Control::Path::VectorField::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onUpdateParameters (void)
void	onEntityReservation (void)
void	onPathActivation (void)
void	step (const IMC::EstimatedState &state, const TrackingState &ts)
void	loiter (const IMC::EstimatedState &state, const TrackingState &ts)
Public Member Functions inherited from DUNE::Control::PathController
	PathController (std::string name, Tasks::Context &ctx)
virtual	~PathController (void)
void	onEntityReservation (void)
void	consume (const IMC::Brake *brake)
void	consume (const IMC::EstimatedState *es)
void	consume (const IMC::ControlLoops *cl)
void	consume (const IMC::DesiredPath *dp)
void	consume (const IMC::NavigationUncertainty *nu)
void	consume (const IMC::Distance *dist)
void	consume (const IMC::DesiredZ *zref)
void	consume (const IMC::DesiredSpeed *dspeed)
virtual void	onResourceInitialization (void)
virtual void	onResourceAcquisition (void)
virtual void	onResourceRelease (void)
virtual void	onPathDeactivation (void)
virtual void	onPathStartup (const IMC::EstimatedState &state, const TrackingState &ts)
virtual void	step (const IMC::EstimatedState &state, const TrackingState &ts)=0
virtual void	loiter (const IMC::EstimatedState &state, const TrackingState &ts)
virtual bool	hasSpecificZControl (void) const
void	signalError (const std::string &msg)
void	enableControlLoops (uint32_t mask)
void	disableControlLoops (uint32_t mask)
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
double	m_gain
IMC::DesiredHeading	m_heading
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 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	onEntityResolution (void)
virtual void	onReportEntityState (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::Path::VectorField::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Control::Path::VectorField::Arguments::corridor, DUNE::Tasks::Parameter::defaultValue(), Control::Path::VectorField::Arguments::entry_angle, Control::Path::VectorField::Arguments::ext_control, Control::Path::VectorField::Arguments::ext_gain, Control::Path::VectorField::Arguments::ext_trgain, m_args, DUNE::Tasks::Parameter::maximumValue(), DUNE::Tasks::Parameter::minimumValue(), and DUNE::Tasks::Task::param().

Member Function Documentation

void Control::Path::VectorField::Task::loiter ( const IMC::EstimatedState &  state, const TrackingState &  ts  )

inline

Execute a loiter control step From base class PathController.

References DUNE::Control::PathController::TrackingState::cc, DUNE::Control::PathController::TrackingState::LoiterData::clockwise, DUNE::Control::PathController::TrackingState::course, DUNE::Tasks::Task::dispatch(), DUNE::Control::PathController::TrackingState::loiter, DUNE::Control::PathController::TrackingState::los_angle, m_gain, m_heading, DUNE::Control::PathController::TrackingState::LoiterData::radius, and DUNE::Control::PathController::TrackingState::range.

void Control::Path::VectorField::Task::onEntityReservation ( void  )

inlinevirtual

Called when the task is instructed to reserve all the entity identifiers it needs for normal execution.

See reserveEntity(). Derived classes that need to reserve entity identifiers other than that of the main entity should override this function.

Reimplemented from DUNE::Tasks::Task.

void Control::Path::VectorField::Task::onPathActivation ( void  )

inlinevirtual

Handler for path control activation.

This is called when path control is activated. By default it does nothing.

Reimplemented from DUNE::Control::PathController.

References DUNE::Control::PathController::enableControlLoops().

void Control::Path::VectorField::Task::onUpdateParameters ( void  )

inlinevirtual

Handler for parameter updates.

This can be overriden but in that case this parent class implementation MUST be called.

Reimplemented from DUNE::Control::PathController.

References Control::Path::VectorField::Arguments::corridor, Control::Path::VectorField::Arguments::entry_angle, m_args, m_gain, and DUNE::Tasks::Task::paramChanged().

void Control::Path::VectorField::Task::step ( const IMC::EstimatedState &  state, const TrackingState &  ts  )

inline

Execute a path control step From base class PathController.

References DUNE::Control::PathController::TrackingState::cc, Control::Path::VectorField::Arguments::corridor, DUNE::Control::PathController::TrackingState::course, DUNE::Tasks::Task::dispatch(), DUNE::Control::PathController::TrackingState::end, Control::Path::VectorField::Arguments::entry_angle, Control::Path::VectorField::Arguments::ext_control, Control::Path::VectorField::Arguments::ext_gain, Control::Path::VectorField::Arguments::ext_trgain, DUNE::Coordinates::getBearing(), m_args, m_gain, m_heading, DUNE::Control::PathController::TrackingState::speed, DUNE::Tasks::Task::spew(), DUNE::Control::PathController::TrackingState::track_bearing, DUNE::Control::PathController::TrackingState::track_length, DUNE::Control::PathController::TrackingState::track_pos, DUNE::Control::PathController::TrackingState::TrackCoord::x, and DUNE::Control::PathController::TrackingState::TrackCoord::y.

Member Data Documentation

Arguments Control::Path::VectorField::Task::m_args

Task arguments.

Referenced by onUpdateParameters(), step(), and Task().

double Control::Path::VectorField::Task::m_gain

Controller gain.

Referenced by loiter(), onUpdateParameters(), and step().

IMC::DesiredHeading Control::Path::VectorField::Task::m_heading

Outgoing desired heading message.

Referenced by loiter(), and step().

Collaboration diagram for Control::Path::VectorField::Task: