Sensors::DMS::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onEntityReservation (void)
void	onResourceAcquisition (void)
void	onResourceInitialization (void)
void	onResourceRelease (void)
void	configDMS (void)
bool	checkConnectionDMS (float c_timeout)
void	processFeedback (void)
bool	checkSerialPort (void)
bool	processInput (double timeout, bool isData)
void	processValueOfDMSChannel (int channel, float value)
bool	checkDataDMS (void)
template<typename T >
std::string	NumberToString (T Number)
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
IMC::Voltage	m_volt [c_max_adc]
IMC::DmsDetection	m_dms_detection [c_max_adc]
Arguments	m_args
SerialPort *	m_uart
Poll	m_poll
double	m_tstamp
DriverDMS *	m_driver
uint8_t	m_buffer [c_max_buffer]
bool	m_is_correct_conf
float	m_dms_readings [c_max_adc]

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	onEntityResolution (void)
virtual void	onReportEntityState (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
Context &	m_ctx
std::vector < Entities::BasicEntity * >	m_entities

Constructor & Destructor Documentation

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

inline

Constructor.

Parameters

[in]	name	task name.
[in]	ctx	context.

References Sensors::DMS::Arguments::adc_label, Sensors::DMS::Arguments::baseline_scale, Sensors::DMS::Arguments::channel_baseline, DUNE::Tasks::Parameter::defaultValue(), DUNE::Tasks::Parameter::description(), m_args, DUNE::Tasks::Parameter::maximumValue(), DUNE::Tasks::Parameter::minimumValue(), Sensors::DMS::Arguments::number_adc, DUNE::Tasks::Task::param(), Sensors::DMS::Arguments::sample_rate, Sensors::DMS::Arguments::timeout_uart, Sensors::DMS::Arguments::uart_baud, Sensors::DMS::Arguments::uart_dev, and DUNE::Tasks::Parameter::visibility().

Member Function Documentation

bool Sensors::DMS::Task::checkConnectionDMS ( float  c_timeout )

inline

Check connection to dms board.

References Sensors::DMS::DriverDMS::disable_output(), m_driver, m_uart, and processInput().

Referenced by onResourceInitialization().

bool Sensors::DMS::Task::checkDataDMS ( void  )

inline

References m_args, m_uart, processInput(), and Sensors::DMS::Arguments::timeout_uart.

Referenced by onMain().

bool Sensors::DMS::Task::checkSerialPort ( void  )

inline

Read data send by DMS board.

References DUNE::Tasks::Task::err(), m_buffer, m_driver, m_poll, m_tstamp, m_uart, Sensors::DMS::DriverDMS::parse(), and DUNE::Tasks::Task::setEntityState().

Referenced by processInput().

void Sensors::DMS::Task::configDMS ( void  )

inline

Config board DMS.

References Sensors::DMS::DriverDMS::disable_output(), Sensors::DMS::DriverDMS::enable_output(), DUNE::Tasks::Task::err(), DUNE::Tasks::Task::inf(), m_args, m_driver, m_is_correct_conf, m_uart, processFeedback(), Sensors::DMS::Arguments::sample_rate, and Sensors::DMS::DriverDMS::set_sample_ps().

Referenced by onResourceInitialization().

template<typename T >

std::string Sensors::DMS::Task::NumberToString ( T  Number )

inline

Referenced by onEntityReservation().

void Sensors::DMS::Task::onEntityReservation ( void  )

inlinevirtual

Reserve entity identifiers.

Reimplemented from DUNE::Tasks::Task.

References Sensors::DMS::Arguments::adc_label, m_args, m_volt, NumberToString(), DUNE::Tasks::Task::reserveEntity(), and DUNE::Tasks::Task::resolveEntity().

void Sensors::DMS::Task::onMain ( void  )

inlinevirtual

Main loop.

Implements DUNE::Tasks::Task.

References checkDataDMS(), DUNE::Tasks::Task::consumeMessages(), m_is_correct_conf, DUNE::Tasks::Task::setEntityState(), DUNE::Tasks::Task::stopping(), and DUNE::Tasks::Task::waitForMessages().

void Sensors::DMS::Task::onResourceAcquisition ( void  )

inlinevirtual

Acquire resources.

Reimplemented from DUNE::Tasks::Task.

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

void Sensors::DMS::Task::onResourceInitialization ( void  )

inlinevirtual

Initialize resources.

Reimplemented from DUNE::Tasks::Task.

References checkConnectionDMS(), configDMS(), m_dms_readings, m_driver, m_is_correct_conf, m_poll, m_uart, and DUNE::Tasks::Task::setEntityState().

void Sensors::DMS::Task::onResourceRelease ( void  )

inlinevirtual

Release resources.

Reimplemented from DUNE::Tasks::Task.

References Sensors::DMS::DriverDMS::disable_output(), m_driver, m_poll, and m_uart.

void Sensors::DMS::Task::processFeedback ( void  )

inline

Check feadback of commands.

References m_args, m_is_correct_conf, processInput(), and Sensors::DMS::Arguments::timeout_uart.

Referenced by configDMS().

bool Sensors::DMS::Task::processInput ( double  timeout, bool  isData  )

inline

References Sensors::DMS::DriverDMS::DMSState::channel, checkSerialPort(), DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::err(), DUNE::Tasks::Task::getSystemId(), Sensors::DMS::DriverDMS::m_dms, m_driver, m_poll, m_tstamp, m_volt, processValueOfDMSChannel(), Sensors::DMS::DriverDMS::translate(), Sensors::DMS::DriverDMS::translate_feadback(), and Sensors::DMS::DriverDMS::DMSState::value.

Referenced by checkConnectionDMS(), checkDataDMS(), and processFeedback().

void Sensors::DMS::Task::processValueOfDMSChannel ( int  channel, float  value  )

inline

References Sensors::DMS::Arguments::baseline_scale, Sensors::DMS::Arguments::channel_baseline, DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::getSystemId(), m_args, m_dms_detection, m_dms_readings, and m_tstamp.

Referenced by processInput().

Member Data Documentation

Arguments Sensors::DMS::Task::m_args

Task arguments.

Referenced by checkDataDMS(), configDMS(), onEntityReservation(), onResourceAcquisition(), processFeedback(), processValueOfDMSChannel(), and Task().

uint8_t Sensors::DMS::Task::m_buffer[c_max_buffer]

Scratch buffer.

Referenced by checkSerialPort().

IMC::DmsDetection Sensors::DMS::Task::m_dms_detection[c_max_adc]

DMS Detection message.

Referenced by processValueOfDMSChannel().

float Sensors::DMS::Task::m_dms_readings[c_max_adc]

Buffer for DMS readings.

Referenced by onResourceInitialization(), and processValueOfDMSChannel().

DriverDMS* Sensors::DMS::Task::m_driver

Parser for message.

Referenced by checkConnectionDMS(), checkSerialPort(), configDMS(), onResourceInitialization(), onResourceRelease(), and processInput().

bool Sensors::DMS::Task::m_is_correct_conf

Flag to check correct configuration of DMS.

Referenced by configDMS(), onMain(), onResourceInitialization(), and processFeedback().

Poll Sensors::DMS::Task::m_poll

I/O Multiplexer.

Referenced by checkSerialPort(), onResourceInitialization(), onResourceRelease(), and processInput().

double Sensors::DMS::Task::m_tstamp

Read timestamp.

Referenced by checkSerialPort(), processInput(), and processValueOfDMSChannel().

SerialPort* Sensors::DMS::Task::m_uart

Serial port device.

Referenced by checkConnectionDMS(), checkDataDMS(), checkSerialPort(), configDMS(), onResourceAcquisition(), onResourceInitialization(), and onResourceRelease().

IMC::Voltage Sensors::DMS::Task::m_volt[c_max_adc]

Voltage message.

Referenced by onEntityReservation(), and processInput().

Collaboration diagram for Sensors::DMS::Task: