Sensors::Keller::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	onEntityResolution (void)
void	consume (const IMC::GpsFix *msg)
void	consume (const IMC::VehicleMedium *msg)
void	calibrate (void)
bool	write (uint8_t *bfr, int len)
bool	read (void)
ParserResults	parse (uint8_t *bfr, uint8_t len)
bool	interpret (void)
void	zero (void)
void	reportEntityState (void)
bool	onReadData () override

Public Attributes
IO::Handle *	m_handle
bool	m_echo
uint8_t	m_msg_read_pressure [5]
uint8_t	m_msg_read_temperature [5]
IMC::Pressure	m_pressure
IMC::Depth	m_depth
IMC::Temperature	m_temperature
bool	m_calibrated
int	m_entity_id
ParserStates	m_parser_state
uint8_t	m_parser_cmd
uint8_t	m_parser_data [c_parser_data_size]
uint8_t	m_parser_data_len
uint16_t	m_parser_data_crc
uint16_t	m_parser_packet_crc
float	m_channel_readout
Time::Counter< float >	m_wdog
unsigned	m_crc_err_count
Counter< double >	m_state_timer
size_t	m_sample_count
size_t	m_faults_count
size_t	m_timeout_count
unsigned	m_gps_eid
Arguments	m_args

Static Public Attributes
static const unsigned	c_parser_data_size
static const unsigned	c_max_crc_err

Constructor & Destructor Documentation

Task()

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

inline

References Sensors::Keller::Arguments::address, Sensors::Keller::Arguments::depth_conv, Sensors::Keller::Arguments::io_dev, Sensors::Keller::Arguments::label_gps, Sensors::Keller::Arguments::read_frequency, Sensors::Keller::Arguments::timeout_error, Sensors::Keller::Arguments::timeout_failure, and Sensors::Keller::Arguments::uart_echo.

Member Function Documentation

calibrate()

void Sensors::Keller::Task::calibrate ( void  )

inline

Calibrate device.

consume() [1/2]

void Sensors::Keller::Task::consume ( const IMC::GpsFix *  msg )

inline

consume() [2/2]

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

inline

interpret()

bool Sensors::Keller::Task::interpret ( void  )

inline

References Sensors::Keller::CMD_CONFIRMATION_FOR_INITIALIZATION, Sensors::Keller::CMD_READ_CHANNEL, Sensors::Keller::CMD_READ_SERIAL_NUMBER, and Sensors::Keller::CMD_ZERO_CHANNEL.

onConnect()

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

inlineoverride

Try to connect to the device.

Returns

true if connection was established, false otherwise.

References Sensors::Keller::Arguments::io_dev.

onDisconnect()

void Sensors::Keller::Task::onDisconnect ( void  )

inlineoverride

Disconnect from device.

onEntityResolution()

void Sensors::Keller::Task::onEntityResolution ( void  )

inline

References Sensors::Keller::Arguments::label_gps.

onInitializeDevice()

void Sensors::Keller::Task::onInitializeDevice ( void  )

inlineoverride

Device may be initialized.

References Sensors::Keller::Arguments::address, Sensors::Keller::CMD_CONFIRMATION_FOR_INITIALIZATION, and Sensors::Keller::CMD_READ_SERIAL_NUMBER.

onReadData()

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

inlineoverride

Get data from device.

Returns

true if data was received, false otherwise.

References Sensors::Keller::Arguments::depth_conv.

onUpdateParameters()

void Sensors::Keller::Task::onUpdateParameters ( void  )

inline

References Sensors::Keller::Arguments::address, Sensors::Keller::CMD_READ_CHANNEL, Sensors::Keller::Arguments::depth_conv, Sensors::Keller::Arguments::read_frequency, and Sensors::Keller::Arguments::timeout_error.

parse()

ParserResults Sensors::Keller::Task::parse ( uint8_t *  bfr, uint8_t  len  )

inline

References Sensors::Keller::Arguments::address, Sensors::Keller::CMD_CONFIRMATION_FOR_INITIALIZATION, Sensors::Keller::CMD_CONFIRMATION_FOR_INITIALIZATION_SIZE, Sensors::Keller::CMD_READ_CHANNEL, Sensors::Keller::CMD_READ_CHANNEL_SIZE, Sensors::Keller::CMD_READ_SERIAL_NUMBER, Sensors::Keller::CMD_READ_SERIAL_NUMBER_SIZE, Sensors::Keller::CMD_ZERO_CHANNEL, Sensors::Keller::CMD_ZERO_CHANNEL_SIZE, Sensors::Keller::RES_CRC, Sensors::Keller::RES_DONE, Sensors::Keller::RES_EXCEPTION, Sensors::Keller::RES_IN_PROGRESS, Sensors::Keller::STA_ADDR, Sensors::Keller::STA_CMD, Sensors::Keller::STA_CRC_LSB, Sensors::Keller::STA_CRC_MSB, and Sensors::Keller::STA_DATA.

read()

bool Sensors::Keller::Task::read ( void  )

inline

References Sensors::Keller::RES_CRC, Sensors::Keller::RES_DONE, Sensors::Keller::RES_EXCEPTION, and Sensors::Keller::STA_ADDR.

reportEntityState()

void Sensors::Keller::Task::reportEntityState ( void  )

inline

References Sensors::Keller::Arguments::timeout_failure.

write()

bool Sensors::Keller::Task::write ( uint8_t *  bfr, int  len  )

inline

References Sensors::Keller::Arguments::uart_echo.

zero()

void Sensors::Keller::Task::zero ( void  )

inline

References Sensors::Keller::Arguments::address, and Sensors::Keller::CMD_ZERO_CHANNEL.

Member Data Documentation

c_max_crc_err

const unsigned Sensors::Keller::Task::c_max_crc_err

static

c_parser_data_size

const unsigned Sensors::Keller::Task::c_parser_data_size

static

m_args

Arguments Sensors::Keller::Task::m_args

m_calibrated

bool Sensors::Keller::Task::m_calibrated

m_channel_readout

float Sensors::Keller::Task::m_channel_readout

m_crc_err_count

unsigned Sensors::Keller::Task::m_crc_err_count

m_depth

IMC::Depth Sensors::Keller::Task::m_depth

m_echo

bool Sensors::Keller::Task::m_echo

m_entity_id

int Sensors::Keller::Task::m_entity_id

m_faults_count

size_t Sensors::Keller::Task::m_faults_count

Faults count.

m_gps_eid

unsigned Sensors::Keller::Task::m_gps_eid

GPS source entity.

m_handle

IO::Handle* Sensors::Keller::Task::m_handle

Serial port handle.

m_msg_read_pressure

uint8_t Sensors::Keller::Task::m_msg_read_pressure[5]

m_msg_read_temperature

uint8_t Sensors::Keller::Task::m_msg_read_temperature[5]

m_parser_cmd

uint8_t Sensors::Keller::Task::m_parser_cmd

m_parser_data

uint8_t Sensors::Keller::Task::m_parser_data[c_parser_data_size]

m_parser_data_crc

uint16_t Sensors::Keller::Task::m_parser_data_crc

m_parser_data_len

uint8_t Sensors::Keller::Task::m_parser_data_len

m_parser_packet_crc

uint16_t Sensors::Keller::Task::m_parser_packet_crc

m_parser_state

ParserStates Sensors::Keller::Task::m_parser_state

m_pressure

IMC::Pressure Sensors::Keller::Task::m_pressure

m_sample_count

size_t Sensors::Keller::Task::m_sample_count

Sample count.

m_state_timer

Counter<double> Sensors::Keller::Task::m_state_timer

Entity state timer.

m_temperature

IMC::Temperature Sensors::Keller::Task::m_temperature

m_timeout_count

size_t Sensors::Keller::Task::m_timeout_count

Timeout count.

m_wdog

Time::Counter<float> Sensors::Keller::Task::m_wdog

Collaboration diagram for Sensors::Keller::Task: