Public Types
typedef void(Task::*	PktHandler )(const mavlink_message_t *msg)

typedef std::map< int, PktHandler >	PktHandlerMap

Public Types inherited from DUNE::Concurrency::Runnable
enum	State { StateStarting, StateRunning, StateStopping, StateDead, StateUnknown }

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)

	~Task (void)

void	onResourceRelease (void)

void	onResourceAcquisition (void)

void	openConnection (void)

void	setupRate (uint8_t rate)

void	info (uint32_t was, uint32_t is, uint32_t loop, const char *desc)

void	consume (const IMC::ControlLoops *cloops)

void	consume (const IMC::DesiredRoll *roll)

void	consume (const IMC::DesiredZ *desired_z)

void	consume (const IMC::DesiredPath *path)

void	loiterHere (void)

void	consume (const IMC::IdleManeuver *idle)

void	consume (const IMC::SetServoPosition *servo)

void	consume (const IMC::PowerChannelControl *pcc)

void	sendCommandPacket (uint16_t cmd, float arg1=0, float arg2=0, float arg3=0, float arg4=0, float arg5=0, float arg6=0, float arg7=0)

void	onMain (void)

bool	poll (double timeout)

int	sendData (uint8_t *bfr, int size)

int	receiveData (uint8_t *buf, size_t blen)

void	handleArdupilotData (void)

void	handleAttitudePacket (const mavlink_message_t *msg)

void	handlePositionPacket (const mavlink_message_t *msg)

void	handleHWStatusPacket (const mavlink_message_t *msg)

void	handleBatteryStatusPacket (const mavlink_message_t *msg)

void	handleScaledPressurePacket (const mavlink_message_t *msg)

void	handleRawGPSPacket (const mavlink_message_t *msg)

void	handleWindPacket (const mavlink_message_t *msg)

void	handleCmdAckPacket (const mavlink_message_t *msg)

void	handleMissionAckPacket (const mavlink_message_t *msg)

void	handleMissionCurrentPacket (const mavlink_message_t *msg)

void	handleStatusTextPacket (const mavlink_message_t *msg)

void	handleHeartbeatPacket (const mavlink_message_t *msg)

void	handleNavControllerPacket (const mavlink_message_t *msg)

void	handleMissionItemPacket (const mavlink_message_t *msg)

Public Member Functions inherited from DUNE::Tasks::Task
	Task (const std::string &name, Context &context)

const char *	getName (void) const

const char *	getSystemName (void) const

unsigned int	getSystemId (void) const

unsigned int	getEntityId (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

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)

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)

State	getState (void)

bool	isCreated (void)

bool	isStopping (void)

bool	isRunning (void)

bool	isStarting (void)

bool	isDead (void)

Public Attributes
Arguments	m_args

PktHandlerMap	m_mlh

double	m_last_pkt_time

uint8_t	m_buf [512]

IMC::EstimatedState	m_estate

IMC::Voltage	m_volt

IMC::Current	m_curr

IMC::FuelLevel	m_fuel

IMC::Pressure	m_pressure

IMC::Temperature	m_temp

IMC::GpsFix	m_fix

IMC::EstimatedStreamVelocity	m_stream

IMC::AngularVelocity	m_ang_vel

IMC::Acceleration	m_accel

IMC::MagneticField	m_mag_field

IMC::SetServoPosition	m_servo

IMC::PathControlState	m_pcs

fp64_t	ref_lat

fp64_t	ref_lon

fp32_t	ref_hei

TCPSocket *	m_TCP_sock

Address	m_TCP_addr

uint16_t	m_TCP_port

System::IOMultiplexing	m_iom

uint8_t	m_sysid

float	m_lat

float	m_lon

float	m_alt

bool	m_external

int	m_current_wp

bool	m_critical

uint32_t	m_cloops

mavlink_message_t	m_msg

int	m_desired_radius

int	m_desired_speed

int	m_mode

bool	m_changing_wp

bool	m_error_missing

bool	m_error_ext

Additional Inherited Members
Static Public Member Functions inherited from DUNE::Concurrency::Thread
static unsigned	native (void)

Protected Member Functions inherited from DUNE::Tasks::Task
const char *	getEntityLabel (void) const

void	setEntityLabel (const std::string &label)

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)

unsigned int	resolveEntity (const std::string &label) const

std::string	resolveEntity (unsigned int id) const

bool	stopping (void)

bool	isActive (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 >
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 void	onEntityReservation (void)

virtual void	onEntityResolution (void)

virtual void	onReportEntityState (void)

virtual void	onResourceInitialization (void)

virtual void	onUpdateParameters (void)

virtual void	onRequestActivation (void)

virtual void	onRequestDeactivation (void)

virtual void	onActivation (void)

virtual void	onDeactivation (void)

Protected Member Functions inherited from DUNE::Concurrency::Thread
void	startImpl (void)

void	stopImpl (void)

void	joinImpl (void)

void	setPriorityImpl (Scheduler::Policy policy, unsigned priority)

Protected Attributes inherited from DUNE::Tasks::Task
Context &	m_ctx

Member Typedef Documentation

typedef void(Task::* Control::UAV::Ardupilot::Task::PktHandler)(const mavlink_message_t *msg)

Arduino packet handling.

typedef std::map<int, PktHandler> Control::UAV::Ardupilot::Task::PktHandlerMap

Constructor & Destructor Documentation

Control::UAV::Ardupilot::Task::Task	(	const std::string &	name,
		Tasks::Context &	ctx
	)

inline

Control::UAV::Ardupilot::Task::~Task ( void )

inlinevirtual

Destructor.

Reimplemented from DUNE::Tasks::Task.

References onResourceRelease().

Member Function Documentation

void Control::UAV::Ardupilot::Task::consume ( const IMC::ControlLoops * cloops )

inline

References Control::UAV::Ardupilot::Arguments::ardu_tracker, DUNE::Tasks::Task::debug(), info(), m_args, m_cloops, m_critical, m_external, m_sysid, and sendData().

void Control::UAV::Ardupilot::Task::consume ( const IMC::DesiredRoll * roll )

inline

References DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::err(), m_cloops, and sendData().

void Control::UAV::Ardupilot::Task::consume ( const IMC::DesiredZ * desired_z )

inline

References DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::err(), m_cloops, and sendCommandPacket().

void Control::UAV::Ardupilot::Task::consume ( const IMC::DesiredPath * path )

inline

References Control::UAV::Ardupilot::Arguments::alt, Control::UAV::Ardupilot::Arguments::ardu_tracker, DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::err(), m_alt, m_args, m_changing_wp, m_cloops, m_desired_radius, m_desired_speed, m_lat, m_lon, m_pcs, m_sysid, and sendData().

void Control::UAV::Ardupilot::Task::consume ( const IMC::IdleManeuver * idle )

inline

References loiterHere().

void Control::UAV::Ardupilot::Task::consume ( const IMC::SetServoPosition * servo )

inline

References DUNE::Tasks::Task::debug(), and sendCommandPacket().

void Control::UAV::Ardupilot::Task::consume ( const IMC::PowerChannelControl * pcc )

inline

References DUNE::Tasks::Task::debug(), and sendCommandPacket().

void Control::UAV::Ardupilot::Task::handleArdupilotData ( void )

inline

References Control::UAV::Ardupilot::Arguments::comm_timeout, DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::err(), m_args, m_buf, m_critical, m_error_missing, m_last_pkt_time, m_mlh, m_msg, m_sysid, poll(), receiveData(), DUNE::Tasks::Task::setEntityState(), DUNE::Tasks::Task::spew(), and DUNE::Tasks::Task::trace().

Referenced by onMain().

void Control::UAV::Ardupilot::Task::handleAttitudePacket ( const mavlink_message_t * msg )

inline

References m_estate.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleBatteryStatusPacket ( const mavlink_message_t * msg )

inline

References DUNE::Tasks::Task::dispatch(), m_args, m_curr, m_fuel, m_volt, and Control::UAV::Ardupilot::Arguments::pwrm.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleCmdAckPacket ( const mavlink_message_t * msg )

inline

References DUNE::Tasks::Task::debug(), and m_changing_wp.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleHeartbeatPacket ( const mavlink_message_t * msg )

inline

References m_external, m_mode, and DUNE::Tasks::Task::trace().

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleHWStatusPacket ( const mavlink_message_t * msg )

inline

References DUNE::Tasks::Task::dispatch(), m_args, m_volt, and Control::UAV::Ardupilot::Arguments::pwrm.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleMissionAckPacket ( const mavlink_message_t * msg )

inline

References DUNE::Tasks::Task::debug(), and m_changing_wp.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleMissionCurrentPacket ( const mavlink_message_t * msg )

inline

References m_current_wp, m_sysid, sendData(), and DUNE::Tasks::Task::trace().

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleMissionItemPacket ( const mavlink_message_t * msg )

inline

References m_critical, and DUNE::Tasks::Task::trace().

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleNavControllerPacket ( const mavlink_message_t * msg )

inline

References DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::dispatch(), Control::UAV::Ardupilot::Arguments::ltolerance, m_args, m_changing_wp, m_desired_radius, m_desired_speed, m_mode, and m_pcs.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handlePositionPacket ( const mavlink_message_t * msg )

inline

References DUNE::Tasks::Task::dispatch(), m_alt, m_estate, m_lat, m_lon, ref_hei, ref_lat, and ref_lon.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleRawGPSPacket ( const mavlink_message_t * msg )

inline

References DUNE::Tasks::Task::dispatch(), m_args, m_fix, and Control::UAV::Ardupilot::Arguments::ublox.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleScaledPressurePacket ( const mavlink_message_t * msg )

inline

References DUNE::Tasks::Task::dispatch(), m_pressure, and m_temp.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleStatusTextPacket ( const mavlink_message_t * msg )

inline

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

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleWindPacket ( const mavlink_message_t * msg )

inline

References DUNE::Tasks::Task::dispatch(), and m_stream.

Referenced by Task().

void Control::UAV::Ardupilot::Task::info	(	uint32_t	was,
		uint32_t	is,
		uint32_t	loop,
		const char *	desc
	)

inline

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

Referenced by consume().

void Control::UAV::Ardupilot::Task::loiterHere ( void )

inline

References DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::getEntityState(), Control::UAV::Ardupilot::Arguments::lradius, m_args, m_fix, m_pcs, m_sysid, sendCommandPacket(), and sendData().

Referenced by consume().

void Control::UAV::Ardupilot::Task::onMain ( void )

inlinevirtual

Implements DUNE::Tasks::Task.

References DUNE::Tasks::Task::consumeMessages(), DUNE::Tasks::Task::getEntityState(), handleArdupilotData(), m_critical, m_error_ext, m_external, m_TCP_sock, openConnection(), DUNE::Tasks::Task::setEntityState(), and DUNE::Tasks::Task::stopping().

void Control::UAV::Ardupilot::Task::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.

References m_args, m_TCP_addr, m_TCP_port, openConnection(), Control::UAV::Ardupilot::Arguments::TCP_addr, and Control::UAV::Ardupilot::Arguments::TCP_port.

void Control::UAV::Ardupilot::Task::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.

References m_TCP_sock.

Referenced by ~Task().

void Control::UAV::Ardupilot::Task::openConnection ( void )

inline

References DUNE::Tasks::Task::inf(), m_iom, m_TCP_addr, m_TCP_port, m_TCP_sock, DUNE::Tasks::Task::setEntityState(), setupRate(), and DUNE::Tasks::Task::war().

Referenced by onMain(), and onResourceAcquisition().

bool Control::UAV::Ardupilot::Task::poll ( double timeout )

inline

References m_iom, and m_TCP_sock.

Referenced by handleArdupilotData().

int Control::UAV::Ardupilot::Task::receiveData	(	uint8_t *	buf,
		size_t	blen
	)

inline

References m_iom, m_TCP_addr, m_TCP_port, m_TCP_sock, and DUNE::Tasks::Task::war().

Referenced by handleArdupilotData().

void Control::UAV::Ardupilot::Task::sendCommandPacket	(	uint16_t	cmd,
		float	arg1 = `0`,
		float	arg2 = `0`,
		float	arg3 = `0`,
		float	arg4 = `0`,
		float	arg5 = `0`,
		float	arg6 = `0`,
		float	arg7 = `0`
	)

inline

References DUNE::Tasks::Task::debug(), m_sysid, and sendData().

Referenced by consume(), and loiterHere().

int Control::UAV::Ardupilot::Task::sendData	(	uint8_t *	bfr,
		int	size
	)

inline

References m_TCP_sock, and DUNE::Tasks::Task::trace().

Referenced by consume(), handleMissionCurrentPacket(), loiterHere(), sendCommandPacket(), and setupRate().

void Control::UAV::Ardupilot::Task::setupRate ( uint8_t rate )

inline

References m_sysid, sendData(), and DUNE::Tasks::Task::spew().

Referenced by openConnection().

Member Data Documentation

IMC::Acceleration Control::UAV::Ardupilot::Task::m_accel

float Control::UAV::Ardupilot::Task::m_alt

Referenced by consume(), and handlePositionPacket().

IMC::AngularVelocity Control::UAV::Ardupilot::Task::m_ang_vel

IMU messages.

Arguments Control::UAV::Ardupilot::Task::m_args

Task arguments.

Referenced by consume(), handleArdupilotData(), handleBatteryStatusPacket(), handleHWStatusPacket(), handleNavControllerPacket(), handleRawGPSPacket(), loiterHere(), onResourceAcquisition(), and Task().

uint8_t Control::UAV::Ardupilot::Task::m_buf[512]

Referenced by handleArdupilotData().

bool Control::UAV::Ardupilot::Task::m_changing_wp

Referenced by consume(), handleCmdAckPacket(), handleMissionAckPacket(), and handleNavControllerPacket().

uint32_t Control::UAV::Ardupilot::Task::m_cloops

Bitfield of enabled control loops.

Referenced by consume().

bool Control::UAV::Ardupilot::Task::m_critical

Critical WP.

Referenced by consume(), handleArdupilotData(), handleMissionItemPacket(), and onMain().

IMC::Current Control::UAV::Ardupilot::Task::m_curr

Referenced by handleBatteryStatusPacket().

int Control::UAV::Ardupilot::Task::m_current_wp

Current waypoint.

Referenced by handleMissionCurrentPacket().

int Control::UAV::Ardupilot::Task::m_desired_radius

Referenced by consume(), and handleNavControllerPacket().

int Control::UAV::Ardupilot::Task::m_desired_speed

Referenced by consume(), and handleNavControllerPacket().

bool Control::UAV::Ardupilot::Task::m_error_ext

Referenced by onMain().

bool Control::UAV::Ardupilot::Task::m_error_missing

Referenced by handleArdupilotData().

IMC::EstimatedState Control::UAV::Ardupilot::Task::m_estate

Estimated state message.

Referenced by handleAttitudePacket(), handlePositionPacket(), and Task().

bool Control::UAV::Ardupilot::Task::m_external

External control.

Referenced by consume(), handleHeartbeatPacket(), and onMain().

IMC::GpsFix Control::UAV::Ardupilot::Task::m_fix

GPS Fix message.

Referenced by handleRawGPSPacket(), and loiterHere().

IMC::FuelLevel Control::UAV::Ardupilot::Task::m_fuel

Referenced by handleBatteryStatusPacket().

System::IOMultiplexing Control::UAV::Ardupilot::Task::m_iom

Referenced by openConnection(), poll(), and receiveData().

double Control::UAV::Ardupilot::Task::m_last_pkt_time

Referenced by handleArdupilotData(), and Task().

float Control::UAV::Ardupilot::Task::m_lat

Last received position.

Referenced by consume(), and handlePositionPacket().

float Control::UAV::Ardupilot::Task::m_lon

Referenced by consume(), and handlePositionPacket().

IMC::MagneticField Control::UAV::Ardupilot::Task::m_mag_field

PktHandlerMap Control::UAV::Ardupilot::Task::m_mlh

Referenced by handleArdupilotData(), and Task().

int Control::UAV::Ardupilot::Task::m_mode

Referenced by handleHeartbeatPacket(), and handleNavControllerPacket().

mavlink_message_t Control::UAV::Ardupilot::Task::m_msg

Parser Variables.

Referenced by handleArdupilotData().

IMC::PathControlState Control::UAV::Ardupilot::Task::m_pcs

Path Control State.

Referenced by consume(), handleNavControllerPacket(), and loiterHere().

IMC::Pressure Control::UAV::Ardupilot::Task::m_pressure

Pressure message.

Referenced by handleScaledPressurePacket().

IMC::SetServoPosition Control::UAV::Ardupilot::Task::m_servo

Servo PWM message.

IMC::EstimatedStreamVelocity Control::UAV::Ardupilot::Task::m_stream

Wind message.

Referenced by handleWindPacket().

uint8_t Control::UAV::Ardupilot::Task::m_sysid

System ID.

Referenced by consume(), handleArdupilotData(), handleMissionCurrentPacket(), loiterHere(), sendCommandPacket(), and setupRate().

Address Control::UAV::Ardupilot::Task::m_TCP_addr

Referenced by onResourceAcquisition(), openConnection(), and receiveData().

uint16_t Control::UAV::Ardupilot::Task::m_TCP_port

Referenced by onResourceAcquisition(), openConnection(), and receiveData().

TCPSocket* Control::UAV::Ardupilot::Task::m_TCP_sock

TCP socket.

Referenced by onMain(), onResourceRelease(), openConnection(), poll(), receiveData(), and sendData().

IMC::Temperature Control::UAV::Ardupilot::Task::m_temp

Temperature message.

Referenced by handleScaledPressurePacket().

IMC::Voltage Control::UAV::Ardupilot::Task::m_volt

Battery messages.

Referenced by handleBatteryStatusPacket(), and handleHWStatusPacket().

fp32_t Control::UAV::Ardupilot::Task::ref_hei

Referenced by handlePositionPacket().

fp64_t Control::UAV::Ardupilot::Task::ref_lat

Reference Lat and Lon and Hei to measure displacement.

Referenced by handlePositionPacket().

fp64_t Control::UAV::Ardupilot::Task::ref_lon

Referenced by handlePositionPacket().

Collaboration diagram for Control::UAV::Ardupilot::Task:

Public Types

Public Member Functions

Public Attributes

Additional Inherited Members

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation