void
task(void)
{
while (!stopping())
{
consumeMessages();
if (isActive() && (m_sock != NULL))
{
try
{
for (unsigned i = 0; i < m_args.data_points; ++i)
ping(i);
if (m_args.save_to_file)
handleSonarData();
else
dispatch(m_ping);
if (m_args.range_modifier)
{
if (m_range_counter.overflow())
{
checkAltitude();
m_range_counter.reset();
}
}
}
catch (std::exception& e)
{
err("%s", e.what());
setEntityState(IMC::EntityState::ESTA_ERROR, Status::CODE_COM_ERROR);
throw RestartNeeded(DTR(Status::getString(CODE_COM_ERROR)), 5);
}
}
else
{
waitForMessages(1.0);
if (m_activating)
checkActivationProgress();
}
}
}
void
task(void)
{
if (!m_active)
return;
try
{
for (unsigned i = 0; i < m_args.data_points; ++i)
ping(i);
if (m_args.save_in_837)
handleSonarData();
else
dispatch(m_ping);
}
catch (std::exception& e)
{
err("%s", e.what());
setEntityState(IMC::EntityState::ESTA_ERROR, Status::CODE_COM_ERROR);
}
}
