DUNE: Uniform Navigational Environment  2016.05.0
Sensors::XR620CTD::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
void onUpdateParameters (void)
void onResourceRelease (void)
void onResourceAcquisition (void)
void onResourceInitialization (void)
bool readString (char *bfr, unsigned bfr_len, double timeout=1.0)
void stopSampling (void)
void getCalibration (void)
void setParameters (void)
void startSampling (void)
double applyCoefficients (int coeffs, double value)
double computeConductivity (void)
double computeTemperature (void)
double computePressure (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
char m_bfr [256]
IMC::Conductivity m_cond
IMC::Salinity m_sali
IMC::SoundSpeed m_sspe
IMC::Temperature m_temp
IMC::Pressure m_pres
IMC::Depth m_depth
Math::MovingAverage< double > * m_avg_sspeed
Time::Counter< float > m_sspeed_timer
Parser m_parser
double m_coeffs [3][4]
Arguments m_args
bool m_wait_sample
Counter< double > m_wdog

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 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
< Entities::BasicEntity * > 

Constructor & Destructor Documentation

Member Function Documentation

double Sensors::XR620CTD::Task::applyCoefficients ( int  coeffs,
double  value 

Define measurement coefficients.

[in]valuemultiplier constant.
output value.

References m_coeffs.

Referenced by computeConductivity(), computePressure(), and computeTemperature().

double Sensors::XR620CTD::Task::computeConductivity ( void  )

Compute conductivity.

conductivity value.

References applyCoefficients(), Sensors::XR620CTD::CHN_CONDUCTIVITY, Sensors::XR620CTD::Parser::getDataField(), and m_parser.

Referenced by onMain().

double Sensors::XR620CTD::Task::computePressure ( void  )

Compute pressure.

pressure value.

References applyCoefficients(), Sensors::XR620CTD::CHN_PRESSURE, Sensors::XR620CTD::Parser::getDataField(), and m_parser.

Referenced by onMain().

double Sensors::XR620CTD::Task::computeTemperature ( void  )

Compute temperature.

temperature value.

References applyCoefficients(), Sensors::XR620CTD::CHN_TEMPERATURE, Sensors::XR620CTD::Parser::getDataField(), and m_parser.

Referenced by onMain().

void Sensors::XR620CTD::Task::onResourceAcquisition ( void  )
void Sensors::XR620CTD::Task::onResourceInitialization ( void  )
void Sensors::XR620CTD::Task::onResourceRelease ( void  )

Release allocated resources.

Reimplemented from DUNE::Tasks::Task.

References m_avg_sspeed, and m_uart.

void Sensors::XR620CTD::Task::onUpdateParameters ( void  )
bool Sensors::XR620CTD::Task::readString ( char *  bfr,
unsigned  bfr_len,
double  timeout = 1.0 

Read string from serial port.

[in]bfrpointer to data buffer.
[in]bfr_lenlength of the data buffer.
[in]timeoutincoming data timeout.
true if successful, false otherwise.

References m_uart.

Referenced by getCalibration(), setParameters(), and stopSampling().

void Sensors::XR620CTD::Task::startSampling ( void  )

Start sampling data.

References m_uart, m_wait_sample, and DUNE::Tasks::Task::setEntityState().

Referenced by onResourceInitialization().

void Sensors::XR620CTD::Task::stopSampling ( void  )

Member Data Documentation

Arguments Sensors::XR620CTD::Task::m_args
Math::MovingAverage<double>* Sensors::XR620CTD::Task::m_avg_sspeed

Sound Speed Moving Average.

Referenced by onMain(), onResourceInitialization(), and onResourceRelease().

char Sensors::XR620CTD::Task::m_bfr[256]

Scratch buffer.

Referenced by getCalibration(), onMain(), setParameters(), and stopSampling().

double Sensors::XR620CTD::Task::m_coeffs[3][4]

Channel Coefficients.

Referenced by applyCoefficients(), and getCalibration().

IMC::Conductivity Sensors::XR620CTD::Task::m_cond


Referenced by onMain().

IMC::Depth Sensors::XR620CTD::Task::m_depth


Referenced by onMain().

Parser Sensors::XR620CTD::Task::m_parser
IMC::Pressure Sensors::XR620CTD::Task::m_pres


Referenced by onMain().

IMC::Salinity Sensors::XR620CTD::Task::m_sali


Referenced by onMain().

IMC::SoundSpeed Sensors::XR620CTD::Task::m_sspe

Sound speed.

Referenced by onMain().

Time::Counter<float> Sensors::XR620CTD::Task::m_sspeed_timer

Counter to output Speed of Sound.

Referenced by onMain(), and onUpdateParameters().

IMC::Temperature Sensors::XR620CTD::Task::m_temp


Referenced by onMain().

SerialPort* Sensors::XR620CTD::Task::m_uart
bool Sensors::XR620CTD::Task::m_wait_sample

Waiting first sample.

Referenced by onMain(), onResourceInitialization(), and startSampling().

Counter<double> Sensors::XR620CTD::Task::m_wdog

Input watchdog.

Referenced by onMain(), and onResourceAcquisition().

Collaboration diagram for Sensors::XR620CTD::Task:
Collaboration graph