DUNE: Uniform Navigational Environment  2024.09.0
List of all members | Public Member Functions | Public Attributes
Power::BATMANv2::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
void onEntityReservation (void)
 
unsigned getEid (std::string label)
 
void onResourceAcquisition (void)
 
void onResourceInitialization (void)
 
void onResourceRelease (void)
 
void initBoard (bool noRestart)
 
std::string minutesToTime (int minutes)
 
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
 
DriverBatMan * m_driver
 
Counter< double > m_wdog
 
IMC::Temperature m_tmp
 
IMC::Voltage m_volt [c_max_values_voltage]
 
IMC::Voltage m_bat_volt
 
IMC::Current m_amp [c_max_values_current]
 
IMC::FuelLevel m_fuel
 
char m_bufer_entity [128]
 
double m_tstamp
 
int m_count_attempts
 
bool m_is_first_reset
 

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 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()

Power::BATMANv2::Task::Task ( const std::string &  name,
Tasks::Context &  ctx 
)
inline

Constructor.

Parameters
[in]nametask name.
[in]ctxcontext.

References Power::BATMANv2::Arguments::cell_elabels, Power::BATMANv2::Arguments::dispatch_fuel_level, Power::BATMANv2::Arguments::err_lvl, Power::BATMANv2::Arguments::err_volt_lvl, Power::BATMANv2::Arguments::fcap_elabel, Power::BATMANv2::Arguments::input_timeout, Power::BATMANv2::Arguments::number_attempts, Power::BATMANv2::Arguments::number_cell, Power::BATMANv2::Arguments::rcap_elabel, Power::BATMANv2::Arguments::scale_factor, Power::BATMANv2::Arguments::uart_baud, Power::BATMANv2::Arguments::uart_dev, and Power::BATMANv2::Arguments::war_lvl.

Member Function Documentation

◆ dispatchData()

void Power::BATMANv2::Task::dispatchData ( void  )
inline

References Power::BATMANv2::DriverBatMan::BatManData::cell_volt, Power::BATMANv2::DriverBatMan::BatManData::current, Power::BATMANv2::Arguments::dispatch_fuel_level, Power::BATMANv2::Arguments::err_lvl, Power::BATMANv2::Arguments::err_volt_lvl, Power::BATMANv2::DriverBatMan::BatManData::f_cap, Power::BATMANv2::DriverBatMan::BatManData::health, Power::BATMANv2::DriverBatMan::m_batManData, Power::BATMANv2::Arguments::number_cell, Power::BATMANv2::DriverBatMan::BatManData::r_cap, Power::BATMANv2::DriverBatMan::resetStateNewData(), Power::BATMANv2::DriverBatMan::BatManData::temperature, Power::BATMANv2::DriverBatMan::BatManData::time_empty, Power::BATMANv2::DriverBatMan::BatManData::time_full, Power::BATMANv2::DriverBatMan::BatManData::voltage, and Power::BATMANv2::Arguments::war_lvl.

◆ getEid()

unsigned Power::BATMANv2::Task::getEid ( std::string  label)
inline

◆ initBoard()

void Power::BATMANv2::Task::initBoard ( bool  noRestart)
inline

References Power::BATMANv2::DriverBatMan::getFirmwareVersion(), Power::BATMANv2::DriverBatMan::getVersionFirmware(), Power::BATMANv2::DriverBatMan::initBatMan(), Power::BATMANv2::Arguments::input_timeout, Power::BATMANv2::Arguments::number_cell, Power::BATMANv2::Arguments::scale_factor, Power::BATMANv2::DriverBatMan::sendCommandNoRsp(), and Power::BATMANv2::DriverBatMan::startAcquisition().

◆ minutesToTime()

std::string Power::BATMANv2::Task::minutesToTime ( int  minutes)
inline

References DUNE::Math::min().

◆ onEntityReservation()

void Power::BATMANv2::Task::onEntityReservation ( void  )
inlinevirtual

Reserve entity identifiers.

Reimplemented from DUNE::Tasks::Task.

References Power::BATMANv2::Arguments::cell_elabels, Power::BATMANv2::Arguments::fcap_elabel, Power::BATMANv2::Arguments::number_cell, and Power::BATMANv2::Arguments::rcap_elabel.

◆ onMain()

void Power::BATMANv2::Task::onMain ( void  )
inlinevirtual

Main loop.

Implements DUNE::Tasks::Task.

References Power::BATMANv2::DriverBatMan::haveNewData(), Power::BATMANv2::Arguments::input_timeout, Power::BATMANv2::Arguments::number_attempts, Power::BATMANv2::DriverBatMan::sendCommandNoRsp(), and Power::BATMANv2::DriverBatMan::stopAcquisition().

◆ onResourceAcquisition()

void Power::BATMANv2::Task::onResourceAcquisition ( void  )
inlinevirtual

Acquire resources.

Reimplemented from DUNE::Tasks::Task.

References Power::BATMANv2::Arguments::number_cell, Power::BATMANv2::Arguments::uart_baud, and Power::BATMANv2::Arguments::uart_dev.

◆ onResourceInitialization()

void Power::BATMANv2::Task::onResourceInitialization ( void  )
inlinevirtual

Initialize resources.

Reimplemented from DUNE::Tasks::Task.

References Power::BATMANv2::DriverBatMan::stopAcquisition().

◆ onResourceRelease()

void Power::BATMANv2::Task::onResourceRelease ( void  )
inlinevirtual

Release resources.

Reimplemented from DUNE::Tasks::Task.

Member Data Documentation

◆ m_amp

IMC::Current Power::BATMANv2::Task::m_amp[c_max_values_current]

Current message.

◆ m_args

Arguments Power::BATMANv2::Task::m_args

Task arguments.

◆ m_bat_volt

IMC::Voltage Power::BATMANv2::Task::m_bat_volt

Voltage of batteries message.

◆ m_bufer_entity

char Power::BATMANv2::Task::m_bufer_entity[128]

Buffer forEntityState.

◆ m_count_attempts

int Power::BATMANv2::Task::m_count_attempts

Count for attempts.

◆ m_driver

DriverBatMan* Power::BATMANv2::Task::m_driver

Driver of BatMan.

◆ m_fuel

IMC::FuelLevel Power::BATMANv2::Task::m_fuel

Fuel Level message.

◆ m_is_first_reset

bool Power::BATMANv2::Task::m_is_first_reset

Flag to control reset of board.

◆ m_poll

Poll Power::BATMANv2::Task::m_poll

I/O Multiplexer.

◆ m_tmp

IMC::Temperature Power::BATMANv2::Task::m_tmp

Temperature message.

◆ m_tstamp

double Power::BATMANv2::Task::m_tstamp

Read timestamp.

◆ m_uart

SerialPort* Power::BATMANv2::Task::m_uart

Serial port handle.

◆ m_volt

IMC::Voltage Power::BATMANv2::Task::m_volt[c_max_values_voltage]

Voltage message.

◆ m_wdog

Counter<double> Power::BATMANv2::Task::m_wdog

Watchdog.

Collaboration diagram for Power::BATMANv2::Task:
Collaboration graph