DUNE: Uniform Navigational Environment  2024.09.0
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Transports::Announce::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
 ~Task (void)
 
void onResourceInitialization (void)
 
void onUpdateParameters (void)
 
void consume (const IMC::EstimatedState *msg)
 
void consume (const IMC::AnnounceService *msg)
 
void generateServiceStrings (void)
 
void addLocalURI (const std::string &uri)
 
void addExternalURI (const std::string &uri)
 
void probeInterfaces (void)
 
void announce (void)
 
void onMain (void)
 
IMC::SystemType translateSystem (std::string type)
 
- Public Member Functions inherited from DUNE::Tasks::Task
 Task (const std::string &name, Context &context)
 
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

uint8_t m_bfr_loc [4096]
 
uint8_t m_bfr_ext [4096]
 
IMC::EstimatedState * m_estate
 
UDPSocket m_sock
 
std::vector< Destination > m_dsts
 
Arguments m_args
 
IMC::Announce m_announce_loc
 
IMC::Announce m_announce_ext
 
double m_last_announce
 
std::set< std::string > m_uris_loc
 
std::set< std::string > m_uris_ext
 
std::set< std::string > m_uris_any
 

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 onResourceAcquisition (void)
 
virtual void onResourceRelease (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()

Transports::Announce::Task::Task ( const std::string &  name,
Tasks::Context &  ctx 
)
inline

References Transports::Announce::Arguments::addr_mcast, Transports::Announce::Arguments::adi_services_ext, Transports::Announce::Arguments::adi_services_loc, Transports::Announce::Arguments::announce_delay, Transports::Announce::Arguments::enable_bcast, Transports::Announce::Arguments::enable_lback, Transports::Announce::Arguments::enable_mcast, Transports::Announce::Arguments::ignored_interfaces, Transports::Announce::Arguments::ports, and Transports::Announce::Arguments::sys_type.

◆ ~Task()

Transports::Announce::Task::~Task ( void  )
inlinevirtual

Destructor.

Reimplemented from DUNE::Tasks::Task.

Member Function Documentation

◆ addExternalURI()

void Transports::Announce::Task::addExternalURI ( const std::string &  uri)
inline

◆ addLocalURI()

void Transports::Announce::Task::addLocalURI ( const std::string &  uri)
inline

◆ announce()

void Transports::Announce::Task::announce ( void  )
inline

References Transports::Announce::Destination::addr, Transports::Announce::Destination::local, and Transports::Announce::Destination::port.

◆ consume() [1/2]

void Transports::Announce::Task::consume ( const IMC::EstimatedState *  msg)
inline

◆ consume() [2/2]

void Transports::Announce::Task::consume ( const IMC::AnnounceService *  msg)
inline

References Transports::Announce::Arguments::ignored_interfaces.

◆ generateServiceStrings()

void Transports::Announce::Task::generateServiceStrings ( void  )
inline

◆ onMain()

void Transports::Announce::Task::onMain ( void  )
inlinevirtual

Implements DUNE::Tasks::Task.

References Transports::Announce::Arguments::announce_delay.

◆ onResourceInitialization()

void Transports::Announce::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.

◆ onUpdateParameters()

void Transports::Announce::Task::onUpdateParameters ( void  )
inlinevirtual

Called when the task is instructed to update its run-time parameters.

Derived classes that need to compute auxiliary values based on run-time parameters should override this function.

Reimplemented from DUNE::Tasks::Task.

References Transports::Announce::Arguments::adi_services_ext, Transports::Announce::Arguments::adi_services_loc, and Transports::Announce::Arguments::sys_type.

◆ probeInterfaces()

void Transports::Announce::Task::probeInterfaces ( void  )
inline

References Transports::Announce::Destination::addr, Transports::Announce::Arguments::addr_mcast, Transports::Announce::Arguments::enable_bcast, Transports::Announce::Arguments::enable_lback, Transports::Announce::Arguments::enable_mcast, Transports::Announce::Destination::local, Transports::Announce::Destination::port, and Transports::Announce::Arguments::ports.

◆ translateSystem()

IMC::SystemType Transports::Announce::Task::translateSystem ( std::string  type)
inline

Member Data Documentation

◆ m_announce_ext

IMC::Announce Transports::Announce::Task::m_announce_ext

◆ m_announce_loc

IMC::Announce Transports::Announce::Task::m_announce_loc

◆ m_args

Arguments Transports::Announce::Task::m_args

◆ m_bfr_ext

uint8_t Transports::Announce::Task::m_bfr_ext[4096]

◆ m_bfr_loc

uint8_t Transports::Announce::Task::m_bfr_loc[4096]

◆ m_dsts

std::vector<Destination> Transports::Announce::Task::m_dsts

◆ m_estate

IMC::EstimatedState* Transports::Announce::Task::m_estate

◆ m_last_announce

double Transports::Announce::Task::m_last_announce

◆ m_sock

UDPSocket Transports::Announce::Task::m_sock

◆ m_uris_any

std::set<std::string> Transports::Announce::Task::m_uris_any

◆ m_uris_ext

std::set<std::string> Transports::Announce::Task::m_uris_ext

◆ m_uris_loc

std::set<std::string> Transports::Announce::Task::m_uris_loc
Collaboration diagram for Transports::Announce::Task:
Collaboration graph