Sensors::WaterLinkedDVL::Task Struct Reference

Detailed Description

Device driver for the Water Linked DVL-A50 and DVL-A125.

Author

Maria Costa

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onUpdateParameters (void)
void	onEntityReservation (void)
void	onIdle (void) override
bool	onConnect () override
void	onDisconnect () override
void	onInitializeDevice () override
void	consume (const IMC::VehicleMedium *msg)
void	checkStatus ()
void	onSoundSpeed (const double sound_speed) override
bool	onReadData () override
void	displayConfig (void)

Public Attributes
std::unique_ptr< Driver >	m_driver
std::unique_ptr< IO::Handle >	m_io
IMC::Distance	m_alt_dvl
IMC::Distance	m_alt_flt
Navigation::BeamFilter *	m_filter
std::vector< unsigned >	m_entities
DUNE::Monitors::MediumHandler	m_hand
Counter< double >	m_wdog
Counter< double >	m_out_water_wdog
double	m_last_sspeed
Arguments	m_args

Constructor & Destructor Documentation

Task()

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

inline

Constructor.

Parameters

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

References Sensors::WaterLinkedDVL::Arguments::beam_angle, Sensors::WaterLinkedDVL::Arguments::beam_width, Sensors::WaterLinkedDVL::Arguments::dvl_model, Sensors::WaterLinkedDVL::Arguments::io_dev, Sensors::WaterLinkedDVL::Arguments::orientation, Sensors::WaterLinkedDVL::Arguments::position, Sensors::WaterLinkedDVL::Arguments::pwr_channel, and Sensors::WaterLinkedDVL::Arguments::type_activation.

Member Function Documentation

checkStatus()

void Sensors::WaterLinkedDVL::Task::checkStatus ( )

inline

Check for device faults.

Parameters

[in]

status

device status (0 -> OK; 1 -> fault).

consume()

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

inline

References DUNE::Monitors::MediumHandler::changed(), DUNE::Monitors::MediumHandler::isKnown(), DUNE::Monitors::MediumHandler::outWater(), Sensors::WaterLinkedDVL::Arguments::type_activation, and DUNE::Monitors::MediumHandler::update().

displayConfig()

void Sensors::WaterLinkedDVL::Task::displayConfig ( void  )

inline

Set entity state description.

References Sensors::WaterLinkedDVL::Configuration::acoustic_enabled, and Sensors::WaterLinkedDVL::Configuration::speed_of_sound.

onConnect()

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

inlineoverride

Try to connect to the device.

Returns

true if connection was established, false otherwise.

References Sensors::WaterLinkedDVL::Arguments::io_dev.

onDisconnect()

void Sensors::WaterLinkedDVL::Task::onDisconnect ( void  )

inlineoverride

Disconnect from device.

onEntityReservation()

void Sensors::WaterLinkedDVL::Task::onEntityReservation ( void  )

inline

Reserve entity identifiers.

onIdle()

void Sensors::WaterLinkedDVL::Task::onIdle ( void  )

inlineoverride

Restart device when idle.

References DUNE::Monitors::MediumHandler::inWater().

onInitializeDevice()

void Sensors::WaterLinkedDVL::Task::onInitializeDevice ( void  )

inlineoverride

Initialize device.

References Sensors::WaterLinkedDVL::Arguments::beam_angle, Sensors::WaterLinkedDVL::Arguments::beam_width, Sensors::WaterLinkedDVL::Arguments::dvl_model, Sensors::WaterLinkedDVL::Arguments::orientation, Sensors::WaterLinkedDVL::Arguments::position, and Sensors::WaterLinkedDVL::Arguments::type_activation.

onReadData()

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

inlineoverride

Get data from device.

Returns

true if data was received, false otherwise.

onSoundSpeed()

void Sensors::WaterLinkedDVL::Task::onSoundSpeed ( const double  sound_speed )

inlineoverride

Set device sound speed.

Parameters

[in]

sound_speed

sound speed in m/s.

References DUNE::Math::abs().

onUpdateParameters()

void Sensors::WaterLinkedDVL::Task::onUpdateParameters ( void  )

inline

Update internal state with new parameter values.

References Sensors::WaterLinkedDVL::Arguments::beam_width, Sensors::WaterLinkedDVL::Arguments::orientation, Sensors::WaterLinkedDVL::Arguments::position, and Sensors::WaterLinkedDVL::Arguments::pwr_channel.

Member Data Documentation

m_alt_dvl

IMC::Distance Sensors::WaterLinkedDVL::Task::m_alt_dvl

DVL altitude estimate.

m_alt_flt

IMC::Distance Sensors::WaterLinkedDVL::Task::m_alt_flt

Filtered Altitude.

m_args

Arguments Sensors::WaterLinkedDVL::Task::m_args

Task arguments.

m_driver

std::unique_ptr<Driver> Sensors::WaterLinkedDVL::Task::m_driver

Driver.

m_entities

std::vector<unsigned> Sensors::WaterLinkedDVL::Task::m_entities

List of entities.

m_filter

Navigation::BeamFilter* Sensors::WaterLinkedDVL::Task::m_filter

Beam Filter.

m_hand

DUNE::Monitors::MediumHandler Sensors::WaterLinkedDVL::Task::m_hand

Medium handler.

m_io

std::unique_ptr<IO::Handle> Sensors::WaterLinkedDVL::Task::m_io

IO Handle.

m_last_sspeed

double Sensors::WaterLinkedDVL::Task::m_last_sspeed

Last sound speed.

m_out_water_wdog

Counter<double> Sensors::WaterLinkedDVL::Task::m_out_water_wdog

Out of water watchdog.

m_wdog

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

Communication watchdog.

Collaboration diagram for Sensors::WaterLinkedDVL::Task: