DUNE: Uniform Navigational Environment  2016.03.0
List of all members | Public Member Functions | Public Attributes
Control::Path::ILOS::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
void onUpdateParameters (void)
 
void onEntityReservation (void)
 
void onPathActivation (void)
 
void reset (void)
 
double computeK (double l1, double l2, double ts_y, double factor)
 
void step (const IMC::EstimatedState &state, const TrackingState &ts)
 
void loiter (const IMC::EstimatedState &state, const TrackingState &ts)
 
- Public Member Functions inherited from DUNE::Control::PathController
 PathController (std::string name, Tasks::Context &ctx)
 
virtual ~PathController (void)
 
void onEntityReservation (void)
 
void consume (const IMC::Brake *brake)
 
void consume (const IMC::EstimatedState *es)
 
void consume (const IMC::ControlLoops *cl)
 
void consume (const IMC::DesiredPath *dp)
 
void consume (const IMC::NavigationUncertainty *nu)
 
void consume (const IMC::Distance *dist)
 
void consume (const IMC::DesiredZ *zref)
 
void consume (const IMC::DesiredSpeed *dspeed)
 
virtual void onResourceInitialization (void)
 
virtual void onResourceRelease (void)
 
virtual void onPathDeactivation (void)
 
virtual void onPathStartup (const IMC::EstimatedState &state, const TrackingState &ts)
 
virtual void step (const IMC::EstimatedState &state, const TrackingState &ts)=0
 
virtual void loiter (const IMC::EstimatedState &state, const TrackingState &ts)
 
virtual bool hasSpecificZControl (void) const
 
void signalError (const std::string &msg)
 
void enableControlLoops (uint32_t mask)
 
void disableControlLoops (uint32_t mask)
 
virtual bool sourceFilter (const IMC::EstimatedState *es)
 
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
 
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
 
const char * getEntityLabel (void) const
 
void setEntityLabel (const std::string &label)
 
- 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

double m_integrator
 
Delta m_last_step
 
double m_gain
 
IMC::DesiredHeading m_heading
 
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
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 bool onWriteParamsXML (std::ostream &os) const
 
virtual void onEntityResolution (void)
 
virtual void onReportEntityState (void)
 
virtual void onResourceAcquisition (void)
 
virtual void onRequestActivation (void)
 
virtual void onRequestDeactivation (void)
 
virtual void onQueryEntityParameters (const IMC::QueryEntityParameters *msg)
 
virtual void onSetEntityParameters (const IMC::SetEntityParameters *msg)
 
virtual void onPushEntityParameters (const IMC::PushEntityParameters *msg)
 
virtual void onPopEntityParameters (const IMC::PopEntityParameters *msg)
 
- 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

Control::Path::ILOS::Task::Task ( const std::string &  name,
Tasks::Context &  ctx 
)
inline

References Control::Path::ILOS::Arguments::corridor, DUNE::Tasks::Parameter::defaultValue(), Control::Path::ILOS::Arguments::entry_angle, Control::Path::ILOS::Arguments::int_gain, Control::Path::ILOS::Arguments::int_init, Control::Path::ILOS::Arguments::lookahead, m_args, DUNE::Tasks::Parameter::maximumValue(), DUNE::Tasks::Parameter::minimumValue(), Control::Path::ILOS::Arguments::out_los, Control::Path::ILOS::Arguments::out_vec, DUNE::Tasks::Task::param(), and DUNE::Tasks::Task::setEntityState().

Member Function Documentation

double Control::Path::ILOS::Task::computeK ( double  l1,
double  l2,
double  ts_y,
double  factor 
)
inline

References Control::Path::ILOS::Arguments::int_gain, m_args, and m_integrator.

Referenced by step().

void Control::Path::ILOS::Task::loiter ( const IMC::EstimatedState &  state,
const TrackingState &  ts 
)
inline

Execute a loiter control step From base class PathController & VectorField guidance law.

References DUNE::Control::PathController::TrackingState::cc, DUNE::Control::PathController::TrackingState::LoiterData::clockwise, DUNE::Control::PathController::TrackingState::course, DUNE::Tasks::Task::dispatch(), DUNE::Control::PathController::TrackingState::loiter, DUNE::Control::PathController::TrackingState::los_angle, m_gain, m_heading, DUNE::Control::PathController::TrackingState::LoiterData::radius, and DUNE::Control::PathController::TrackingState::range.

void Control::Path::ILOS::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 Control::Path::ILOS::Task::onPathActivation ( void  )
inlinevirtual

Handler for path control activation.

This is called when path control is activated. By default it does nothing.

Reimplemented from DUNE::Control::PathController.

References DUNE::Control::PathController::enableControlLoops().

void Control::Path::ILOS::Task::onUpdateParameters ( void  )
inlinevirtual

Handler for parameter updates.

This can be overriden but in that case this parent class implementation MUST be called.

Reimplemented from DUNE::Control::PathController.

References Control::Path::ILOS::Arguments::corridor, Control::Path::ILOS::Arguments::entry_angle, Control::Path::ILOS::Arguments::int_init, m_args, m_gain, m_integrator, and DUNE::Tasks::Task::paramChanged().

void Control::Path::ILOS::Task::reset ( void  )
inline

References m_integrator.

void Control::Path::ILOS::Task::step ( const IMC::EstimatedState &  state,
const TrackingState &  ts 
)
inline

Execute a path control step From base class PathController.

References computeK(), Control::Path::ILOS::Arguments::corridor, DUNE::Tasks::Task::dispatch(), DUNE::Control::PathController::TrackingState::end, DUNE::Coordinates::getBearing(), Control::Path::ILOS::Arguments::int_gain, Control::Path::ILOS::Arguments::lookahead, m_args, m_gain, m_heading, m_integrator, m_last_step, Control::Path::ILOS::Arguments::out_los, Control::Path::ILOS::Arguments::out_vec, DUNE::Control::PathController::TrackingState::track_bearing, DUNE::Control::PathController::TrackingState::track_length, DUNE::Control::PathController::TrackingState::track_pos, DUNE::Control::PathController::TrackingState::TrackCoord::x, and DUNE::Control::PathController::TrackingState::TrackCoord::y.

Member Data Documentation

Arguments Control::Path::ILOS::Task::m_args

Task arguments.

Referenced by computeK(), onUpdateParameters(), step(), and Task().

double Control::Path::ILOS::Task::m_gain

Loiter controller gain.

Referenced by loiter(), onUpdateParameters(), and step().

IMC::DesiredHeading Control::Path::ILOS::Task::m_heading

Outgoing desired heading message.

Referenced by loiter(), and step().

double Control::Path::ILOS::Task::m_integrator

ILOS m_integrator.

Referenced by computeK(), onUpdateParameters(), reset(), and step().

Delta Control::Path::ILOS::Task::m_last_step

Time of last path controller step.

Referenced by step().

Collaboration diagram for Control::Path::ILOS::Task:
Collaboration graph