Define a class to encapsulate the entire Antenna control system. More...

#include <carma/antenna/sza/antenna/control/AntennaMaster.h>

Inherits sza::antenna::control::SzaTask, and sza::util::GenericMasterTask< Msg >.

Public Member Functions
sza::antenna::control::AntennaControl *	AntennaControl ()
	Return a pointer to the Control task resources. More...

sza::antenna::control::AntennaDrive *	AntennaDrive ()
	Return a pointer to the Drive control task resources. More...

	AntennaMaster (std::string host, std::string nameServer, const std::string &objectName, std::string eventServer, const std::string &eventChannelName, std::string notifyServer, bool simulateCanbus, const sza::util::AntNum &antNum, bool simPmac=false, unsigned ifNodeId=1, bool connect=true, bool newcaltert=true, unsigned nArg=0, char **argv=0, bool ignoreWrapLogic=true)
	Constructor. More...

sza::antenna::control::AntennaMonitor *	AntennaMonitor ()
	Return a pointer to the Monitor task resources. More...

sza::antenna::control::AntennaRx *	AntennaRx ()
	Return a pointer to the Receiver task resources. More...

std::string	eventChannelName ()
	A copy of the event channel name on which we will send data back to the outside world. More...

std::string	eventServer ()
	A copy of the Eventserver name to which we will attach. More...

sza::util::AntNum *	getAnt ()
	Public method to get a reference to our antenna enumerator. More...

std::vector< std::string >	getArgs ()

unsigned	getIFNodeId ()

SzaShare *	getShare ()
	Public method to get a reference to our shared resource object. More...

std::string	host ()
	A copy of the Nameserver name to which we will attach. More...

bool	ignoreWrapLogic ()

std::string	nameServer ()
	A copy of the Nameserver name to which we will attach. More...

bool	newCaltert ()

std::string	notifyServer ()
	A copy of the Notifyserver name to which we will attach. More...

std::string	objectName ()
	A copy of the CORBA object name that the nameserver will associate with us. More...

void	restartServices ()
	Public interface to startThreads() More...

void	sendAdoptBoardMsg (unsigned short, AntennaTask::Id taskId)
	Method by which other tasks can ask us for control of boards. More...

void	setArgs (unsigned nArg, char **argv)

	SIGNALTASK_HANDLER_FN (doNothing)
	A no-op signal handler for signals we wish to explicitly disable. More...

sza::antenna::control::UmacControl *	UmacControl ()
	Return a pointer to the Receiver task resources. More...

	~AntennaMaster ()
	Destructor. More...

Public Member Functions inherited from sza::antenna::control::SzaTask
SzaShare *	getShare ()
	Public method to get a pointer to our shared object. More...

	SzaTask ()
	Constructor. More...

virtual	~SzaTask ()
	Make this virtual so that inheritors destructors are properly called even if they are upcast. More...

Public Member Functions inherited from sza::util::GenericMasterTask< Msg >
	GenericMasterTask ()
	Constructor. More...

virtual	~GenericMasterTask ()
	Destructor. More...

Public Member Functions inherited from sza::util::GenericTask< Msg >
virtual void	fwdTaskMsg (Msg *msg)
	Forward a message to this task via its message queue. More...

void	sendHeartBeatMsg ()
	Method to send a heartbeat message to this task via its message queue. More...

void	sendRestartMsg ()
	Method to send a stop message to this task via its message queue. More...

void	sendStopMsg ()
	Method to send a stop message to this task via its message queue. More...

Static Public Member Functions
static void()	forwardMasterMsg (AntennaMasterMsg *msg)
	Public method by which other tasks can forward message to us. More...

static	SIGNALTASK_HANDLER_FN (sendSendHeartBeatMsg)
	Send a message to the AntennaMaster to tell it to send out a heartbeat request to all subordinate threads. More...

static	SIGNALTASK_HANDLER_FN (sendShutDownMsg)
	Send a message to the AntennaMaster to tell it to shut down. More...

static	SIGNALTASK_HANDLER_FN (sendPackDataFrameMsg)
	Send a message to the monitor task that it's time to pack a data frame for transmission back to the ACC. More...

static	SIGNALTASK_HANDLER_FN (sendDriveTickMsg)
	Tell the Tracker task that the 1-second pulse has arrived. More...

static	SIGNALTASK_HANDLER_FN (sendConnectControlMsg)
	Tell the Control task to attempt to connect to the host. More...

static	SIGNALTASK_HANDLER_FN (sendConnectPmacMsg)
	Tell the Tracker to attempt to connect to the pmac. More...

static	SIGNALTASK_HANDLER_FN (sendConnectScannerMsg)
	Tell the Control task to attempt to connect to the host. More...

static	SIGNALTASK_HANDLER_FN (sendStrobePmacMsg)
	Tell the Tracker to readout the pmac DPRAM. More...

Static Public Member Functions inherited from sza::util::GenericMasterTask< Msg >
static void	signalHandler (int sigNo)
	Signal handler. More...

Additional Inherited Members
Protected Member Functions inherited from sza::util::GenericMasterTask< Msg >
void	addHandler (Msg *msg)
	Respond to a message to add/remove a handler. More...

void	enableTimer (Msg *msg)
	Respond to a message to enable/disable a timer. More...

void	installSignal (Msg *msg)
	Respond to a message to install a signal. More...

virtual void	installSignals ()
	Install timers of interest to us. More...

void	installTimer (Msg *msg)
	Respond to a message to install a timer. More...

virtual void	installTimers ()
	Install timers of interest to us. More...

void	processTaskMsg (bool *stop)
	Method to process a message received on the Task message * queue. More...

void	sendAddHandlerMsg (std::string name, SIGNALTASK_HANDLER_FN(*handler), bool add)
	A message to add/remove a signal handler. More...

void	sendEnableTimerMsg (std::string name, bool enable)
	A message to enable/disable a timer. More...

void	sendInstallSignalMsg (int sigNo, SIGNALTASK_HANDLER_FN(*handler))
	A method to install a signal. More...

void	sendInstallTimerMsg (std::string name, int sigNo, unsigned long intervalSec, unsigned long intervalNsec, SIGNALTASK_HANDLER_FN(*handler))
	Send a message to the master thread to install a timer. More...

void	sendInstallTimerMsg (std::string name, int sigNo, unsigned long initSec, unsigned long initNsec, unsigned long intervalSec, unsigned long intervalNsec, SIGNALTASK_HANDLER_FN(*handler))
	Send the signal task a message to install a timer. More...

Protected Member Functions inherited from sza::util::GenericTask< Msg >
virtual void	addHandler (Msg *msg)
	Respond to a message to add/remove a handler. More...

void	cancelThread (unsigned order)
	Cancel the next thread with the specified order. More...

void	cancelThreads ()
	A method to cancel threads managed by this task. More...

virtual void	enableTimer (Msg *msg)
	Respond to a message to enable/disable a timer. More...

	GenericTask ()
	Protected constructor ensures that the base class cannot be instantiated. More...

	GenericTask (Thread *thread)
	Constructor which initializes thread_, below. More...

unsigned	getMinCancelOrder ()
	Method to return the minimum cancel order for threads which are not yet running. More...

unsigned	getMinStartOrder ()
	Method to return the minimum start order for threads which are not yet running. More...

Thread *	getThread (std::string name)
	A method to start all threads managed by this task running. More...

virtual void	installSignal (Msg *msg)
	Respond to a message to install a signal. More...

virtual void	installTimer (Msg *msg)
	Respond to a message to install a timer. More...

void	pingThreads (void *arg)
	A method to ping all pingable threads managed by this task. More...

virtual void	processMsg (Msg *msg)
	This method should be defined by each inheriting task to process its own task-specific messages. More...

virtual void	processTaskMsg (bool *stop)
	Process a message received on our message queue. More...

void	raise (std::string name, int sigNo)
	Raise a signal to a named thread. More...

virtual void	respondToHeartBeat ()
	Respond to a heartbeat message. More...

virtual void	restart (void)
	Restart this thread. More...

virtual void	run (void)
	Force inheritors to define a run method. More...

void	sendTaskMsg (Msg *msg)
	Send a message to this task via its message queue. More...

virtual void	serviceMsgQ (void)
	This routine will simply block, servicing messages on the message queue. More...

void	shutdownConnection (int fd)
	Shutdown a connection. More...

void	startThread (void *arg, unsigned order)
	Start the next thread with the specified order. More...

void	startThreads (void *arg)
	A method to start all threads. More...

bool	threadsAreRunning ()
	A method to test if the threads managed by this task are running. More...

bool	threadsNeedCancelling ()
	Return true if there are still uncancelled threads. More...

bool	threadsNeedStarting ()
	Return true if there are still unstarted threads. More...

virtual	~GenericTask ()
	Making the destructor virtual ensures that the right destructor will be called for classes which inherit from GenericTask. More...

Protected Attributes inherited from sza::antenna::control::SzaTask
SzaShare *	share_
	The shared-memory object. More...

Protected Attributes inherited from sza::util::GenericMasterTask< Msg >
sza::util::SignalTask *	signal_
	Handles all signals for this process. More...

Protected Attributes inherited from sza::util::GenericTask< Msg >
sza::util::FdSet	fdSet_
	A set of file descriptors associated with this task. More...

PipeQ< Msg >	msgq_
	A message queue, implemented as a pipe, by which we can communicate with this task. More...

Thread *	thread_
	If this GenericTask object was instantiated by another thread, keep a pointer to it here. More...

std::vector< Thread * >	threads_
	A vector of Thread objects managed by this task. More...

Static Protected Attributes inherited from sza::util::GenericMasterTask< Msg >
static GenericMasterTask< Msg > *	masterTask_ = 0

Detailed Description

Define a class to encapsulate the entire Antenna control system.

Instantiating this object will spawn all subsystem threads of the Antenna control system, which currently include a receiver task, a drive system task and a monitoring task.

Definition at line 110 of file AntennaMaster.h.

Constructor & Destructor Documentation

sza::antenna::control::AntennaMaster::AntennaMaster	(	std::string	host,
		std::string	nameServer,
		const std::string &	objectName,
		std::string	eventServer,
		const std::string &	eventChannelName,
		std::string	notifyServer,
		bool	simulateCanbus,
		const sza::util::AntNum &	antNum,
		bool	simPmac = `false`,
		unsigned	ifNodeId = `1`,
		bool	connect = `true`,
		bool	newcaltert = `true`,
		unsigned	nArg = `0`,
		char **	argv = `0`,
		bool	ignoreWrapLogic = `true`
	)

Constructor.

Exceptions

Exception;

sza::antenna::control::AntennaMaster::~AntennaMaster ( )

Destructor.

Exceptions

Exception

Member Function Documentation

sza::antenna::control::AntennaControl* sza::antenna::control::AntennaMaster::AntennaControl ( )

Return a pointer to the Control task resources.

sza::antenna::control::AntennaDrive* sza::antenna::control::AntennaMaster::AntennaDrive ( )

Return a pointer to the Drive control task resources.

sza::antenna::control::AntennaMonitor* sza::antenna::control::AntennaMaster::AntennaMonitor ( )

Return a pointer to the Monitor task resources.

sza::antenna::control::AntennaRx* sza::antenna::control::AntennaMaster::AntennaRx ( )

Return a pointer to the Receiver task resources.

std::string sza::antenna::control::AntennaMaster::eventChannelName ( )

A copy of the event channel name on which we will send data back to the outside world.

Definition at line 304 of file AntennaMaster.h.

std::string sza::antenna::control::AntennaMaster::eventServer ( )

A copy of the Eventserver name to which we will attach.

Definition at line 293 of file AntennaMaster.h.

static void() sza::antenna::control::AntennaMaster::forwardMasterMsg ( AntennaMasterMsg * msg )

static

Public method by which other tasks can forward message to us.

sza::util::AntNum* sza::antenna::control::AntennaMaster::getAnt ( )

Public method to get a reference to our antenna enumerator.

SzaShare* sza::antenna::control::AntennaMaster::getShare ( )

Public method to get a reference to our shared resource object.

std::string sza::antenna::control::AntennaMaster::host ( )

A copy of the Nameserver name to which we will attach.

Definition at line 277 of file AntennaMaster.h.

std::string sza::antenna::control::AntennaMaster::nameServer ( )

A copy of the Nameserver name to which we will attach.

Definition at line 282 of file AntennaMaster.h.

std::string sza::antenna::control::AntennaMaster::notifyServer ( )

A copy of the Notifyserver name to which we will attach.

Definition at line 298 of file AntennaMaster.h.

std::string sza::antenna::control::AntennaMaster::objectName ( )

A copy of the CORBA object name that the nameserver will associate with us.

Definition at line 288 of file AntennaMaster.h.

void sza::antenna::control::AntennaMaster::restartServices ( )

Public interface to startThreads()

Exceptions

Exception

void sza::antenna::control::AntennaMaster::sendAdoptBoardMsg	(	unsigned	short,
		AntennaTask::Id	taskId
	)

Method by which other tasks can ask us for control of boards.

Exceptions

Exception (via MsgQ::sendMsg)

sza::antenna::control::AntennaMaster::SIGNALTASK_HANDLER_FN ( doNothing )

A no-op signal handler for signals we wish to explicitly disable.

static sza::antenna::control::AntennaMaster::SIGNALTASK_HANDLER_FN ( sendSendHeartBeatMsg )

static

Send a message to the AntennaMaster to tell it to send out a heartbeat request to all subordinate threads.

Exceptions

Exception (via MsgQ::sendMsg)

static sza::antenna::control::AntennaMaster::SIGNALTASK_HANDLER_FN ( sendShutDownMsg )

static

Send a message to the AntennaMaster to tell it to shut down.

Exceptions

Exception (via MsgQ::sendMsg)

static sza::antenna::control::AntennaMaster::SIGNALTASK_HANDLER_FN ( sendPackDataFrameMsg )

static

Send a message to the monitor task that it's time to pack a data frame for transmission back to the ACC.

static sza::antenna::control::AntennaMaster::SIGNALTASK_HANDLER_FN ( sendDriveTickMsg )

static

Tell the Tracker task that the 1-second pulse has arrived.

Exceptions

Exception

static sza::antenna::control::AntennaMaster::SIGNALTASK_HANDLER_FN ( sendConnectControlMsg )

static

Tell the Control task to attempt to connect to the host.

Exceptions

Exception

static sza::antenna::control::AntennaMaster::SIGNALTASK_HANDLER_FN ( sendConnectPmacMsg )

static

Tell the Tracker to attempt to connect to the pmac.

Exceptions

Exception

static sza::antenna::control::AntennaMaster::SIGNALTASK_HANDLER_FN ( sendConnectScannerMsg )

static

Tell the Control task to attempt to connect to the host.

Exceptions

Exception

static sza::antenna::control::AntennaMaster::SIGNALTASK_HANDLER_FN ( sendStrobePmacMsg )

static

Tell the Tracker to readout the pmac DPRAM.

Exceptions

Exception

sza::antenna::control::UmacControl* sza::antenna::control::AntennaMaster::UmacControl ( )

Return a pointer to the Receiver task resources.

The documentation for this class was generated from the following file:

carma/antenna/sza/antenna/control/AntennaMaster.h

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation