DUNE: Uniform Navigational Environment  2016.09.0
Sensors::MTi::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
 ~Task (void)
 
void onResourceAcquisition (void)
 
void onResourceRelease (void)
 
void consume (const IMC::Pulse *msg)
 
int parse (uint8_t byte)
 
void sendMessage (uint8_t mid, const uint8_t *data, unsigned int data_len)
 
bool sendMessageWithAck (uint8_t mid, const uint8_t *data, unsigned int data_len)
 
bool sendGoToConfig (void)
 
bool sendGoToMeasurement (void)
 
bool sendSetOutputMode (void)
 
bool sendSetOutputSettings (void)
 
bool sendSyncInSettings (void)
 
bool setup (void)
 
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)
 
unsigned getPriority (void)
 
State getState (void)
 
bool isCreated (void)
 
bool isStopping (void)
 
bool isRunning (void)
 
bool isStarting (void)
 
bool isDead (void)
 

Public Attributes

ParserStates m_state
 
uint8_t m_mid
 
uint8_t m_data_len
 
uint8_t m_data_idx
 
uint8_t m_data [c_max_data_len]
 
unsigned int m_csum
 
SerialPort * m_uart
 
uint8_t * m_bfr
 
IMC::EulerAngles m_euler
 
IMC::Acceleration m_accel
 
IMC::AngularVelocity m_agvel
 
IMC::Temperature m_temp
 
Arguments m_args
 

Static Public Attributes

static const uint8_t c_preamble
 
static const int c_max_data_len
 
static const int c_max_bfr_len
 

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 onEntityReservation (void)
 
virtual void onEntityResolution (void)
 
virtual void onReportEntityState (void)
 
virtual void onResourceInitialization (void)
 
virtual void onUpdateParameters (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)
 
unsigned getPriorityImpl (void)
 
- Protected Attributes inherited from DUNE::Tasks::Task
Contextm_ctx
 
std::vector
< Entities::BasicEntity * > 
m_entities
 

Constructor & Destructor Documentation

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

Destructor.

Reimplemented from DUNE::Tasks::Task.

References m_bfr.

Member Function Documentation

void Sensors::MTi::Task::consume ( const IMC::Pulse *  msg)
inline
void Sensors::MTi::Task::onMain ( void  )
inlinevirtual
void Sensors::MTi::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 m_args, m_uart, Sensors::MTi::Arguments::uart_baud, and Sensors::MTi::Arguments::uart_dev.

void Sensors::MTi::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_uart.

bool Sensors::MTi::Task::sendGoToConfig ( void  )
inline

References sendMessageWithAck().

Referenced by setup().

bool Sensors::MTi::Task::sendGoToMeasurement ( void  )
inline

References sendMessageWithAck().

Referenced by setup().

void Sensors::MTi::Task::sendMessage ( uint8_t  mid,
const uint8_t *  data,
unsigned int  data_len 
)
inline

References c_preamble, m_bfr, m_uart, and DUNE::Math::sum().

Referenced by sendMessageWithAck().

bool Sensors::MTi::Task::sendMessageWithAck ( uint8_t  mid,
const uint8_t *  data,
unsigned int  data_len 
)
inline
bool Sensors::MTi::Task::sendSetOutputMode ( void  )
inline

References sendMessageWithAck().

Referenced by setup().

bool Sensors::MTi::Task::sendSetOutputSettings ( void  )
inline

References sendMessageWithAck().

Referenced by setup().

bool Sensors::MTi::Task::sendSyncInSettings ( void  )
inline

References sendMessageWithAck().

Referenced by setup().

bool Sensors::MTi::Task::setup ( void  )
inline

Member Data Documentation

const int Sensors::MTi::Task::c_max_bfr_len
static

Referenced by consume(), sendMessageWithAck(), and Task().

const int Sensors::MTi::Task::c_max_data_len
static
const uint8_t Sensors::MTi::Task::c_preamble
static

Referenced by parse(), and sendMessage().

IMC::Acceleration Sensors::MTi::Task::m_accel

Referenced by consume().

IMC::AngularVelocity Sensors::MTi::Task::m_agvel

Referenced by consume().

Arguments Sensors::MTi::Task::m_args

Referenced by onResourceAcquisition(), and Task().

uint8_t* Sensors::MTi::Task::m_bfr
unsigned int Sensors::MTi::Task::m_csum

Referenced by parse().

uint8_t Sensors::MTi::Task::m_data[c_max_data_len]

Referenced by consume(), and parse().

uint8_t Sensors::MTi::Task::m_data_idx

Referenced by parse().

uint8_t Sensors::MTi::Task::m_data_len

Referenced by parse().

IMC::EulerAngles Sensors::MTi::Task::m_euler

Referenced by consume().

uint8_t Sensors::MTi::Task::m_mid

Referenced by parse().

ParserStates Sensors::MTi::Task::m_state

Referenced by parse().

IMC::Temperature Sensors::MTi::Task::m_temp

Referenced by consume().

SerialPort* Sensors::MTi::Task::m_uart
Collaboration diagram for Sensors::MTi::Task:
Collaboration graph