DUNE: Uniform Navigational Environment  2017.01.0
Sensors::MetrecX::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
 ~Task (void)
 
void onEntityResolution (void)
 
void consume (const IMC::EstimatedState *msg)
 
void consume (const IMC::Temperature *msg)
 
void onUpdateParameters (void)
 
void onEntityReservation (void)
 
void onResourceAcquisition (void)
 
void onResourceRelease (void)
 
void onResourceInitialization (void)
 
void setup (void)
 
void startMonitoring (void)
 
void stopMonitoring (void)
 
void disableInChannels (void)
 
void setupInternal (void)
 
void checkDigital (void)
 
bool setSensor (const std::string &cmd, const std::string &option)
 
bool sendCommand (const std::string &cmd)
 
bool sendCommand (const std::string &cmd, const std::string &reply)
 
void dispatchValue (IMC::Message *msg, double value, double factor, double tstamp, bool raw=false, unsigned analog=0)
 
void dispatchValue (IMC::Message *msg, double value, double tstamp)
 
void dispatchDepth (unsigned id, double value, double tstamp)
 
void dispatchPH (unsigned id, double value, double tstamp)
 
void dispatchRedox (unsigned id, double value, double tstamp)
 
unsigned getChannels (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

SerialPort * m_uart
 
IMC::Message * m_msgs [c_total]
 
Counter< double > m_wdog
 
bool m_slots [c_total]
 
double m_lat
 
bool m_need_setup
 
bool m_ready_cond
 
bool m_ready_sspe
 
Arguments m_args
 
Counter< double > m_temp_wdog
 
unsigned m_temp_eid
 
float m_temp
 

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 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)
 
unsigned getPriorityImpl (void)
 
- Protected Attributes inherited from DUNE::Tasks::Task
Contextm_ctx
 
std::vector
< Entities::BasicEntity * > 
m_entities
 

Constructor & Destructor Documentation

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

Destructor.

Reimplemented from DUNE::Tasks::Task.

References m_msgs, and onResourceRelease().

Member Function Documentation

void Sensors::MetrecX::Task::checkDigital ( void  )
inline

Cross check of what internal channels may be turned on and what channels the user want turned on.

References Sensors::MetrecX::DSF_CONDUCTIVITY, Sensors::MetrecX::DSF_PRESSURE, Sensors::MetrecX::DSF_SV, Sensors::MetrecX::DSF_TEMPERATURE, m_args, m_ready_cond, m_ready_sspe, and Sensors::MetrecX::Arguments::msgs.

Referenced by setup().

void Sensors::MetrecX::Task::consume ( const IMC::EstimatedState *  msg)
inline
void Sensors::MetrecX::Task::consume ( const IMC::Temperature *  msg)
inline
void Sensors::MetrecX::Task::disableInChannels ( void  )
inline

Disable all input channels.

References setSensor().

Referenced by onMain(), and setupInternal().

void Sensors::MetrecX::Task::dispatchDepth ( unsigned  id,
double  value,
double  tstamp 
)
inline

Dispatch depth.

Parameters
[in]identity id.
[in]valuedepth value.
[in]tstampcurrent timestamp.

References DUNE::Tasks::Task::dispatch(), Sensors::MetrecX::Arguments::geop_anomaly, m_args, and m_lat.

Referenced by dispatchValue().

void Sensors::MetrecX::Task::dispatchPH ( unsigned  id,
double  value,
double  tstamp 
)
inline

Dispatch pH.

Parameters
[in]identity id.
[in]valueph reading.
[in]tstampcurrent timestamp.

References Sensors::MetrecX::Arguments::calbuffer, DUNE::Tasks::Task::dispatch(), m_args, m_temp, Sensors::MetrecX::Arguments::offset, and Sensors::MetrecX::Arguments::slope.

Referenced by dispatchValue().

void Sensors::MetrecX::Task::dispatchRedox ( unsigned  id,
double  value,
double  tstamp 
)
inline

Dispatch Redox.

Parameters
[in]identity id.
[in]valueredox reading.
[in]tstampcurrent timestamp.

References DUNE::Tasks::Task::dispatch().

Referenced by dispatchValue().

void Sensors::MetrecX::Task::dispatchValue ( IMC::Message *  msg,
double  value,
double  factor,
double  tstamp,
bool  raw = false,
unsigned  analog = 0 
)
inline

Dispatch value.

Parameters
[in]msgIMC message.
[in]valuemeasurement value.
[in]factormultiplication factor.
[in]tstampcurrent timestamp.
[in]rawdispatch raw voltage.

References DUNE::Tasks::Task::dispatch(), dispatchDepth(), dispatchPH(), dispatchRedox(), DUNE::Tasks::Task::getEntityId(), DUNE::Tasks::Task::getEntityLabel(), m_temp, m_temp_wdog, DUNE::Time::Counter< T >::reset(), and DUNE::Tasks::Task::resolveEntity().

Referenced by onMain().

void Sensors::MetrecX::Task::dispatchValue ( IMC::Message *  msg,
double  value,
double  tstamp 
)
inline

Dispatch value.

Parameters
[in]msgIMC message.
[in]valuevalue.
[in]tstampcurrent timestamp.

References DUNE::Tasks::Task::dispatch().

unsigned Sensors::MetrecX::Task::getChannels ( void  )
inline

Get active channels.

Returns
active channels.

References m_slots.

Referenced by onMain().

void Sensors::MetrecX::Task::onEntityReservation ( void  )
inlinevirtual
void Sensors::MetrecX::Task::onEntityResolution ( void  )
inlinevirtual

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

See resolveEntity(). Derived classes that need to resolve entity identifiers should override this function.

Reimplemented from DUNE::Tasks::Task.

References Sensors::MetrecX::Arguments::elabel_temp, m_args, m_temp_eid, and DUNE::Tasks::Task::resolveEntity().

void Sensors::MetrecX::Task::onResourceAcquisition ( void  )
inlinevirtual
void Sensors::MetrecX::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 m_uart, sendCommand(), and setup().

void Sensors::MetrecX::Task::onResourceRelease ( void  )
inlinevirtual

Release resources.

Reimplemented from DUNE::Tasks::Task.

References m_uart.

Referenced by ~Task().

void Sensors::MetrecX::Task::onUpdateParameters ( void  )
inlinevirtual
bool Sensors::MetrecX::Task::sendCommand ( const std::string &  cmd)
inline

Send command to device.

Parameters
[in]cmdcommand.
Returns
true if command was received successfully, false otherwise.

Referenced by onResourceInitialization(), setSensor(), and startMonitoring().

bool Sensors::MetrecX::Task::sendCommand ( const std::string &  cmd,
const std::string &  reply 
)
inline

Send command to device.

Parameters
[in]cmdcommand.
[in]replyexpected reply.
Returns
true if command was received successfully, false otherwise.

References m_uart, and DUNE::Tasks::Task::spew().

bool Sensors::MetrecX::Task::setSensor ( const std::string &  cmd,
const std::string &  option 
)
inline

Set sensor option.

Parameters
[in]cmdcommand.
Returns
true if command was received successfully, false otherwise.

References sendCommand().

Referenced by disableInChannels(), and setupInternal().

void Sensors::MetrecX::Task::setup ( void  )
inline
void Sensors::MetrecX::Task::setupInternal ( void  )
inline
void Sensors::MetrecX::Task::startMonitoring ( void  )
inline
void Sensors::MetrecX::Task::stopMonitoring ( void  )
inline

Stop monitoring device.

References m_uart.

Referenced by onMain().

Member Data Documentation

double Sensors::MetrecX::Task::m_lat

Vehicle Latitude.

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

IMC::Message* Sensors::MetrecX::Task::m_msgs[c_total]

Digital messages.

Referenced by onMain(), onUpdateParameters(), setupInternal(), Task(), and ~Task().

bool Sensors::MetrecX::Task::m_need_setup

Waiting setup.

Referenced by onMain(), onUpdateParameters(), setup(), and Task().

bool Sensors::MetrecX::Task::m_ready_cond

Ready with conductivity, temperature and pressure.

Referenced by checkDigital(), setupInternal(), and Task().

bool Sensors::MetrecX::Task::m_ready_sspe

Ready with sound speed, temperature and pressure.

Referenced by checkDigital(), setupInternal(), and Task().

bool Sensors::MetrecX::Task::m_slots[c_total]

Array of active slots.

Referenced by getChannels(), onMain(), onUpdateParameters(), setupInternal(), and Task().

float Sensors::MetrecX::Task::m_temp

Temperature for pH calculation.

Referenced by consume(), dispatchPH(), and dispatchValue().

unsigned Sensors::MetrecX::Task::m_temp_eid

Temperature entity id.

Referenced by consume(), and onEntityResolution().

Counter<double> Sensors::MetrecX::Task::m_temp_wdog

Internal temperature presence watchdog.

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

SerialPort* Sensors::MetrecX::Task::m_uart
Counter<double> Sensors::MetrecX::Task::m_wdog

Task Watchdog.

Referenced by onMain(), and startMonitoring().

Collaboration diagram for Sensors::MetrecX::Task:
Collaboration graph