Sensors::Microstrain3DMGX1::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onUpdateParameters (void)
void	onResourceAcquisition (void)
void	onResourceInitialization (void)
void	consume (const IMC::MagneticField *msg)
void	onResourceRelease (void)
int8_t	getCommandDataSize (uint8_t id)
bool	setup (void)
bool	getMessage (CommandByte type, fp64_t maxwait=1.0)
void	clear (void)
fp64_t	updateTimerCount (uint8_t *data)
void	rotateAcceleration (void)
void	rotateAngularVelocity (void)
void	rotateMagneticField (void)
void	rotateEuler (void)
CommandByte	parse (uint8_t byte)
void	setContinuousMode (CommandByte msg=MSG_NULL)
void	queryEEPROM (uint16_t address)
void	writeEEPROM (uint16_t address, uint16_t w_data)
void	runCalibration (void)
bool	isCalibrated (void)
bool	setHardIron (void)
void	requestMessage (CommandByte command)
bool	validateCheckSum (const uint8_t *bfr, unsigned int size)
void	onMain (void)
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
SerialPort *	m_uart
IMC::EulerAngles	m_euler
IMC::AngularVelocity	m_agvel
IMC::Acceleration	m_accel
IMC::MagneticField	m_magfield
FSMStates	m_state
Math::Matrix	m_rotation
float	m_hard_iron [3]
int	m_togo
int	m_done
uint8_t	m_data [32]
fp64_t	m_accel_scale
fp64_t	m_gyro_scale
fp64_t	m_mag_scale
int16_t	m_eeprom
fp64_t	m_timer
uint16_t	m_last_tick
Arguments	m_args
Counter< double >	m_wdog

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::BasicEntity *	getLocalEntity (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 >
Parameter &	param (const std::string &name, T &var)
template<typename Y , typename T >
Parameter &	param (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	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
Context &	m_ctx
std::vector < Entities::BasicEntity * >	m_entities

Constructor & Destructor Documentation

Sensors::Microstrain3DMGX1::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Sensors::Microstrain3DMGX1::Arguments::calib_threshold, Sensors::Microstrain3DMGX1::Arguments::calib_time, Sensors::Microstrain3DMGX1::Arguments::data_tout, DUNE::Tasks::Parameter::defaultValue(), DUNE::Tasks::Parameter::description(), Sensors::Microstrain3DMGX1::Arguments::hard_iron, m_args, DUNE::Tasks::Task::param(), Sensors::Microstrain3DMGX1::Arguments::raw_ivecs, Sensors::Microstrain3DMGX1::Arguments::rotation_mx, Sensors::Microstrain3DMGX1::Arguments::uart_baud, Sensors::Microstrain3DMGX1::Arguments::uart_dev, and DUNE::Tasks::Parameter::units().

Member Function Documentation

void Sensors::Microstrain3DMGX1::Task::clear ( void  )

inline

References Sensors::Microstrain3DMGX1::FSM_STATE_NONE, m_done, m_state, and m_togo.

Referenced by setup().

void Sensors::Microstrain3DMGX1::Task::consume ( const IMC::MagneticField *  msg )

inline

References Sensors::Microstrain3DMGX1::Arguments::calib_threshold, DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::getEntityId(), DUNE::Tasks::Task::getEntityLabel(), Sensors::Microstrain3DMGX1::Arguments::hard_iron, and m_args.

int8_t Sensors::Microstrain3DMGX1::Task::getCommandDataSize ( uint8_t  id )

inline

References Sensors::Microstrain3DMGX1::MSG_CONTMODE, Sensors::Microstrain3DMGX1::MSG_EEPROM, Sensors::Microstrain3DMGX1::MSG_GS_EULER, Sensors::Microstrain3DMGX1::MSG_IVECS, Sensors::Microstrain3DMGX1::MSG_RAW_IVECS, and Sensors::Microstrain3DMGX1::MSG_W_EEPROM.

Referenced by parse().

bool Sensors::Microstrain3DMGX1::Task::getMessage ( CommandByte  type, fp64_t  maxwait = 1.0  )

inline

References m_uart, and parse().

Referenced by isCalibrated(), setHardIron(), and setup().

bool Sensors::Microstrain3DMGX1::Task::isCalibrated ( void  )

inline

Check if sensor has the same hard iron calibration parameters.

Returns

true if the parameters are the same, false otherwise.

References DUNE::Tasks::Task::debug(), getMessage(), m_eeprom, m_hard_iron, m_mag_scale, Sensors::Microstrain3DMGX1::MSG_CONTMODE, Sensors::Microstrain3DMGX1::MSG_EEPROM, Sensors::Microstrain3DMGX1::MSG_GS_EULER, queryEEPROM(), setContinuousMode(), DUNE::Tasks::Task::setEntityState(), and DUNE::Tasks::Task::war().

Referenced by runCalibration().

void Sensors::Microstrain3DMGX1::Task::onMain ( void  )

inlinevirtual

Implements DUNE::Tasks::Task.

References m_uart, m_wdog, Sensors::Microstrain3DMGX1::MSG_GS_EULER, DUNE::Time::Counter< T >::overflow(), parse(), DUNE::Time::Counter< T >::reset(), DUNE::Tasks::Task::setEntityState(), setup(), and DUNE::Tasks::Task::stopping().

void Sensors::Microstrain3DMGX1::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::Microstrain3DMGX1::Arguments::uart_baud, and Sensors::Microstrain3DMGX1::Arguments::uart_dev.

void Sensors::Microstrain3DMGX1::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::Microstrain3DMGX1::Arguments::data_tout, m_args, m_wdog, and DUNE::Time::Counter< T >::setTop().

void Sensors::Microstrain3DMGX1::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.

void Sensors::Microstrain3DMGX1::Task::onUpdateParameters ( void  )

inlinevirtual

Update parameters.

Reimplemented from DUNE::Tasks::Task.

References Sensors::Microstrain3DMGX1::Arguments::hard_iron, m_args, m_hard_iron, m_rotation, m_uart, DUNE::Tasks::Task::paramChanged(), Sensors::Microstrain3DMGX1::Arguments::rotation_mx, runCalibration(), and DUNE::Math::transpose().

CommandByte Sensors::Microstrain3DMGX1::Task::parse ( uint8_t  byte )

inline

References DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::err(), Sensors::Microstrain3DMGX1::FSM_STATE_MESSAGE, Sensors::Microstrain3DMGX1::FSM_STATE_NONE, getCommandDataSize(), m_accel, m_accel_scale, m_agvel, m_args, m_data, m_done, m_eeprom, m_euler, m_gyro_scale, m_mag_scale, m_magfield, m_state, m_togo, Sensors::Microstrain3DMGX1::MSG_CONTMODE, Sensors::Microstrain3DMGX1::MSG_EEPROM, Sensors::Microstrain3DMGX1::MSG_GS_EULER, Sensors::Microstrain3DMGX1::MSG_IVECS, Sensors::Microstrain3DMGX1::MSG_NULL, Sensors::Microstrain3DMGX1::MSG_RAW_IVECS, Sensors::Microstrain3DMGX1::MSG_W_EEPROM, Sensors::Microstrain3DMGX1::Arguments::raw_ivecs, requestMessage(), rotateAcceleration(), rotateAngularVelocity(), rotateEuler(), rotateMagneticField(), updateTimerCount(), and validateCheckSum().

Referenced by getMessage(), and onMain().

void Sensors::Microstrain3DMGX1::Task::queryEEPROM ( uint16_t  address )

inline

References m_uart, and Sensors::Microstrain3DMGX1::MSG_EEPROM.

Referenced by isCalibrated(), and setup().

void Sensors::Microstrain3DMGX1::Task::requestMessage ( CommandByte  command )

inline

References m_uart.

Referenced by parse().

void Sensors::Microstrain3DMGX1::Task::rotateAcceleration ( void  )

inline

Correct data according with mounting position.

References m_accel, and m_rotation.

Referenced by parse().

void Sensors::Microstrain3DMGX1::Task::rotateAngularVelocity ( void  )

inline

References m_agvel, and m_rotation.

Referenced by parse().

void Sensors::Microstrain3DMGX1::Task::rotateEuler ( void  )

inline

References m_euler, and m_rotation.

Referenced by parse().

void Sensors::Microstrain3DMGX1::Task::rotateMagneticField ( void  )

inline

References m_magfield, and m_rotation.

Referenced by parse().

void Sensors::Microstrain3DMGX1::Task::runCalibration ( void  )

inline

Routine to run calibration proceedings.

References isCalibrated(), m_uart, Sensors::Microstrain3DMGX1::MSG_GS_EULER, setContinuousMode(), and setHardIron().

Referenced by onUpdateParameters(), and setup().

void Sensors::Microstrain3DMGX1::Task::setContinuousMode ( CommandByte  msg = MSG_NULL )

inline

References m_uart, and Sensors::Microstrain3DMGX1::MSG_CONTMODE.

Referenced by isCalibrated(), runCalibration(), setHardIron(), and setup().

bool Sensors::Microstrain3DMGX1::Task::setHardIron ( void  )

inline

Set new hard iron calibration parameters.

Returns

true if successful, false otherwise.

References DUNE::Tasks::Task::debug(), getMessage(), Sensors::Microstrain3DMGX1::Arguments::hard_iron, DUNE::Tasks::Task::inf(), m_args, m_eeprom, m_mag_scale, Sensors::Microstrain3DMGX1::MSG_CONTMODE, Sensors::Microstrain3DMGX1::MSG_W_EEPROM, setContinuousMode(), DUNE::Tasks::Task::setEntityState(), DUNE::Tasks::Task::war(), and writeEEPROM().

Referenced by runCalibration().

bool Sensors::Microstrain3DMGX1::Task::setup ( void  )

inline

References clear(), getMessage(), m_accel_scale, m_eeprom, m_gyro_scale, m_mag_scale, m_uart, Sensors::Microstrain3DMGX1::MSG_CONTMODE, Sensors::Microstrain3DMGX1::MSG_EEPROM, Sensors::Microstrain3DMGX1::MSG_GS_EULER, queryEEPROM(), runCalibration(), setContinuousMode(), and DUNE::Tasks::Task::setEntityState().

Referenced by onMain().

fp64_t Sensors::Microstrain3DMGX1::Task::updateTimerCount ( uint8_t *  data )

inline

References m_last_tick, and m_timer.

Referenced by parse().

bool Sensors::Microstrain3DMGX1::Task::validateCheckSum ( const uint8_t *  bfr, unsigned int  size  )

inline

References DUNE::Math::sum().

Referenced by parse().

void Sensors::Microstrain3DMGX1::Task::writeEEPROM ( uint16_t  address, uint16_t  w_data  )

inline

References m_uart, and Sensors::Microstrain3DMGX1::MSG_W_EEPROM.

Referenced by setHardIron().

Member Data Documentation

IMC::Acceleration Sensors::Microstrain3DMGX1::Task::m_accel

Referenced by parse(), and rotateAcceleration().

fp64_t Sensors::Microstrain3DMGX1::Task::m_accel_scale

Referenced by parse(), and setup().

IMC::AngularVelocity Sensors::Microstrain3DMGX1::Task::m_agvel

Referenced by parse(), and rotateAngularVelocity().

Arguments Sensors::Microstrain3DMGX1::Task::m_args

Referenced by consume(), onResourceAcquisition(), onResourceInitialization(), onUpdateParameters(), parse(), setHardIron(), and Task().

uint8_t Sensors::Microstrain3DMGX1::Task::m_data[32]

Referenced by parse().

int Sensors::Microstrain3DMGX1::Task::m_done

Referenced by clear(), and parse().

int16_t Sensors::Microstrain3DMGX1::Task::m_eeprom

Referenced by isCalibrated(), parse(), setHardIron(), and setup().

IMC::EulerAngles Sensors::Microstrain3DMGX1::Task::m_euler

Referenced by parse(), and rotateEuler().

fp64_t Sensors::Microstrain3DMGX1::Task::m_gyro_scale

Referenced by parse(), and setup().

float Sensors::Microstrain3DMGX1::Task::m_hard_iron[3]

Rotated calibration parameters.

Referenced by isCalibrated(), and onUpdateParameters().

uint16_t Sensors::Microstrain3DMGX1::Task::m_last_tick

Referenced by updateTimerCount().

fp64_t Sensors::Microstrain3DMGX1::Task::m_mag_scale

Referenced by isCalibrated(), parse(), setHardIron(), and setup().

IMC::MagneticField Sensors::Microstrain3DMGX1::Task::m_magfield

Magnetometer Vector message.

Referenced by parse(), and rotateMagneticField().

Math::Matrix Sensors::Microstrain3DMGX1::Task::m_rotation

Rotation Matrix to correct mounting position.

Referenced by onUpdateParameters(), rotateAcceleration(), rotateAngularVelocity(), rotateEuler(), and rotateMagneticField().

FSMStates Sensors::Microstrain3DMGX1::Task::m_state

Referenced by clear(), and parse().

fp64_t Sensors::Microstrain3DMGX1::Task::m_timer

Referenced by updateTimerCount().

int Sensors::Microstrain3DMGX1::Task::m_togo

Referenced by clear(), and parse().

SerialPort* Sensors::Microstrain3DMGX1::Task::m_uart

Referenced by getMessage(), onMain(), onResourceAcquisition(), onResourceRelease(), onUpdateParameters(), queryEEPROM(), requestMessage(), runCalibration(), setContinuousMode(), setup(), and writeEEPROM().

Counter<double> Sensors::Microstrain3DMGX1::Task::m_wdog

Referenced by onMain(), and onResourceInitialization().

Collaboration diagram for Sensors::Microstrain3DMGX1::Task: