Sensors::SW100::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onUpdateParameters (void)
bool	onConnect () override
void	onDisconnect () override
void	onInitializeDevice () override
void	consume (const IMC::VehicleMedium *msg)
void	consume (const IMC::VehicleState *msg)
bool	ableToCalibrate (void)
bool	onReadData () override

Public Attributes
Driver *	m_driver
SerialPort *	m_uart
IMC::Depth	m_depth
IMC::Salinity	m_salinity
IMC::Conductivity	m_conductivity
IMC::Temperature	m_temperature
IMC::DepthOffset	m_depth_offset
MovingAverage< double >	m_depth_avg
bool	m_at_surface
bool	m_maneuvering
CalibrationState	m_cs
Arguments	m_args
Counter< double >	m_wdog

Constructor & Destructor Documentation

Task()

Sensors::SW100::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Sensors::SW100::Arguments::data_timeout, Sensors::SW100::Arguments::depth_cal, Sensors::SW100::Arguments::io_dev, and Sensors::SW100::Arguments::read_frequency.

Member Function Documentation

ableToCalibrate()

bool Sensors::SW100::Task::ableToCalibrate ( void  )

inline

consume() [1/2]

void Sensors::SW100::Task::consume ( const IMC::VehicleMedium *  msg )

inline

consume() [2/2]

void Sensors::SW100::Task::consume ( const IMC::VehicleState *  msg )

inline

onConnect()

bool Sensors::SW100::Task::onConnect ( void  )

inlineoverride

Try to connect to the device.

Returns

true if connection was established, false otherwise.

References Sensors::SW100::Arguments::io_dev.

onDisconnect()

void Sensors::SW100::Task::onDisconnect ( void  )

inlineoverride

Disconnect from device.

onInitializeDevice()

void Sensors::SW100::Task::onInitializeDevice ( void  )

inlineoverride

Device may be initialized.

References Sensors::SW100::Arguments::data_timeout.

onReadData()

bool Sensors::SW100::Task::onReadData ( void  )

inlineoverride

Get data from device.

Returns

true if data was received, false otherwise.

References DUNE::Math::MovingAverage< T >::clear(), Sensors::SW100::CS_ABLE, Sensors::SW100::CS_UNABLE, Sensors::SW100::Arguments::depth_cal, Sensors::SW100::Driver::getData(), Sensors::SW100::Driver::read(), Sensors::SW100::Driver::setup(), and DUNE::Math::MovingAverage< T >::update().

onUpdateParameters()

void Sensors::SW100::Task::onUpdateParameters ( void  )

inline

References Sensors::SW100::Arguments::read_frequency.

Member Data Documentation

m_args

Arguments Sensors::SW100::Task::m_args

Task arguments.

m_at_surface

bool Sensors::SW100::Task::m_at_surface

Vehicle is at the surface.

m_conductivity

IMC::Conductivity Sensors::SW100::Task::m_conductivity

Measured conductivity.

m_cs

CalibrationState Sensors::SW100::Task::m_cs

Calibration state.

m_depth

IMC::Depth Sensors::SW100::Task::m_depth

Measured depth.

m_depth_avg

MovingAverage<double> Sensors::SW100::Task::m_depth_avg

Moving average to compute depth offset.

m_depth_offset

IMC::DepthOffset Sensors::SW100::Task::m_depth_offset

Depth Offset.

m_driver

Driver* Sensors::SW100::Task::m_driver

Device driver.

m_maneuvering

bool Sensors::SW100::Task::m_maneuvering

Vehicle is maneuvering.

m_salinity

IMC::Salinity Sensors::SW100::Task::m_salinity

Measured salinity.

m_temperature

IMC::Temperature Sensors::SW100::Task::m_temperature

Measured temperature.

m_uart

SerialPort* Sensors::SW100::Task::m_uart

Serial port.

m_wdog

Counter<double> Sensors::SW100::Task::m_wdog

Watchdog.

Collaboration diagram for Sensors::SW100::Task: