Maneuver::FollowReference::UAV::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	consume (const IMC::FollowReference *msg)
void	consume (const IMC::Reference *msg)
void	consume (const IMC::EstimatedState *msg)
void	onPathControlState (const IMC::PathControlState *pcs)
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::FollowReference	m_spec
IMC::Reference	m_cur_ref
double	m_last_ref_time
IMC::EstimatedState	m_estate
IMC::PathControlState	m_pcs
IMC::FollowRefState	m_fref_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::FollowReference::UAV::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Maneuver::FollowReference::UAV::Arguments::default_speed, Maneuver::FollowReference::UAV::Arguments::default_speed_units, Maneuver::FollowReference::UAV::Arguments::default_z, Maneuver::FollowReference::UAV::Arguments::loitering_radius, m_args, and m_last_ref_time.

Member Function Documentation

void Maneuver::FollowReference::UAV::Task::consume ( const IMC::FollowReference *  msg )

inline

References Maneuver::FollowReference::UAV::Arguments::loitering_radius, m_args, m_cur_ref, m_estate, m_fref_state, m_last_ref_time, and m_spec.

void Maneuver::FollowReference::UAV::Task::consume ( const IMC::Reference *  msg )

inline

Consume Reference messages and generate DesiredPath messages accordingly Whenever a new Reference is received from a valid source, a new desired_path gets commanded to the vehicle.

See Also

https://!whale.fe.up.pt/imc/doc/trunk/Maneuvering.html#follow-reference-maneuver

Parameters

msg	the Reference message to be processed

References m_cur_ref, m_fref_state, m_last_ref_time, and m_spec.

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

inline

References m_estate.

void Maneuver::FollowReference::UAV::Task::onPathControlState ( const IMC::PathControlState *  pcs )

inline

References m_fref_state, and m_pcs.

Member Data Documentation

Arguments Maneuver::FollowReference::UAV::Task::m_args

Task arguments.

Referenced by consume(), and Task().

IMC::Reference Maneuver::FollowReference::UAV::Task::m_cur_ref

Store latest received reference and the one before that.

Referenced by consume().

IMC::EstimatedState Maneuver::FollowReference::UAV::Task::m_estate

Estimated state.

Referenced by consume().

IMC::FollowRefState Maneuver::FollowReference::UAV::Task::m_fref_state

FollowRefState, dispatch on arrival of Reference, FollowReference and EstimatedState.

— State WAIT signals not controllable, set when receives:

• FollowReference
• Reference with flag MANDONE TIMEOUT signals too long since last Reference, set when receives:
• EstimatedState and has passed more time then specified in m_spec GOTO signals vehicle in transit, set when receives and proximity is far:
• Reference LOITER signals vehicle has nothing more to do, set when receives and proximity is near:
• Reference — Proximity PROX_XY_NEAR & PROX_XY_NEAR signals arrived, set when received:
• PathControlState has flag near FAR signals far, set when received:
• FollowReference
• Reference with flag MANDONE
• PathControlState without flag NEAR

Referenced by consume(), and onPathControlState().

double Maneuver::FollowReference::UAV::Task::m_last_ref_time

Store last timestamp when reference was received.

Referenced by consume(), and Task().

IMC::PathControlState Maneuver::FollowReference::UAV::Task::m_pcs

Path Control state.

Referenced by onPathControlState().

IMC::FollowReference Maneuver::FollowReference::UAV::Task::m_spec

Store maneuver specification.

Referenced by consume().

Collaboration diagram for Maneuver::FollowReference::UAV::Task: