Simulators::LBL::Task Struct Reference

Detailed Description

LBL simulator task.

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onUpdateParameters (void)
void	onResourceAcquisition (void)
void	onResourceRelease (void)
bool	hasLBLConfig (void) const
bool	hasOrigin (void) const
bool	isInitialized (void) const
void	updateBeacons (void)
void	addBeacon (unsigned id, const IMC::LblBeacon *msg)
void	consume (const IMC::GpsFix *msg)
void	consume (const IMC::LblConfig *msg)
void	consume (const IMC::SimulatedState *msg)
void	onActivation (void)
void	onDeactivation (void)
void	onMain (void)

Public Attributes
IMC::SimulatedState	m_sstate
IMC::GpsFix *	m_origin
IMC::LblConfig *	m_lbl_cfg
Counter< double >	m_ping_time
Random::Generator *	m_prng
std::vector< BeaconSetup >	m_beacons
std::vector< BeaconSetup > ::const_iterator	m_beacon
Arguments	m_args

Constructor & Destructor Documentation

Simulators::LBL::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Simulators::LBL::Arguments::bad_range_prob, m_args, Simulators::LBL::Arguments::ping_delay, Simulators::LBL::Arguments::prng_seed, Simulators::LBL::Arguments::prng_type, and Simulators::LBL::Arguments::sigma.

Member Function Documentation

void Simulators::LBL::Task::addBeacon ( unsigned  id, const IMC::LblBeacon *  msg  )

inline

Routine to add a new beacon.

Parameters

[in]	id	beacon id.
[in]	msg	inline msg.

References Simulators::LBL::BeaconSetup::depth, Simulators::LBL::BeaconSetup::id, Simulators::LBL::BeaconSetup::lat, Simulators::LBL::BeaconSetup::lon, m_beacons, m_origin, Simulators::LBL::BeaconSetup::x, and Simulators::LBL::BeaconSetup::y.

Referenced by updateBeacons().

void Simulators::LBL::Task::consume ( const IMC::GpsFix *  msg )

inline

References hasLBLConfig(), m_origin, and updateBeacons().

void Simulators::LBL::Task::consume ( const IMC::LblConfig *  msg )

inline

References hasOrigin(), m_lbl_cfg, and updateBeacons().

void Simulators::LBL::Task::consume ( const IMC::SimulatedState *  msg )

inline

References isInitialized(), and m_sstate.

bool Simulators::LBL::Task::hasLBLConfig ( void  ) const

inline

References m_lbl_cfg.

Referenced by consume(), and isInitialized().

bool Simulators::LBL::Task::hasOrigin ( void  ) const

inline

References m_origin.

Referenced by consume(), and isInitialized().

bool Simulators::LBL::Task::isInitialized ( void  ) const

inline

References hasLBLConfig(), hasOrigin(), and m_beacons.

Referenced by consume(), and onMain().

void Simulators::LBL::Task::onActivation ( void  )

inline

References m_ping_time, and DUNE::Time::Counter< T >::reset().

void Simulators::LBL::Task::onDeactivation ( void  )

inline

void Simulators::LBL::Task::onMain ( void  )

inline

References Simulators::LBL::Arguments::bad_range_prob, DUNE::Math::Random::Generator::gaussian(), isInitialized(), m_args, m_beacon, m_beacons, m_ping_time, m_prng, m_sstate, DUNE::Time::Counter< T >::overflow(), Simulators::LBL::Arguments::ping_delay, DUNE::Math::Random::Generator::random(), DUNE::Time::Counter< T >::reset(), and Simulators::LBL::Arguments::sigma.

void Simulators::LBL::Task::onResourceAcquisition ( void  )

inline

Acquire resources.

References m_args, m_prng, Simulators::LBL::Arguments::prng_seed, and Simulators::LBL::Arguments::prng_type.

void Simulators::LBL::Task::onResourceRelease ( void  )

inline

Release resources.

References m_lbl_cfg, m_origin, and m_prng.

void Simulators::LBL::Task::onUpdateParameters ( void  )

inline

Update parameters.

References m_args, m_ping_time, Simulators::LBL::Arguments::ping_delay, and DUNE::Time::Counter< T >::setTop().

void Simulators::LBL::Task::updateBeacons ( void  )

inline

References addBeacon(), m_beacon, m_beacons, m_lbl_cfg, m_ping_time, and DUNE::Time::Counter< T >::reset().

Referenced by consume().

Member Data Documentation

Arguments Simulators::LBL::Task::m_args

Task arguments.

Referenced by onMain(), onResourceAcquisition(), onUpdateParameters(), and Task().

std::vector<BeaconSetup>::const_iterator Simulators::LBL::Task::m_beacon

Current active beacon.

Referenced by onMain(), and updateBeacons().

std::vector<BeaconSetup> Simulators::LBL::Task::m_beacons

Configuration/position of LBL beacons.

Referenced by addBeacon(), isInitialized(), onMain(), and updateBeacons().

IMC::LblConfig* Simulators::LBL::Task::m_lbl_cfg

LblConfig buffer.

Referenced by consume(), hasLBLConfig(), onResourceRelease(), and updateBeacons().

IMC::GpsFix* Simulators::LBL::Task::m_origin

WGS84 origin.

Referenced by addBeacon(), consume(), hasOrigin(), and onResourceRelease().

Counter<double> Simulators::LBL::Task::m_ping_time

Next ping time.

Referenced by onActivation(), onMain(), onUpdateParameters(), and updateBeacons().

Random::Generator* Simulators::LBL::Task::m_prng

PRNG handle.

Referenced by onMain(), onResourceAcquisition(), and onResourceRelease().

IMC::SimulatedState Simulators::LBL::Task::m_sstate

Simulated state.

Referenced by consume(), and onMain().

Collaboration diagram for Simulators::LBL::Task: