DUNE::Control::BasicAutopilot Class Reference

Public Member Functions
	BasicAutopilot (const std::string &name, Tasks::Context &ctx, const uint32_t controllable_loops, const uint32_t required_loops)
virtual	~BasicAutopilot (void)
virtual void	onResourceInitialization (void)
virtual void	onResourceAcquisition (void)
virtual void	onResourceRelease (void)
virtual void	reset (void)
virtual void	onEstimatedState (const double timestep, const IMC::EstimatedState *msg)=0
void	consume (const IMC::EstimatedState *msg)
void	consume (const IMC::DesiredZ *msg)
void	consume (const IMC::DesiredPitch *msg)
void	consume (const IMC::DesiredHeading *msg)
void	consume (const IMC::DesiredHeadingRate *msg)
void	consume (const IMC::ControlLoops *msg)
void	consume (const IMC::DesiredVelocity *msg)
void	onMain (void)
Public Member Functions inherited from DUNE::Tasks::Task
	Task (const std::string &name, Context &context)
virtual	~Task (void)
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)

Protected Types
enum	VerticalMode {   VERTICAL_MODE_NONE, VERTICAL_MODE_DEPTH, VERTICAL_MODE_ALTITUDE, VERTICAL_MODE_PITCH,   VERTICAL_MODE_HEAVE, VERTICAL_MODE_SIZE }
enum	YawMode {   YAW_MODE_NONE, YAW_MODE_HEADING, YAW_MODE_HRATE, YAW_MODE_BYPASS,   YAW_MODE_SIZE }

Protected Member Functions
virtual void	onAutopilotActivation (void)
virtual void	onAutopilotDeactivation (void)
void	onDeactivation (void)
void	onActivation (void)
void	signalBadYaw (const char *desc=DTR("yaw control mode %d not supported"))
void	signalBadVertical (const char *desc=DTR("vertical control mode %d not supported"))
float	getVerticalRef (void) const
VerticalMode	getVerticalMode (void) const
float	getYawRef (void) const
YawMode	getYawMode (void) const
float	getSurgeRef (void) const
float	getSwayRef (void) const
float	getBottomFollowDepth (void) const
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	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	onUpdateParameters (void)
virtual void	onRequestActivation (void)
virtual void	onRequestDeactivation (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)

Additional Inherited Members
Public Types inherited from DUNE::Concurrency::Runnable
enum	State {   StateStarting, StateRunning, StateStopping, StateDead,   StateUnknown }
Protected Attributes inherited from DUNE::Tasks::Task
Context &	m_ctx
std::vector < Entities::BasicEntity * >	m_entities

Member Enumeration Documentation

enum DUNE::Control::BasicAutopilot::VerticalMode

protected

Available vertical modes.

Enumerator
VERTICAL_MODE_NONE	No vertical mode.
VERTICAL_MODE_DEPTH	Depth control.
VERTICAL_MODE_ALTITUDE	Altitude control.
VERTICAL_MODE_PITCH	Pitch control.
VERTICAL_MODE_HEAVE	Heave control.
VERTICAL_MODE_SIZE	Number of available vertical control modes.

enum DUNE::Control::BasicAutopilot::YawMode

protected

Available yaw modes.

Enumerator
YAW_MODE_NONE	No yaw control mode.
YAW_MODE_HEADING	Heading control.
YAW_MODE_HRATE	Heading rate control.
YAW_MODE_BYPASS	Heading bypass directly to fins.
YAW_MODE_SIZE	Number of yaw control modes.

Constructor & Destructor Documentation

DUNE::Control::BasicAutopilot::BasicAutopilot	(	const std::string &	name,
		Tasks::Context &	ctx,
		const uint32_t	controllable_loops,
		const uint32_t	required_loops
	)

Constructor.

References DUNE::Status::CODE_IDLE, DUNE::Tasks::Context::config, DUNE::Tasks::Parameter::defaultValue(), DUNE::IMC::EntityState::ESTA_NORMAL, DUNE::Parsers::Config::get(), DUNE::Tasks::Task::m_ctx, DUNE::Tasks::Task::param(), and DUNE::Tasks::Task::setEntityState().

DUNE::Control::BasicAutopilot::~BasicAutopilot ( void  )

virtual

Destructor.

Member Function Documentation

void DUNE::Control::BasicAutopilot::consume

(

const IMC::EstimatedState *

msg

)

References DUNE::IMC::EstimatedState::alt, DUNE::IMC::EstimatedState::depth, DUNE::Tasks::Task::err(), DUNE::IMC::EntityState::ESTA_ERROR, DUNE::IMC::EntityState::ESTA_NORMAL, DUNE::Time::Delta::getDelta(), DUNE::Tasks::Task::getEntityState(), DUNE::IMC::Message::getSource(), DUNE::Tasks::Task::getSystemId(), DUNE::Tasks::Task::isActive(), onEstimatedState(), DUNE::Time::Counter< T >::overflow(), DUNE::Tasks::Task::requestDeactivation(), DUNE::Time::Counter< T >::reset(), DUNE::Tasks::Task::setEntityState(), signalBadVertical(), signalBadYaw(), VERTICAL_MODE_ALTITUDE, VERTICAL_MODE_NONE, VERTICAL_MODE_PITCH, VERTICAL_MODE_SIZE, DUNE::Tasks::Task::war(), YAW_MODE_NONE, and YAW_MODE_SIZE.

void DUNE::Control::BasicAutopilot::consume

(

const IMC::DesiredZ *

msg

)

References DUNE::Time::Delta::clear(), DUNE::IMC::EstimatedState::depth, DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::isActive(), DUNE::Time::Counter< T >::setTop(), DUNE::IMC::DesiredZ::value, VERTICAL_MODE_ALTITUDE, VERTICAL_MODE_DEPTH, VERTICAL_MODE_NONE, DUNE::Tasks::Task::war(), DUNE::IMC::Z_ALTITUDE, DUNE::IMC::Z_DEPTH, and DUNE::IMC::DesiredZ::z_units.

void DUNE::Control::BasicAutopilot::consume

(

const IMC::DesiredPitch *

msg

)

References DUNE::Time::Delta::clear(), DUNE::Tasks::Task::isActive(), DUNE::IMC::DesiredPitch::value, and VERTICAL_MODE_PITCH.

void DUNE::Control::BasicAutopilot::consume

(

const IMC::DesiredHeading *

msg

)

References DUNE::Time::Delta::clear(), DUNE::Tasks::Task::isActive(), DUNE::IMC::DesiredHeading::value, and YAW_MODE_HEADING.

void DUNE::Control::BasicAutopilot::consume

(

const IMC::DesiredHeadingRate *

msg

)

References DUNE::Time::Delta::clear(), DUNE::Tasks::Task::isActive(), DUNE::IMC::DesiredHeadingRate::value, YAW_MODE_BYPASS, and YAW_MODE_HRATE.

void DUNE::Control::BasicAutopilot::consume

(

const IMC::ControlLoops *

msg

)

References DUNE::IMC::ControlLoops::CL_ENABLE, DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::dispatch(), DUNE::IMC::ControlLoops::enable, DUNE::Tasks::Task::isActive(), DUNE::IMC::ControlLoops::mask, DUNE::Tasks::Task::requestActivation(), DUNE::Tasks::Task::requestDeactivation(), and DUNE::IMC::ControlLoops::scope_ref.

void DUNE::Control::BasicAutopilot::consume

(

const IMC::DesiredVelocity *

msg

)

References DUNE::IMC::DesiredVelocity::FL_HEAVE, DUNE::IMC::DesiredVelocity::FL_SURGE, DUNE::IMC::DesiredVelocity::FL_SWAY, DUNE::IMC::DesiredVelocity::FL_YAW, DUNE::IMC::DesiredVelocity::flags, DUNE::Tasks::Task::isActive(), DUNE::IMC::DesiredVelocity::r, DUNE::IMC::DesiredVelocity::u, DUNE::IMC::DesiredVelocity::v, VERTICAL_MODE_HEAVE, DUNE::IMC::DesiredVelocity::w, and YAW_MODE_HRATE.

float DUNE::Control::BasicAutopilot::getBottomFollowDepth ( void  ) const

inlineprotected

Get depth for following the bottom.

Returns

current depth to follow bottom profile

Referenced by Control::ROV::Depth::Task::depthControl(), Control::AUV::Attitude::Task::depthControl(), and Control::AUV::LMI::Task::onEstimatedState().

float DUNE::Control::BasicAutopilot::getSurgeRef ( void  ) const

inlineprotected

get surge reference

Returns

current surge reference

Referenced by Control::ROV::HorizontalPlane::Task::surgeControl().

float DUNE::Control::BasicAutopilot::getSwayRef ( void  ) const

inlineprotected

get sway reference

Returns

current sway reference

Referenced by Control::ROV::HorizontalPlane::Task::swayControl().

VerticalMode DUNE::Control::BasicAutopilot::getVerticalMode ( void  ) const

inlineprotected

get vertical mode

Returns

current vertical mode

Referenced by Control::ROV::Depth::Task::depthControl(), Control::AUV::Attitude::Task::depthControl(), and Control::AUV::LMI::Task::onEstimatedState().

float DUNE::Control::BasicAutopilot::getVerticalRef ( void  ) const

inlineprotected

get vertical ref value

Returns

current vertical reference value

Referenced by Control::ROV::Depth::Task::depthControl(), Control::AUV::Attitude::Task::depthControl(), and Control::AUV::LMI::Task::onEstimatedState().

YawMode DUNE::Control::BasicAutopilot::getYawMode ( void  ) const

inlineprotected

get yaw mode

Returns

current yaw mode

Referenced by Control::ROV::HorizontalPlane::Task::headingControl(), Control::AUV::Attitude::Task::headingControl(), and Control::AUV::LMI::Task::onEstimatedState().

float DUNE::Control::BasicAutopilot::getYawRef ( void  ) const

inlineprotected

get yaw ref value

Returns

current yaw reference

Referenced by Control::ROV::HorizontalPlane::Task::headingControl(), Control::AUV::Attitude::Task::headingControl(), and Control::AUV::LMI::Task::onEstimatedState().

void DUNE::Control::BasicAutopilot::onActivation ( void  )

inlineprotectedvirtual

On activation enter active entity state Method from parent class.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Status::CODE_ACTIVE, DUNE::IMC::EntityState::ESTA_NORMAL, onAutopilotActivation(), reset(), and DUNE::Tasks::Task::setEntityState().

virtual void DUNE::Control::BasicAutopilot::onAutopilotActivation ( void  )

inlineprotectedvirtual

On autopilot activation Does nothing by default.

Reimplemented in Control::AUV::Attitude::Task.

Referenced by onActivation().

virtual void DUNE::Control::BasicAutopilot::onAutopilotDeactivation ( void  )

inlineprotectedvirtual

On autopilot deactivation Does nothing by default.

Reimplemented in Control::AUV::Attitude::Task.

Referenced by onDeactivation().

void DUNE::Control::BasicAutopilot::onDeactivation ( void  )

inlineprotectedvirtual

On deactivation leave error or active entity state Method from parent class.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Status::CODE_IDLE, DUNE::IMC::EntityState::ESTA_NORMAL, onAutopilotDeactivation(), reset(), and DUNE::Tasks::Task::setEntityState().

virtual void DUNE::Control::BasicAutopilot::onEstimatedState ( const double  timestep, const IMC::EstimatedState *  msg  )

pure virtual

To be used by derived class when estimated state is received.

Referenced by consume().

void DUNE::Control::BasicAutopilot::onMain ( void  )

virtual

Implements DUNE::Tasks::Task.

References DUNE::Tasks::Task::stopping(), and DUNE::Tasks::Task::waitForMessages().

virtual void DUNE::Control::BasicAutopilot::onResourceAcquisition ( void  )

inlinevirtual

Called when the task is instructed to acquire resources whose configuration is defined by run-time parameters.

Reimplemented from DUNE::Tasks::Task.

Reimplemented in Control::AUV::Attitude::Task.

void DUNE::Control::BasicAutopilot::onResourceInitialization ( void  )

virtual

Called when the task is instructed to initialize resources acquired previously or whose initialization depends on run-time parameters.

Reimplemented from DUNE::Tasks::Task.

Reimplemented in Control::AUV::Attitude::Task, Control::ROV::HorizontalPlane::Task, Control::AUV::LMI::Task, and Control::ROV::Depth::Task.

References DUNE::Tasks::Task::requestDeactivation().

virtual void DUNE::Control::BasicAutopilot::onResourceRelease ( void  )

inlinevirtual

Called when the task is instructed to release resources.

Derived classes that override this function must not assume that any resource was previously acquired. This function must be implemented in such a way that it can be called at any time.

Reimplemented from DUNE::Tasks::Task.

Reimplemented in Control::AUV::Attitude::Task.

void DUNE::Control::BasicAutopilot::reset ( void  )

virtual

Reset to initial values.

Reimplemented in Control::AUV::Attitude::Task, Control::AUV::LMI::Task, Control::ROV::HorizontalPlane::Task, and Control::ROV::Depth::Task.

References DUNE::Time::Delta::clear(), DUNE::Time::Counter< T >::setTop(), VERTICAL_MODE_NONE, and YAW_MODE_NONE.

Referenced by onActivation(), and onDeactivation().

void DUNE::Control::BasicAutopilot::signalBadVertical ( const char *  desc = DTR("vertical control mode %d not supported") )

inlineprotected

Signal a bad vertical mode or incompatible.

Parameters

[in]

desc

description of bad vertical mode

References DUNE::Tasks::Task::err(), DUNE::IMC::EntityState::ESTA_ERROR, DUNE::Tasks::Task::requestDeactivation(), DUNE::Tasks::Task::setEntityState(), and DUNE::Utils::String::str().

Referenced by consume(), Control::ROV::Depth::Task::depthControl(), Control::AUV::Attitude::Task::depthControl(), and Control::AUV::LMI::Task::onEstimatedState().

void DUNE::Control::BasicAutopilot::signalBadYaw ( const char *  desc = DTR("yaw control mode %d not supported") )

inlineprotected

Signal a bad yaw mode or incompatible.

Parameters

[in]

desc

description of bad yaw mode

References DUNE::Tasks::Task::err(), DUNE::IMC::EntityState::ESTA_ERROR, DUNE::Tasks::Task::requestDeactivation(), DUNE::Tasks::Task::setEntityState(), and DUNE::Utils::String::str().

Referenced by consume(), Control::ROV::HorizontalPlane::Task::headingControl(), Control::AUV::Attitude::Task::headingControl(), and Control::AUV::LMI::Task::onEstimatedState().

Collaboration diagram for DUNE::Control::BasicAutopilot: