DUNE: Uniform Navigational Environment  2.6.1
List of all members | Public Member Functions | Public Attributes
Simulators::UAVAutopilot::Task Struct Reference

Detailed Description

UAV autopilot simulator task.

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
 ~Task (void)
 
void onUpdateParameters (void)
 
void onResourceAcquisition (void)
 
void onEntityResolution (void)
 
void onResourceRelease (void)
 
void consume (const IMC::GpsFix *msg)
 
void consume (const IMC::SimulatedState *msg)
 
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)
 
const char * getName (void) const
 
const char * getSystemName (void) const
 
unsigned int getSystemId (void) const
 
unsigned int getEntityId (void) const
 
unsigned int resolveEntity (const std::string &label) const
 
std::string resolveEntity (unsigned int id) const
 
DebugLevel getDebugLevel (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

Arguments m_args
 
IMC::SimulatedState m_sstate
 
IMC::GpsFix m_origin
 
Systems m_filtered_sys
 
Entities m_filtered_ent
 
uint32_t m_alias_id
 

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)
 
template<typename E >
E * reserveEntity (const std::string &label)
 
bool stopping (void)
 
bool isActive (void) const
 
bool isActivating (void) const
 
bool isDeactivating (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 , typename M >
void bind (T *task_obj, const std::vector< uint32_t > &list, void(T::*consumer)(const M *)=&T::consume)
 
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
 
std::vector
< Entities::BasicEntity * > 		m_entities
 

Constructor & Destructor Documentation

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

References DUNE::Tasks::Parameter::defaultValue(), m_args, DUNE::Tasks::Task::param(), Simulators::UAVAutopilot::Arguments::src_alias, and Simulators::UAVAutopilot::Arguments::state_src.

Simulators::UAVAutopilot::Task::~Task ( void  )
inlinevirtual

Destructor.

Reimplemented from DUNE::Tasks::Task.

References onResourceRelease().

Member Function Documentation

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

References DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::getEntityId(), DUNE::Tasks::Task::getSystemId(), m_alias_id, DUNE::Tasks::Task::requestActivation(), and DUNE::Tasks::Task::setEntityState().

void Simulators::UAVAutopilot::Task::consume ( const IMC::SimulatedState *  msg)
inline

References DUNE::Tasks::Task::getSystemId(), DUNE::Tasks::Task::isActive(), m_alias_id, m_filtered_ent, m_filtered_sys, m_sstate, DUNE::Tasks::Task::resolveEntity(), DUNE::Tasks::Task::resolveSystemId(), DUNE::Tasks::Task::spew(), and DUNE::Tasks::Task::trace().

void Simulators::UAVAutopilot::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 DUNE::Tasks::Task::debug(), m_args, m_filtered_ent, m_filtered_sys, DUNE::Tasks::Task::resolveEntity(), DUNE::Tasks::Task::resolveSystemName(), Simulators::UAVAutopilot::Arguments::state_src, and DUNE::Tasks::Task::war().

void Simulators::UAVAutopilot::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.

void Simulators::UAVAutopilot::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.

Referenced by ~Task().

void Simulators::UAVAutopilot::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 DUNE::Tasks::Task::debug(), m_alias_id, m_args, DUNE::Tasks::Task::resolveSystemName(), and Simulators::UAVAutopilot::Arguments::src_alias.

void Simulators::UAVAutopilot::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::Tasks::Task::isActive(), m_alias_id, m_sstate, DUNE::Math::Matrix::norm_2(), DUNE::Tasks::Task::spew(), DUNE::Math::Matrix::toDCM(), and DUNE::Math::transpose().

Member Data Documentation

uint32_t Simulators::UAVAutopilot::Task::m_alias_id

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

Arguments Simulators::UAVAutopilot::Task::m_args

Task arguments.

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

Entities Simulators::UAVAutopilot::Task::m_filtered_ent

List of entities allowed to define a command.

Referenced by consume(), and onEntityResolution().

Systems Simulators::UAVAutopilot::Task::m_filtered_sys

List of systems allowed to define a command.

Referenced by consume(), and onEntityResolution().

IMC::GpsFix Simulators::UAVAutopilot::Task::m_origin

Origin for simulated state.

IMC::SimulatedState Simulators::UAVAutopilot::Task::m_sstate

Simulated position (X,Y,Z).

Referenced by consume(), and task().

Collaboration diagram for Simulators::UAVAutopilot::Task:
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