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

void	onResourceAcquisition (void)

void	onResourceInitialization (void)

void	onResourceRelease (void)

void	resetStateDataSensor (void)

void	getInfoOfCTD ()

void	formateDataCTD (void)

void	dispatchData (void)

void	onMain (void)

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
SerialPort *	m_uart

Poll	m_poll

Arguments	m_args

SensorStateData	m_sdstate

DriverOEMX *	m_driver

Counter< double >	m_wdog

IMC::Conductivity	m_cond

IMC::Salinity	m_sali

IMC::SoundSpeed	m_sspe

IMC::Temperature	m_temp

IMC::Pressure	m_pres

IMC::Turbidity	m_turb

IMC::Depth	m_depth

float	m_temperature

float	m_salinity

float	m_pressure

float	m_conductivity

float	m_soundSpeed

float	m_turbidity

std::size_t	m_numberSensors

double	m_tstamp

bool	m_first_value

float	m_offset_pressure

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	onEntityResolution (void)

virtual void	onReportEntityState (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()

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

inline

Constructor.

Parameters

[in]	name	task name.
[in]	ctx	context.

References Sensors::OEMX::Arguments::input_samples_number, Sensors::OEMX::Arguments::input_timeout, Sensors::OEMX::Arguments::primary_mount, Sensors::OEMX::Arguments::secondary_mount, Sensors::OEMX::Arguments::uart_baud, and Sensors::OEMX::Arguments::uart_dev.

Member Function Documentation

◆ dispatchData()

void Sensors::OEMX::Task::dispatchData ( void )

inline

References Sensors::OEMX::SensorStateData::haveConductivity, Sensors::OEMX::SensorStateData::havePressure, Sensors::OEMX::SensorStateData::haveSalinity, Sensors::OEMX::SensorStateData::haveSoundSpeed, Sensors::OEMX::SensorStateData::haveTemperature, and Sensors::OEMX::SensorStateData::haveTurbidity.

◆ formateDataCTD()

void Sensors::OEMX::Task::formateDataCTD ( void )

inline

References Sensors::OEMX::DriverOEMX::CTDData::dataReceived, Sensors::OEMX::SensorStateData::haveConductivity, Sensors::OEMX::SensorStateData::havePressure, Sensors::OEMX::SensorStateData::haveSalinity, Sensors::OEMX::SensorStateData::haveSoundSpeed, Sensors::OEMX::SensorStateData::haveTemperature, Sensors::OEMX::SensorStateData::haveTurbidity, Sensors::OEMX::DriverOEMX::m_ctdData, Sensors::OEMX::Arguments::primary_mount, and Sensors::OEMX::Arguments::secondary_mount.

◆ getInfoOfCTD()

void Sensors::OEMX::Task::getInfoOfCTD ( )

inline

References Sensors::OEMX::DriverOEMX::CTDData::ctdInfo, Sensors::OEMX::DriverOEMX::getInfoOfCTD(), Sensors::OEMX::DriverOEMX::m_ctdData, Sensors::OEMX::DriverOEMX::CTDData::primaryInfo, and Sensors::OEMX::DriverOEMX::CTDData::secondaryInfo.

◆ onMain()

void Sensors::OEMX::Task::onMain ( void )

inlinevirtual

Main loop.

Implements DUNE::Tasks::Task.

References Sensors::OEMX::DriverOEMX::haveNewData(), and Sensors::OEMX::DriverOEMX::sendCommand().

◆ onResourceAcquisition()

void Sensors::OEMX::Task::onResourceAcquisition ( void )

inlinevirtual

Acquire resources.

Reimplemented from DUNE::Tasks::Task.

References Sensors::OEMX::SensorStateData::haveConductivity, Sensors::OEMX::SensorStateData::havePressure, Sensors::OEMX::SensorStateData::haveSalinity, Sensors::OEMX::SensorStateData::haveSoundSpeed, Sensors::OEMX::SensorStateData::haveTemperature, Sensors::OEMX::SensorStateData::haveTurbidity, Sensors::OEMX::Arguments::primary_mount, Sensors::OEMX::Arguments::secondary_mount, Sensors::OEMX::Arguments::uart_baud, and Sensors::OEMX::Arguments::uart_dev.

◆ onResourceInitialization()

void Sensors::OEMX::Task::onResourceInitialization ( void )

inlinevirtual

Initialize resources.

Reimplemented from DUNE::Tasks::Task.

References Sensors::OEMX::DriverOEMX::initCTD(), Sensors::OEMX::Arguments::input_samples_number, and Sensors::OEMX::Arguments::input_timeout.

◆ onResourceRelease()

void Sensors::OEMX::Task::onResourceRelease ( void )

inlinevirtual

Release resources.

Reimplemented from DUNE::Tasks::Task.

◆ resetStateDataSensor()

void Sensors::OEMX::Task::resetStateDataSensor ( void )

inline

References Sensors::OEMX::SensorStateData::haveConductivity, Sensors::OEMX::SensorStateData::havePressure, Sensors::OEMX::SensorStateData::haveSalinity, Sensors::OEMX::SensorStateData::haveSoundSpeed, Sensors::OEMX::SensorStateData::haveTemperature, and Sensors::OEMX::SensorStateData::haveTurbidity.

Member Data Documentation

◆ m_args

Arguments Sensors::OEMX::Task::m_args

Task arguments.

◆ m_cond

IMC::Conductivity Sensors::OEMX::Task::m_cond

Conductivity.

◆ m_conductivity

float Sensors::OEMX::Task::m_conductivity

Conductivity.

◆ m_depth

IMC::Depth Sensors::OEMX::Task::m_depth

Depth.

◆ m_driver

DriverOEMX* Sensors::OEMX::Task::m_driver

Driver of CTD.

◆ m_first_value

bool Sensors::OEMX::Task::m_first_value

Flag to control calibration of CTD.

◆ m_numberSensors

std::size_t Sensors::OEMX::Task::m_numberSensors

Number of sensors plug in CTD.

◆ m_offset_pressure

float Sensors::OEMX::Task::m_offset_pressure

Offset of pressure from CTD.

◆ m_poll

Poll Sensors::OEMX::Task::m_poll

I/O Multiplexer.

◆ m_pres

IMC::Pressure Sensors::OEMX::Task::m_pres

Pressure.

◆ m_pressure

float Sensors::OEMX::Task::m_pressure

Pressure.

◆ m_sali

IMC::Salinity Sensors::OEMX::Task::m_sali

Salinity.

◆ m_salinity

float Sensors::OEMX::Task::m_salinity

Salinity.

◆ m_sdstate

SensorStateData Sensors::OEMX::Task::m_sdstate

Sensor data state.

◆ m_soundSpeed

float Sensors::OEMX::Task::m_soundSpeed

SoundSpeed.

◆ m_sspe

IMC::SoundSpeed Sensors::OEMX::Task::m_sspe

Sound speed.

◆ m_temp

IMC::Temperature Sensors::OEMX::Task::m_temp

Temperature.

◆ m_temperature

float Sensors::OEMX::Task::m_temperature

Temperature.

◆ m_tstamp

double Sensors::OEMX::Task::m_tstamp

Timestamp.

◆ m_turb

IMC::Turbidity Sensors::OEMX::Task::m_turb

Turbidity.

◆ m_turbidity

float Sensors::OEMX::Task::m_turbidity

Turbidity.

◆ m_uart

SerialPort* Sensors::OEMX::Task::m_uart

Serial port handle.

◆ m_wdog

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

Watchdog.

Collaboration diagram for Sensors::OEMX::Task:

Public Member Functions

Public Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ Task()

Member Function Documentation

◆ dispatchData()

◆ formateDataCTD()

◆ getInfoOfCTD()

◆ onMain()

◆ onResourceAcquisition()

◆ onResourceInitialization()

◆ onResourceRelease()

◆ resetStateDataSensor()

Member Data Documentation

◆ m_args

◆ m_cond

◆ m_conductivity

◆ m_depth

◆ m_driver

◆ m_first_value

◆ m_numberSensors

◆ m_offset_pressure

◆ m_poll

◆ m_pres

◆ m_pressure

◆ m_sali

◆ m_salinity

◆ m_sdstate

◆ m_soundSpeed

◆ m_sspe

◆ m_temp

◆ m_temperature

◆ m_tstamp

◆ m_turb

◆ m_turbidity

◆ m_uart

◆ m_wdog