DUNE: Uniform Navigational Environment  2019.02.0
List of all members | Public Member Functions | Public Attributes | Static Public Attributes
Sensors::OS4000::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
void onResourceRelease (void)
 
void onResourceAcquisition (void)
 
void onResourceInitialization (void)
 
void onUpdateParameters (void)
 
int readString (void)
 
bool setParameter (const char *command, const char *label, int value)
 
void changeCalibrationState (CalibrationStates state)
 
void consume (const IMC::DevCalibrationControl *msg)
 
void calibrating (void)
 
void terminateCalibration (void)
 
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::MagneticField m_mag
 
IMC::Acceleration m_accel
 
IMC::Temperature m_temp
 
IMC::DevCalibrationState m_states [STA_MAX]
 
CalibrationStates m_state
 
int m_accumulator
 
char m_bfr [c_bfr_size]
 
double m_tstamp
 
Arguments m_args
 
Counter< double > m_wdog
 

Static Public Attributes

static const unsigned c_bfr_size
 

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::OS4000::Task::Task ( const std::string &  name,
Tasks::Context &  ctx 
)
inline

References Sensors::OS4000::Arguments::data_rate, Sensors::OS4000::Arguments::data_tout, DUNE::Tasks::Parameter::defaultValue(), m_args, m_states, DUNE::Tasks::Task::param(), Sensors::OS4000::STA_BOOT, Sensors::OS4000::STA_CALIBRATED, Sensors::OS4000::STA_ERROR, Sensors::OS4000::STA_NUM_STEPS, Sensors::OS4000::STA_ROTATE, Sensors::OS4000::STA_WAIT_LEVEL, Sensors::OS4000::Arguments::uart_baud, and Sensors::OS4000::Arguments::uart_dev.

Member Function Documentation

void Sensors::OS4000::Task::calibrating ( void  )
inline

References changeCalibrationState(), m_accumulator, m_uart, m_wdog, DUNE::Time::Counter< T >::reset(), DUNE::Tasks::Task::spew(), Sensors::OS4000::STA_CALIBRATED, and terminateCalibration().

Referenced by onMain().

void Sensors::OS4000::Task::changeCalibrationState ( CalibrationStates  state)
inline

Change calibration state.

Parameters
[in]statecalibration state.

References DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::dispatch(), m_state, and m_states.

Referenced by calibrating(), and consume().

void Sensors::OS4000::Task::consume ( const IMC::DevCalibrationControl *  msg)
inline

References changeCalibrationState(), DUNE::Tasks::Task::getEntityId(), DUNE::Tasks::Task::getEntityState(), m_state, m_uart, DUNE::Tasks::Task::setEntityState(), Sensors::OS4000::STA_BOOT, Sensors::OS4000::STA_CALIBRATED, Sensors::OS4000::STA_ERROR, Sensors::OS4000::STA_ROTATE, Sensors::OS4000::STA_WAIT_LEVEL, and terminateCalibration().

void Sensors::OS4000::Task::onMain ( void  )
inlinevirtual

Implements DUNE::Tasks::Task.

References calibrating(), DUNE::Tasks::Task::consumeMessages(), DUNE::Tasks::Task::dispatch(), m_accel, m_bfr, m_euler, m_mag, m_state, m_states, m_temp, m_wdog, DUNE::Time::Counter< T >::overflow(), readString(), DUNE::Time::Counter< T >::reset(), DUNE::Tasks::Task::setEntityState(), Sensors::OS4000::STA_ROTATE, Sensors::OS4000::STA_WAIT_LEVEL, and DUNE::Tasks::Task::stopping().

void Sensors::OS4000::Task::onResourceAcquisition ( void  )
inlinevirtual

Acquire resources.

Reimplemented from DUNE::Tasks::Task.

References m_args, m_uart, Sensors::OS4000::Arguments::uart_baud, and Sensors::OS4000::Arguments::uart_dev.

void Sensors::OS4000::Task::onResourceInitialization ( void  )
inlinevirtual

Initialize resources.

Reimplemented from DUNE::Tasks::Task.

References Sensors::OS4000::Arguments::data_rate, m_accumulator, m_args, m_state, m_wdog, DUNE::Time::Counter< T >::reset(), DUNE::Tasks::Task::setEntityState(), setParameter(), Sensors::OS4000::STA_BOOT, and DUNE::Tasks::Task::stopping().

void Sensors::OS4000::Task::onResourceRelease ( void  )
inlinevirtual

Release allocated resources.

Reimplemented from DUNE::Tasks::Task.

References m_uart.

void Sensors::OS4000::Task::onUpdateParameters ( void  )
inlinevirtual

Update Task parameters.

Reimplemented from DUNE::Tasks::Task.

References Sensors::OS4000::Arguments::data_tout, m_args, m_wdog, DUNE::Tasks::Task::paramChanged(), and DUNE::Time::Counter< T >::setTop().

int Sensors::OS4000::Task::readString ( void  )
inline

Read a string from the serial port,.

Returns
amount of bytes actually read.

References c_bfr_size, DUNE::Tasks::Task::consumeMessages(), m_bfr, and m_uart.

Referenced by onMain(), and setParameter().

bool Sensors::OS4000::Task::setParameter ( const char *  command,
const char *  label,
int  value 
)
inline

Define a given parameter in the device.

Parameters
[in]commandinput command.
[in]labellabel of the parameter.
[in]valuevalue of the parameter.
Returns
true if successful, false otherwise.

References DUNE::Tasks::Task::debug(), m_bfr, m_uart, readString(), and DUNE::Tasks::Task::stopping().

Referenced by onResourceInitialization().

void Sensors::OS4000::Task::terminateCalibration ( void  )
inline

References m_accumulator, m_uart, and DUNE::Tasks::Task::setEntityState().

Referenced by calibrating(), and consume().

Member Data Documentation

const unsigned Sensors::OS4000::Task::c_bfr_size
static

Internal read buffer.

Referenced by readString().

IMC::Acceleration Sensors::OS4000::Task::m_accel

Acceleration message.

Referenced by onMain().

int Sensors::OS4000::Task::m_accumulator

Calibration characters accumulator.

Referenced by calibrating(), onResourceInitialization(), and terminateCalibration().

Arguments Sensors::OS4000::Task::m_args

Task arguments.

Referenced by onResourceAcquisition(), onResourceInitialization(), onUpdateParameters(), and Task().

char Sensors::OS4000::Task::m_bfr[c_bfr_size]

Internal read buffer.

Referenced by onMain(), readString(), and setParameter().

IMC::EulerAngles Sensors::OS4000::Task::m_euler

Euler angles message.

Referenced by onMain().

IMC::MagneticField Sensors::OS4000::Task::m_mag

Magnetic field message.

Referenced by onMain().

CalibrationStates Sensors::OS4000::Task::m_state

Calibration states.

Referenced by changeCalibrationState(), consume(), onMain(), and onResourceInitialization().

IMC::DevCalibrationState Sensors::OS4000::Task::m_states[STA_MAX]

Device Calibration State message.

Referenced by changeCalibrationState(), onMain(), and Task().

IMC::Temperature Sensors::OS4000::Task::m_temp

Temperature.

Referenced by onMain().

double Sensors::OS4000::Task::m_tstamp

Read timestamp.

SerialPort* Sensors::OS4000::Task::m_uart

Serial port.

Referenced by calibrating(), consume(), onResourceAcquisition(), onResourceRelease(), readString(), setParameter(), and terminateCalibration().

Counter<double> Sensors::OS4000::Task::m_wdog

Watchdog.

Referenced by calibrating(), onMain(), onResourceInitialization(), and onUpdateParameters().

Collaboration diagram for Sensors::OS4000::Task:
Collaboration graph