Maneuver::FollowSystem::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onUpdateParameters (void)
void	onManeuverDeactivation (void)
void	consume (const IMC::EstimatedState *msg)
void	consume (const IMC::FollowSystem *maneuver)
void	consume (const IMC::RemoteState *rs)
void	consume (const IMC::Announce *msg)
void	consume (const IMC::PathControlState *pcs)
void	onStateReport (void)
void	computeNEDOffsets (double lat, double lon, double depth, double psi)
bool	checkSafety (double lat, double lon)
void	enableMovement (bool enable)
Public Member Functions inherited from DUNE::IMC::Message
	Message (void)
virtual	~Message (void)
virtual Message *	clone (void) const =0
virtual void	clear (void)=0
virtual int	validate (void) const =0
virtual const char *	getName (void) const =0
virtual uint16_t	getId (void) const =0
double	setTimeStamp (double ts)
double	setTimeStamp (void)
double	getTimeStamp (void) const
uint16_t	getSource (void) const
void	setSource (uint16_t src)
uint8_t	getSourceEntity (void) const
void	setSourceEntity (uint8_t src_ent)
uint16_t	getDestination (void) const
void	setDestination (uint16_t dst)
uint8_t	getDestinationEntity (void) const
void	setDestinationEntity (uint8_t dst_ent)
virtual uint16_t	getSubId (void) const
virtual void	setSubId (uint16_t subid)
virtual fp64_t	getValueFP (void) const
virtual void	setValueFP (fp64_t val)
unsigned	getSerializationSize (void) const
unsigned	getPayloadSerializationSize (void) const
virtual unsigned	getFixedSerializationSize (void) const
virtual unsigned	getVariableSerializationSize (void) const
void	toJSON (std::ostream &os) const
void	toText (std::ostream &os) const
virtual uint8_t *	serializeFields (uint8_t *bfr) const =0
virtual uint16_t	deserializeFields (const uint8_t *bfr, uint16_t len)=0
virtual uint16_t	reverseDeserializeFields (const uint8_t *bfr, uint16_t len)=0
virtual void	fieldsToJSON (std::ostream &os, unsigned indent_level) const
bool	operator== (const Message &other) const
bool	operator!= (const Message &other) const

Public Attributes
IMC::FollowSystem	m_maneuver
IMC::EstimatedState	m_estate
IMC::DesiredPath	m_path
Counter< double >	m_heading_timestamp
double	m_remote_heading
double	m_start_time
Counter< double >	m_last_update
double	m_last_known_bearing
double	m_last_known_lat
double	m_last_known_lon
bool	m_first_announce
bool	m_has_estimated_state
Arguments	m_args

Additional Inherited Members
Protected Member Functions inherited from DUNE::IMC::Message
virtual void	setTimeStampNested (double value)
virtual void	setSourceNested (uint16_t value)
virtual void	setSourceEntityNested (uint8_t value)
virtual void	setDestinationNested (uint16_t value)
virtual void	setDestinationEntityNested (uint8_t value)
virtual bool	fieldsEqual (const Message &other) const
Protected Attributes inherited from DUNE::IMC::Message
Header	m_header

Constructor & Destructor Documentation

Maneuver::FollowSystem::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Maneuver::FollowSystem::Arguments::announce_active, Maneuver::FollowSystem::Arguments::heading_cooldown, Maneuver::FollowSystem::Arguments::loiter_radius, m_args, Maneuver::FollowSystem::Arguments::min_displace, Maneuver::FollowSystem::Arguments::remote_active, Maneuver::FollowSystem::Arguments::safe_distance, and Maneuver::FollowSystem::Arguments::timeout.

Member Function Documentation

bool Maneuver::FollowSystem::Task::checkSafety ( double  lat, double  lon  )

inline

Routine for checking the safety of the vehicle's position this routine return true if the present location is safe and returns false otherwise.

References m_args, m_estate, m_has_estimated_state, and Maneuver::FollowSystem::Arguments::safe_distance.

Referenced by consume(), and onStateReport().

void Maneuver::FollowSystem::Task::computeNEDOffsets ( double  lat, double  lon, double  depth, double  psi  )

inline

Function to compute new point to send to vehicle considering offsets.

References m_maneuver, and m_path.

Referenced by consume().

void Maneuver::FollowSystem::Task::consume ( const IMC::EstimatedState *  msg )

inline

References Maneuver::FollowSystem::Arguments::announce_active, m_args, m_estate, and m_has_estimated_state.

void Maneuver::FollowSystem::Task::consume ( const IMC::FollowSystem *  maneuver )

inline

References enableMovement(), Maneuver::FollowSystem::Arguments::loiter_radius, m_args, m_heading_timestamp, m_last_update, m_maneuver, m_start_time, and DUNE::Time::Counter< T >::reset().

void Maneuver::FollowSystem::Task::consume ( const IMC::RemoteState *  rs )

inline

References checkSafety(), computeNEDOffsets(), enableMovement(), Maneuver::FollowSystem::Arguments::loiter_radius, m_args, m_heading_timestamp, m_last_known_lat, m_last_known_lon, m_last_update, m_maneuver, m_path, m_remote_heading, m_start_time, Maneuver::FollowSystem::Arguments::remote_active, and DUNE::Time::Counter< T >::reset().

void Maneuver::FollowSystem::Task::consume ( const IMC::Announce *  msg )

inline

References Maneuver::FollowSystem::Arguments::announce_active, checkSafety(), computeNEDOffsets(), enableMovement(), Maneuver::FollowSystem::Arguments::loiter_radius, m_args, m_estate, m_first_announce, m_heading_timestamp, m_last_known_bearing, m_last_known_lat, m_last_known_lon, m_last_update, m_maneuver, m_path, m_remote_heading, m_start_time, Maneuver::FollowSystem::Arguments::min_displace, DUNE::Time::Counter< T >::overflow(), and DUNE::Time::Counter< T >::reset().

void Maneuver::FollowSystem::Task::consume ( const IMC::PathControlState *  pcs )

inline

Function to check if the vehicle is getting near to the next waypoint.

References enableMovement().

void Maneuver::FollowSystem::Task::enableMovement ( bool  enable )

inline

Function for enabling and disabling the control loops.

Referenced by consume(), and onStateReport().

void Maneuver::FollowSystem::Task::onManeuverDeactivation ( void  )

inline

References m_first_announce, and m_has_estimated_state.

void Maneuver::FollowSystem::Task::onStateReport ( void  )

inline

References checkSafety(), enableMovement(), m_last_known_lat, m_last_known_lon, m_last_update, m_maneuver, m_start_time, and DUNE::Time::Counter< T >::overflow().

void Maneuver::FollowSystem::Task::onUpdateParameters ( void  )

inline

References Maneuver::FollowSystem::Arguments::heading_cooldown, m_args, m_heading_timestamp, m_last_update, DUNE::Time::Counter< T >::setTop(), and Maneuver::FollowSystem::Arguments::timeout.

Member Data Documentation

Arguments Maneuver::FollowSystem::Task::m_args

Task Arguments.

Referenced by checkSafety(), consume(), onUpdateParameters(), and Task().

IMC::EstimatedState Maneuver::FollowSystem::Task::m_estate

Vehicle's Estimated State.

Referenced by checkSafety(), and consume().

bool Maneuver::FollowSystem::Task::m_first_announce

is it the first time consume announce is being ran?

Referenced by consume(), and onManeuverDeactivation().

bool Maneuver::FollowSystem::Task::m_has_estimated_state

this boolean tells us if we have an estimated state already

Referenced by checkSafety(), consume(), and onManeuverDeactivation().

Counter<double> Maneuver::FollowSystem::Task::m_heading_timestamp

Remote State computed heading's timestamp, for evaluating the best heading to be used.

Referenced by consume(), and onUpdateParameters().

double Maneuver::FollowSystem::Task::m_last_known_bearing

variable to hold the last known bearing

Referenced by consume().

double Maneuver::FollowSystem::Task::m_last_known_lat

variable that will hold the last known latittude

Referenced by consume(), and onStateReport().

double Maneuver::FollowSystem::Task::m_last_known_lon

variable that will hold the last known longitude

Referenced by consume(), and onStateReport().

Counter<double> Maneuver::FollowSystem::Task::m_last_update

the last Clock::get() when the neighbor system's position was updated

Referenced by consume(), onStateReport(), and onUpdateParameters().

IMC::FollowSystem Maneuver::FollowSystem::Task::m_maneuver

Variable to save the maneuver's data.

Referenced by computeNEDOffsets(), consume(), and onStateReport().

IMC::DesiredPath Maneuver::FollowSystem::Task::m_path

Desired path to be thrown.

Referenced by computeNEDOffsets(), and consume().

double Maneuver::FollowSystem::Task::m_remote_heading

this variable will hold the value of the heading computed when using the announce method instead of the remote state.

Referenced by consume().

double Maneuver::FollowSystem::Task::m_start_time

the start time of the maneuver measured at consume maneuver

Referenced by consume(), and onStateReport().

Collaboration diagram for Maneuver::FollowSystem::Task: