemoteAction(), consume(), and onResourceInitialization().

Arguments Actuators::MCD4R::Task::m_args
UCTK::Interface* Actuators::MCD4R::Task::m_ctl
IMC::Current Actuators::MCD4R::Task::m_current[SC_TOTAL]

Current.

Referenced by dispatchState(), and onEntityReservation().

bool Actuators::MCD4R::Task::m_laser

Laser state (assume off at boot)

Referenced by toggleLaser().

Time::Counter<float> Actuators::MCD4R::Task::m_laser_cnt

Laser state timer.

Referenced by onResourceInitialization(), and toggleLaser().

SerialPort* Actuators::MCD4R::Task::m_uart
IMC::Voltage Actuators::MCD4R::Task::m_voltage[SV_TOTAL]

Voltage.

Referenced by dispatchState(), and onEntityReservation().

Counter<double> Actuators::MCD4R::Task::m_wdog
Collaboration diagram for Actuators::MCD4R::Task:
Collaboration graph