DUNE: Uniform Navigational Environment  2019.02.0
Monitors::Medium::Task Struct Reference

Detailed Description

Medium task.

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
void onEntityResolution (void)
 
void onResourceInitialization (void)
 
void consume (const IMC::EntityState *msg)
 
void consume (const IMC::EstimatedState *msg)
 
void consume (const IMC::IndicatedSpeed *msg)
 
void consume (const IMC::GpsFix *msg)
 
void consume (const IMC::Salinity *msg)
 
void consume (const IMC::SoundSpeed *msg)
 
bool inWater (void)
 
bool isGpsAvailable (void)
 
void checkWater (void)
 
void checkUUV (void)
 
void checkUAV (void)
 
bool isCopter (void)
 
bool isUAV (void)
 
bool waterMediumCheck (void)
 
void updateStateMachine (void)
 
void task (void)
 
- Public Member Functions inherited from DUNE::Tasks::Periodic
 Periodic (const std::string &name, Context &ctx)
 
virtual ~Periodic (void)
 
void setFrequency (double freq)
 
double getFrequency (void) const
 
double getRunTime (void) const
 
unsigned getRunCount (void) const
 
- 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)
 
unsigned getPriority (void)
 
State getState (void)
 
bool isCreated (void)
 
bool isStopping (void)
 
bool isRunning (void)
 
bool isStarting (void)
 
bool isDead (void)
 

Public Attributes

IMC::VehicleMedium m_vm
 
Time::Counter< float > m_in_water
 
Time::Counter< float > m_wet_devs
 
Time::Counter< float > m_gps_status
 
Time::Counter< float > m_init
 
uint16_t m_gps_val_bits
 
float m_depth
 
float m_airspeed
 
float m_gndspeed
 
unsigned m_medium_eid
 
float m_altitude
 
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)
 
Entities::BasicEntitygetLocalEntity (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 onReportEntityState (void)
 
virtual void onResourceAcquisition (void)
 
virtual void onResourceRelease (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

Member Function Documentation

void Monitors::Medium::Task::checkUAV ( void  )
inline
void Monitors::Medium::Task::checkUUV ( void  )
inline

Check data input. Only for water going vehicles.

References checkWater(), Monitors::Medium::Arguments::depth_lm, isGpsAvailable(), isUAV(), m_args, m_depth, m_vm, and waterMediumCheck().

Referenced by updateStateMachine().

void Monitors::Medium::Task::checkWater ( void  )
inline

Check presence of water sensors.

References inWater(), m_vm, m_wet_devs, and DUNE::Tasks::Task::spew().

Referenced by checkUUV().

void Monitors::Medium::Task::consume ( const IMC::EntityState *  msg)
inline
void Monitors::Medium::Task::consume ( const IMC::EstimatedState *  msg)
inline
void Monitors::Medium::Task::consume ( const IMC::IndicatedSpeed *  msg)
inline

References isUAV(), and m_airspeed.

void Monitors::Medium::Task::consume ( const IMC::GpsFix *  msg)
inline
void Monitors::Medium::Task::consume ( const IMC::Salinity *  msg)
inline
void Monitors::Medium::Task::consume ( const IMC::SoundSpeed *  msg)
inline
bool Monitors::Medium::Task::inWater ( void  )
inline

Routine to check if we have recent wet sensor measurements.

Returns
true if we have recent measurements, false otherwise.

References m_in_water.

Referenced by checkWater().

bool Monitors::Medium::Task::isCopter ( void  )
inline

Check if vehicle is a copter.

Returns
true if vehicle is a UAV of sub-type Copter.

References isUAV(), m_args, and Monitors::Medium::Arguments::stype.

Referenced by checkUAV().

bool Monitors::Medium::Task::isGpsAvailable ( void  )
inline

Routine to check if we have recent valid GPS measurements.

Returns
true if we have recent fixes, false otherwise.

References m_gps_status.

Referenced by checkUUV(), and updateStateMachine().

bool Monitors::Medium::Task::isUAV ( void  )
inline

Check if vehicle is a UAV.

Returns
true if vehicle is a UAV.

References m_args, and Monitors::Medium::Arguments::vtype.

Referenced by checkUAV(), checkUUV(), consume(), isCopter(), and waterMediumCheck().

void Monitors::Medium::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 Monitors::Medium::Arguments::label_medium, m_args, m_medium_eid, and DUNE::Tasks::Task::resolveEntity().

void Monitors::Medium::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 Monitors::Medium::Arguments::gps_timeout, Monitors::Medium::Arguments::init_time, m_args, m_gps_status, m_in_water, m_init, and Monitors::Medium::Arguments::water_timeout.

void Monitors::Medium::Task::task ( void  )
inlinevirtual

The task to be executed on each cycle.

Implements DUNE::Tasks::Periodic.

References m_init, and updateStateMachine().

void Monitors::Medium::Task::updateStateMachine ( void  )
inline
bool Monitors::Medium::Task::waterMediumCheck ( void  )
inline

Check water medium presence.

Returns
true if water medium can be detected or if it can be ignored.

References DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::isActive(), isUAV(), m_vm, m_wet_devs, DUNE::Tasks::Task::setEntityState(), and DUNE::Tasks::Task::spew().

Referenced by checkUUV().

Member Data Documentation

float Monitors::Medium::Task::m_airspeed

Vehicle airspeed.

Referenced by checkUAV(), and consume().

float Monitors::Medium::Task::m_altitude

Vehicle Altitude.

Referenced by checkUAV(), and consume().

float Monitors::Medium::Task::m_depth

Vehicle depth.

Referenced by checkUUV(), consume(), and updateStateMachine().

float Monitors::Medium::Task::m_gndspeed

Vehicle groundspeed.

Referenced by checkUAV(), and consume().

Time::Counter<float> Monitors::Medium::Task::m_gps_status

Timer to check presence of GPS fixes.

Referenced by consume(), isGpsAvailable(), and onResourceInitialization().

uint16_t Monitors::Medium::Task::m_gps_val_bits

GPS validation bits.

Referenced by consume(), and Task().

Time::Counter<float> Monitors::Medium::Task::m_in_water

Timer to check status of water measurements.

Referenced by consume(), inWater(), and onResourceInitialization().

Time::Counter<float> Monitors::Medium::Task::m_init

Initialization timer.

Referenced by onResourceInitialization(), and task().

unsigned Monitors::Medium::Task::m_medium_eid

Medium Sensor entity id.

Referenced by consume(), and onEntityResolution().

IMC::VehicleMedium Monitors::Medium::Task::m_vm
Time::Counter<float> Monitors::Medium::Task::m_wet_devs

Timer to check if we're capable of detecting water.

Referenced by checkWater(), consume(), Task(), and waterMediumCheck().

Collaboration diagram for Monitors::Medium::Task:
Collaboration graph