DUNE: Uniform Navigational Environment  2017.01.0
List of all members | Public Member Functions | Protected Member Functions
DUNE::Control::BasicUAVAutopilot Class Referenceabstract

Public Member Functions

 BasicUAVAutopilot (const std::string &name, Tasks::Context &ctx, const uint32_t controllable_loops, const uint32_t required_loops)
 
virtual ~BasicUAVAutopilot (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::ControlLoops *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 Member Functions

virtual void onAutopilotActivation (void)
 
virtual void onAutopilotDeactivation (void)
 
void onDeactivation (void)
 
void onActivation (void)
 
- 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
 

Constructor & Destructor Documentation

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

Constructor.

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

DUNE::Control::BasicUAVAutopilot::~BasicUAVAutopilot ( void  )
virtual

Destructor.

Member Function Documentation

void DUNE::Control::BasicUAVAutopilot::consume ( const IMC::EstimatedState *  msg)

References DUNE::Time::Delta::getDelta(), DUNE::Tasks::Task::isActive(), and onEstimatedState().

void DUNE::Control::BasicUAVAutopilot::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::BasicUAVAutopilot::onActivation ( void  )
inlineprotectedvirtual

On activation enter active entity state Method from parent class.

Reimplemented from DUNE::Tasks::Task.

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

virtual void DUNE::Control::BasicUAVAutopilot::onAutopilotActivation ( void  )
inlineprotectedvirtual

On autopilot activation Does nothing by default.

Referenced by onActivation().

virtual void DUNE::Control::BasicUAVAutopilot::onAutopilotDeactivation ( void  )
inlineprotectedvirtual

On autopilot deactivation Does nothing by default.

Referenced by onDeactivation().

void DUNE::Control::BasicUAVAutopilot::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::BasicUAVAutopilot::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::BasicUAVAutopilot::onMain ( void  )
virtual

Implements DUNE::Tasks::Task.

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

virtual void DUNE::Control::BasicUAVAutopilot::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.

void DUNE::Control::BasicUAVAutopilot::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.

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

virtual void DUNE::Control::BasicUAVAutopilot::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.

void DUNE::Control::BasicUAVAutopilot::reset ( void  )
virtual

Reset to initial values.

Referenced by onActivation(), and onDeactivation().

Collaboration diagram for DUNE::Control::BasicUAVAutopilot:
Collaboration graph