Monitors::FuelLevel::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onUpdateParameters (void)
void	onResourceRelease (void)
void	onResourceAcquisition (void)
void	onEntityResolution (void)
void	consume (const IMC::Voltage *msg)
void	consume (const IMC::Current *msg)
void	consume (const IMC::Temperature *msg)
void	consume (const IMC::VehicleState *msg)
float	getDeviationFromModel (const Models model)
float	getDeviationMergedModel (const MergedModels model)
float	getModelEstimate (const Models model)
float	getModelEstimate (const Models model, float voltage)
Models	getClosestModel (float temperature)
float	getMapEstimate (const Models model, float current)
float	getInvertedEstimate (const Models model, float energy)
float	getMergedEstimate (const MergedModels model, float current, float temperature)
float	getMergedEstimate (const MergedModels model)
float	getRemainingTime (float power_rate)
float	computeInitialEstimate (void)
float	computeConfidence (float energy)
float	computeConfidence (void)
void	task (void)
Public Member Functions inherited from DUNE::Tasks::Periodic
	Periodic (const std::string &name, Context &ctx)
virtual	~Periodic (void)
void	setFrequency (double freq)
double	getFrequency (void) const
double	getRunTime (void) const
unsigned	getRunCount (void) const
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)
int	getProcessorUsage (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
BatteryData *	m_bdata
IMC::FuelLevel	m_fuel
float	m_energy_consumed
bool	m_has_initial_estimate
float	m_initial_estimate
double	m_last_time
unsigned	m_total_samples
bool	m_cold_estimate
bool	m_redid_estimate
unsigned	m_eids [BatteryData::BM_TOTAL]
Time::Counter< float >	m_sane_timer
bool	m_is_maneuvering
Arguments	m_args

Additional Inherited Members
Public Types inherited from DUNE::Concurrency::Runnable
enum	State {   StateStarting, StateRunning, StateStopping, StateDead,   StateUnknown }
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	onReportEntityState (void)
virtual void	onResourceInitialization (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

Constructor & Destructor Documentation

Monitors::FuelLevel::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Monitors::FuelLevel::Arguments::acceptable_temperature, Monitors::FuelLevel::Arguments::avg_win, Monitors::FuelLevel::BatteryData::BM_TOTAL, Monitors::FuelLevel::BatteryModel::current, Monitors::FuelLevel::Arguments::decay_factor, DUNE::Tasks::Parameter::defaultValue(), DUNE::Tasks::Parameter::description(), Monitors::FuelLevel::Arguments::elb, Monitors::FuelLevel::BatteryModel::energy, Monitors::FuelLevel::Arguments::err_lvl, Monitors::FuelLevel::Arguments::full_capacity, Monitors::FuelLevel::Arguments::low_confidence, m_args, Monitors::FuelLevel::MDL_TOTAL, Monitors::FuelLevel::Arguments::min_samples, Monitors::FuelLevel::Arguments::models, Monitors::FuelLevel::Arguments::op_labels, Monitors::FuelLevel::Arguments::op_values, DUNE::Tasks::Task::param(), Monitors::FuelLevel::BatteryModel::temp, DUNE::Tasks::Parameter::units(), Monitors::FuelLevel::BatteryModel::voltage, and Monitors::FuelLevel::Arguments::war_lvl.

Member Function Documentation

float Monitors::FuelLevel::Task::computeConfidence ( float  energy )

inline

Compute a rough estimate of the confidence on the measure of energy (in %)

Parameters

[in]

energy

to use

Returns

value of confidence computed

References Monitors::FuelLevel::Arguments::full_capacity, getMergedEstimate(), getModelEstimate(), m_args, Monitors::FuelLevel::MDL_OPT, Monitors::FuelLevel::MDL_PES, Monitors::FuelLevel::MGD_RATED, and DUNE::Math::piecewiseLI().

float Monitors::FuelLevel::Task::computeConfidence ( void  )

inline

Compute a rough estimate of the confidence on the measure of energy (in %)

Returns

value of confidence computed

References m_energy_consumed, and m_initial_estimate.

Referenced by task().

float Monitors::FuelLevel::Task::computeInitialEstimate ( void  )

inline

Compute an initial estimate for the energy left in batteries.

Returns

initial estimate computed

References Monitors::FuelLevel::BatteryModel::current, Monitors::FuelLevel::Arguments::decay_factor, Monitors::FuelLevel::Arguments::full_capacity, Monitors::FuelLevel::BatteryData::getCurrent(), getMergedEstimate(), getModelEstimate(), Monitors::FuelLevel::BatteryData::getTemperature(), m_args, m_bdata, m_cold_estimate, Monitors::FuelLevel::MDL_PES, Monitors::FuelLevel::MDL_VCOLD, Monitors::FuelLevel::MGD_ATAC, Monitors::FuelLevel::MGD_FTAC, Monitors::FuelLevel::MGD_RATED, Monitors::FuelLevel::Arguments::models, and Monitors::FuelLevel::BatteryModel::temp.

Referenced by task().

void Monitors::FuelLevel::Task::consume ( const IMC::Voltage *  msg )

inline

References Monitors::FuelLevel::Arguments::avg_win, Monitors::FuelLevel::BatteryData::BM_VOLTAGE, Monitors::FuelLevel::BatteryData::getEnergyDrop(), m_args, m_bdata, m_energy_consumed, m_last_time, m_total_samples, and Monitors::FuelLevel::BatteryData::update().

void Monitors::FuelLevel::Task::consume ( const IMC::Current *  msg )

inline

References m_bdata, and Monitors::FuelLevel::BatteryData::update().

void Monitors::FuelLevel::Task::consume ( const IMC::Temperature *  msg )

inline

References m_bdata, and Monitors::FuelLevel::BatteryData::update().

void Monitors::FuelLevel::Task::consume ( const IMC::VehicleState *  msg )

inline

References m_is_maneuvering, and m_sane_timer.

Models Monitors::FuelLevel::Task::getClosestModel ( float  temperature )

inline

Find closest model to a certain temperature.

Parameters

[in]

temperature

temperature value to use

Returns

closest model to the given temperature

References m_args, Monitors::FuelLevel::MDL_TOTAL, Monitors::FuelLevel::Arguments::models, and Monitors::FuelLevel::BatteryModel::temp.

Referenced by getMergedEstimate().

float Monitors::FuelLevel::Task::getDeviationFromModel ( const Models  model )

inline

Compute deviation from model.

Parameters

[in]

model

model to be used to compute deviation

Returns

deviation from given model

References getModelEstimate(), m_energy_consumed, and m_initial_estimate.

Referenced by task().

float Monitors::FuelLevel::Task::getDeviationMergedModel ( const MergedModels  model )

inline

Compute deviation from a merged model.

Parameters

[in]

model

merged model to be used to compute deviation

Returns

deviation from given merged model

References getMergedEstimate(), m_energy_consumed, and m_initial_estimate.

Referenced by task().

float Monitors::FuelLevel::Task::getInvertedEstimate ( const Models  model, float  energy  )

inline

Compute voltage using energy value.

This works as an inverted getModelEstimate().

Parameters

[in]	model	model to be used in compute the estimate
[in]	energy	energy value to interpolate with to find voltage.

Returns

computed voltage value by interpolation

References Monitors::FuelLevel::BatteryModel::energy, m_args, Monitors::FuelLevel::Arguments::models, DUNE::Math::piecewiseLI(), and Monitors::FuelLevel::BatteryModel::voltage.

Referenced by getMapEstimate().

float Monitors::FuelLevel::Task::getMapEstimate ( const Models  model, float  current  )

inline

Compute estimate for temperature map merged model.

Parameters

[in]	model	temperature model to use
[in]	current	electric current value to use in estimate

Returns

estimate for the cold map merged model

References Monitors::FuelLevel::BatteryModel::current, getInvertedEstimate(), getModelEstimate(), Monitors::FuelLevel::BatteryData::getVoltage(), m_args, m_bdata, Monitors::FuelLevel::MDL_OPT, Monitors::FuelLevel::MDL_PES, and Monitors::FuelLevel::Arguments::models.

Referenced by getMergedEstimate().

float Monitors::FuelLevel::Task::getMergedEstimate ( const MergedModels  model, float  current, float  temperature  )

inline

Compute a merged estimate using an electric current value.

Parameters

[in]	model	merged model to use
[in]	current	electric current value to use
[in]	temperature	temperature value to use

Returns

merged estimate value

References Monitors::FuelLevel::BatteryModel::current, getClosestModel(), getMapEstimate(), getModelEstimate(), DUNE::Math::linearInterpolation(), m_args, Monitors::FuelLevel::MDL_OPT, Monitors::FuelLevel::MDL_PES, Monitors::FuelLevel::MDL_VCOLD, Monitors::FuelLevel::MDL_ZERO, Monitors::FuelLevel::MGD_ATAC, Monitors::FuelLevel::MGD_FTAC, Monitors::FuelLevel::MGD_RATED, Monitors::FuelLevel::Arguments::models, and Monitors::FuelLevel::BatteryModel::temp.

Referenced by computeConfidence(), computeInitialEstimate(), getDeviationMergedModel(), and getMergedEstimate().

float Monitors::FuelLevel::Task::getMergedEstimate ( const MergedModels  model )

inline

Compute a merged estimate using an electric current value (overload)

Parameters

[in]

model

merged model to use

Returns

merged estimate value

References Monitors::FuelLevel::BatteryData::getCurrent(), getMergedEstimate(), Monitors::FuelLevel::BatteryData::getTemperature(), and m_bdata.

float Monitors::FuelLevel::Task::getModelEstimate ( const Models  model )

inline

Compute an estimate based on a current discharge model.

Parameters

[in]

model

model to be used in computing the estimate

Returns

estimate computed

References Monitors::FuelLevel::BatteryData::getVoltage(), and m_bdata.

Referenced by computeConfidence(), computeInitialEstimate(), getDeviationFromModel(), getMapEstimate(), getMergedEstimate(), and task().

float Monitors::FuelLevel::Task::getModelEstimate ( const Models  model, float  voltage  )

inline

Compute an estimate based on a current discharge model.

Parameters

[in]	model	model to be used in computing the estimate
[in]	voltage	voltage to be used in optimistic and pessimistic model

Returns

estimate computed

References Monitors::FuelLevel::BatteryModel::energy, m_args, Monitors::FuelLevel::Arguments::models, DUNE::Math::piecewiseLI(), and Monitors::FuelLevel::BatteryModel::voltage.

float Monitors::FuelLevel::Task::getRemainingTime ( float  power_rate )

inline

Estimate likely time left for operation in a certain power regime for available energy left in batteries.

Parameters

[in]

power_rate

rate of power consumption

Returns

remaining time at consumption rate

References m_energy_consumed, and m_initial_estimate.

void Monitors::FuelLevel::Task::onEntityResolution ( void  )

inlinevirtual

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

See resolveEntity(). Derived classes that need to resolve entity identifiers should override this function.

Reimplemented from DUNE::Tasks::Task.

References Monitors::FuelLevel::BatteryData::BM_TOTAL, Monitors::FuelLevel::Arguments::elb, m_args, m_eids, and DUNE::Tasks::Task::resolveEntity().

void Monitors::FuelLevel::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 Monitors::FuelLevel::Arguments::avg_win, m_args, m_bdata, m_eids, and Monitors::FuelLevel::BatteryData::setEntities().

void Monitors::FuelLevel::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_bdata.

void Monitors::FuelLevel::Task::onUpdateParameters ( void  )

inlinevirtual

Called when the task is instructed to update its run-time parameters.

Derived classes that need to compute auxiliary values based on run-time parameters should override this function.

Reimplemented from DUNE::Tasks::Task.

References Monitors::FuelLevel::Arguments::decay_factor, Monitors::FuelLevel::BatteryModel::energy, DUNE::Tasks::Task::err(), m_args, Monitors::FuelLevel::MDL_TOTAL, Monitors::FuelLevel::Arguments::models, Monitors::FuelLevel::Arguments::op_labels, Monitors::FuelLevel::Arguments::op_values, DUNE::Tasks::Task::paramChanged(), and Monitors::FuelLevel::BatteryModel::voltage.

void Monitors::FuelLevel::Task::task ( void  )

inlinevirtual

The task to be executed on each cycle.

Implements DUNE::Tasks::Periodic.

References Monitors::FuelLevel::Arguments::acceptable_temperature, computeConfidence(), computeInitialEstimate(), DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::dispatch(), Monitors::FuelLevel::Arguments::err_lvl, Monitors::FuelLevel::Arguments::full_capacity, Monitors::FuelLevel::BatteryData::getCurrent(), getDeviationFromModel(), getDeviationMergedModel(), DUNE::Tasks::Task::getEntityState(), getModelEstimate(), Monitors::FuelLevel::BatteryData::getTemperature(), Monitors::FuelLevel::BatteryData::gotMeasurements(), Monitors::FuelLevel::Arguments::low_confidence, m_args, m_bdata, m_cold_estimate, m_energy_consumed, m_fuel, m_has_initial_estimate, m_initial_estimate, m_is_maneuvering, m_redid_estimate, m_sane_timer, m_total_samples, Monitors::FuelLevel::MDL_OPT, Monitors::FuelLevel::MDL_PES, Monitors::FuelLevel::MGD_ATAC, Monitors::FuelLevel::MGD_FTAC, Monitors::FuelLevel::MGD_RATED, Monitors::FuelLevel::Arguments::min_samples, Monitors::FuelLevel::Arguments::op_labels, Monitors::FuelLevel::Arguments::op_values, DUNE::Tasks::Task::setEntityState(), DUNE::Tasks::Task::trace(), and Monitors::FuelLevel::Arguments::war_lvl.

Member Data Documentation

Arguments Monitors::FuelLevel::Task::m_args

Task arguments.

Referenced by computeConfidence(), computeInitialEstimate(), consume(), getClosestModel(), getInvertedEstimate(), getMapEstimate(), getMergedEstimate(), getModelEstimate(), onEntityResolution(), onResourceAcquisition(), onUpdateParameters(), Task(), and task().

BatteryData* Monitors::FuelLevel::Task::m_bdata

Battery related data being measured.

Referenced by computeInitialEstimate(), consume(), getMapEstimate(), getMergedEstimate(), getModelEstimate(), onResourceAcquisition(), onResourceRelease(), and task().

bool Monitors::FuelLevel::Task::m_cold_estimate

Present estimate was performed in cold temperatures.

Referenced by computeInitialEstimate(), and task().

unsigned Monitors::FuelLevel::Task::m_eids[BatteryData::BM_TOTAL]

Array of entities.

Referenced by onEntityResolution(), and onResourceAcquisition().

float Monitors::FuelLevel::Task::m_energy_consumed

Estimated amount of energy consumed in Wh since the task started.

Referenced by computeConfidence(), consume(), getDeviationFromModel(), getDeviationMergedModel(), getRemainingTime(), and task().

IMC::FuelLevel Monitors::FuelLevel::Task::m_fuel

Fuel level message.

Referenced by task().

bool Monitors::FuelLevel::Task::m_has_initial_estimate

Do we have an initial estimate.

Referenced by task().

float Monitors::FuelLevel::Task::m_initial_estimate

Initial estimate of energy left in the batteries.

Referenced by computeConfidence(), getDeviationFromModel(), getDeviationMergedModel(), getRemainingTime(), and task().

bool Monitors::FuelLevel::Task::m_is_maneuvering

True if maneuvering. Start as true.

Referenced by consume(), and task().

double Monitors::FuelLevel::Task::m_last_time

Last energy computation time.

Referenced by consume().

bool Monitors::FuelLevel::Task::m_redid_estimate

Redo estimate only once.

Referenced by task().

Time::Counter<float> Monitors::FuelLevel::Task::m_sane_timer

Timer Counter for stabilization time after maneuvering.

Referenced by consume(), and task().

unsigned Monitors::FuelLevel::Task::m_total_samples

Total number of measurement samples got so far.

Referenced by consume(), and task().

Collaboration diagram for Monitors::FuelLevel::Task: