DUNE: Uniform Navigational Environment  2019.02.1
Sensors::Microstrain3DMGX1::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
void onUpdateParameters (void)
 
void onResourceAcquisition (void)
 
void onResourceInitialization (void)
 
void consume (const IMC::MagneticField *msg)
 
void onResourceRelease (void)
 
int8_t getCommandDataSize (uint8_t id)
 
bool setup (void)
 
bool getMessage (CommandByte type, fp64_t maxwait=1.0)
 
void clear (void)
 
fp64_t updateTimerCount (uint8_t *data)
 
void rotateAcceleration (void)
 
void rotateAngularVelocity (void)
 
void rotateMagneticField (void)
 
void rotateEuler (void)
 
CommandByte parse (uint8_t byte)
 
void setContinuousMode (CommandByte msg=MSG_NULL)
 
void queryEEPROM (uint16_t address)
 
void writeEEPROM (uint16_t address, uint16_t w_data)
 
void runCalibration (void)
 
bool isCalibrated (void)
 
bool setHardIron (void)
 
void requestMessage (CommandByte command)
 
bool validateCheckSum (const uint8_t *bfr, unsigned int size)
 
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

SerialPort * m_uart
 
IMC::EulerAngles m_euler
 
IMC::AngularVelocity m_agvel
 
IMC::Acceleration m_accel
 
IMC::MagneticField m_magfield
 
FSMStates m_state
 
Math::Matrix m_rotation
 
float m_hard_iron [3]
 
int m_togo
 
int m_done
 
uint8_t m_data [32]
 
fp64_t m_accel_scale
 
fp64_t m_gyro_scale
 
fp64_t m_mag_scale
 
int16_t m_eeprom
 
fp64_t m_timer
 
uint16_t m_last_tick
 
Arguments m_args
 
Counter< double > m_wdog
 

Additional Inherited Members

- Public Types inherited from DUNE::Concurrency::Runnable
- 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

Member Function Documentation

void Sensors::Microstrain3DMGX1::Task::clear ( void  )
inline
void Sensors::Microstrain3DMGX1::Task::consume ( const IMC::MagneticField *  msg)
inline
bool Sensors::Microstrain3DMGX1::Task::getMessage ( CommandByte  type,
fp64_t  maxwait = 1.0 
)
inline
bool Sensors::Microstrain3DMGX1::Task::isCalibrated ( void  )
inline

Check if sensor has the same hard iron calibration parameters.

Returns
true if the parameters are the same, false otherwise.

References Sensors::Microstrain3DMGX1::MSG_CONTMODE, Sensors::Microstrain3DMGX1::MSG_EEPROM, and Sensors::Microstrain3DMGX1::MSG_GS_EULER.

void Sensors::Microstrain3DMGX1::Task::onMain ( void  )
inlinevirtual
void Sensors::Microstrain3DMGX1::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 Sensors::Microstrain3DMGX1::Arguments::uart_baud, and Sensors::Microstrain3DMGX1::Arguments::uart_dev.

void Sensors::Microstrain3DMGX1::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 Sensors::Microstrain3DMGX1::Arguments::data_tout.

void Sensors::Microstrain3DMGX1::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.

void Sensors::Microstrain3DMGX1::Task::onUpdateParameters ( void  )
inlinevirtual
void Sensors::Microstrain3DMGX1::Task::queryEEPROM ( uint16_t  address)
inline
void Sensors::Microstrain3DMGX1::Task::requestMessage ( CommandByte  command)
inline
void Sensors::Microstrain3DMGX1::Task::rotateAcceleration ( void  )
inline

Correct data according with mounting position.

void Sensors::Microstrain3DMGX1::Task::rotateAngularVelocity ( void  )
inline
void Sensors::Microstrain3DMGX1::Task::rotateEuler ( void  )
inline
void Sensors::Microstrain3DMGX1::Task::rotateMagneticField ( void  )
inline
void Sensors::Microstrain3DMGX1::Task::runCalibration ( void  )
inline

Routine to run calibration proceedings.

References Sensors::Microstrain3DMGX1::MSG_GS_EULER.

void Sensors::Microstrain3DMGX1::Task::setContinuousMode ( CommandByte  msg = MSG_NULL)
inline
bool Sensors::Microstrain3DMGX1::Task::setHardIron ( void  )
inline

Set new hard iron calibration parameters.

Returns
true if successful, false otherwise.

References Sensors::Microstrain3DMGX1::Arguments::hard_iron, Sensors::Microstrain3DMGX1::MSG_CONTMODE, and Sensors::Microstrain3DMGX1::MSG_W_EEPROM.

bool Sensors::Microstrain3DMGX1::Task::setup ( void  )
inline
fp64_t Sensors::Microstrain3DMGX1::Task::updateTimerCount ( uint8_t *  data)
inline
bool Sensors::Microstrain3DMGX1::Task::validateCheckSum ( const uint8_t *  bfr,
unsigned int  size 
)
inline

References DUNE::Math::sum().

void Sensors::Microstrain3DMGX1::Task::writeEEPROM ( uint16_t  address,
uint16_t  w_data 
)
inline

Member Data Documentation

IMC::Acceleration Sensors::Microstrain3DMGX1::Task::m_accel
fp64_t Sensors::Microstrain3DMGX1::Task::m_accel_scale
IMC::AngularVelocity Sensors::Microstrain3DMGX1::Task::m_agvel
Arguments Sensors::Microstrain3DMGX1::Task::m_args
uint8_t Sensors::Microstrain3DMGX1::Task::m_data[32]
int Sensors::Microstrain3DMGX1::Task::m_done
int16_t Sensors::Microstrain3DMGX1::Task::m_eeprom
IMC::EulerAngles Sensors::Microstrain3DMGX1::Task::m_euler
fp64_t Sensors::Microstrain3DMGX1::Task::m_gyro_scale
float Sensors::Microstrain3DMGX1::Task::m_hard_iron[3]

Rotated calibration parameters.

uint16_t Sensors::Microstrain3DMGX1::Task::m_last_tick
fp64_t Sensors::Microstrain3DMGX1::Task::m_mag_scale
IMC::MagneticField Sensors::Microstrain3DMGX1::Task::m_magfield

Magnetometer Vector message.

Math::Matrix Sensors::Microstrain3DMGX1::Task::m_rotation

Rotation Matrix to correct mounting position.

FSMStates Sensors::Microstrain3DMGX1::Task::m_state
fp64_t Sensors::Microstrain3DMGX1::Task::m_timer
int Sensors::Microstrain3DMGX1::Task::m_togo
SerialPort* Sensors::Microstrain3DMGX1::Task::m_uart
Counter<double> Sensors::Microstrain3DMGX1::Task::m_wdog
Collaboration diagram for Sensors::Microstrain3DMGX1::Task:
Collaboration graph