DUNE: Uniform Navigational Environment  2.3.0
List of all members | Public Member Functions | Public Attributes
Control::ROV::Depth::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
void reset (void)
 
void onResourceInitialization (void)
 
void onEstimatedState (const double timestep, const IMC::EstimatedState *msg)
 
float depthControl (const double timestep, const IMC::EstimatedState *msg)
 
- Public Member Functions inherited from DUNE::Control::BasicAutopilot
 BasicAutopilot (const std::string &name, Tasks::Context &ctx, const uint32_t controllable_loops, const uint32_t required_loops)
 
virtual ~BasicAutopilot (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
 
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

DiscretePID m_depth_pid
 
DiscretePID m_heave_pid
 
IMC::SetThrusterActuation m_thrust
 
Arguments m_args
 

Additional Inherited Members

- Public Types inherited from DUNE::Concurrency::Runnable
enum  State {
  StateStarting, StateRunning, StateStopping, StateDead,
  StateUnknown
}
 
- Static Public Member Functions inherited from DUNE::Concurrency::Thread
static unsigned native (void)
 
- Protected Types inherited from DUNE::Control::BasicAutopilot
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 inherited from DUNE::Control::BasicAutopilot
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
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 onResourceAcquisition (void)
 
virtual void onResourceRelease (void)
 
virtual void onUpdateParameters (void)
 
virtual void onRequestActivation (void)
 
virtual void onRequestDeactivation (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
 

Constructor & Destructor Documentation

Control::ROV::Depth::Task::Task ( const std::string &  name,
Tasks::Context &  ctx 
)
inline

References DUNE::Tasks::Parameter::defaultValue(), Control::ROV::Depth::Arguments::depth_gains, Control::ROV::Depth::Arguments::heave_gains, m_args, Control::ROV::Depth::Arguments::max_heave, Control::ROV::Depth::Arguments::max_thrust, DUNE::Tasks::Task::param(), and Control::ROV::Depth::Arguments::vmotor_id.

Member Function Documentation

float Control::ROV::Depth::Task::depthControl ( const double  timestep,
const IMC::EstimatedState *  msg 
)
inline

Compute thrust to comply with heave reference.

References DUNE::Tasks::Task::dispatch(), DUNE::Control::BasicAutopilot::getBottomFollowDepth(), DUNE::Control::BasicAutopilot::getVerticalMode(), DUNE::Control::BasicAutopilot::getVerticalRef(), m_depth_pid, m_heave_pid, DUNE::Control::BasicAutopilot::signalBadVertical(), DUNE::Control::BasicAutopilot::VERTICAL_MODE_ALTITUDE, DUNE::Control::BasicAutopilot::VERTICAL_MODE_DEPTH, and DUNE::Control::BasicAutopilot::VERTICAL_MODE_HEAVE.

Referenced by onEstimatedState().

void Control::ROV::Depth::Task::onEstimatedState ( const double  timestep,
const IMC::EstimatedState *  msg 
)
inline

References depthControl(), DUNE::Tasks::Task::dispatch(), m_args, m_thrust, and Control::ROV::Depth::Arguments::vmotor_id.

void Control::ROV::Depth::Task::onResourceInitialization ( void  )
inlinevirtual

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

Reimplemented from DUNE::Control::BasicAutopilot.

References Control::ROV::Depth::Arguments::depth_gains, Control::ROV::Depth::Arguments::heave_gains, m_args, m_depth_pid, m_heave_pid, Control::ROV::Depth::Arguments::max_heave, and Control::ROV::Depth::Arguments::max_thrust.

void Control::ROV::Depth::Task::reset ( void  )
inlinevirtual

Reset to initial values.

Reimplemented from DUNE::Control::BasicAutopilot.

References DUNE::Tasks::Task::dispatch(), m_args, m_depth_pid, m_heave_pid, m_thrust, and Control::ROV::Depth::Arguments::vmotor_id.

Member Data Documentation

Arguments Control::ROV::Depth::Task::m_args

Task Arguments.

Referenced by onEstimatedState(), onResourceInitialization(), reset(), and Task().

DiscretePID Control::ROV::Depth::Task::m_depth_pid

Depth PID controller.

Referenced by depthControl(), onResourceInitialization(), and reset().

DiscretePID Control::ROV::Depth::Task::m_heave_pid

Heave speed PID controller.

Referenced by depthControl(), onResourceInitialization(), and reset().

IMC::SetThrusterActuation Control::ROV::Depth::Task::m_thrust

Desired actuation torque vector.

Referenced by onEstimatedState(), and reset().

Collaboration diagram for Control::ROV::Depth::Task:
Collaboration graph