DUNE::Maneuvers::Maneuver Class Reference

Detailed Description

Base abstract class for maneuver tasks.

Public Member Functions
	Maneuver (const std::string &name, Tasks::Context &ctx)
virtual	~Maneuver ()
void	onResourceInitialization (void)
virtual void	onManeuverActivation (void)
virtual void	onManeuverDeactivation (void)
void	onActivation (void)
void	onDeactivation (void)
template<typename T , typename M >
void	startManeuver (const M *maneuver)
template<typename T , typename M >
void	bindToManeuver (void)
template<typename M , typename T >
void	consumeIfActive (const M *msg)
template<typename M , typename T >
void	bind (T *task_obj, bool always=false)
void	consume (const IMC::StopManeuver *sm)
void	setControl (uint32_t mask)
virtual void	onStateReport (void)
void	updateLoops (const IMC::ControlLoops *cl)
void	signalError (const std::string &msg)
void	signalInvalidZ (void)
void	signalNoAltitude (void)
void	signalCompletion (const std::string &msg="done")
void	signalProgress (uint16_t time_left, const std::string &msg)
void	signalProgress (const std::string &msg)
void	signalProgress (uint16_t time_left)
void	signalProgress (void)
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)
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)

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	onEntityResolution (void)
virtual void	onReportEntityState (void)
virtual void	onResourceAcquisition (void)
virtual void	onResourceRelease (void)
virtual void	onUpdateParameters (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

DUNE::Maneuvers::Maneuver::Maneuver	(	const std::string &	name,
		Tasks::Context &	ctx
	)

Constructor.

DUNE::Maneuvers::Maneuver::~Maneuver ( void  )

virtual

Destructor.

Member Function Documentation

template<typename M , typename T >

void DUNE::Maneuvers::Maneuver::bind ( T *  task_obj, bool  always = false  )

inline

template<typename T , typename M >

void DUNE::Maneuvers::Maneuver::bindToManeuver ( void  )

inline

References DUNE::IMC::RegisterManeuver::mid.

void DUNE::Maneuvers::Maneuver::consume

(

const IMC::StopManeuver *

sm

)

Consumer for StopManeuver message.

Parameters

sm	message to consume.

Referenced by consumeIfActive(), and startManeuver().

template<typename M , typename T >

void DUNE::Maneuvers::Maneuver::consumeIfActive ( const M *  msg )

inline

References consume(), and DUNE::Tasks::Task::isActive().

void DUNE::Maneuvers::Maneuver::onActivation ( void  )

virtual

On task activation Should be used only by parent class Maneuver.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Status::CODE_ACTIVE, and DUNE::IMC::EntityState::ESTA_NORMAL.

void DUNE::Maneuvers::Maneuver::onDeactivation ( void  )

virtual

On task deactivation Should be used only by parent class Maneuver.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Status::CODE_IDLE, and DUNE::IMC::EntityState::ESTA_NORMAL.

void DUNE::Maneuvers::Maneuver::onMain ( void  )

virtual

Implements DUNE::Tasks::Task.

virtual void DUNE::Maneuvers::Maneuver::onManeuverActivation ( void  )

inlinevirtual

On maneuver activation.

virtual void DUNE::Maneuvers::Maneuver::onManeuverDeactivation ( void  )

inlinevirtual

On maneuver deactivation.

void DUNE::Maneuvers::Maneuver::onResourceInitialization ( void  )

inlinevirtual

On resource initialization.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Status::CODE_IDLE, DUNE::IMC::EntityState::ESTA_NORMAL, and DUNE::Tasks::Task::setEntityState().

virtual void DUNE::Maneuvers::Maneuver::onStateReport ( void  )

inlinevirtual

State report handler.

It should be overriden by maneuvers where it convenient to do so in time-triggered manner rather than in response to a particular message.

void DUNE::Maneuvers::Maneuver::setControl

(

uint32_t

mask

)

Set or reconfigure control loops used by maneuver task.

Parameters

mask	mask identifying controllers that should be made active.

References DUNE::IMC::CL_ALL, DUNE::IMC::ControlLoops::CL_DISABLE, DUNE::IMC::ControlLoops::CL_ENABLE, DUNE::IMC::ControlLoops::enable, DUNE::IMC::ControlLoops::mask, and DUNE::IMC::ControlLoops::scope_ref.

void DUNE::Maneuvers::Maneuver::signalCompletion

(

const std::string &

msg = "done"

)

Signal an error.

This method should be used by subclasses to signal maneuver completion.

Parameters

msg	completion message

References DUNE::IMC::ManeuverControlState::MCS_DONE.

void DUNE::Maneuvers::Maneuver::signalError

(

const std::string &

msg

)

Signal an error.

This method should be used by subclasses to signal an error condition.

Parameters

msg	error message

References DUNE::IMC::ManeuverControlState::MCS_ERROR.

void DUNE::Maneuvers::Maneuver::signalInvalidZ

(

void

)

Signal invalid Z reference This method should be used by subclasses to signal an error condition.

void DUNE::Maneuvers::Maneuver::signalNoAltitude

(

void

)

Signal no altitude error.

This method should be used by subclasses to signal an error condition.

void DUNE::Maneuvers::Maneuver::signalProgress	(	uint16_t	time_left,
		const std::string &	msg
	)

Signal maneuver progress.

Parameters

time_left	estimated time for completion.
msg	human-readable information.

References DUNE::IMC::ManeuverControlState::MCS_EXECUTING.

Referenced by signalProgress(), and startManeuver().

void DUNE::Maneuvers::Maneuver::signalProgress ( const std::string &  msg )

inline

Signal maneuver progress.

Parameters

msg	human-readable information.

References signalProgress().

void DUNE::Maneuvers::Maneuver::signalProgress ( uint16_t  time_left )

inline

Signal maneuver progress.

Parameters

time_left

estimated time for completion.

References signalProgress().

void DUNE::Maneuvers::Maneuver::signalProgress ( void  )

inline

Signal maneuver progress.

References signalProgress().

template<typename T , typename M >

void DUNE::Maneuvers::Maneuver::startManeuver ( const M *  maneuver )

inline

Method fired on maneuver startup.

It performs some initialization, then delegates handling on the task's consume method for the message.

Parameters

maneuver

maneuver object

References consume(), DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::isActive(), DUNE::Tasks::Task::requestActivation(), signalProgress(), and DUNE::Time::Delay::wait().

void DUNE::Maneuvers::Maneuver::updateLoops

(

const IMC::ControlLoops *

cl

)

Update active control loops.

Parameters

cl	control loops message

References DUNE::IMC::ControlLoops::CL_ENABLE, DUNE::IMC::ControlLoops::enable, and DUNE::IMC::ControlLoops::mask.

Collaboration diagram for DUNE::Maneuvers::Maneuver: