DUNE: Uniform Navigational Environment  2019.02.0
Transports::UAN::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
 ~Task (void)
 
void onResourceAcquisition (void)
 
void onResourceInitialization (void)
 
void onResourceRelease (void)
 
void consume (const IMC::EstimatedState *msg)
 
void consume (const IMC::PlanControlState *msg)
 
void consume (const IMC::FuelLevel *msg)
 
void consume (const IMC::AcousticOperation *msg)
 
void consume (const IMC::UamRxFrame *msg)
 
void consume (const IMC::UamTxStatus *msg)
 
void consume (const IMC::UamRxRange *msg)
 
void consume (const IMC::UsblPositionExtended *msg)
 
void consume (const IMC::UsblAnglesExtended *msg)
 
void consume (const IMC::UsblConfig *msg)
 
void consume (const IMC::ReportControl *msg)
 
void announceUSBL (void)
 
void clearLastOp (void)
 
void sendFrame (const std::string &sys, Codes code, bool ack)
 
void sendFrame (const std::string &sys, const std::vector< uint8_t > &data, bool ack)
 
void replaceLastOp (const IMC::AcousticOperation *msg)
 
void sendAbort (const std::string &sys)
 
void recvAbort (uint16_t imc_src, uint16_t imc_dst, const IMC::UamRxFrame *msg)
 
void sendRange (const std::string &sys)
 
void recvRange (uint16_t imc_src, uint16_t imc_dst, const IMC::UamRxFrame *msg)
 
void sendMessage (const std::string &sys, const InlineMessage< IMC::Message > &imsg)
 
void recvMessage (uint16_t imc_src, uint16_t imc_dst, const IMC::UamRxFrame *msg)
 
void sendRawMessage (const std::string &sys, const IMC::Message *msg)
 
void sendPlanControl (const std::string &sys, const IMC::PlanControl *msg)
 
void recvPlanControl (uint16_t imc_src, uint16_t imc_dst, const IMC::UamRxFrame *msg)
 
void sendRestartSystem (const std::string &sys, const IMC::RestartSystem *msg)
 
void recvRestartSystem (uint16_t imc_src, uint16_t imc_dst, const IMC::UamRxFrame *msg)
 
void sendReport (void)
 
void recvReport (uint16_t imc_src, uint16_t imc_dst, const IMC::UamRxFrame *msg)
 
void onUsblModem (void)
 
void onUsblNode (void)
 
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

IMC::EstimatedState m_estate
 
float m_progress
 
float m_fuel_level
 
float m_fuel_conf
 
uint16_t m_seq
 
IMC::AcousticOperation * m_last_acop
 
std::vector< const
IMC::AcousticOperation * > 
m_msg_requests
 
Counter< double > m_msg_send_timer
 
bool m_send_next
 
Supervisors::Reporter::Clientm_reporter
 
UsblTools::Node::Arguments m_node_args
 
UsblTools::Node * m_usbl_node
 
UsblTools::Modem * m_usbl_modem
 
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 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
Contextm_ctx
 
std::vector
< Entities::BasicEntity * > 
m_entities
 

Constructor & Destructor Documentation

Transports::UAN::Task::Task ( const std::string &  name,
Tasks::Context &  ctx 
)
inline
Transports::UAN::Task::~Task ( void  )
inlinevirtual

Destructor.

Reimplemented from DUNE::Tasks::Task.

References onResourceRelease().

Member Function Documentation

void Transports::UAN::Task::announceUSBL ( void  )
inline
void Transports::UAN::Task::clearLastOp ( void  )
inline

Clear last operation.

References m_last_acop.

Referenced by onResourceRelease(), and replaceLastOp().

void Transports::UAN::Task::consume ( const IMC::EstimatedState *  msg)
inline
void Transports::UAN::Task::consume ( const IMC::PlanControlState *  msg)
inline

References m_progress.

void Transports::UAN::Task::consume ( const IMC::FuelLevel *  msg)
inline

References m_fuel_conf, and m_fuel_level.

void Transports::UAN::Task::consume ( const IMC::AcousticOperation *  msg)
inline
void Transports::UAN::Task::consume ( const IMC::UamRxRange *  msg)
inline
void Transports::UAN::Task::consume ( const IMC::UsblPositionExtended *  msg)
inline
void Transports::UAN::Task::consume ( const IMC::UsblAnglesExtended *  msg)
inline
void Transports::UAN::Task::consume ( const IMC::UsblConfig *  msg)
inline

References m_usbl_node.

void Transports::UAN::Task::consume ( const IMC::ReportControl *  msg)
inline
void Transports::UAN::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 Supervisors::Reporter::IS_ACOUSTIC, m_node_args, m_reporter, and m_usbl_node.

void Transports::UAN::Task::onResourceInitialization ( void  )
inlinevirtual
void Transports::UAN::Task::onResourceRelease ( void  )
inlinevirtual

Release resources.

Reimplemented from DUNE::Tasks::Task.

References clearLastOp(), m_reporter, m_usbl_modem, and m_usbl_node.

Referenced by ~Task().

void Transports::UAN::Task::onUsblModem ( void  )
inline

Main loop of USBL modem.

References m_args, m_usbl_modem, sendRange(), and Transports::UAN::Arguments::usbl_max_wait.

Referenced by onMain().

void Transports::UAN::Task::onUsblNode ( void  )
inline

Main loop of USBL node.

References Transports::UAN::CODE_USBL, m_usbl_node, and sendFrame().

Referenced by onMain().

void Transports::UAN::Task::recvAbort ( uint16_t  imc_src,
uint16_t  imc_dst,
const IMC::UamRxFrame *  msg 
)
inline
void Transports::UAN::Task::recvMessage ( uint16_t  imc_src,
uint16_t  imc_dst,
const IMC::UamRxFrame *  msg 
)
inline
void Transports::UAN::Task::recvPlanControl ( uint16_t  imc_src,
uint16_t  imc_dst,
const IMC::UamRxFrame *  msg 
)
inline
void Transports::UAN::Task::recvRange ( uint16_t  imc_src,
uint16_t  imc_dst,
const IMC::UamRxFrame *  msg 
)
inline

Referenced by consume().

void Transports::UAN::Task::recvRestartSystem ( uint16_t  imc_src,
uint16_t  imc_dst,
const IMC::UamRxFrame *  msg 
)
inline
void Transports::UAN::Task::replaceLastOp ( const IMC::AcousticOperation *  msg)
inline
void Transports::UAN::Task::sendAbort ( const std::string &  sys)
inline

References Transports::UAN::CODE_ABORT, and sendFrame().

Referenced by consume().

void Transports::UAN::Task::sendFrame ( const std::string &  sys,
Codes  code,
bool  ack 
)
inline
void Transports::UAN::Task::sendFrame ( const std::string &  sys,
const std::vector< uint8_t > &  data,
bool  ack 
)
inline
void Transports::UAN::Task::sendMessage ( const std::string &  sys,
const InlineMessage< IMC::Message > &  imsg 
)
inline

References sendPlanControl(), and sendRawMessage().

Referenced by consume(), and onMain().

void Transports::UAN::Task::sendPlanControl ( const std::string &  sys,
const IMC::PlanControl *  msg 
)
inline

References Transports::UAN::CODE_PLAN, and sendFrame().

Referenced by sendMessage().

void Transports::UAN::Task::sendRange ( const std::string &  sys)
inline
void Transports::UAN::Task::sendRawMessage ( const std::string &  sys,
const IMC::Message *  msg 
)
inline

References Transports::UAN::CODE_RAW, and sendFrame().

Referenced by sendMessage().

void Transports::UAN::Task::sendRestartSystem ( const std::string &  sys,
const IMC::RestartSystem *  msg 
)
inline

Member Data Documentation

Arguments Transports::UAN::Task::m_args

Task arguments.

Referenced by onMain(), onResourceInitialization(), onUsblModem(), and Task().

IMC::EstimatedState Transports::UAN::Task::m_estate

Estimated state.

Referenced by consume(), and sendReport().

float Transports::UAN::Task::m_fuel_conf

Last fuel level confidence.

Referenced by consume(), and sendReport().

float Transports::UAN::Task::m_fuel_level

Last fuel level.

Referenced by consume(), and sendReport().

IMC::AcousticOperation* Transports::UAN::Task::m_last_acop

Last acoustic operation.

Referenced by clearLastOp(), consume(), and replaceLastOp().

std::vector<const IMC::AcousticOperation*> Transports::UAN::Task::m_msg_requests

Vector of pending message requests.

Referenced by consume(), and onMain().

Counter<double> Transports::UAN::Task::m_msg_send_timer

Timer for sending preceding message.

Referenced by consume(), and onMain().

UsblTools::Node::Arguments Transports::UAN::Task::m_node_args

USBL Node arguments.

Referenced by onResourceAcquisition(), and Task().

float Transports::UAN::Task::m_progress

Last progress.

Referenced by consume(), and sendReport().

Supervisors::Reporter::Client* Transports::UAN::Task::m_reporter

Reporter API.

Referenced by consume(), onMain(), onResourceAcquisition(), and onResourceRelease().

bool Transports::UAN::Task::m_send_next

When set should wait and send next message.

Referenced by consume(), and onMain().

uint16_t Transports::UAN::Task::m_seq

Sequence number.

Referenced by sendFrame().

UsblTools::Modem* Transports::UAN::Task::m_usbl_modem

USBL Modem.

Referenced by consume(), onResourceRelease(), and onUsblModem().

UsblTools::Node* Transports::UAN::Task::m_usbl_node
Collaboration diagram for Transports::UAN::Task:
Collaboration graph