Sensors::Keller::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onUpdateParameters (void)
void	onResourceAcquisition (void)
bool	openSocket (void)
void	onEntityResolution (void)
void	onResourceRelease (void)
void	onResourceInitialization (void)
void	consume (const IMC::GpsFix *msg)
void	consume (const IMC::VehicleMedium *msg)
void	calibrate (void)
bool	write (uint8_t *bfr, int len)
bool	read (void)
ParserResults	parse (uint8_t *bfr, uint8_t len)
bool	interpret (void)
void	initialize (void)
void	zero (void)
void	reportEntityState (void)
void	task (void)

Public Attributes
IO::Handle *	m_handle
bool	m_echo
uint8_t	m_msg_read_pressure [5]
uint8_t	m_msg_read_temperature [5]
IMC::Pressure	m_pressure
IMC::Depth	m_depth
IMC::Temperature	m_temperature
bool	m_calibrated
int	m_entity_id
ParserStates	m_parser_state
uint8_t	m_parser_cmd
uint8_t	m_parser_data [c_parser_data_size]
uint8_t	m_parser_data_len
uint16_t	m_parser_data_crc
uint16_t	m_parser_packet_crc
float	m_channel_readout
Time::Counter< float >	m_wdog
unsigned	m_crc_err_count
Counter< double >	m_state_timer
size_t	m_sample_count
size_t	m_faults_count
size_t	m_timeout_count
unsigned	m_gps_eid
Arguments	m_args

Static Public Attributes
static const unsigned	c_parser_data_size
static const unsigned	c_max_crc_err

Constructor & Destructor Documentation

Sensors::Keller::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Sensors::Keller::Arguments::address, Sensors::Keller::Arguments::depth_conv, Sensors::Keller::Arguments::label_gps, m_args, m_calibrated, Sensors::Keller::Arguments::timeout_error, Sensors::Keller::Arguments::timeout_failure, Sensors::Keller::Arguments::uart_baud, Sensors::Keller::Arguments::uart_dev, and Sensors::Keller::Arguments::uart_echo.

Member Function Documentation

void Sensors::Keller::Task::calibrate ( void  )

inline

Calibrate device.

References m_calibrated, and zero().

Referenced by consume().

void Sensors::Keller::Task::consume ( const IMC::GpsFix *  msg )

inline

References calibrate(), and m_gps_eid.

void Sensors::Keller::Task::consume ( const IMC::VehicleMedium *  msg )

inline

References calibrate().

void Sensors::Keller::Task::initialize ( void  )

inline

References Sensors::Keller::Arguments::address, Sensors::Keller::CMD_CONFIRMATION_FOR_INITIALIZATION, Sensors::Keller::CMD_READ_SERIAL_NUMBER, m_args, m_handle, read(), and write().

Referenced by interpret(), and onResourceInitialization().

bool Sensors::Keller::Task::interpret ( void  )

inline

References Sensors::Keller::CMD_CONFIRMATION_FOR_INITIALIZATION, Sensors::Keller::CMD_READ_CHANNEL, Sensors::Keller::CMD_READ_SERIAL_NUMBER, Sensors::Keller::CMD_ZERO_CHANNEL, initialize(), m_channel_readout, m_parser_cmd, and m_parser_data.

Referenced by parse().

void Sensors::Keller::Task::onEntityResolution ( void  )

inline

References Sensors::Keller::Arguments::label_gps, m_args, and m_gps_eid.

void Sensors::Keller::Task::onResourceAcquisition ( void  )

inline

References m_args, m_handle, onResourceRelease(), openSocket(), Sensors::Keller::Arguments::uart_baud, and Sensors::Keller::Arguments::uart_dev.

void Sensors::Keller::Task::onResourceInitialization ( void  )

inline

References initialize(), and m_crc_err_count.

void Sensors::Keller::Task::onResourceRelease ( void  )

inline

References m_handle.

Referenced by onResourceAcquisition().

void Sensors::Keller::Task::onUpdateParameters ( void  )

inline

References Sensors::Keller::Arguments::address, Sensors::Keller::CMD_READ_CHANNEL, Sensors::Keller::Arguments::depth_conv, m_args, m_msg_read_pressure, m_msg_read_temperature, m_wdog, and Sensors::Keller::Arguments::timeout_error.

bool Sensors::Keller::Task::openSocket ( void  )

inline

References m_args, m_handle, and Sensors::Keller::Arguments::uart_dev.

Referenced by onResourceAcquisition().

ParserResults Sensors::Keller::Task::parse ( uint8_t *  bfr, uint8_t  len  )

inline

References Sensors::Keller::Arguments::address, c_parser_data_size, Sensors::Keller::CMD_CONFIRMATION_FOR_INITIALIZATION, Sensors::Keller::CMD_CONFIRMATION_FOR_INITIALIZATION_SIZE, Sensors::Keller::CMD_READ_CHANNEL, Sensors::Keller::CMD_READ_CHANNEL_SIZE, Sensors::Keller::CMD_READ_SERIAL_NUMBER, Sensors::Keller::CMD_READ_SERIAL_NUMBER_SIZE, Sensors::Keller::CMD_ZERO_CHANNEL, Sensors::Keller::CMD_ZERO_CHANNEL_SIZE, interpret(), m_args, m_parser_cmd, m_parser_data, m_parser_data_crc, m_parser_data_len, m_parser_packet_crc, m_parser_state, Sensors::Keller::RES_CRC, Sensors::Keller::RES_DONE, Sensors::Keller::RES_EXCEPTION, Sensors::Keller::RES_IN_PROGRESS, Sensors::Keller::STA_ADDR, Sensors::Keller::STA_CMD, Sensors::Keller::STA_CRC_LSB, Sensors::Keller::STA_CRC_MSB, and Sensors::Keller::STA_DATA.

Referenced by read().

bool Sensors::Keller::Task::read ( void  )

inline

References c_max_crc_err, m_crc_err_count, m_faults_count, m_handle, m_parser_state, m_wdog, parse(), Sensors::Keller::RES_CRC, Sensors::Keller::RES_DONE, Sensors::Keller::RES_EXCEPTION, and Sensors::Keller::STA_ADDR.

Referenced by initialize(), task(), and zero().

void Sensors::Keller::Task::reportEntityState ( void  )

inline

References DUNE::Time::Counter< T >::getElapsed(), m_args, m_faults_count, m_sample_count, m_state_timer, m_timeout_count, m_wdog, DUNE::Time::Counter< T >::overflow(), DUNE::Time::Counter< T >::reset(), and Sensors::Keller::Arguments::timeout_failure.

Referenced by task().

void Sensors::Keller::Task::task ( void  )

inline

References Sensors::Keller::Arguments::depth_conv, m_args, m_channel_readout, m_depth, m_msg_read_pressure, m_msg_read_temperature, m_pressure, m_sample_count, m_temperature, read(), reportEntityState(), and write().

bool Sensors::Keller::Task::write ( uint8_t *  bfr, int  len  )

inline

References m_args, m_faults_count, m_handle, m_timeout_count, and Sensors::Keller::Arguments::uart_echo.

Referenced by initialize(), task(), and zero().

void Sensors::Keller::Task::zero ( void  )

inline

References Sensors::Keller::Arguments::address, Sensors::Keller::CMD_ZERO_CHANNEL, m_args, read(), and write().

Referenced by calibrate().

Member Data Documentation

const unsigned Sensors::Keller::Task::c_max_crc_err

static

Referenced by read().

const unsigned Sensors::Keller::Task::c_parser_data_size

static

Referenced by parse().

Arguments Sensors::Keller::Task::m_args

Referenced by initialize(), onEntityResolution(), onResourceAcquisition(), onUpdateParameters(), openSocket(), parse(), reportEntityState(), Task(), task(), write(), and zero().

bool Sensors::Keller::Task::m_calibrated

Referenced by calibrate(), and Task().

float Sensors::Keller::Task::m_channel_readout

Referenced by interpret(), and task().

unsigned Sensors::Keller::Task::m_crc_err_count

Referenced by onResourceInitialization(), and read().

IMC::Depth Sensors::Keller::Task::m_depth

Referenced by task().

bool Sensors::Keller::Task::m_echo

int Sensors::Keller::Task::m_entity_id

size_t Sensors::Keller::Task::m_faults_count

Faults count.

Referenced by read(), reportEntityState(), and write().

unsigned Sensors::Keller::Task::m_gps_eid

GPS source entity.

Referenced by consume(), and onEntityResolution().

IO::Handle* Sensors::Keller::Task::m_handle

Serial port handle.

Referenced by initialize(), onResourceAcquisition(), onResourceRelease(), openSocket(), read(), and write().

uint8_t Sensors::Keller::Task::m_msg_read_pressure[5]

Referenced by onUpdateParameters(), and task().

uint8_t Sensors::Keller::Task::m_msg_read_temperature[5]

Referenced by onUpdateParameters(), and task().

uint8_t Sensors::Keller::Task::m_parser_cmd

Referenced by interpret(), and parse().

uint8_t Sensors::Keller::Task::m_parser_data[c_parser_data_size]

Referenced by interpret(), and parse().

uint16_t Sensors::Keller::Task::m_parser_data_crc

Referenced by parse().

uint8_t Sensors::Keller::Task::m_parser_data_len

Referenced by parse().

uint16_t Sensors::Keller::Task::m_parser_packet_crc

Referenced by parse().

ParserStates Sensors::Keller::Task::m_parser_state

Referenced by parse(), and read().

IMC::Pressure Sensors::Keller::Task::m_pressure

Referenced by task().

size_t Sensors::Keller::Task::m_sample_count

Sample count.

Referenced by reportEntityState(), and task().

Counter<double> Sensors::Keller::Task::m_state_timer

Entity state timer.

Referenced by reportEntityState().

IMC::Temperature Sensors::Keller::Task::m_temperature

Referenced by task().

size_t Sensors::Keller::Task::m_timeout_count

Timeout count.

Referenced by reportEntityState(), and write().

Time::Counter<float> Sensors::Keller::Task::m_wdog

Referenced by onUpdateParameters(), read(), and reportEntityState().

Collaboration diagram for Sensors::Keller::Task: