DUNE::Tasks::Task Class Reference

Detailed Description

Task.

Public Member Functions
	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)

Protected Member Functions
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::BasicEntity *	getLocalEntity (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 >
Parameter &	param (const std::string &name, T &var)
template<typename Y , typename T >
Parameter &	param (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	onResourceAcquisition (void)
virtual void	onResourceRelease (void)
virtual void	onResourceInitialization (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)
virtual void	onMain (void)=0
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
Context &	m_ctx
std::vector< Entities::BasicEntity * >	m_entities

Additional Inherited Members

Public Types inherited from DUNE::Concurrency::Runnable

Constructor & Destructor Documentation

DUNE::Tasks::Task::Task	(	const std::string &	name,
		Context &	context
	)

Construct a task object.

Parameters

[in]	name	name of the task.
[in]	context	task context.

References DUNE::Tasks::Parameter::defaultValue(), m_ctx, m_entities, param(), and DUNE::Tasks::Recipient.

virtual DUNE::Tasks::Task::~Task ( void  )

inlinevirtual

Destructor.

Reimplemented in Actuators::MCD4R::Task, Vision::DFK51BG02H::Task, Sensors::MetrecX::Task, Sensors::MLBLTracker::Task, Monitors::FuelLevel::Task, Transports::UAN::Task, Transports::UDP::Task, Sensors::IFOG::Task, Actuators::LED4R::Task, Autonomy::OnEvent::Task, Power::LUEMB::Task, Transports::Announce::Task, Power::CPMBv2::Task, Power::CPMB::Task, Power::APD::Task, Transports::Replay::Task, Sensors::MTi::Task, Transports::IridiumSBD::Task, Transports::LoggingDigest::Task, Transports::Cache::Task, Transports::SerialOverTCP::Task, and Simulators::UAVAutopilot::Task.

References m_entities.

Member Function Documentation

void DUNE::Tasks::Task::acquireResources

(

void

)

Acquire resources whose configuration depends on dynamic parameters.

References DUNE::Tasks::ParameterTable::end(), DUNE::Tasks::ParameterTable::find(), onResourceAcquisition(), and DUNE::Tasks::Parameter::SCOPE_MANEUVER.

Referenced by deactivationFailed(), and receive().

void DUNE::Tasks::Task::activate ( void  )

protected

Derived classes should use this function to signal that activation was completed successfully.

References DUNE::IMC::EntityActivationState::EAS_ACT_IP, DUNE::Entities::StatefulEntity::getActivationState(), DUNE::Entities::StatefulEntity::hasPendingDeactivation(), onActivation(), requestDeactivation(), DUNE::Tasks::ParameterTable::set(), spew(), and DUNE::Entities::StatefulEntity::succeedActivation().

Referenced by bind(), DUNE::Hardware::BasicDeviceDriver::consume(), and onRequestActivation().

void DUNE::Tasks::Task::activationFailed ( const std::string &  reason )

protected

Derived classes should use this function to signal that activation failed.

Parameters

[in]

reason

reason for activation failure.

References DUNE::Entities::StatefulEntity::failActivation(), and spew().

Referenced by DUNE::Hardware::BasicDeviceDriver::BasicDeviceDriver(), and bind().

template<typename M , typename T >

void DUNE::Tasks::Task::bind ( T *  task_obj, void(T::*)(const M *)  consumer = &T::consume  )

inlineprotected

Bind a message to a consumer method.

Parameters

task_obj	consumer task.
consumer	consumer method.

Referenced by bind(), onDeactivation(), and DUNE::Tasks::SimpleTransport::onMain().

template<typename T >

void DUNE::Tasks::Task::bind ( T *  task_obj, const std::vector< uint32_t > &  list  )

inlineprotected

Bind multiple messages to a default consumer method.

Parameters

task_obj	consumer object.
list	list of message identifiers.

References bind().

template<typename T , typename M >

void DUNE::Tasks::Task::bind ( T *  task_obj, const std::vector< uint32_t > &  list, void(T::*)(const M *)  consumer = &T::consume  )

inlineprotected

Bind multiple messages to a consumer method.

Parameters

task_obj	consumer object.
list	list of message identifiers.
consumer	consumer method.

References bind().

template<typename T >

void DUNE::Tasks::Task::bind ( T *  task_obj, const std::vector< std::string > &  list  )

inlineprotected

Bind multiple messages to a default consumer method.

Parameters

task_obj	consumer task.
list	list of message abbreviations.

References activate(), activationFailed(), bind(), deactivate(), deactivationFailed(), DUNE::IMC::Factory::getIdFromAbbrev(), requestActivation(), and requestDeactivation().

void DUNE::Tasks::Task::consumeMessages ( void  )

inlineprotected

Call the consumers of all messages currently in the receiving queue.

References DUNE::Tasks::Recipient::runCallBacks().

Referenced by DUNE::Hardware::BasicDeviceDriver::onCloseLog(), DUNE::Tasks::SimpleTransport::onMain(), Supervisors::PowerManager::Task::onMain(), and DUNE::Tasks::Periodic::Periodic().

void DUNE::Tasks::Task::cri ( const char *  format,   ...  )

virtual

Send an human-readable critical error message to all configured output channels and files.

Parameters

format	string format (similar to printf(3)).
...	arguments.

Reimplemented from DUNE::Tasks::AbstractTask.

References DUNE::IMC::LogBookEntry::LBET_CRITICAL.

Referenced by getPriority().

void DUNE::Tasks::Task::deactivate ( void  )

protected

Derived classes should use this function to signal that deactivation was completed successfully.

References DUNE::IMC::EntityActivationState::EAS_DEACT_IP, DUNE::Entities::StatefulEntity::getActivationState(), DUNE::Entities::StatefulEntity::hasPendingActivation(), onDeactivation(), requestActivation(), DUNE::Tasks::ParameterTable::set(), spew(), and DUNE::Entities::StatefulEntity::succeedDeactivation().

Referenced by bind(), DUNE::Hardware::BasicDeviceDriver::consume(), and onRequestDeactivation().

void DUNE::Tasks::Task::deactivationFailed ( const std::string &  reason )

protected

Derived classes should use this function to signal that deactivation failed.

Parameters

[in]

reason

reason for deactivation failure.

References acquireResources(), dispatch(), err(), DUNE::IMC::EntityState::ESTA_FAILURE, DUNE::Entities::StatefulEntity::failDeactivation(), DUNE::Tasks::RestartNeeded::getDelay(), DUNE::Tasks::RestartNeeded::getError(), getName(), initializeResources(), DUNE::Tasks::RestartNeeded::isError(), onMain(), releaseResources(), requestActivation(), resolveEntities(), DUNE::Tasks::Parameter::SCOPE_GLOBAL, DUNE::Tasks::Parameter::SCOPE_IDLE, DUNE::Tasks::Parameter::scopeFromString(), setEntityState(), setPriority(), spew(), stopping(), updateParameters(), and DUNE::Time::Delay::wait().

Referenced by bind().

void DUNE::Tasks::Task::debug ( const char *  format,   ...  )

virtual

Send an human-readable debug message to all configured output channels and files.

The message will only be processed if the configured log level is DEBUG_LEVEL_DEBUG or greater.

Parameters

format	string format (similar to printf(3)).
...	arguments.

Reimplemented from DUNE::Tasks::AbstractTask.

References DUNE::Tasks::DEBUG_LEVEL_DEBUG, and DUNE::IMC::LogBookEntry::LBET_DEBUG.

Referenced by DUNE::Hardware::BasicDeviceDriver::BasicDeviceDriver(), DUNE::Control::BasicRemoteOperation::consume(), DUNE::Hardware::BasicDeviceDriver::consume(), DUNE::Control::PathController::consume(), DUNE::Control::BasicUAVAutopilot::consume(), DUNE::Control::BasicAutopilot::consume(), Supervisors::PowerManager::Task::consume(), getPriority(), DUNE::Maneuvers::Maneuver::onDeactivation(), DUNE::Control::BottomTracker::onEstimatedState(), Supervisors::PowerManager::Task::onMain(), DUNE::Control::BasicRemoteOperation::onResourceInitialization(), Vision::UI2210MGL::CaptureUeye::queryGainFactor(), DUNE::Hardware::BasicModem::readRaw(), DUNE::Maneuvers::Maneuver::signalCompletion(), DUNE::Maneuvers::Maneuver::startManeuver(), and DUNE::Control::YoYoMotion::update().

void DUNE::Tasks::Task::dispatch	(	IMC::Message *	msg,
		unsigned int	flags = 0
	)

Dispatch message to the message bus.

Parameters

[in]	msg	message pointer.
[in]	flags	bitfield with flags (see DispatchFlags).

References DUNE::Tasks::DF_KEEP_SRC_EID, DUNE::Tasks::DF_KEEP_TIME, DUNE::Tasks::DF_LOOP_BACK, DUNE::IMC::Bus::dispatch(), getEntityId(), DUNE::IMC::Message::getSource(), DUNE::IMC::Message::getSourceEntity(), getSystemId(), DUNE::IMC::AddressResolver::isValid(), m_ctx, DUNE::Tasks::Context::mbus, DUNE::IMC::Message::setSource(), DUNE::IMC::Message::setSourceEntity(), and DUNE::IMC::Message::setTimeStamp().

Referenced by DUNE::Hardware::BasicDeviceDriver::BasicDeviceDriver(), DUNE::Control::BasicRemoteOperation::consume(), DUNE::Hardware::BasicDeviceDriver::consume(), DUNE::Control::BasicUAVAutopilot::consume(), DUNE::Control::BasicAutopilot::consume(), DUNE::Daemon::consume(), DUNE::Control::PathController::consume(), DUNE::Navigation::BasicNavigation::consume(), deactivationFailed(), DUNE::Navigation::BeamFilter::dispatch(), dispatch(), dispatchReply(), Vision::Lumenera::EntityActivation::entityActivationUpdate(), Transports::DataStore::Router::forwardCommandsAcoustic(), Transports::DataStore::Router::forwardCommandsWifi(), DUNE::Control::PathController::getEta(), getPriority(), Autonomy::TextActions::Task::handleAbortCommand(), Autonomy::TextActions::Task::handleChangeNumCommand(), DUNE::Tasks::SimpleTransport::handleData(), Autonomy::TextActions::Task::handlePlanGeneratorCommand(), Autonomy::TextActions::Task::handleRebootCommand(), Autonomy::TextActions::Task::handleStartCommand(), Transports::DataStore::Router::iridiumUpload(), DUNE::Navigation::BasicNavigation::isActive(), DUNE::Tasks::Manager::measureCpuUsage(), Supervisors::PowerManager::Task::onMain(), Actuators::PWM::Task::onMain(), DUNE::Control::BasicRemoteOperation::onResourceInitialization(), Transports::LogBook::Task::provide(), DUNE::Hardware::BasicModem::readRaw(), Autonomy::TextActions::Task::reply(), DUNE::Navigation::BasicNavigation::reportToBus(), Transports::DataStore::Router::routeOverAcoustic(), Transports::DataStore::Router::routeOverWifi(), DUNE::Navigation::BasicNavigation::runKalmanLBL(), DUNE::Hardware::HayesModem::sendAT(), DUNE::Hardware::HayesModem::setRSSI(), DUNE::Control::PathController::signalError(), spew(), Control::Path::PurePursuit::Task::step(), DUNE::Control::DiscretePID::step(), and DUNE::Daemon::writeParamsXML().

void DUNE::Tasks::Task::dispatch ( IMC::Message &  msg, unsigned int  flags = 0  )

inline

Dispatch message to the message bus.

Parameters

[in]	msg	message reference.
[in]	flags	bitfield with flags (see DispatchFlags).

References dispatch().

void DUNE::Tasks::Task::dispatchReply ( const IMC::Message &  original, IMC::Message &  msg, unsigned int  flags = 0  )

inline

Dispatch message to the message bus in reply to another message.

Parameters

[in]	original	original message.
[in]	msg	message reference.
[in]	flags	bitfield with flags (see DispatchFlags).

References dispatch(), DUNE::IMC::Message::getSource(), DUNE::IMC::Message::getSourceEntity(), DUNE::IMC::Message::setDestination(), and DUNE::IMC::Message::setDestinationEntity().

Referenced by onQueryEntityParameters().

void DUNE::Tasks::Task::err ( const char *  format,   ...  )

virtual

Send an human-readable error message to all configured output channels and files.

Parameters

format	string format (similar to printf(3)).
...	arguments.

Reimplemented from DUNE::Tasks::AbstractTask.

References DUNE::IMC::LogBookEntry::LBET_ERROR.

Referenced by Actuators::PWM::ServoPwm::CheckGPIOSate(), DUNE::Control::BasicAutopilot::consume(), Transports::LogBook::Task::consume(), DUNE::Navigation::BasicNavigation::consume(), DUNE::Daemon::Daemon(), deactivationFailed(), Vision::DFK51BG02H::GVSP::dequeueClean(), getPriority(), Autonomy::TextActions::Task::handleAbortCommand(), initializeResources(), loadConfig(), DUNE::Tasks::Manager::Manager(), Actuators::PWM::Task::onMain(), onSetEntityParameters(), Vision::UI2210MGL::CaptureUeye::queryGainFactor(), DUNE::Network::FragmentedMessage::setFragment(), DUNE::Control::BasicAutopilot::signalBadVertical(), DUNE::Control::BasicAutopilot::signalBadYaw(), DUNE::Maneuvers::Maneuver::signalError(), DUNE::Control::PathController::signalError(), and DUNE::Tasks::Manager::start().

uint16_t DUNE::Tasks::Task::getActivationTime ( void  ) const

inline

Retrieve the task's activation time.

Returns

activation time of the task.

Referenced by DUNE::Hardware::BasicDeviceDriver::consume().

uint16_t DUNE::Tasks::Task::getDeactivationTime ( void  ) const

inline

Retrieve the task's deactivation time.

Returns

deactivation time of the task.

Referenced by DUNE::Hardware::BasicDeviceDriver::consume().

DebugLevel DUNE::Tasks::Task::getDebugLevel ( void  ) const

inline

Get current debug level.

Returns

debug level.

unsigned int DUNE::Tasks::Task::getEntityId ( void  ) const

inline

Retrieve the main entity identifier of the task.

Returns

main entity identifier.

References DUNE::Entities::BasicEntity::getId().

Referenced by DUNE::Daemon::consume(), dispatch(), DUNE::Tasks::Manager::measureCpuUsage(), DUNE::Maneuvers::Maneuver::onEntityReservation(), and spew().

const char* DUNE::Tasks::Task::getEntityLabel ( void  ) const

inline

Retrieve the main entity label of the task.

Returns

main entity label.

References DUNE::Entities::BasicEntity::getLabel().

Referenced by DUNE::Control::PathController::onEntityReservation(), onPopEntityParameters(), onPushEntityParameters(), onQueryEntityParameters(), onSetEntityParameters(), and writeParamsXML().

IMC::EntityState::StateEnum DUNE::Tasks::Task::getEntityState ( void  ) const

inlineprotected

Retrieve the current entity state.

Returns

entity state.

References DUNE::Entities::StatefulEntity::getState(), and reserveEntity().

Referenced by DUNE::Control::BasicAutopilot::consume().

Entities::BasicEntity * DUNE::Tasks::Task::getLocalEntity ( const std::string &  label )

protected

Retrieve pointer to a previously stored entity object object.

Parameters

[in]

label

entity name/label.

Returns

pointer to entity object.

References m_entities.

Referenced by reserveEntity().

const char* DUNE::Tasks::Task::getName ( void  ) const

inlinevirtual

Retrieve the task's name.

Returns

name of the task.

Implements DUNE::Tasks::AbstractTask.

Referenced by deactivationFailed(), loadConfig(), onSetEntityParameters(), reserveEntities(), reserveEntity(), and spew().

unsigned int DUNE::Tasks::Task::getPriority ( void  ) const

inline

Get scheduling priority.

The priority of a task might change when configuration parameters are updated.

Returns

task priority.

References cri(), debug(), dispatch(), err(), inf(), spew(), trace(), and war().

Referenced by DUNE::Tasks::Manager::adjustPriorities().

unsigned int DUNE::Tasks::Task::getSystemId ( void  ) const

inline

Retrieve the system's identifier.

Returns

system identifier.

References DUNE::IMC::AddressResolver::id(), m_ctx, and DUNE::Tasks::Context::resolver.

Referenced by DUNE::Hardware::BasicDeviceDriver::consume(), DUNE::Control::BasicAutopilot::consume(), DUNE::Daemon::consume(), dispatch(), Vision::Lumenera::EntityActivation::entityActivationUpdate(), Autonomy::TextActions::Task::handleAbortCommand(), Transports::DataStore::Router::iridiumUpload(), DUNE::Tasks::SourceFilter::match(), Vision::Lumenera::EntityActivationMaster::onEntityInfo(), Transports::DataStore::Router::routeOverAcoustic(), and DUNE::Control::PathController::sourceFilter().

const char* DUNE::Tasks::Task::getSystemName ( void  ) const

inline

Retrieve the system's name.

Returns

name of the system.

References m_ctx, DUNE::IMC::AddressResolver::name(), and DUNE::Tasks::Context::resolver.

Referenced by Vision::Lumenera::EntityActivationMaster::addEntity(), DUNE::Navigation::BasicNavigation::consume(), and DUNE::Daemon::writeParamsXML().

void DUNE::Tasks::Task::inf ( const char *  format,   ...  )

virtual

Send an human-readable informational message to all configured output channels and files.

Parameters

format	string format (similar to printf(3)).
...	arguments.

Reimplemented from DUNE::Tasks::AbstractTask.

References DUNE::IMC::LogBookEntry::LBET_INFO.

Referenced by DUNE::Tasks::SimpleTransport::consume(), DUNE::Daemon::consume(), DUNE::Control::PathController::consume(), Transports::LogBook::Task::consume(), Autonomy::TextActions::Task::consume(), DUNE::Daemon::Daemon(), Transports::DataStore::Router::forwardCommandsAcoustic(), Transports::DataStore::Router::forwardCommandsWifi(), getPriority(), DUNE::Tasks::SimpleTransport::handleData(), Autonomy::TextActions::Task::handleStartCommand(), Transports::DataStore::Router::iridiumUpload(), DUNE::Control::BottomTracker::onEstimatedState(), DUNE::Daemon::onResourceInitialization(), Vision::UI2210MGL::CaptureUeye::queryGainFactor(), Autonomy::TextActions::Task::reply(), Autonomy::TextActions::Task::splitCommand(), DUNE::Tasks::Manager::start(), and DUNE::Daemon::~Daemon().

void DUNE::Tasks::Task::initializeResources

(

void

)

Instruct task to initialize the resources acquired in acquireResources().

References err(), onResourceInitialization(), stopping(), and DUNE::Time::Delay::wait().

Referenced by deactivationFailed(), and receive().

bool DUNE::Tasks::Task::isActivating ( void  ) const

inlineprotected

Test if task is activating.

Returns

true if task is activating, false otherwise.

References DUNE::Entities::StatefulEntity::isActivating().

Referenced by DUNE::Hardware::BasicDeviceDriver::consume().

bool DUNE::Tasks::Task::isActive ( void  ) const

inlineprotected

Test if task is active.

Returns

true if task is active, false otherwise.

References DUNE::Entities::StatefulEntity::isActive().

Referenced by DUNE::Hardware::BasicDeviceDriver::consume(), DUNE::Control::BasicRemoteOperation::consume(), DUNE::Control::BasicUAVAutopilot::consume(), DUNE::Control::PathController::consume(), DUNE::Control::BasicAutopilot::consume(), DUNE::Maneuvers::Maneuver::consume(), DUNE::Maneuvers::Maneuver::consumeIfActive(), DUNE::Hardware::BasicDeviceDriver::onCloseLog(), DUNE::Maneuvers::Maneuver::onMain(), DUNE::Control::BasicRemoteOperation::onResourceInitialization(), and DUNE::Control::PathController::signalError().

bool DUNE::Tasks::Task::isDeactivating ( void  ) const

inlineprotected

Test if task is deactivating.

Returns

true if task is deactivating, false otherwise.

References DUNE::Entities::StatefulEntity::isDeactivating().

void DUNE::Tasks::Task::loadConfig

(

void

)

Load parameters from context's configuration.

References DUNE::Tasks::ParameterTable::begin(), DUNE::Tasks::Context::config, DUNE::Tasks::ParameterTable::end(), err(), DUNE::Tasks::ParameterTable::find(), DUNE::Parsers::Config::get(), DUNE::Tasks::RestartNeeded::getError(), getName(), DUNE::Parsers::Config::getSection(), m_ctx, DUNE::Tasks::ParameterTable::set(), and updateParameters().

Referenced by DUNE::Tasks::Manager::Manager(), and resolveSystemId().

virtual void DUNE::Tasks::Task::onActivation ( void  )

inlineprotectedvirtual

Called when the task starts/resumes normal execution.

Reimplemented in Vision::Lumenera::Task, Sensors::Imagenex881A::Task, Vision::DFK51BG02H::Task, Vision::UI2210MGL::Task, Control::ROV::RemoteOperation::Task, Autonomy::TREX::Task, Sensors::IFOG::Task, Control::AUV::Allocator::Task, Autonomy::OnEvent::Task, Control::AUV::Speed::Task, Monitors::Emergency::Task, Transports::IridiumSBD::Task, Control::AUV::RemoteOperation::Task, DUNE::Control::BasicAutopilot, Transports::Iridium::Task, DUNE::Control::BasicUAVAutopilot, Control::UAV::RemoteOperation::Task, Navigation::AUV::Ranger::Task, DUNE::Maneuvers::Maneuver, and Control::ASV::RemoteOperation::Task.

References spew().

Referenced by activate().

virtual void DUNE::Tasks::Task::onDeactivation ( void  )

inlineprotectedvirtual

Called when the task stops normal execution and enters an idleness state.

Reimplemented in Vision::Lumenera::Task, Sensors::Imagenex881A::Task, Vision::DFK51BG02H::Task, Vision::UI2210MGL::Task, Control::ROV::RemoteOperation::Task, Autonomy::TREX::Task, Sensors::IFOG::Task, Control::AUV::Allocator::Task, Sensors::CyclopsC7::Task, Autonomy::OnEvent::Task, Control::AUV::Speed::Task, Control::AUV::RemoteOperation::Task, Monitors::Emergency::Task, Transports::IridiumSBD::Task, DUNE::Control::BasicAutopilot, Transports::Iridium::Task, Supervisors::AUV::LostComms::Task, Control::UAV::RemoteOperation::Task, DUNE::Control::BasicUAVAutopilot, Navigation::AUV::Ranger::Task, DUNE::Maneuvers::Maneuver, and Control::ASV::RemoteOperation::Task.

References DUNE::Tasks::Recipient::bind(), bind(), DUNE::IMC::Factory::getAbbrevFromId(), onMain(), onPopEntityParameters(), onPushEntityParameters(), onQueryEntityParameters(), onSetEntityParameters(), and spew().

Referenced by deactivate().

virtual void DUNE::Tasks::Task::onEntityReservation ( void  )

inlineprotectedvirtual

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

See reserveEntity(). Derived classes that need to reserve entity identifiers other than that of the main entity should override this function.

Reimplemented in Control::AUV::Attitude::Task, Transports::Radio::Task, Sensors::MetrecX::Task, Actuators::MCD4R::Task, Control::ROV::RemoteOperation::Task, Power::LUEMB::Task, Control::ROV::HorizontalPlane::Task, Power::CPMBv2::Task, Power::CPMB::Task, Power::APD::Task, Power::BATMANv2::Task, Actuators::LED4R::Task, Sensors::SADC::Task, Sensors::AIM104MultiIO::Task, Sensors::DMS::Task, Control::ROV::Depth::Task, Control::Path::ILOS::Task, Transports::Replay::Task, Autonomy::TREX::Task, Control::Path::VectorField::Task, Supervisors::PowerManager::Task, DUNE::Control::PathController, DUNE::Maneuvers::Maneuver, and Control::Path::PurePursuit::Task.

Referenced by reserveEntities().

virtual void DUNE::Tasks::Task::onEntityResolution ( void  )

inlineprotectedvirtual

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 in Maneuver::VehicleFormation::FormCollAvoid::Task, Maneuver::VehicleFormation::Coordinator::Task, Sensors::MLBL::Task, Transports::Radio::Task, Navigation::AUV::Navigation::Task, Control::AUV::Allocator::Task, Sensors::MetrecX::Task, Monitors::FuelLevel::Task, Control::ROV::RemoteOperation::Task, Plan::Engine::Task, Monitors::Medium::Task, Maneuver::VehicleFormation::Test::Task, Power::OPCON::Task, Monitors::Entities::Task, Sensors::CyclopsC7::Task, DUNE::Navigation::BasicNavigation, Sensors::DataStore::Task, Navigation::General::GPSNavigation::Task, Supervisors::PowerManager::Task, and DUNE::Control::ProxyPathController.

Referenced by DUNE::Control::ProxyPathController::onEntityResolution(), and resolveEntities().

virtual void DUNE::Tasks::Task::onMain ( void  )

protectedpure virtual

Implemented in Control::UAV::Ardupilot::Task, Sensors::MLBL::Task, Transports::Seatrac::Task, Plan::Engine::Task, Sensors::MLBLTracker::Task, Vision::Lumenera::Task, Transports::UAN::Task, Sensors::Microstrain3DMGX1::Task, Control::UAV::PX4::Task, Sensors::MetrecX::Task, Control::AUV::Allocator::Task, Transports::Radio::Task, Sensors::Imagenex881A::Task, Plan::DB::Task, Actuators::MCD4R::Task, Sensors::SADC::Task, Control::AUV::Speed::Task, Power::BATMANv2::Task, Autonomy::TextActions::Task, Monitors::Entities::Task, Power::LUEMB::Task, Power::OPCON::Task, Vision::DFK51BG02H::Task, Transports::CommManager::Task, Actuators::LED4R::Task, Transports::Announce::Task, Transports::Iridium::Task, Sensors::DMS::Task, Sensors::OEMX::Task, Transports::UDP::Task, Sensors::MTi::Task, Transports::IridiumSBD::Task, Sensors::OS4000::Task, Sensors::XR620CTD::Task, Transports::GSM::Task, Transports::DataStore::Task, Power::CPMBv2::Task, Power::CPMB::Task, Autonomy::TREX::Task, Power::APD::Task, Vision::UI2210MGL::Task, Sensors::IFOG::Task, Transports::Replay::Task, Autonomy::OnEvent::Task, Sensors::CyclopsC7::Task, DUNE::Control::PathController, DUNE::Maneuvers::Maneuver, Transports::Cache::Task, Transports::LoggingDigest::Task, Sensors::DataStore::Task, Sensors::EmulatedGPS::Task, Plan::Generator::Task, Navigation::General::GPSNavigation::Task, Transports::SerialOverTCP::Task, Monitors::Clock::Task, Sensors::AIS::Task, Transports::Discovery::Task, Sensors::WifiRSSI::Task, Actuators::PWM::Task, Navigation::AUV::Ranger::Task, Simulators::AcousticModem::Task, Supervisors::Reporter::Task, Vision::PhotoTrigger::Task, Supervisors::PowerManager::Task, Control::AntennaTracker::Task, Sensors::XchangeSV::Task, Transports::LogBook::Task, Vision::UAVCamera::Task, Transports::Fragments::Task, Sensors::MiniSVS::Task, DUNE::Control::BasicAutopilot, Sensors::GillWindObserverII::Task, DUNE::Daemon, DUNE::Control::BasicUAVAutopilot, and DUNE::Tasks::SimpleTransport.

Referenced by deactivationFailed(), and onDeactivation().

void DUNE::Tasks::Task::onPopEntityParameters ( const IMC::PopEntityParameters *  msg )

protectedvirtual

References getEntityLabel(), DUNE::IMC::PopEntityParameters::name, DUNE::Tasks::ParameterTable::set(), and updateParameters().

Referenced by onDeactivation().

void DUNE::Tasks::Task::onPushEntityParameters ( const IMC::PushEntityParameters *  msg )

protectedvirtual

References DUNE::Tasks::ParameterTable::begin(), DUNE::Tasks::ParameterTable::end(), getEntityLabel(), DUNE::IMC::PushEntityParameters::name, and DUNE::Tasks::Parameter::SCOPE_GLOBAL.

Referenced by onDeactivation().

void DUNE::Tasks::Task::onQueryEntityParameters ( const IMC::QueryEntityParameters *  msg )

protectedvirtual

References DUNE::Tasks::ParameterTable::begin(), dispatchReply(), DUNE::Tasks::ParameterTable::end(), getEntityLabel(), DUNE::IMC::EntityParameter::name, DUNE::IMC::EntityParameters::name, DUNE::IMC::QueryEntityParameters::name, DUNE::IMC::EntityParameters::params, and DUNE::IMC::EntityParameter::value.

Referenced by onDeactivation().

virtual void DUNE::Tasks::Task::onReportEntityState ( void  )

inlineprotectedvirtual

Called when the task is instructed to report the state of its entities.

Derived classes that need to report the state of entities other than the main entity should override this function to dispatch the EntityState of those entities.

Reimplemented in Navigation::AUV::Navigation::Task, and Monitors::Entities::Task.

Referenced by resolveEntities().

virtual void DUNE::Tasks::Task::onRequestActivation ( void  )

inlineprotectedvirtual

Called when an external activation request is received.

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

Reimplemented in Maneuver::VehicleFormation::FormCollAvoid::Task, Maneuver::VehicleFormation::Coordinator::Task, Sensors::Imagenex881A::Task, Vision::DFK51BG02H::Task, Transports::Radio::Task, Vision::Lumenera::Task, Vision::UI2210MGL::Task, and Sensors::CyclopsC7::Task.

References activate(), and spew().

Referenced by requestActivation().

virtual void DUNE::Tasks::Task::onRequestDeactivation ( void  )

inlineprotectedvirtual

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 in Maneuver::VehicleFormation::FormCollAvoid::Task, Maneuver::VehicleFormation::Coordinator::Task, Transports::Radio::Task, and Vision::Lumenera::Task.

References deactivate(), and spew().

Referenced by requestDeactivation().

virtual void DUNE::Tasks::Task::onResourceAcquisition ( void  )

inlineprotectedvirtual

Called when the task is instructed to acquire resources whose configuration is defined by run-time parameters.

Reimplemented in Maneuver::VehicleFormation::FormCollAvoid::Task, Maneuver::VehicleFormation::Coordinator::Task, Sensors::MLBL::Task, Control::UAV::Ardupilot::Task, Transports::Radio::Task, Sensors::MetrecX::Task, Sensors::Imagenex881A::Task, Transports::Seatrac::Task, Simulators::UAV::Task, Control::AUV::Attitude::Task, Actuators::MCD4R::Task, Vision::Lumenera::Task, Control::UAV::PX4::Task, Vision::DFK51BG02H::Task, Sensors::MLBLTracker::Task, Control::ROV::RemoteOperation::Task, Power::LUEMB::Task, Monitors::FuelLevel::Task, Sensors::Microstrain3DMGX3::Task, Plan::Engine::Task, Transports::UDP::Task, Vision::UI2210MGL::Task, Power::CPMBv2::Task, Power::CPMB::Task, Power::BATMANv2::Task, Power::APD::Task, Actuators::LED4R::Task, Sensors::SADC::Task, Sensors::Microstrain3DMGX1::Task, Transports::GSM::Task, Transports::UAN::Task, Sensors::CyclopsC7::Task, Sensors::IFOG::Task, Sensors::OS4000::Task, Maneuver::VehicleFormation::Test::Task, Sensors::DMS::Task, Sensors::OEMX::Task, Sensors::XR620CTD::Task, Supervisors::AUV::Assist::Task, Monitors::Emergency::Task, Transports::IridiumSBD::Task, Supervisors::Vehicle::Task, Sensors::MTi::Task, Sensors::AIM104MultiIO::Task, Sensors::SW100::Task, Plan::DB::Task, Sensors::EmulatedGPS::Task, Vision::FrameGrabber::Task, Simulators::AcousticModem::Task, Simulators::UAVAutopilot::Task, Transports::Iridium::Task, Sensors::AIS::Task, Sensors::MiniSVS::Task, Supervisors::PowerManager::Task, Transports::SerialOverTCP::Task, Sensors::XchangeSV::Task, Sensors::GillWindObserverII::Task, DUNE::Control::BasicAutopilot, and DUNE::Control::BasicUAVAutopilot.

Referenced by acquireResources().

virtual void DUNE::Tasks::Task::onResourceInitialization ( void  )

inlineprotectedvirtual

Called when the task is instructed to initialize resources acquired previously or whose initialization depends on run-time parameters.

Reimplemented in Transports::Radio::Task, Sensors::MLBL::Task, Sensors::MetrecX::Task, Sensors::Imagenex881A::Task, Transports::Seatrac::Task, Transports::CommManager::Task, Sensors::MLBLTracker::Task, Actuators::MCD4R::Task, Vision::DFK51BG02H::Task, Navigation::AUV::Navigation::Task, Control::AUV::Attitude::Task, Power::LUEMB::Task, Sensors::Microstrain3DMGX3::Task, Vision::UI2210MGL::Task, Power::CPMBv2::Task, Control::AUV::Allocator::Task, Power::CPMB::Task, Plan::Engine::Task, Power::APD::Task, Power::BATMANv2::Task, Control::ROV::RemoteOperation::Task, Actuators::LED4R::Task, Sensors::SADC::Task, Transports::GSM::Task, Sensors::IFOG::Task, Sensors::OEMX::Task, Sensors::Microstrain3DMGX1::Task, Transports::UAN::Task, Monitors::Medium::Task, Control::AUV::Speed::Task, Sensors::OS4000::Task, Sensors::DMS::Task, Power::OPCON::Task, Autonomy::OnEvent::Task, Transports::DataStore::Task, Sensors::XR620CTD::Task, Control::ROV::HorizontalPlane::Task, Supervisors::AUV::Assist::Task, Transports::Announce::Task, Transports::IridiumSBD::Task, Monitors::Emergency::Task, Navigation::General::ROV::Task, Supervisors::Vehicle::Task, DUNE::Navigation::BasicNavigation, Sensors::WifiRSSI::Task, Control::AUV::LMI::Task, Sensors::DataStore::Task, Monitors::Entities::Task, Sensors::AIM104MultiIO::Task, Sensors::SW100::Task, Transports::SerialOverTCP::Task, Monitors::Clock::Task, Control::ROV::Depth::Task, Sensors::XchangeSV::Task, Supervisors::AUV::LostComms::Task, Vision::FrameGrabber::Task, DUNE::Control::PathController, Transports::Iridium::Task, Transports::LoggingDigest::Task, DUNE::Control::BasicRemoteOperation, Actuators::PWM::Task, Sensors::MiniSVS::Task, Supervisors::PowerManager::Task, Supervisors::Entities::Task, Transports::Cache::Task, Autonomy::TextActions::Task, Transports::Discovery::Task, Navigation::AUV::Ranger::Task, DUNE::Daemon, Transports::LogBook::Task, DUNE::Maneuvers::Maneuver, DUNE::Control::BasicAutopilot, and DUNE::Control::BasicUAVAutopilot.

Referenced by initializeResources().

virtual void DUNE::Tasks::Task::onResourceRelease ( void  )

inlineprotectedvirtual

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 in Maneuver::VehicleFormation::FormCollAvoid::Task, Maneuver::VehicleFormation::Coordinator::Task, Transports::Radio::Task, Transports::Seatrac::Task, Sensors::MLBL::Task, Control::UAV::Ardupilot::Task, Sensors::MetrecX::Task, Sensors::Imagenex881A::Task, Actuators::MCD4R::Task, Control::UAV::PX4::Task, Transports::CommManager::Task, Sensors::MLBLTracker::Task, Navigation::AUV::Navigation::Task, Control::AUV::Attitude::Task, Vision::Lumenera::Task, Simulators::UAV::Task, Vision::DFK51BG02H::Task, Transports::UDP::Task, Power::LUEMB::Task, Actuators::LED4R::Task, Power::CPMBv2::Task, Power::CPMB::Task, Sensors::Microstrain3DMGX1::Task, Power::APD::Task, Power::BATMANv2::Task, Sensors::SADC::Task, Control::ROV::RemoteOperation::Task, Monitors::FuelLevel::Task, Transports::GSM::Task, Control::AUV::Allocator::Task, Sensors::Microstrain3DMGX3::Task, Sensors::OEMX::Task, Vision::UI2210MGL::Task, Plan::Engine::Task, Transports::UAN::Task, Sensors::DMS::Task, Sensors::IFOG::Task, Sensors::CyclopsC7::Task, Maneuver::VehicleFormation::Test::Task, Sensors::OS4000::Task, Transports::IridiumSBD::Task, Plan::DB::Task, Sensors::XR620CTD::Task, Supervisors::AUV::Assist::Task, Sensors::AIM104MultiIO::Task, Navigation::General::ROV::Task, DUNE::Navigation::BasicNavigation, Monitors::Emergency::Task, Sensors::SW100::Task, Supervisors::Vehicle::Task, Sensors::AIS::Task, Actuators::PWM::Task, Sensors::MTi::Task, Vision::FrameGrabber::Task, Sensors::EmulatedGPS::Task, Transports::Iridium::Task, DUNE::Control::PathController, Simulators::AcousticModem::Task, Plan::Generator::Task, Sensors::MiniSVS::Task, Simulators::UAVAutopilot::Task, Transports::SerialOverTCP::Task, Supervisors::PowerManager::Task, Sensors::XchangeSV::Task, Sensors::GillWindObserverII::Task, DUNE::Control::BasicAutopilot, DUNE::Control::BasicUAVAutopilot, and Transports::Fragments::Task.

Referenced by releaseResources().

void DUNE::Tasks::Task::onSetEntityParameters ( const IMC::SetEntityParameters *  msg )

protectedvirtual

References DUNE::Tasks::Context::config, err(), getEntityLabel(), getName(), m_ctx, DUNE::IMC::SetEntityParameters::name, DUNE::IMC::SetEntityParameters::params, DUNE::Tasks::ParameterTable::set(), DUNE::Parsers::Config::set(), and updateParameters().

Referenced by onDeactivation().

virtual void DUNE::Tasks::Task::onUpdateParameters ( void  )

inlineprotectedvirtual

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 in Maneuver::VehicleFormation::FormCollAvoid::Task, Transports::Seatrac::Task, Sensors::MLBL::Task, Control::UAV::Ardupilot::Task, Maneuver::VehicleFormation::Coordinator::Task, Control::AUV::Attitude::Task, Control::UAV::PX4::Task, Transports::Radio::Task, Sensors::Imagenex881A::Task, Actuators::MCD4R::Task, Sensors::MetrecX::Task, Navigation::AUV::Navigation::Task, Vision::DFK51BG02H::Task, Control::ROV::RemoteOperation::Task, Vision::Lumenera::Task, Simulators::UAV::Task, Sensors::MLBLTracker::Task, Autonomy::TREX::Task, Monitors::FuelLevel::Task, Plan::Engine::Task, Sensors::OS4000::Task, Control::AUV::Speed::Task, Sensors::Microstrain3DMGX3::Task, Vision::UI2210MGL::Task, Control::AUV::Allocator::Task, Monitors::OperationalLimits::Task, Transports::UDP::Task, Actuators::LED4R::Task, Sensors::Microstrain3DMGX1::Task, Transports::GSM::Task, Power::LUEMB::Task, Sensors::IFOG::Task, Control::ROV::HorizontalPlane::Task, Power::CPMBv2::Task, Power::CPMB::Task, Transports::Announce::Task, Maneuver::VehicleFormation::Test::Task, Power::APD::Task, Autonomy::OnEvent::Task, Sensors::XR620CTD::Task, Supervisors::AUV::Assist::Task, Transports::DataStore::Task, Control::AUV::LMI::Task, Control::AUV::RemoteOperation::Task, Monitors::Emergency::Task, Control::ROV::Depth::Task, Transports::IridiumSBD::Task, DUNE::Navigation::BasicNavigation, Sensors::WifiRSSI::Task, Control::Path::LOSnSMC::Task, Vision::PhotoTrigger::Task, Control::Path::ILOS::Task, Navigation::General::ROV::Task, Sensors::CyclopsC7::Task, Transports::LoggingDigest::Task, Transports::Replay::Task, DUNE::Control::PathController, Navigation::General::GPSNavigation::Task, Supervisors::UAV::LostComms::Task, Vision::FrameGrabber::Task, Control::UAV::LOS::Task, Supervisors::Reporter::Task, Control::Path::VectorField::Task, Simulators::AcousticModem::Task, Sensors::DataStore::Task, Supervisors::Entities::Task, Transports::CommManager::Task, Control::AntennaTracker::Task, Control::UAV::RemoteOperation::Task, Simulators::UAVAutopilot::Task, Sensors::MiniSVS::Task, Navigation::AUV::Ranger::Task, Supervisors::PowerManager::Task, and Control::Path::PurePursuit::Task.

Referenced by updateParameters().

virtual bool DUNE::Tasks::Task::onWriteParamsXML ( std::ostream &  os ) const

inlineprotectedvirtual

Referenced by writeParamsXML().

template<typename T >

Parameter& DUNE::Tasks::Task::param ( const std::string &  name, T &  var  )

inlineprotected

Declare a configuration parameter that can be parsed using the basic parameter parser.

Template Parameters

T	type of the destination variable.

Parameters

[in]	name	parameter name.
[in]	var	variable that will hold the parameter value.

Returns

Parameter object.

Referenced by DUNE::Control::BasicAutopilot::BasicAutopilot(), DUNE::Navigation::BasicNavigation::BasicNavigation(), DUNE::Control::BasicRemoteOperation::BasicRemoteOperation(), paramActive(), DUNE::Control::PathController::PathController(), DUNE::Tasks::Periodic::Periodic(), DUNE::Control::ProxyPathController::ProxyPathController(), DUNE::Tasks::SimpleTransport::SimpleTransport(), Autonomy::TextActions::Task::Task(), Actuators::PWM::Task::Task(), Navigation::General::ROV::Task::Task(), and Task().

template<typename Y , typename T >

Parameter& DUNE::Tasks::Task::param ( const std::string &  name, T &  var  )

inlineprotected

Declare a configuration parameter that can be parsed using a custom parameter reader.

Template Parameters

Y	type of the custom parameter reader.
T	type of the destination variable.

Parameters

[in]	name	parameter name.
[in]	var	variable that will hold the parameter value.

Returns

Parameter object.

References DUNE::Tasks::ParameterTable::add().

void DUNE::Tasks::Task::paramActive ( Parameter::Scope  def_scope, Parameter::Visibility  def_visibility, bool  def_value = false  )

protected

Declare parameter 'Active' and associated parameters 'Active.

• Scope' and 'Active - Visibility'. These parameters allows the task to be activated/deactivated using the message SetEntityParameters.

  Parameters

  [in]	def_scope	default scope of 'Active' parameter.
  [in]	def_visibility	default visibility of 'Active' parameter.
  [in]	def_value	default value of 'Active' parameter.

References DUNE::Tasks::Parameter::defaultValue(), param(), DUNE::Tasks::Parameter::scope(), DUNE::Tasks::Parameter::SCOPE_GLOBAL, DUNE::Tasks::Parameter::scopeToString(), DUNE::uncastLexical(), DUNE::Tasks::Parameter::visibility(), DUNE::Tasks::Parameter::VISIBILITY_DEVELOPER, and DUNE::Tasks::Parameter::visibilityToString().

Referenced by DUNE::Control::BasicRemoteOperation::BasicRemoteOperation(), and paramChanged().

template<typename T >

bool DUNE::Tasks::Task::paramChanged ( T &  var )

inlineprotected

References DUNE::Tasks::ParameterTable::changed(), and paramActive().

Referenced by DUNE::Control::PathController::onUpdateParameters(), and updateParameters().

void DUNE::Tasks::Task::receive ( const IMC::Message *  msg )

inlinevirtual

Queue a message for later consumption.

Parameters

msg	message object.

Implements DUNE::Tasks::AbstractTask.

References acquireResources(), initializeResources(), DUNE::Tasks::Recipient::put(), releaseResources(), reserveEntities(), resolveEntities(), updateParameters(), and writeParamsXML().

Referenced by DUNE::Hardware::BasicModem::flushInput().

void DUNE::Tasks::Task::releaseResources

(

void

)

Free all resources acquired in acquireResources().

References onResourceRelease().

Referenced by deactivationFailed(), and receive().

void DUNE::Tasks::Task::requestActivation ( void  )

protected

Request task to start/resume normal execution.

References DUNE::Entities::StatefulEntity::isActivating(), onRequestActivation(), DUNE::Entities::StatefulEntity::requestActivation(), and spew().

Referenced by bind(), DUNE::Control::BasicRemoteOperation::consume(), DUNE::Control::PathController::consume(), DUNE::Control::BasicUAVAutopilot::consume(), DUNE::Control::BasicAutopilot::consume(), deactivate(), deactivationFailed(), DUNE::Maneuvers::Maneuver::startManeuver(), and updateParameters().

void DUNE::Tasks::Task::requestDeactivation ( void  )

protected

Request task to stop normal execution and enter an idleness state.

References DUNE::Entities::StatefulEntity::isDeactivating(), onRequestDeactivation(), DUNE::Entities::StatefulEntity::requestDeactivation(), and spew().

Referenced by activate(), DUNE::Hardware::BasicDeviceDriver::BasicDeviceDriver(), bind(), DUNE::Control::BasicRemoteOperation::consume(), DUNE::Control::BasicAutopilot::consume(), DUNE::Control::PathController::consume(), DUNE::Control::BasicUAVAutopilot::consume(), DUNE::Maneuvers::Maneuver::consume(), DUNE::Control::BasicUAVAutopilot::onResourceInitialization(), DUNE::Control::BasicAutopilot::onResourceInitialization(), DUNE::Control::PathController::onResourceInitialization(), DUNE::Control::BasicAutopilot::signalBadVertical(), DUNE::Control::BasicAutopilot::signalBadYaw(), DUNE::Maneuvers::Maneuver::signalCompletion(), DUNE::Maneuvers::Maneuver::signalError(), and updateParameters().

void DUNE::Tasks::Task::reserveEntities

(

void

)

Instruct task to reserve all entity identifiers that it needs for normal execution.

References DUNE::Tasks::Context::entities, DUNE::Entities::BasicEntity::getLabel(), getName(), m_ctx, onEntityReservation(), DUNE::Entities::EntityDataBase::reserve(), DUNE::Entities::StatefulEntity::setBindings(), and DUNE::Entities::BasicEntity::setId().

Referenced by DUNE::Daemon::Daemon(), DUNE::Tasks::Manager::Manager(), and receive().

unsigned int DUNE::Tasks::Task::reserveEntity ( const std::string &  label )

protected

Associate an entity label with an automatically generated number (entity id).

Parameters

[in]

label

entity name/label.

Returns

entity id.

References DUNE::Entities::BasicEntity, DUNE::Tasks::Context::entities, DUNE::Entities::BasicEntity::getId(), getName(), m_ctx, m_entities, DUNE::Entities::EntityDataBase::reserve(), DUNE::Entities::BasicEntity::setBindings(), DUNE::Entities::BasicEntity::setId(), and DUNE::Entities::BasicEntity::setLabel().

Referenced by getEntityState().

template<typename E >

E* DUNE::Tasks::Task::reserveEntity ( const std::string &  label )

inlineprotected

Associate an entity label with an internally stored entity object, and retrieve a pointer to the object.

Parameters

[in]

label

entity name/label.

Returns

pointer to entity object.

References DUNE::Tasks::Context::entities, getLocalEntity(), getName(), and DUNE::Entities::EntityDataBase::reserve().

void DUNE::Tasks::Task::resolveEntities

(

void

)

Instruct task to resolve all entity identifiers that it needs for normal execution.

References onEntityResolution(), onReportEntityState(), and DUNE::Entities::StatefulEntity::reportState().

Referenced by deactivationFailed(), and receive().

unsigned int DUNE::Tasks::Task::resolveEntity ( const std::string &  label ) const

inline

Retrieve the entity id of a given entity label.

Parameters

[in]

label

entity label.

Exceptions

NonexistentLabel

if the label doesn't have an associated id.

Returns

entity id.

References DUNE::Tasks::Context::entities, m_ctx, and DUNE::Entities::EntityDataBase::resolve().

Referenced by DUNE::Tasks::SourceFilter::defineMessageSystemEntityFilter(), Vision::Lumenera::EntityActivation::entityActivationUpdate(), DUNE::Tasks::SourceFilter::match(), DUNE::Navigation::BasicNavigation::onEntityResolution(), and DUNE::Tasks::MessageFilter::setupEntities().

std::string DUNE::Tasks::Task::resolveEntity ( unsigned int  id ) const

inline

Retrieve the entity label of a given entity id.

Parameters

[in]

id

entity id.

Exceptions

NonexistentId

if the id doesn't have an associated label.

Returns

entity label.

References DUNE::Tasks::Context::entities, m_ctx, and DUNE::Entities::EntityDataBase::resolve().

const char* DUNE::Tasks::Task::resolveSystemId ( unsigned int  id ) const

inline

Retrieve the name associated with a given system identifier.

Returns

system name.

References loadConfig(), m_ctx, DUNE::IMC::AddressResolver::resolve(), and DUNE::Tasks::Context::resolver.

Referenced by DUNE::Tasks::SourceFilter::defineMessageSystemEntityFilter(), Vision::Lumenera::EntityActivation::getSystemName(), and Transports::DataStore::Router::process().

unsigned int DUNE::Tasks::Task::resolveSystemName ( const std::string &  name ) const

inline

Retrieve the identifier associated with a given system name.

Parameters

[in]

name

system name.

Returns

system identifier.

References m_ctx, DUNE::IMC::AddressResolver::resolve(), and DUNE::Tasks::Context::resolver.

Referenced by DUNE::Daemon::Daemon(), Transports::DataStore::Router::forwardCommandsAcoustic(), Vision::Lumenera::EntityActivation::getSystemId(), DUNE::Tasks::SourceFilter::match(), and Transports::DataStore::Router::routeOverWifi().

void DUNE::Tasks::Task::setEntityLabel ( const std::string &  label )

inline

Set the main entity label of the task.

Parameters

[in]

label

main entity label.

References DUNE::Entities::BasicEntity::setLabel().

Referenced by DUNE::Daemon::Daemon().

void DUNE::Tasks::Task::setEntityState ( IMC::EntityState::StateEnum  state, Status::Code  code  )

inlineprotected

Set current entity state with an optional pre-defined description.

If a status code is not given, then the existing description will be kept.

Parameters

[in]	state	entity state.
[in]	code	status code.

References DUNE::Entities::StatefulEntity::setState().

Referenced by DUNE::Control::BasicAutopilot::BasicAutopilot(), DUNE::Hardware::BasicDeviceDriver::BasicDeviceDriver(), DUNE::Control::BasicUAVAutopilot::BasicUAVAutopilot(), DUNE::Navigation::BasicNavigation::checkUncertainty(), DUNE::Control::BasicRemoteOperation::consume(), DUNE::Hardware::BasicDeviceDriver::consume(), DUNE::Control::BasicAutopilot::consume(), Actuators::PWM::Task::consume(), DUNE::Navigation::BasicNavigation::consume(), deactivationFailed(), DUNE::Maneuvers::Maneuver::onActivation(), DUNE::Control::BasicUAVAutopilot::onActivation(), DUNE::Control::BasicAutopilot::onActivation(), DUNE::Maneuvers::Maneuver::onDeactivation(), DUNE::Control::BasicUAVAutopilot::onDeactivation(), DUNE::Control::BasicAutopilot::onDeactivation(), Actuators::PWM::Task::onMain(), DUNE::Maneuvers::Maneuver::onResourceInitialization(), Transports::LogBook::Task::onResourceInitialization(), DUNE::Daemon::onResourceInitialization(), Autonomy::TextActions::Task::onResourceInitialization(), Supervisors::PowerManager::Task::onResourceInitialization(), Actuators::PWM::Task::onResourceInitialization(), DUNE::Control::BasicRemoteOperation::onResourceInitialization(), DUNE::Navigation::BasicNavigation::reset(), DUNE::Control::BasicAutopilot::signalBadVertical(), DUNE::Control::BasicAutopilot::signalBadYaw(), DUNE::Control::PathController::signalError(), and DUNE::Daemon::writeParamsXML().

void DUNE::Tasks::Task::setEntityState ( IMC::EntityState::StateEnum  state, const std::string &  description  )

inlineprotected

Set current entity state with a custom description.

Parameters

[in]	state	entity state.
[in]	description	custom state description.

References DUNE::Entities::StatefulEntity::setState().

void DUNE::Tasks::Task::setParamSectionEditor ( const std::string &  name )

inlineprotected

Set the name of the parameter editor that should be used to interact with the parameters of the task.

Parameters

[in]

name

editor name (free-form string).

void DUNE::Tasks::Task::setPriority ( unsigned int  value )

inline

Set scheduling priority programatically.

The priority of a task might change when configuration parameters are updated.

Parameters

[in]

value

desired scheduling priority.

Referenced by DUNE::Tasks::Manager::adjustPriorities(), deactivationFailed(), and DUNE::Daemon::onResourceInitialization().

void DUNE::Tasks::Task::spew ( const char *  format,   ...  )

virtual

Send a very verbose or frequent human-readable debug message to all configured output channels and files.

The message will only be processed if the configured log level is DEBUG_LEVEL_SPEW.

Parameters

format	string format (similar to printf(3)).
...	arguments.

Reimplemented from DUNE::Tasks::AbstractTask.

References DUNE::IMC::LogBookEntry::context, DUNE::Tasks::DEBUG_LEVEL_SPEW, dispatch(), getEntityId(), getName(), DUNE::Time::Clock::getSinceEpoch(), DUNE::IMC::LogBookEntry::htime, DUNE::IMC::LogBookEntry::LBET_CRITICAL, DUNE::IMC::LogBookEntry::LBET_DEBUG, DUNE::IMC::LogBookEntry::LBET_ERROR, DUNE::IMC::LogBookEntry::LBET_INFO, DUNE::IMC::LogBookEntry::LBET_WARNING, DUNE::IMC::Message::setSourceEntity(), DUNE::IMC::LogBookEntry::text, and DUNE::IMC::LogBookEntry::type.

Referenced by activate(), activationFailed(), DUNE::Navigation::BasicNavigation::checkUncertainty(), DUNE::Navigation::BasicNavigation::consume(), deactivate(), deactivationFailed(), DUNE::Tasks::SourceFilter::defineMessageSystemEntityFilter(), DUNE::Hardware::BasicModem::flushInput(), getPriority(), onActivation(), onDeactivation(), onRequestActivation(), onRequestDeactivation(), Vision::UI2210MGL::CaptureUeye::queryGainFactor(), requestActivation(), requestDeactivation(), and DUNE::Navigation::BasicNavigation::setup().

bool DUNE::Tasks::Task::stopping ( void  )

inlineprotected

Test if task is stopping.

Returns

true if task is stopping, false otherwise.

References DUNE::Concurrency::Runnable::isStopping().

Referenced by deactivationFailed(), initializeResources(), DUNE::Hardware::BasicDeviceDriver::onCloseLog(), DUNE::Tasks::SimpleTransport::onMain(), DUNE::Control::BasicUAVAutopilot::onMain(), DUNE::Daemon::onMain(), DUNE::Control::BasicAutopilot::onMain(), Transports::LogBook::Task::onMain(), Supervisors::PowerManager::Task::onMain(), Actuators::PWM::Task::onMain(), DUNE::Maneuvers::Maneuver::onMain(), DUNE::Control::PathController::onMain(), Autonomy::TextActions::Task::onMain(), and DUNE::Tasks::Periodic::Periodic().

void DUNE::Tasks::Task::trace ( const char *  format,   ...  )

virtual

Send a verbose or frequent human-readable debug message to all configured output channels and files.

The message will only be processed if the configured log level is DEBUG_LEVEL_TRACE or greater.

Parameters

format	string format (similar to printf(3)).
...	arguments.

Reimplemented from DUNE::Tasks::AbstractTask.

References DUNE::Tasks::DEBUG_LEVEL_TRACE, and DUNE::IMC::LogBookEntry::LBET_DEBUG.

Referenced by Vision::Lumenera::EntityActivationMaster::addEntity(), DUNE::Hardware::BasicDeviceDriver::BasicDeviceDriver(), Vision::Lumenera::EntityActivationMaster::checkActivation(), Vision::Lumenera::EntityActivationMaster::checkDeactivation(), DUNE::Hardware::BasicDeviceDriver::consume(), DUNE::Control::PathController::consume(), DUNE::Tasks::SourceFilter::defineMessageSystemEntityFilter(), Vision::Lumenera::EntityActivation::entityActivationUpdate(), getPriority(), DUNE::Hardware::BasicDeviceDriver::onCloseLog(), DUNE::Hardware::BasicDeviceDriver::onOpenLog(), Transports::LogBook::Task::provide(), DUNE::Hardware::BasicModem::readRaw(), Transports::LogBook::Task::report(), and DUNE::Hardware::BasicModem::send().

void DUNE::Tasks::Task::updateParameters

(

bool

act_deact = true

)

Instruct task to update its run-time parameters.

Parameters

[in]

act_deact

if true this function will request activation/deactivation if the 'Active' parameter changed.

References DUNE::Tasks::DEBUG_LEVEL_DEBUG, DUNE::Tasks::DEBUG_LEVEL_NONE, DUNE::Tasks::DEBUG_LEVEL_SPEW, DUNE::Tasks::DEBUG_LEVEL_TRACE, DUNE::Tasks::ParameterTable::find(), DUNE::Entities::BasicEntity::getLabel(), onUpdateParameters(), paramChanged(), DUNE::Entities::StatefulEntity::reportActivationState(), DUNE::Entities::BasicEntity::reportInfo(), requestActivation(), requestDeactivation(), DUNE::Tasks::ParameterTable::set(), DUNE::Entities::StatefulEntity::setActTimes(), DUNE::Tasks::ParameterTable::setChanged(), and DUNE::Entities::BasicEntity::setLabel().

Referenced by deactivationFailed(), loadConfig(), onPopEntityParameters(), onSetEntityParameters(), and receive().

void DUNE::Tasks::Task::waitForMessages ( double  timeout )

inlineprotected

Wait for the receiving queue to contain at least one message and then call the consumer functions for all the messages currently in it.

Parameters

[in]

timeout

wait for timeout seconds.

References DUNE::Tasks::Recipient::waitForMessages().

Referenced by DUNE::Hardware::BasicDeviceDriver::onCloseLog(), DUNE::Control::BasicUAVAutopilot::onMain(), DUNE::Daemon::onMain(), DUNE::Control::BasicAutopilot::onMain(), Transports::LogBook::Task::onMain(), Supervisors::PowerManager::Task::onMain(), Actuators::PWM::Task::onMain(), DUNE::Maneuvers::Maneuver::onMain(), DUNE::Control::PathController::onMain(), and Autonomy::TextActions::Task::onMain().

void DUNE::Tasks::Task::war ( const char *  format,   ...  )

virtual

Send an human-readable warning message to all configured output channels and files.

Parameters

format	string format (similar to printf(3)).
...	arguments.

Reimplemented from DUNE::Tasks::AbstractTask.

References DUNE::IMC::LogBookEntry::LBET_WARNING.

Referenced by DUNE::Tasks::Manager::adjustPriorities(), DUNE::Simulation::UAVSimulation::commandAirspeed(), DUNE::Simulation::UAVSimulation::commandAlt(), DUNE::Simulation::UAVSimulation::commandBank(), DUNE::Simulation::UAVSimulation::commandFPA(), DUNE::Simulation::UAVSimulation::commandPitch(), DUNE::Control::BasicAutopilot::consume(), DUNE::Control::PathController::consume(), DUNE::Navigation::BasicNavigation::consume(), DUNE::Tasks::SourceFilter::defineMessageSystemEntityFilter(), DUNE::Hardware::BasicModem::flushInput(), getPriority(), Autonomy::TextActions::Task::handleChangeNumCommand(), Autonomy::TextActions::Task::handleInfoCommand(), Autonomy::TextActions::Task::handleRebootCommand(), DUNE::Control::BottomTracker::onEstimatedState(), Autonomy::TextActions::Task::reply(), DUNE::Simulation::UAVSimulation::setPosition(), DUNE::Simulation::UAVSimulation::setVelocity(), and DUNE::Simulation::UAVSimulation::update().

void DUNE::Tasks::Task::writeParamsXML

(

std::ostream &

os

)

const

Write task parameters in XML format.

Parameters

[in]

os

output stream.

References getEntityLabel(), onWriteParamsXML(), and DUNE::Tasks::ParameterTable::writeXML().

Referenced by receive().

Member Data Documentation

Context& DUNE::Tasks::Task::m_ctx

protected

Context.

Referenced by DUNE::Control::BasicAutopilot::BasicAutopilot(), DUNE::Navigation::BasicNavigation::BasicNavigation(), DUNE::Navigation::BasicNavigation::checkDeclination(), DUNE::Control::BasicRemoteOperation::consume(), DUNE::Daemon::consume(), DUNE::Daemon::Daemon(), dispatch(), getSystemId(), getSystemName(), loadConfig(), DUNE::Navigation::BasicNavigation::onEntityResolution(), DUNE::Daemon::onResourceInitialization(), onSetEntityParameters(), DUNE::Navigation::BasicNavigation::onUpdateParameters(), DUNE::Control::PathController::PathController(), reserveEntities(), reserveEntity(), resolveEntity(), resolveSystemId(), resolveSystemName(), Task(), DUNE::Daemon::writeParamsXML(), and DUNE::Daemon::~Daemon().

std::vector<Entities::BasicEntity*> DUNE::Tasks::Task::m_entities

protected

Owned entity list.

Referenced by getLocalEntity(), reserveEntity(), Task(), and ~Task().

Collaboration diagram for DUNE::Tasks::Task: