DUNE: Uniform Navigational Environment  2019.02.1
Monitors::Emergency::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
void onUpdateParameters (void)
 
void onResourceRelease (void)
 
void onResourceAcquisition (void)
 
void onResourceInitialization (void)
 
void onActivation (void)
 
void onDeactivation (void)
 
void consume (const IMC::GpsFix *msg)
 
void consume (const IMC::ReportControl *msg)
 
void consume (const IMC::TextMessage *msg)
 
void consume (const IMC::Abort *msg)
 
void consume (const IMC::Heartbeat *msg)
 
void consume (const IMC::FuelLevel *msg)
 
void consume (const IMC::Voltage *msg)
 
void consume (const IMC::PlanControlState *msg)
 
void consume (const IMC::VehicleMedium *msg)
 
void consume (const IMC::VehicleState *msg)
 
char vehicleStateChar (const uint8_t vstate)
 
void sendSMS (const char *prefix, unsigned timeout, std::string recipient="")
 
void sendScheduled (void)
 
void sendDistress (void)
 
void task (void)
 
- Public Member Functions inherited from DUNE::Tasks::Periodic
 Periodic (const std::string &name, Context &ctx)
 
virtual ~Periodic (void)
 
void setFrequency (double freq)
 
double getFrequency (void) const
 
double getRunTime (void) const
 
unsigned getRunCount (void) const
 
- 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

std::string m_emsg
 
float m_fuel
 
float m_fuel_conf
 
float m_bat_voltage
 
bool m_in_mission
 
float m_progress
 
unsigned m_req
 
uint8_t m_vstate
 
Counter< double > m_lost_coms_timer
 
DUNE::Monitors::MediumHandler m_hand
 
Supervisors::Reporter::Clientm_reporter
 
Arguments m_args
 

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 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 Monitors::Emergency::Task::consume ( const IMC::GpsFix *  msg)
inline
void Monitors::Emergency::Task::consume ( const IMC::ReportControl *  msg)
inline
void Monitors::Emergency::Task::consume ( const IMC::TextMessage *  msg)
inline
void Monitors::Emergency::Task::consume ( const IMC::Abort *  msg)
inline
void Monitors::Emergency::Task::consume ( const IMC::Heartbeat *  msg)
inline
void Monitors::Emergency::Task::consume ( const IMC::FuelLevel *  msg)
inline
void Monitors::Emergency::Task::consume ( const IMC::Voltage *  msg)
inline
void Monitors::Emergency::Task::consume ( const IMC::PlanControlState *  msg)
inline
void Monitors::Emergency::Task::consume ( const IMC::VehicleMedium *  msg)
inline
void Monitors::Emergency::Task::consume ( const IMC::VehicleState *  msg)
inline
void Monitors::Emergency::Task::onActivation ( void  )
inlinevirtual

Called when the task starts/resumes normal execution.

Reimplemented from DUNE::Tasks::Task.

void Monitors::Emergency::Task::onDeactivation ( void  )
inlinevirtual

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

Reimplemented from DUNE::Tasks::Task.

void Monitors::Emergency::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_GSM.

void Monitors::Emergency::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 Monitors::Emergency::Arguments::heartbeat_tout.

void Monitors::Emergency::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 Monitors::Emergency::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 Monitors::Emergency::Arguments::heartbeat_tout.

void Monitors::Emergency::Task::sendDistress ( void  )
inline

Send distress messages if active and not underwater, or, if not executing mission and waiting at water surface.

References DUNE::Monitors::MediumHandler::isUnderwater(), DUNE::Monitors::MediumHandler::isWaterSurface(), and Monitors::Emergency::Arguments::sms_lost_coms_ttl.

void Monitors::Emergency::Task::sendSMS ( const char *  prefix,
unsigned  timeout,
std::string  recipient = "" 
)
inline

Send SMS request.

Parameters
[in]prefixmessage prefix.
[in]timeouttime to live.
[in]recipientdestination recipient.

References DUNE::IMC::IridiumMsgTx::data, Monitors::Emergency::Arguments::interface, Monitors::Emergency::Arguments::recipient, DUNE::IMC::IridiumMsgTx::req_id, and DUNE::IMC::IridiumMsgTx::ttl.

void Monitors::Emergency::Task::task ( void  )
inlinevirtual

The task to be executed on each cycle.

Implements DUNE::Tasks::Periodic.

char Monitors::Emergency::Task::vehicleStateChar ( const uint8_t  vstate)
inline

Member Data Documentation

Arguments Monitors::Emergency::Task::m_args

Task arguments.

float Monitors::Emergency::Task::m_bat_voltage

Batteries voltage.

std::string Monitors::Emergency::Task::m_emsg

Emergency message.

float Monitors::Emergency::Task::m_fuel

Fuel level.

float Monitors::Emergency::Task::m_fuel_conf

Confidence in fuel level.

DUNE::Monitors::MediumHandler Monitors::Emergency::Task::m_hand

Medium handler.

bool Monitors::Emergency::Task::m_in_mission

True if executing plan.

Counter<double> Monitors::Emergency::Task::m_lost_coms_timer

Lost communications timer.

float Monitors::Emergency::Task::m_progress

Executing plan's progress.

Supervisors::Reporter::Client* Monitors::Emergency::Task::m_reporter

Reporter API.

unsigned Monitors::Emergency::Task::m_req

Iridium request identifier.

uint8_t Monitors::Emergency::Task::m_vstate

Vehicle State.

Collaboration diagram for Monitors::Emergency::Task:
Collaboration graph