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

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
void onUpdateParameters (void)
 
 ~Task (void)
 
void onResourceAcquisition (void)
 
void onResourceRelease (void)
 
void onResourceInitialization (void)
 
void onActivation (void)
 
void onDeactivation (void)
 
bool setTriggerFrequency (uint16_t frequency)
 
bool setPower (bool on)
 
int32_t read24b (const uint8_t *data)
 
bool decodeFrame (const uint8_t *bfr, unsigned bfr_len)
 
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

Matrix m_rotation
 
Matrix m_data
 
IMC::EulerAnglesDelta m_edelta
 
IMC::VelocityDelta m_vdelta
 
Counter< float > m_wdog
 
double m_imu_time
 
Hardware::ESCC * m_imu_escc
 
Hardware::ESCC * m_psu_escc
 
UCTK::Interface * m_psu_ctl
 
uint16_t m_sta_fail
 
uint16_t m_sta_imu
 
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 onEntityReservation (void)
 
virtual void onEntityResolution (void)
 
virtual void onReportEntityState (void)
 
virtual void onRequestActivation (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)
 
unsigned getPriorityImpl (void)
 
- Protected Attributes inherited from DUNE::Tasks::Task
Contextm_ctx
 
std::vector
< Entities::BasicEntity * > 
m_entities
 

Constructor & Destructor Documentation

Sensors::IFOG::Task::~Task ( void  )
inlinevirtual

Destructor.

Reimplemented from DUNE::Tasks::Task.

References onResourceRelease().

Member Function Documentation

void Sensors::IFOG::Task::onActivation ( void  )
inlinevirtual

Called when the task starts/resumes normal execution.

Reimplemented from DUNE::Tasks::Task.

References setPower().

void Sensors::IFOG::Task::onDeactivation ( void  )
inlinevirtual

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

Reimplemented from DUNE::Tasks::Task.

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

void Sensors::IFOG::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 Sensors::IFOG::Arguments::imu_dev, DUNE::Tasks::Task::inf(), m_args, m_imu_escc, m_psu_ctl, m_psu_escc, Sensors::IFOG::Arguments::psu_dev, and DUNE::Tasks::Task::war().

void Sensors::IFOG::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 Sensors::IFOG::Arguments::input_tout, m_args, m_wdog, DUNE::Tasks::Task::setEntityState(), DUNE::Time::Counter< T >::setTop(), setTriggerFrequency(), and Sensors::IFOG::Arguments::trigger_frq.

void Sensors::IFOG::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_imu_escc, m_psu_ctl, m_psu_escc, and setPower().

Referenced by ~Task().

void Sensors::IFOG::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 DUNE::Math::Matrix::fill(), m_args, m_edelta, m_rotation, Sensors::IFOG::Arguments::rotation_mx, and Sensors::IFOG::Arguments::trigger_frq.

int32_t Sensors::IFOG::Task::read24b ( const uint8_t *  data)
inline

Referenced by decodeFrame().

bool Sensors::IFOG::Task::setPower ( bool  on)
inline
bool Sensors::IFOG::Task::setTriggerFrequency ( uint16_t  frequency)
inline

Member Data Documentation

Arguments Sensors::IFOG::Task::m_args
Matrix Sensors::IFOG::Task::m_data

Sensor data matrix.

Referenced by decodeFrame(), and Task().

IMC::EulerAnglesDelta Sensors::IFOG::Task::m_edelta

Euler Angles Delta.

Referenced by decodeFrame(), and onUpdateParameters().

Hardware::ESCC* Sensors::IFOG::Task::m_imu_escc

IMU handle.

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

double Sensors::IFOG::Task::m_imu_time

IMU timestamp.

UCTK::Interface* Sensors::IFOG::Task::m_psu_ctl
Hardware::ESCC* Sensors::IFOG::Task::m_psu_escc

PSU UART.

Referenced by onResourceAcquisition(), and onResourceRelease().

Matrix Sensors::IFOG::Task::m_rotation

Rotation Matrix to correct IMU mounting position.

Referenced by decodeFrame(), and onUpdateParameters().

uint16_t Sensors::IFOG::Task::m_sta_fail

Failure Status Word.

Referenced by decodeFrame(), and onMain().

uint16_t Sensors::IFOG::Task::m_sta_imu

IMU Status Word.

Referenced by decodeFrame(), and onMain().

IMC::VelocityDelta Sensors::IFOG::Task::m_vdelta

Velocity Delta.

Referenced by decodeFrame().

Counter<float> Sensors::IFOG::Task::m_wdog

Input Watchdog.

Referenced by onMain(), and onResourceInitialization().

Collaboration diagram for Sensors::IFOG::Task:
Collaboration graph