Control::Path::LOSnSMC::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onUpdateParameters (void)
void	onPathActivation (void)
void	consume (const IMC::IndicatedSpeed *airspeed)
void	consume (const IMC::EstimatedStreamVelocity *wind)
void	step (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
Arguments	m_args
IMC::DesiredRoll	m_bank
double	m_airspeed
double	m_bank_lim
double	m_lookahead
double	m_lookahead_sq
double	m_W_x
double	m_W_y

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

inline

References Control::Path::LOSnSMC::Arguments::bandwidth, DUNE::Tasks::Parameter::defaultValue(), Control::Path::LOSnSMC::Arguments::k_d, Control::Path::LOSnSMC::Arguments::lambda, Control::Path::LOSnSMC::Arguments::lookahead, m_args, Control::Path::LOSnSMC::Arguments::max_bank, DUNE::Tasks::Task::param(), Control::Path::LOSnSMC::Arguments::rho, Control::Path::LOSnSMC::Arguments::roll_tc, DUNE::Tasks::Parameter::scope(), DUNE::Tasks::Parameter::units(), Control::Path::LOSnSMC::Arguments::use_controller, and DUNE::Tasks::Parameter::visibility().

Member Function Documentation

void Control::Path::LOSnSMC::Task::consume ( const IMC::IndicatedSpeed *  airspeed )

inline

References m_airspeed.

void Control::Path::LOSnSMC::Task::consume ( const IMC::EstimatedStreamVelocity *  wind )

inline

References m_W_x, and m_W_y.

void Control::Path::LOSnSMC::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(), m_args, and Control::Path::LOSnSMC::Arguments::use_controller.

void Control::Path::LOSnSMC::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::LOSnSMC::Arguments::lookahead, m_args, m_bank_lim, m_lookahead, m_lookahead_sq, and Control::Path::LOSnSMC::Arguments::max_bank.

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

inline

References Control::Path::LOSnSMC::Arguments::bandwidth, DUNE::Control::PathController::TrackingState::course_error, DUNE::Tasks::Task::dispatch(), Control::Path::LOSnSMC::Arguments::k_d, Control::Path::LOSnSMC::Arguments::lambda, m_airspeed, m_args, m_bank, m_bank_lim, m_lookahead, m_lookahead_sq, m_W_x, m_W_y, Control::Path::LOSnSMC::Arguments::rho, Control::Path::LOSnSMC::Arguments::roll_tc, DUNE::Control::PathController::TrackingState::speed, DUNE::Tasks::Task::spew(), DUNE::Control::PathController::TrackingState::track_bearing, DUNE::Control::PathController::TrackingState::track_pos, DUNE::Control::PathController::TrackingState::track_vel, DUNE::Math::trimValue(), Control::Path::LOSnSMC::Arguments::use_controller, DUNE::Tasks::Task::war(), and DUNE::Control::PathController::TrackingState::TrackCoord::y.

Member Data Documentation

double Control::Path::LOSnSMC::Task::m_airspeed

Referenced by consume(), and step().

Arguments Control::Path::LOSnSMC::Task::m_args

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

IMC::DesiredRoll Control::Path::LOSnSMC::Task::m_bank

Referenced by step().

double Control::Path::LOSnSMC::Task::m_bank_lim

Referenced by onUpdateParameters(), and step().

double Control::Path::LOSnSMC::Task::m_lookahead

Referenced by onUpdateParameters(), and step().

double Control::Path::LOSnSMC::Task::m_lookahead_sq

Referenced by onUpdateParameters(), and step().

double Control::Path::LOSnSMC::Task::m_W_x

Referenced by consume(), and step().

double Control::Path::LOSnSMC::Task::m_W_y

Referenced by consume(), and step().

Collaboration diagram for Control::Path::LOSnSMC::Task: