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

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
void onResourceAcquisition (void)
 
void onResourceRelease (void)
 
void onUpdateParameters (void)
 
void onResourceInitialization (void)
 
bool consumeResult (Results value)
 
void addResult (Results value)
 
void setAndSendState (EntityStates state)
 
void onEntityResolution (void)
 
void handleConfigParam (NMEAReader *const stn)
 
void handleMiniPacket (NMEAReader *const stn)
 
void handleTransponderTravelTimes (NMEAReader *const stn)
 
void handlePingReply (NMEAReader *const stn)
 
void processInput (double timeout=c_cmd_reply_tout)
 
void handleBinaryMessage (NMEAReader *const stn)
 
void ping (void)
 
void pingMicroModem (unsigned index)
 
void pingNarrowBand (void)
 
void fullAcousticReport (void)
 
void consume (const IMC::LblConfig *msg)
 
void consume (const IMC::SoundSpeed *msg)
 
void consume (const IMC::EstimatedState *msg)
 
void consume (const IMC::VehicleMedium *msg)
 
void consume (const IMC::PlanControlState *msg)
 
void consume (const IMC::FuelLevel *msg)
 
void consume (const IMC::ReportControl *msg)
 
void consume (const IMC::Salinity *msg)
 
void reportRanges (double now)
 
void configureModem (const std::string &code, const std::string &parameter, const unsigned value)
 
void sendDelayedCommand (const std::string &cmd, double delay_bef, double delay_aft)
 
void sendCommand (const std::string &cmd)
 
void logCommand (const std::string &cmd)
 
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

LBL m_lbl
 
IMC::LblConfig m_lbl_config
 
NarrowBandMap m_nbmap
 
MicroModemSystemsMap m_smap
 
MicroModemAddressMap m_amap
 
SerialPort * m_uart
 
IMC::EntityState m_states [STA_MAX]
 
char m_bfr [c_bfr_size]
 
Arguments m_args
 
EntityStates m_state
 
unsigned m_addr
 
unsigned m_result
 
double m_last_input
 
double m_sound_speed
 
int m_sound_speed_eid
 
IMC::EstimatedState m_estate
 
bool m_stop_comms
 
int8_t m_progress
 
float m_fuel_level
 
float m_fuel_conf
 
Time::Counter< float > m_pinger
 
Supervisors::Reporter::Clientm_reporter
 
IMC::Salinity * m_salinity
 

Static Public Attributes

static const int 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::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 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

Member Function Documentation

void Sensors::MLBL::Task::addResult ( Results  value)
inline
void Sensors::MLBL::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 processInput(), and sendCommand().

Referenced by onResourceInitialization().

void Sensors::MLBL::Task::consume ( const IMC::SoundSpeed *  msg)
inline

References m_sound_speed, and m_sound_speed_eid.

void Sensors::MLBL::Task::consume ( const IMC::EstimatedState *  msg)
inline
void Sensors::MLBL::Task::consume ( const IMC::VehicleMedium *  msg)
inline
void Sensors::MLBL::Task::consume ( const IMC::PlanControlState *  msg)
inline

References m_progress.

void Sensors::MLBL::Task::consume ( const IMC::FuelLevel *  msg)
inline

References m_fuel_conf, and m_fuel_level.

void Sensors::MLBL::Task::consume ( const IMC::ReportControl *  msg)
inline
void Sensors::MLBL::Task::consume ( const IMC::Salinity *  msg)
inline

References m_salinity.

bool Sensors::MLBL::Task::consumeResult ( Results  value)
inline
void Sensors::MLBL::Task::handlePingReply ( NMEAReader *const  stn)
inline
void Sensors::MLBL::Task::handleTransponderTravelTimes ( NMEAReader *const  stn)
inline
void Sensors::MLBL::Task::logCommand ( const std::string &  cmd)
inline

Log NMEA message.

Parameters
[in]cmdNMEA message to be logged.

References DUNE::Tasks::Task::dispatch().

Referenced by sendCommand().

void Sensors::MLBL::Task::onEntityResolution ( void  )
inlinevirtual

Called when the task is instructed to resolve all the entity identifiers it needs for normal execution.

See resolveEntity(). Derived classes that need to resolve entity identifiers should override this function.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Tasks::Task::inf(), m_args, m_sound_speed, m_sound_speed_eid, DUNE::Tasks::Task::resolveEntity(), Sensors::MLBL::Arguments::sound_speed_def, and Sensors::MLBL::Arguments::sound_speed_elabel.

void Sensors::MLBL::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_args, m_reporter, m_uart, setAndSendState(), Sensors::MLBL::STA_BOOT, Sensors::MLBL::Arguments::uart_baud, and Sensors::MLBL::Arguments::uart_dev.

void Sensors::MLBL::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_reporter, and m_uart.

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

Called when the task is instructed to update its run-time parameters.

Derived classes that need to compute auxiliary values based on run-time parameters should override this function.

Reimplemented from DUNE::Tasks::Task.

References m_args, m_pinger, m_sound_speed, DUNE::Tasks::Task::paramChanged(), Sensors::MLBL::Arguments::ping_period, and Sensors::MLBL::Arguments::sound_speed_def.

void Sensors::MLBL::Task::ping ( void  )
inline
void Sensors::MLBL::Task::pingMicroModem ( unsigned  index)
inline
void Sensors::MLBL::Task::sendCommand ( const std::string &  cmd)
inline

Send command to modem and log it.

Parameters
[in]cmdNMEA message to be transmitted.

References logCommand(), and m_uart.

Referenced by configureModem(), fullAcousticReport(), pingMicroModem(), pingNarrowBand(), and sendDelayedCommand().

void Sensors::MLBL::Task::sendDelayedCommand ( const std::string &  cmd,
double  delay_bef,
double  delay_aft 
)
inline

Send a command to the modem processing input before and after.

Parameters
[in]cmdNMEA message to be transmitted.
[in]delay_beftime to process input from modem before.
[in]delay_afttime to process input from modem after.

References processInput(), and sendCommand().

Referenced by handleBinaryMessage(), handleMiniPacket(), and reportRanges().

void Sensors::MLBL::Task::setAndSendState ( EntityStates  state)
inline

Member Data Documentation

const int Sensors::MLBL::Task::c_bfr_size
static

Maximum buffer size.

Referenced by processInput().

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

Internal buffer.

Referenced by processInput().

IMC::EstimatedState Sensors::MLBL::Task::m_estate

Estimated state.

Referenced by consume(), and fullAcousticReport().

float Sensors::MLBL::Task::m_fuel_conf

Last fuel level confidence.

Referenced by consume(), and fullAcousticReport().

float Sensors::MLBL::Task::m_fuel_level

Last fuel level.

Referenced by consume(), and fullAcousticReport().

double Sensors::MLBL::Task::m_last_input

Time of last serial port input.

Referenced by onMain(), and processInput().

IMC::LblConfig Sensors::MLBL::Task::m_lbl_config

Current LBL configuration.

Referenced by consume().

NarrowBandMap Sensors::MLBL::Task::m_nbmap

Map of narrow band transponders.

Referenced by consume(), and Task().

Time::Counter<float> Sensors::MLBL::Task::m_pinger

Pinger.

Referenced by onMain(), and onUpdateParameters().

int8_t Sensors::MLBL::Task::m_progress

Last progress.

Referenced by consume(), and fullAcousticReport().

unsigned Sensors::MLBL::Task::m_result

Bitfield with results of last processInput().

Referenced by addResult(), and consumeResult().

IMC::Salinity* Sensors::MLBL::Task::m_salinity

Last received salinity message.

Referenced by consume(), and fullAcousticReport().

MicroModemSystemsMap Sensors::MLBL::Task::m_smap
double Sensors::MLBL::Task::m_sound_speed
int Sensors::MLBL::Task::m_sound_speed_eid

Sound speed entity id.

Referenced by consume(), and onEntityResolution().

EntityStates Sensors::MLBL::Task::m_state
IMC::EntityState Sensors::MLBL::Task::m_states[STA_MAX]

Entity states.

Referenced by onResourceInitialization(), setAndSendState(), and Task().

bool Sensors::MLBL::Task::m_stop_comms

Stop reports on the ground.

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

SerialPort* Sensors::MLBL::Task::m_uart

Serial port handle.

Referenced by onResourceAcquisition(), onResourceRelease(), processInput(), and sendCommand().

Collaboration diagram for Sensors::MLBL::Task:
Collaboration graph