DUNE::Hardware::BasicDeviceDriver Class Reference

Public Member Functions
	BasicDeviceDriver (const std::string &name, DUNE::Tasks::Context &ctx)
void	consume (const IMC::EstimatedState *msg)
void	consume (const IMC::LoggingControl *msg)
void	consume (const IMC::SoundSpeed *msg)
void	consume (const IMC::PowerChannelState *msg)
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)

Protected Member Functions
IO::Handle *	openDeviceHandle (const std::string &uri)
IO::Handle *	openUART (const std::string &uri)
IO::Handle *	openSocketTCP (const std::string &uri)
void	setPowerOnDelay (double value)
void	setPowerOffDelay (double value)
void	setPostPowerOnDelay (double value)
void	clearPowerChannelNames (void)
void	addPowerChannelName (const std::string &name)
virtual void	onIdle (void)
virtual bool	onConnect (void)=0
virtual void	onDisconnect (void)=0
virtual bool	enableLogControl (void)
virtual bool	onReadData (void)=0
virtual bool	onSynchronize (void)
virtual void	onEstimatedState (const DUNE::IMC::EstimatedState &msg)
virtual void	onSoundSpeed (double value)
virtual void	onOpenLog (const DUNE::FileSystem::Path &path)
virtual void	onCloseLog (void)
FileSystem::Path	getUnusedLogPath (const FileSystem::Path &path, const std::string &extension)
virtual void	onInitializeDevice (void)=0
virtual bool	discardEstimatedState (const IMC::EstimatedState *msg)
void	clearFaultCount (void)
void	clearTimeoutCount (void)
void	wait (double duration)
void	setRestartDelay (double seconds)
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::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	bind (unsigned int message_id, AbstractConsumer *consumer)
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	onUpdateParameters (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)

Additional Inherited Members
Public Types inherited from DUNE::Concurrency::Runnable
enum	State {   StateStarting, StateRunning, StateStopping, StateDead,   StateUnknown }
Protected Attributes inherited from DUNE::Tasks::Task
Context &	m_ctx
std::vector< Entities::BasicEntity * >	m_entities

Constructor & Destructor Documentation

BasicDeviceDriver()

DUNE::Hardware::BasicDeviceDriver::BasicDeviceDriver	(	const std::string &	name,
		DUNE::Tasks::Context &	ctx
	)

References DUNE::Status::CODE_IDLE, DUNE::IMC::EntityState::ESTA_NORMAL, DUNE::Tasks::Task::requestDeactivation(), and DUNE::Tasks::Task::setEntityState().

Member Function Documentation

addPowerChannelName()

void DUNE::Hardware::BasicDeviceDriver::addPowerChannelName ( const std::string &  name )

inlineprotected

clearFaultCount()

void DUNE::Hardware::BasicDeviceDriver::clearFaultCount ( void  )

inlineprotected

clearPowerChannelNames()

void DUNE::Hardware::BasicDeviceDriver::clearPowerChannelNames ( void  )

inlineprotected

clearTimeoutCount()

void DUNE::Hardware::BasicDeviceDriver::clearTimeoutCount ( void  )

inlineprotected

References wait().

consume() [1/4]

void DUNE::Hardware::BasicDeviceDriver::consume

(

const IMC::EstimatedState *

msg

)

Consume estimated state messages.

Parameters

[in]

msg

EstimatedState message.

References discardEstimatedState(), DUNE::Tasks::Task::isActive(), and onEstimatedState().

consume() [2/4]

void DUNE::Hardware::BasicDeviceDriver::consume

(

const IMC::LoggingControl *

msg

)

Consume logging control messages.

Parameters

[in]

msg

LoggingControl message.

References DUNE::IMC::LoggingControl::COP_CURRENT_NAME, DUNE::IMC::LoggingControl::COP_STARTED, DUNE::IMC::LoggingControl::COP_STOPPED, enableLogControl(), DUNE::IMC::LoggingControl::name, and DUNE::IMC::LoggingControl::op.

consume() [3/4]

void DUNE::Hardware::BasicDeviceDriver::consume

(

const IMC::SoundSpeed *

msg

)

Consume sound speed messages.

Parameters

[in]

msg

SoundSpeed message.

References DUNE::Tasks::Task::debug(), enableLogControl(), DUNE::Tasks::Task::isActivating(), DUNE::Tasks::Task::isActive(), onCloseLog(), onOpenLog(), onReadData(), onSoundSpeed(), and DUNE::IMC::SoundSpeed::value.

consume() [4/4]

void DUNE::Hardware::BasicDeviceDriver::consume

(

const IMC::PowerChannelState *

msg

)

Consume power channel state messages.

Parameters

[in]	msg	PowerChannelState message.
[in]	msg	power channel state.

References DUNE::Tasks::Task::activate(), DUNE::Tasks::Task::activationFailed(), DUNE::Status::CODE_ACTIVATING, DUNE::Status::CODE_DEACTIVATING, DUNE::Tasks::Task::deactivate(), DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::dispatch(), enableLogControl(), DUNE::Tasks::Task::err(), DUNE::IMC::EntityState::ESTA_NORMAL, DUNE::Tasks::Task::getActivationTime(), DUNE::Tasks::Task::getDeactivationTime(), DUNE::IMC::PowerChannelControl::name, DUNE::IMC::PowerChannelState::name, onSynchronize(), DUNE::IMC::PowerChannelControl::op, DUNE::Time::Counter< T >::overflow(), DUNE::IMC::PowerChannelControl::PCC_OP_TURN_OFF, DUNE::IMC::PowerChannelControl::PCC_OP_TURN_ON, DUNE::IMC::PowerChannelState::PCS_ON, DUNE::Tasks::Task::requestActivation(), DUNE::Tasks::Task::setEntityState(), DUNE::Time::Counter< T >::setTop(), DUNE::Tasks::Task::spew(), DUNE::IMC::PowerChannelState::state, and DUNE::Tasks::Task::trace().

discardEstimatedState()

virtual bool DUNE::Hardware::BasicDeviceDriver::discardEstimatedState ( const IMC::EstimatedState *  msg )

inlineprotectedvirtual

Test if the estimated state message should be discarded.

Parameters

[in]

msg

estimated state message.

Returns

true to discard message, false otherwise.

References DUNE::IMC::Message::getSource(), and DUNE::Tasks::Task::getSystemId().

Referenced by consume().

enableLogControl()

virtual bool DUNE::Hardware::BasicDeviceDriver::enableLogControl ( void  )

inlineprotectedvirtual

References getUnusedLogPath(), onCloseLog(), onEstimatedState(), onInitializeDevice(), onOpenLog(), onReadData(), onSoundSpeed(), and onSynchronize().

Referenced by consume(), and openSocketTCP().

getUnusedLogPath()

FileSystem::Path DUNE::Hardware::BasicDeviceDriver::getUnusedLogPath ( const FileSystem::Path &  path, const std::string &  extension  )

protected

References DUNE::Tasks::Context::dir_log, and DUNE::Tasks::Task::m_ctx.

Referenced by enableLogControl().

onCloseLog()

void DUNE::Hardware::BasicDeviceDriver::onCloseLog ( void  )

protectedvirtual

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

Referenced by consume(), and enableLogControl().

onConnect()

virtual bool DUNE::Hardware::BasicDeviceDriver::onConnect ( void  )

protectedpure virtual

Referenced by onIdle(), and openSocketTCP().

onDisconnect()

virtual void DUNE::Hardware::BasicDeviceDriver::onDisconnect ( void  )

protectedpure virtual

Referenced by onIdle(), and openSocketTCP().

onEstimatedState()

void DUNE::Hardware::BasicDeviceDriver::onEstimatedState ( const DUNE::IMC::EstimatedState &  msg )

protectedvirtual

Referenced by consume(), and enableLogControl().

onIdle()

virtual void DUNE::Hardware::BasicDeviceDriver::onIdle ( void  )

inlineprotectedvirtual

References onConnect(), and onDisconnect().

Referenced by setRestartDelay().

onInitializeDevice()

virtual void DUNE::Hardware::BasicDeviceDriver::onInitializeDevice ( void  )

protectedpure virtual

Referenced by enableLogControl(), and openSocketTCP().

onOpenLog()

void DUNE::Hardware::BasicDeviceDriver::onOpenLog ( const DUNE::FileSystem::Path &  path )

protectedvirtual

References DUNE::FileSystem::Path::c_str(), and DUNE::Tasks::Task::trace().

Referenced by consume(), and enableLogControl().

onReadData()

virtual bool DUNE::Hardware::BasicDeviceDriver::onReadData ( void  )

protectedpure virtual

Referenced by consume(), and enableLogControl().

onSoundSpeed()

void DUNE::Hardware::BasicDeviceDriver::onSoundSpeed ( double  value )

protectedvirtual

Referenced by consume(), and enableLogControl().

onSynchronize()

bool DUNE::Hardware::BasicDeviceDriver::onSynchronize ( void  )

protectedvirtual

Referenced by consume(), and enableLogControl().

openDeviceHandle()

IO::Handle * DUNE::Hardware::BasicDeviceDriver::openDeviceHandle ( const std::string &  uri )

protected

Create an I/O handle given an URI.

Parameters

[in]

uri

URI.

Returns

I/O handle.

References DUNE::IO::Handle::flush(), openSocketTCP(), and openUART().

openSocketTCP()

IO::Handle * DUNE::Hardware::BasicDeviceDriver::openSocketTCP ( const std::string &  uri )

protected

Create an I/O handle given a TCP port URI.

Parameters

[in]

uri

URI of the form: tcp://HOST:PORT

Returns

I/O handle.

References DUNE::Tasks::Task::activationFailed(), DUNE::Memory::clear(), DUNE::Status::CODE_ACTIVE, DUNE::Status::CODE_IDLE, DUNE::IMC::LoggingControl::COP_REQUEST_CURRENT_NAME, DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::dispatch(), enableLogControl(), DUNE::IMC::EntityState::ESTA_NORMAL, DUNE::Time::Counter< T >::getElapsed(), onConnect(), onDisconnect(), onInitializeDevice(), DUNE::IMC::LoggingControl::op, DUNE::Tasks::Task::setEntityState(), and DUNE::Tasks::Task::trace().

Referenced by openDeviceHandle().

openUART()

IO::Handle * DUNE::Hardware::BasicDeviceDriver::openUART ( const std::string &  uri )

protected

Create an I/O handle given a serial port URI.

Parameters

[in]

uri

URI of the form: uart://DEVICE:BAUD

Returns

I/O handle.

References DUNE::Hardware::SerialPort.

Referenced by openDeviceHandle().

setPostPowerOnDelay()

void DUNE::Hardware::BasicDeviceDriver::setPostPowerOnDelay ( double  value )

inlineprotected

Set post power-on delay.

Parameters

[in]

value

delay in second.

setPowerOffDelay()

void DUNE::Hardware::BasicDeviceDriver::setPowerOffDelay ( double  value )

inlineprotected

Set the amount of time to wait before powering down the device.

Parameters

[in]

value

delay in second.

setPowerOnDelay()

void DUNE::Hardware::BasicDeviceDriver::setPowerOnDelay ( double  value )

inlineprotected

Set the amount of time to wait before powering up the device.

Parameters

[in]

value

delay in second.

setRestartDelay()

void DUNE::Hardware::BasicDeviceDriver::setRestartDelay ( double  seconds )

inlineprotected

References onIdle().

wait()

void DUNE::Hardware::BasicDeviceDriver::wait ( double  duration )

protected

Suspend execution for a given amount of time while only consume messages.

Parameters

[in]

duration

amount of time to wait in second.

References DUNE::Tasks::Task::consumeMessages(), DUNE::IMC::EntityState::ESTA_NORMAL, DUNE::Tasks::Task::isActivating(), DUNE::Tasks::Task::isActive(), DUNE::Tasks::Task::requestDeactivation(), DUNE::Tasks::Task::setEntityState(), DUNE::Tasks::Task::stopping(), DUNE::Tasks::Task::waitForMessages(), and DUNE::Tasks::Task::war().

Referenced by clearTimeoutCount().

Collaboration diagram for DUNE::Hardware::BasicDeviceDriver: