DUNE: Uniform Navigational Environment  2019.02.0
Sensors::MLBLTracker::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
 ~Task (void)
 
void onUpdateParameters (void)
 
void onResourceAcquisition (void)
 
bool openSocket (void)
 
void onResourceRelease (void)
 
void onResourceInitialization (void)
 
void resetOp (void)
 
bool hasTransducer (void)
 
void sendCommand (const std::string &cmd)
 
void consume (const IMC::EstimatedState *msg)
 
void consume (const IMC::AcousticOperation *msg)
 
void transmitMessage (const std::string &sys, const InlineMessage< IMC::Message > &imsg)
 
void reverseRange (const std::string &sys)
 
void abort (const std::string &sys)
 
void ping (const std::string &sys)
 
void pingMicroModem (const std::string &sys)
 
void pingNarrowBand (const std::string &sys)
 
void handleRangeModem (NMEAReader *const stn)
 
void handleRangeTransponder (NMEAReader *const stn)
 
void handleMiniPacketReception (NMEAReader *const stn)
 
void handleRangeInProgress (NMEAReader *const stn)
 
void handleMiniPacketEcho (NMEAReader *const stn)
 
void handleBinaryReception (NMEAReader *const stn)
 
void readSentence (void)
 
void process (const std::string msg)
 
void checkTimeouts (void)
 
void configureModem (const std::string &code, const std::string &parameter, const unsigned value)
 
void onMain (void)
 
- Public Member Functions inherited from DUNE::Tasks::Task
 Task (const std::string &name, Context &context)
 
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

IO::Handle * m_handle
 
NarrowBandMap m_nbmap
 
MicroModemMap m_ummap
 
AddressMap m_mimap
 
AddressMap m_immap
 
Arguments m_args
 
double m_op_deadline
 
unsigned m_address
 
IMC::AcousticOperation m_acop
 
IMC::AcousticOperation m_acop_out
 
IMC::DevDataText m_dev_data
 
IMC::PlanControl * m_pc
 
Operation m_op
 
GPIO * m_gpio_txd
 
Counter< double > m_last_stn
 
bool m_ignore_gpio
 
std::string m_line
 
IMC::EstimatedState * m_estate
 

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 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
Contextm_ctx
 
std::vector
< Entities::BasicEntity * > 
m_entities
 

Constructor & Destructor Documentation

Sensors::MLBLTracker::Task::~Task ( void  )
inlinevirtual

Destructor.

Reimplemented from DUNE::Tasks::Task.

References onResourceRelease().

Member Function Documentation

void Sensors::MLBLTracker::Task::abort ( const std::string &  sys)
inline
void Sensors::MLBLTracker::Task::checkTimeouts ( void  )
inline
void Sensors::MLBLTracker::Task::configureModem ( const std::string &  code,
const std::string &  parameter,
const unsigned  value 
)
inline

Configure a modem parameter.

Parameters
[in]codeNMEA code of the message to be transmitted.
[in]parametermodem parameter to be configured.
[in]valuenew configuration value.

References sendCommand().

Referenced by onResourceAcquisition().

void Sensors::MLBLTracker::Task::consume ( const IMC::EstimatedState *  msg)
inline

References m_estate.

void Sensors::MLBLTracker::Task::consume ( const IMC::AcousticOperation *  msg)
inline
void Sensors::MLBLTracker::Task::handleBinaryReception ( NMEAReader *const  stn)
inline

Handle reception of binary message.

Parameters
[in]stnsentence to be handled.

References DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::inf(), m_mimap, and DUNE::Tasks::Task::trace().

Referenced by process().

void Sensors::MLBLTracker::Task::handleMiniPacketEcho ( NMEAReader *const  stn)
inline

Requested mini-packet transmission is in progress.

Parameters
[in]stnsentence to be handled.

References DUNE::Tasks::Task::dispatch(), m_acop, and m_acop_out.

Referenced by process().

void Sensors::MLBLTracker::Task::handleMiniPacketReception ( NMEAReader *const  stn)
inline

Handle a mini-packet reception.

Parameters
[in]stnsentence to be handled.

References DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::dispatchReply(), DUNE::Tasks::Task::inf(), m_acop, m_acop_out, m_mimap, m_pc, and resetOp().

Referenced by process().

void Sensors::MLBLTracker::Task::handleRangeInProgress ( NMEAReader *const  stn)
inline

A requested range is in progress.

Parameters
[in]stnsentence to be handled.

References DUNE::Tasks::Task::dispatch(), m_acop, and m_acop_out.

Referenced by process().

void Sensors::MLBLTracker::Task::handleRangeModem ( NMEAReader *const  stn)
inline

Handle received range from modem.

Parameters
[in]stnsentence to be handled.

References DUNE::Tasks::Task::dispatch(), m_acop, m_acop_out, m_address, m_args, resetOp(), and Sensors::MLBLTracker::Arguments::sspeed.

Referenced by process().

void Sensors::MLBLTracker::Task::handleRangeTransponder ( NMEAReader *const  stn)
inline

Handle received range from transponder.

Parameters
[in]stnsentence to be handled.

References DUNE::Tasks::Task::dispatch(), m_acop, m_acop_out, m_args, resetOp(), and Sensors::MLBLTracker::Arguments::sspeed.

Referenced by process().

bool Sensors::MLBLTracker::Task::hasTransducer ( void  )
inline

References DUNE::Tasks::Task::err(), m_gpio_txd, and m_ignore_gpio.

Referenced by consume().

void Sensors::MLBLTracker::Task::onResourceAcquisition ( void  )
inlinevirtual
void Sensors::MLBLTracker::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 DUNE::Tasks::Task::dispatch(), and DUNE::Tasks::Task::getEntityLabel().

void Sensors::MLBLTracker::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_gpio_txd, m_handle, and m_pc.

Referenced by ~Task().

void Sensors::MLBLTracker::Task::onUpdateParameters ( void  )
inlinevirtual
bool Sensors::MLBLTracker::Task::openSocket ( void  )
inline

Check if we have a TCP socket as device input argument.

Returns
true if it is a TCP socket, false otherwise.

References m_args, m_handle, m_ignore_gpio, and Sensors::MLBLTracker::Arguments::uart_dev.

Referenced by onResourceAcquisition().

void Sensors::MLBLTracker::Task::ping ( const std::string &  sys)
inline

Range system.

Parameters
[in]syssystem to be ranged.

References DUNE::Tasks::Task::dispatch(), m_acop_out, m_nbmap, m_ummap, pingMicroModem(), and pingNarrowBand().

Referenced by consume().

void Sensors::MLBLTracker::Task::pingMicroModem ( const std::string &  sys)
inline

Ping a modem address.

Parameters
[in]syssystem to be pinged.

References m_address, m_args, m_op, m_op_deadline, m_ummap, Sensors::MLBLTracker::OP_PING_MM, sendCommand(), and Sensors::MLBLTracker::Arguments::tout_mmping.

Referenced by ping().

void Sensors::MLBLTracker::Task::pingNarrowBand ( const std::string &  sys)
inline
void Sensors::MLBLTracker::Task::process ( const std::string  msg)
inline
void Sensors::MLBLTracker::Task::readSentence ( void  )
inline

Read sentence.

References m_handle, m_line, process(), and DUNE::Tasks::Task::setEntityState().

Referenced by onMain().

void Sensors::MLBLTracker::Task::resetOp ( void  )
inline
void Sensors::MLBLTracker::Task::reverseRange ( const std::string &  sys)
inline
void Sensors::MLBLTracker::Task::sendCommand ( const std::string &  cmd)
inline

Send and log command.

Parameters
[in]cmdcommand to be sent.

References DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::inf(), m_dev_data, and m_handle.

Referenced by abort(), configureModem(), pingMicroModem(), pingNarrowBand(), reverseRange(), and transmitMessage().

void Sensors::MLBLTracker::Task::transmitMessage ( const std::string &  sys,
const InlineMessage< IMC::Message > &  imsg 
)
inline

Transmit message to modem.

Parameters
[in]sysdestination system.
[in]imsgmessage to be sent.

References DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::err(), m_acop_out, m_address, m_pc, m_ummap, and sendCommand().

Referenced by consume().

Member Data Documentation

unsigned Sensors::MLBLTracker::Task::m_address
IMC::DevDataText Sensors::MLBLTracker::Task::m_dev_data

Referenced by process(), and sendCommand().

IMC::EstimatedState* Sensors::MLBLTracker::Task::m_estate

Referenced by consume(), and reverseRange().

GPIO* Sensors::MLBLTracker::Task::m_gpio_txd
IO::Handle* Sensors::MLBLTracker::Task::m_handle
bool Sensors::MLBLTracker::Task::m_ignore_gpio
AddressMap Sensors::MLBLTracker::Task::m_immap

Referenced by onUpdateParameters().

Counter<double> Sensors::MLBLTracker::Task::m_last_stn

Referenced by onMain(), and onUpdateParameters().

std::string Sensors::MLBLTracker::Task::m_line

Current line.

Referenced by readSentence().

AddressMap Sensors::MLBLTracker::Task::m_mimap
NarrowBandMap Sensors::MLBLTracker::Task::m_nbmap

Referenced by abort(), ping(), pingNarrowBand(), and Task().

Operation Sensors::MLBLTracker::Task::m_op
double Sensors::MLBLTracker::Task::m_op_deadline
IMC::PlanControl* Sensors::MLBLTracker::Task::m_pc
MicroModemMap Sensors::MLBLTracker::Task::m_ummap
Collaboration diagram for Sensors::MLBLTracker::Task:
Collaboration graph