Simulators::UAV::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onResourceAcquisition (void)
void	onEntityReservation (void)
void	onResourceRelease (void)
void	consume (const IMC::GpsFix *msg)
void	consume (const IMC::DesiredRoll *msg)
void	consume (const IMC::DesiredSpeed *msg)
void	consume (const IMC::DesiredZ *msg)
Matrix	matrixRotRbody2gnd (float roll, float pitch)
Matrix	matrixRotRgnd2body (float roll, float pitch)
Matrix	matrixJ (float roll, float pitch, float yaw)
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
DUNE::Simulation::UAVSimulation *	m_model
IMC::SimulatedState	m_sstate
double	m_start_time
double	m_last_update
double	m_last_time_debug
double	m_last_time_trace
float	m_thruster_act
Matrix	m_servo_pos
Matrix	m_position
Matrix	m_velocity
Matrix	m_wind
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	onEntityResolution (void)
virtual void	onReportEntityState (void)
virtual void	onResourceInitialization (void)
virtual void	onUpdateParameters (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

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

inline

References Simulators::UAV::Arguments::aac, Simulators::UAV::Arguments::addedmass, Simulators::UAV::Arguments::base_drag, Simulators::UAV::Arguments::c_alt, Simulators::UAV::Arguments::c_bank, Simulators::UAV::Arguments::c_speed, DUNE::Tasks::Parameter::defaultValue(), Simulators::UAV::Arguments::elev_lift, Simulators::UAV::Arguments::fac, Simulators::UAV::Arguments::gaccel, Simulators::UAV::Arguments::inertia, Simulators::UAV::Arguments::init_alt, Simulators::UAV::Arguments::init_lat, Simulators::UAV::Arguments::init_lon, Simulators::UAV::Arguments::init_roll, Simulators::UAV::Arguments::init_speed, Simulators::UAV::Arguments::init_yaw, Simulators::UAV::Arguments::l_bank_rate, Simulators::UAV::Arguments::l_lon_accel, Simulators::UAV::Arguments::l_vert_slope, Simulators::UAV::Arguments::label_gps, Simulators::UAV::Arguments::lift, m_args, Simulators::UAV::Arguments::mass, Simulators::UAV::Arguments::max_thrust, DUNE::Math::min(), DUNE::Tasks::Task::param(), Simulators::UAV::Arguments::quadratic_drag, Simulators::UAV::Arguments::rud_lift, Simulators::UAV::Arguments::sim_type, Simulators::UAV::Arguments::tac, DUNE::Tasks::Parameter::units(), Simulators::UAV::Arguments::wac, Simulators::UAV::Arguments::wx, and Simulators::UAV::Arguments::wy.

Member Function Documentation

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

inline

References DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::isActive(), m_last_update, m_model, m_position, m_sstate, m_start_time, DUNE::Tasks::Task::requestActivation(), and DUNE::Simulation::UAVSimulation::setPosition().

void Simulators::UAV::Task::consume ( const IMC::DesiredRoll *  msg )

inline

References DUNE::Tasks::Task::debug(), DUNE::Math::Angles::degrees(), DUNE::Tasks::Task::getSystemId(), DUNE::Tasks::Task::isActive(), DUNE::Simulation::UAVSimulation::m_bank_cmd, m_model, and DUNE::Tasks::Task::trace().

void Simulators::UAV::Task::consume ( const IMC::DesiredSpeed *  msg )

inline

References DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::getSystemId(), DUNE::Tasks::Task::isActive(), DUNE::Simulation::UAVSimulation::m_airspeed_cmd, m_model, and DUNE::Tasks::Task::trace().

void Simulators::UAV::Task::consume ( const IMC::DesiredZ *  msg )

inline

References DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::getSystemId(), DUNE::Tasks::Task::isActive(), DUNE::Simulation::UAVSimulation::m_altitude_cmd, m_model, and DUNE::Tasks::Task::trace().

Matrix Simulators::UAV::Task::matrixJ ( float  roll, float  pitch, float  yaw  )

inline

References DUNE::Math::Matrix::horzCat(), matrixRotRbody2gnd(), DUNE::Math::Matrix::toDCM(), and DUNE::Math::Matrix::vertCat().

Matrix Simulators::UAV::Task::matrixRotRbody2gnd ( float  roll, float  pitch  )

inline

Referenced by matrixJ().

Matrix Simulators::UAV::Task::matrixRotRgnd2body ( float  roll, float  pitch  )

inline

void Simulators::UAV::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 Simulators::UAV::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 Simulators::UAV::Arguments::c_alt, Simulators::UAV::Arguments::c_bank, Simulators::UAV::Arguments::c_speed, DUNE::Simulation::UAVSimulation::command(), DUNE::Tasks::Task::debug(), DUNE::Math::Angles::degrees(), DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::inf(), Simulators::UAV::Arguments::init_alt, Simulators::UAV::Arguments::init_lat, Simulators::UAV::Arguments::init_lon, Simulators::UAV::Arguments::init_roll, Simulators::UAV::Arguments::init_speed, Simulators::UAV::Arguments::init_yaw, Simulators::UAV::Arguments::l_bank_rate, Simulators::UAV::Arguments::l_lon_accel, Simulators::UAV::Arguments::l_vert_slope, m_args, m_last_update, m_model, m_position, DUNE::Simulation::UAVSimulation::m_sim_type, m_sstate, m_start_time, m_velocity, m_wind, DUNE::Math::Angles::radians(), DUNE::Tasks::Task::requestActivation(), DUNE::Simulation::UAVSimulation::setAccelLim(), DUNE::Simulation::UAVSimulation::setBankRateLim(), DUNE::Simulation::UAVSimulation::setVertSlopeLim(), Simulators::UAV::Arguments::sim_type, and DUNE::Simulation::UAVSimulation.

void Simulators::UAV::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_model.

void Simulators::UAV::Task::task ( void  )

inlinevirtual

The task to be executed on each cycle.

Implements DUNE::Tasks::Periodic.

References DUNE::Tasks::Task::consumeMessages(), DUNE::Tasks::Task::dispatch(), DUNE::Math::Matrix::get(), DUNE::Simulation::UAVSimulation::getPosition(), DUNE::Tasks::Task::getSystemId(), DUNE::Simulation::UAVSimulation::getVelocity(), DUNE::Tasks::Task::isActive(), m_last_update, m_model, m_position, m_sstate, m_velocity, DUNE::Simulation::UAVSimulation::m_wind, DUNE::Math::Matrix::toDCM(), DUNE::Math::transpose(), and DUNE::Simulation::UAVSimulation::update().

Member Data Documentation

Arguments Simulators::UAV::Task::m_args

Gps simulator entity id.

Task arguments.

Referenced by onResourceAcquisition(), and Task().

double Simulators::UAV::Task::m_last_time_debug

Last time debug information was shown.

double Simulators::UAV::Task::m_last_time_trace

double Simulators::UAV::Task::m_last_update

Last time update was ran.

Referenced by consume(), onResourceAcquisition(), and task().

DUNE::Simulation::UAVSimulation* Simulators::UAV::Task::m_model

Simulation vehicle.

Referenced by consume(), onResourceAcquisition(), onResourceRelease(), and task().

Matrix Simulators::UAV::Task::m_position

Vehicle position.

Referenced by consume(), onResourceAcquisition(), and task().

Matrix Simulators::UAV::Task::m_servo_pos

Set Servo positions.

IMC::SimulatedState Simulators::UAV::Task::m_sstate

Simulated position (X,Y,Z).

Referenced by consume(), onResourceAcquisition(), and task().

double Simulators::UAV::Task::m_start_time

Start time.

Referenced by consume(), and onResourceAcquisition().

float Simulators::UAV::Task::m_thruster_act

Actuation in the thruster.

Matrix Simulators::UAV::Task::m_velocity

Vehicle velocity vector.

Referenced by onResourceAcquisition(), and task().

Matrix Simulators::UAV::Task::m_wind

Wind velocity vector.

Referenced by onResourceAcquisition().

Collaboration diagram for Simulators::UAV::Task: