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

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
void consume (const IMC::Voltage *msg)
 
void consume (const IMC::TelemetryMsg *msg)
 
void consume (const IMC::PowerChannelState *msg)
 
void consume (const IMC::ReportControl *msg)
 
void consume (const IMC::EstimatedState *msg)
 
void consume (const IMC::PlanControlState *msg)
 
void consume (const IMC::FuelLevel *msg)
 
void consume (const IMC::VehicleState *msg)
 
void consume (const IMC::VtolState *msg)
 
void consume (const IMC::IndicatedSpeed *msg)
 
void consume (const IMC::CommSystemsQuery *msg)
 
void onUpdateParameters (void)
 
void onEntityReservation (void)
 
void onEntityResolution (void)
 
void onRequestActivation (void)
 
void onRequestDeactivation (void)
 
void onResourceAcquisition (void)
 
void controlPower (IMC::PowerChannelControl::OperationEnum op)
 
void turnPowerOn (void)
 
void turnPowerOff (void)
 
bool isPowered (void)
 
void failActivation (const std::string &message)
 
void hardwareUpdateStateMachine (void)
 
void onResourceInitialization (void)
 
void onResourceRelease (void)
 
void radioReport (void)
 
void highSpeedReport (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

Arguments m_args
 
StateMachineStates m_sm_state
 
RadioDriverm_radio
 
MapName m_radio_names
 
MapAddr m_radio_addrs
 
bool m_powered
 
Supervisors::Reporter::Clientm_reporter
 
Telemetrym_telemetry
 
Time::Counter< double > m_conn_watchdog
 
std::string m_rxData
 
unsigned m_voltage_eid
 
IMC::CommSystemsQuery * m_comm_systems_query
 
uint16_t m_systemID
 
Time::Counter< double > m_fast_treport_counter
 

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 onReportEntityState (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

Member Function Documentation

void Transports::Radio::Task::consume ( const IMC::Voltage *  msg)
inline
void Transports::Radio::Task::consume ( const IMC::TelemetryMsg *  msg)
inline
void Transports::Radio::Task::consume ( const IMC::PowerChannelState *  msg)
inline
void Transports::Radio::Task::consume ( const IMC::ReportControl *  msg)
inline
void Transports::Radio::Task::consume ( const IMC::EstimatedState *  msg)
inline
void Transports::Radio::Task::consume ( const IMC::PlanControlState *  msg)
inline
void Transports::Radio::Task::consume ( const IMC::FuelLevel *  msg)
inline
void Transports::Radio::Task::consume ( const IMC::VehicleState *  msg)
inline
void Transports::Radio::Task::consume ( const IMC::VtolState *  msg)
inline
void Transports::Radio::Task::consume ( const IMC::IndicatedSpeed *  msg)
inline

Consume air Speed messages.

Parameters
[in]msgIndicatedSpeed message.

References Transports::Radio::Telemetry::consume(), and m_telemetry.

void Transports::Radio::Task::consume ( const IMC::CommSystemsQuery *  msg)
inline
void Transports::Radio::Task::controlPower ( IMC::PowerChannelControl::OperationEnum  op)
inline
bool Transports::Radio::Task::isPowered ( void  )
inline

Test if power channel is on.

Returns
true if power channel is on, false otherwise.

References m_powered.

Referenced by hardwareUpdateStateMachine().

void Transports::Radio::Task::onEntityReservation ( void  )
inlinevirtual

Reserve entity identifiers.

Reimplemented from DUNE::Tasks::Task.

void Transports::Radio::Task::onEntityResolution ( void  )
inlinevirtual
void Transports::Radio::Task::onRequestDeactivation ( void  )
inlinevirtual

Called when an external deactivation request is received.

Derived classes that need to perform extra steps to prepare normal execution should replace the default behaviour of immediate deactivation with calls to deactivate() when the request is completed or deactivationFailed() if the request cannot be honoured.

Reimplemented from DUNE::Tasks::Task.

References hardwareUpdateStateMachine(), m_sm_state, and Transports::Radio::SM_DEACT_BEGIN.

void Transports::Radio::Task::onResourceAcquisition ( void  )
inlinevirtual
void Transports::Radio::Task::onResourceRelease ( void  )
inlinevirtual

Release resources.

Reimplemented from DUNE::Tasks::Task.

References m_reporter, and m_telemetry.

void Transports::Radio::Task::onUpdateParameters ( void  )
inlinevirtual

Update internal state with new parameter values.

Reimplemented from DUNE::Tasks::Task.

References m_args, m_powered, and Transports::Radio::Arguments::power_channel.

void Transports::Radio::Task::turnPowerOff ( void  )
inline

Turn power channel off.

References controlPower(), and DUNE::Tasks::Task::debug().

Referenced by failActivation(), and hardwareUpdateStateMachine().

void Transports::Radio::Task::turnPowerOn ( void  )
inline

Turn power channel on.

References controlPower(), and DUNE::Tasks::Task::debug().

Referenced by hardwareUpdateStateMachine().

Member Data Documentation

Arguments Transports::Radio::Task::m_args
IMC::CommSystemsQuery* Transports::Radio::Task::m_comm_systems_query

Driver configuration.

Referenced by consume(), onRequestActivation(), and onResourceAcquisition().

Time::Counter<double> Transports::Radio::Task::m_conn_watchdog

timrer to config modem

Referenced by hardwareUpdateStateMachine(), and Task().

Time::Counter<double> Transports::Radio::Task::m_fast_treport_counter

Higth speed radio report.

Referenced by hardwareUpdateStateMachine(), and highSpeedReport().

bool Transports::Radio::Task::m_powered

True if modem is powered on.

Referenced by consume(), isPowered(), and onUpdateParameters().

RadioDriver* Transports::Radio::Task::m_radio
MapAddr Transports::Radio::Task::m_radio_addrs

Map of radio modems by address.

Referenced by consume(), hardwareUpdateStateMachine(), and onResourceInitialization().

MapName Transports::Radio::Task::m_radio_names

Map of radio modems by name.

Referenced by consume(), hardwareUpdateStateMachine(), and onResourceInitialization().

Supervisors::Reporter::Client* Transports::Radio::Task::m_reporter
std::string Transports::Radio::Task::m_rxData

Data collected by radio.

Referenced by onMain().

StateMachineStates Transports::Radio::Task::m_sm_state
uint16_t Transports::Radio::Task::m_systemID

System ID.

Referenced by hardwareUpdateStateMachine(), and onRequestActivation().

Telemetry* Transports::Radio::Task::m_telemetry
unsigned Transports::Radio::Task::m_voltage_eid

IMU entity id.

Referenced by consume(), and onEntityResolution().

Collaboration diagram for Transports::Radio::Task:
Collaboration graph