Detailed Description

Medium task.

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)

void	onEntityResolution (void)

void	onResourceInitialization (void)

void	consume (const IMC::EntityState *msg)

void	consume (const IMC::EstimatedState *msg)

void	consume (const IMC::IndicatedSpeed *msg)

void	consume (const IMC::GpsFix *msg)

void	consume (const IMC::Salinity *msg)

void	consume (const IMC::SoundSpeed *msg)

bool	inWater (void)

bool	isGpsAvailable (void)

void	checkWater (void)

void	checkUUV (void)

void	checkUAV (void)

bool	isCopter (void)

bool	isUAV (void)

bool	waterMediumCheck (void)

void	updateStateMachine (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
IMC::VehicleMedium	m_vm

Time::Counter< float >	m_in_water

Time::Counter< float >	m_wet_devs

Time::Counter< float >	m_gps_status

Time::Counter< float >	m_init

uint16_t	m_gps_val_bits

float	m_depth

float	m_airspeed

float	m_gndspeed

unsigned	m_medium_eid

float	m_altitude

Arguments	m_args

Additional Inherited Members
Public Types inherited from DUNE::Concurrency::Runnable
enum	State { StateStarting, StateRunning, StateStopping, StateDead, StateUnknown }

Protected Member Functions inherited from DUNE::Tasks::Task
void	setEntityState (IMC::EntityState::StateEnum state, Status::Code code)

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

IMC::EntityState::StateEnum	getEntityState (void) const

unsigned int	reserveEntity (const std::string &label)

template<typename E >
E *	reserveEntity (const std::string &label)

Entities::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	onReportEntityState (void)

virtual void	onResourceAcquisition (void)

virtual void	onResourceRelease (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)

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
Context &	m_ctx

std::vector< Entities::BasicEntity * >	m_entities

Constructor & Destructor Documentation

◆ Task()

Monitors::Medium::Task::Task	(	const std::string &	name,
		Tasks::Context &	ctx
	)

inline

Member Function Documentation

◆ checkUAV()

void Monitors::Medium::Task::checkUAV ( void )

inline

Check data input. Only for aerial vehicles.

References Monitors::Medium::Arguments::airspeed_lm, Monitors::Medium::Arguments::altitude_lm, and Monitors::Medium::Arguments::gndspeed_lm.

◆ checkUUV()

void Monitors::Medium::Task::checkUUV ( void )

inline

Check data input. Only for water going vehicles.

References Monitors::Medium::Arguments::depth_lm.

◆ checkWater()

void Monitors::Medium::Task::checkWater ( void )

inline

Check presence of water sensors.

◆ consume() [1/6]

void Monitors::Medium::Task::consume ( const IMC::EntityState * msg )

inline

◆ consume() [2/6]

void Monitors::Medium::Task::consume ( const IMC::EstimatedState * msg )

inline

◆ consume() [3/6]

void Monitors::Medium::Task::consume ( const IMC::IndicatedSpeed * msg )

inline

◆ consume() [4/6]

void Monitors::Medium::Task::consume ( const IMC::GpsFix * msg )

inline

◆ consume() [5/6]

void Monitors::Medium::Task::consume ( const IMC::Salinity * msg )

inline

References Monitors::Medium::Arguments::salinity_lm.

◆ consume() [6/6]

void Monitors::Medium::Task::consume ( const IMC::SoundSpeed * msg )

inline

References Monitors::Medium::Arguments::sspeed_lm.

◆ inWater()

bool Monitors::Medium::Task::inWater ( void )

inline

Routine to check if we have recent wet sensor measurements.

Returns: true if we have recent measurements, false otherwise.

◆ isCopter()

bool Monitors::Medium::Task::isCopter ( void )

inline

Check if vehicle is a copter.

Returns: true if vehicle is a UAV of sub-type Copter.

References Monitors::Medium::Arguments::stype.

◆ isGpsAvailable()

bool Monitors::Medium::Task::isGpsAvailable ( void )

inline

Routine to check if we have recent valid GPS measurements.

Returns: true if we have recent fixes, false otherwise.

◆ isUAV()

bool Monitors::Medium::Task::isUAV ( void )

inline

Check if vehicle is a UAV.

Returns: true if vehicle is a UAV.

References Monitors::Medium::Arguments::vtype.

◆ onEntityResolution()

void Monitors::Medium::Task::onEntityResolution ( void )

inlinevirtual

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

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

Reimplemented from DUNE::Tasks::Task.

References Monitors::Medium::Arguments::label_medium.

◆ onResourceInitialization()

void Monitors::Medium::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::Medium::Arguments::gps_timeout, Monitors::Medium::Arguments::init_time, and Monitors::Medium::Arguments::water_timeout.

◆ task()

void Monitors::Medium::Task::task ( void )

inlinevirtual

The task to be executed on each cycle.

Implements DUNE::Tasks::Periodic.

◆ updateStateMachine()

void Monitors::Medium::Task::updateStateMachine ( void )

inline

Update state machine.

References Monitors::Medium::Arguments::depth_lm.

◆ waterMediumCheck()

bool Monitors::Medium::Task::waterMediumCheck ( void )

inline

Check water medium presence.

Returns: true if water medium can be detected or if it can be ignored.

Member Data Documentation

◆ m_airspeed

float Monitors::Medium::Task::m_airspeed

Vehicle airspeed.

◆ m_altitude

float Monitors::Medium::Task::m_altitude

Vehicle Altitude.

◆ m_args

Arguments Monitors::Medium::Task::m_args

Task arguments.

◆ m_depth

float Monitors::Medium::Task::m_depth

Vehicle depth.

◆ m_gndspeed

float Monitors::Medium::Task::m_gndspeed

Vehicle groundspeed.

◆ m_gps_status

Time::Counter<float> Monitors::Medium::Task::m_gps_status

Timer to check presence of GPS fixes.

◆ m_gps_val_bits

uint16_t Monitors::Medium::Task::m_gps_val_bits

GPS validation bits.

◆ m_in_water

Time::Counter<float> Monitors::Medium::Task::m_in_water

Timer to check status of water measurements.

◆ m_init

Time::Counter<float> Monitors::Medium::Task::m_init

Initialization timer.

◆ m_medium_eid

unsigned Monitors::Medium::Task::m_medium_eid

Medium Sensor entity id.

◆ m_vm

IMC::VehicleMedium Monitors::Medium::Task::m_vm

Vehicle Medium.

◆ m_wet_devs

Time::Counter<float> Monitors::Medium::Task::m_wet_devs

Timer to check if we're capable of detecting water.

Collaboration diagram for Monitors::Medium::Task:

Detailed Description

Public Member Functions

Public Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ Task()

Member Function Documentation

◆ checkUAV()

◆ checkUUV()

◆ checkWater()

◆ consume() [1/6]

◆ consume() [2/6]

◆ consume() [3/6]

◆ consume() [4/6]

◆ consume() [5/6]

◆ consume() [6/6]

◆ inWater()

◆ isCopter()

◆ isGpsAvailable()

◆ isUAV()

◆ onEntityResolution()

◆ onResourceInitialization()

◆ task()

◆ updateStateMachine()

◆ waterMediumCheck()

Member Data Documentation

◆ m_airspeed

◆ m_altitude

◆ m_args

◆ m_depth

◆ m_gndspeed

◆ m_gps_status

◆ m_gps_val_bits

◆ m_in_water

◆ m_init

◆ m_medium_eid

◆ m_vm

◆ m_wet_devs