Supervisors::Vehicle::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onResourceAcquisition (void)
void	onResourceRelease (void)
void	onResourceInitialization (void)
void	reset (void)
void	setInitialState (void)
void	changeMode (IMC::VehicleState::OperationModeEnum s, IMC::Message *maneuver=0)
void	consume (const IMC::Abort *msg)
void	onEnabledControlLoops (void)
void	onDisabledControlLoops (void)
void	consume (const IMC::ControlLoops *msg)
std::string	splitAndTranslate (const std::string &list)
void	consume (const IMC::EntityMonitoringState *msg)
void	consume (const IMC::ManeuverControlState *msg)
void	consume (const IMC::PlanControl *msg)
void	answer (const IMC::VehicleCommand *cmd, IMC::VehicleCommand::TypeEnum type, const std::string &desc)
void	requestOK (const IMC::VehicleCommand *cmd, const std::string &desc)
void	requestFailed (const IMC::VehicleCommand *cmd, const std::string &desc)
void	startCalibration (const IMC::VehicleCommand *msg)
void	stopCalibration (const IMC::VehicleCommand *msg)
void	startManeuver (const IMC::VehicleCommand *msg)
void	stopManeuver (bool abort=false)
void	consume (const IMC::VehicleCommand *cmd)
void	disableLoops (void)
void	task (void)
bool	entityError (void)
bool	serviceMode (void) const
bool	maneuverMode (void) const
bool	errorMode (void) const
bool	externalMode (void) const
bool	calibrationMode (void) const
bool	bootMode (void) const
bool	modeIs (IMC::VehicleState::OperationModeEnum mode) const
bool	teleoperationOn (void) const
bool	maneuverIs (uint16_t id) const
bool	nonOverridableLoops (void) const
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)
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
float	m_switch_time
bool	m_in_safe_plan
Time::Counter< float >	m_err_timer
IMC::VehicleCommand	m_vc_reply
IMC::VehicleState	m_vs
IMC::StopManeuver	m_stop
IMC::IdleManeuver	m_idle
uint32_t	m_scope_ref
std::vector< std::string >	m_ents_in_error
IMC::VehicleState::OperationModeEnum	m_last_op
unsigned	m_eboot
Time::Counter< float >	m_loops_timer
ManeuverSupervisor *	m_man_sup
float	m_calib_timeout
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	onEntityReservation (void)
virtual void	onEntityResolution (void)
virtual void	onReportEntityState (void)
virtual void	onUpdateParameters (void)
virtual void	onRequestActivation (void)
virtual void	onRequestDeactivation (void)
virtual void	onActivation (void)
virtual void	onDeactivation (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

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

inline

References DUNE::Tasks::Parameter::defaultValue(), Supervisors::Vehicle::Arguments::ext_control, Supervisors::Vehicle::Arguments::handle_timeout, m_args, DUNE::Tasks::Task::param(), and Supervisors::Vehicle::Arguments::safe_ents.

Member Function Documentation

void Supervisors::Vehicle::Task::answer ( const IMC::VehicleCommand *  cmd, IMC::VehicleCommand::TypeEnum  type, const std::string &  desc  )

inline

References DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::err(), m_vc_reply, and DUNE::Tasks::Task::trace().

Referenced by requestFailed(), and requestOK().

bool Supervisors::Vehicle::Task::bootMode ( void  ) const

inline

References modeIs().

Referenced by consume(), and stopManeuver().

bool Supervisors::Vehicle::Task::calibrationMode ( void  ) const

inline

References modeIs().

Referenced by changeMode(), consume(), stopCalibration(), and task().

void Supervisors::Vehicle::Task::changeMode ( IMC::VehicleState::OperationModeEnum  s, IMC::Message *  maneuver = 0  )

inline

References Supervisors::Vehicle::ManeuverSupervisor::addStart(), calibrationMode(), DUNE::Tasks::Task::dispatch(), entityError(), DUNE::Tasks::Task::getEntityId(), m_eboot, m_last_op, m_loops_timer, m_man_sup, m_switch_time, m_vs, maneuverMode(), serviceMode(), and DUNE::Tasks::Task::war().

Referenced by consume(), onDisabledControlLoops(), onEnabledControlLoops(), startCalibration(), startManeuver(), stopCalibration(), stopManeuver(), and task().

void Supervisors::Vehicle::Task::consume ( const IMC::Abort *  msg )

inline

References DUNE::Tasks::Task::err(), DUNE::Tasks::Task::getSystemId(), m_vs, and stopManeuver().

void Supervisors::Vehicle::Task::consume ( const IMC::ControlLoops *  msg )

inline

References m_scope_ref, m_vs, onDisabledControlLoops(), and onEnabledControlLoops().

void Supervisors::Vehicle::Task::consume ( const IMC::EntityMonitoringState *  msg )

inline

References bootMode(), calibrationMode(), changeMode(), entityError(), errorMode(), externalMode(), m_eboot, m_ents_in_error, m_err_timer, m_vs, maneuverMode(), nonOverridableLoops(), reset(), splitAndTranslate(), teleoperationOn(), and DUNE::Tasks::Task::war().

void Supervisors::Vehicle::Task::consume ( const IMC::ManeuverControlState *  msg )

inline

References changeMode(), DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::getSystemId(), m_man_sup, m_switch_time, m_vs, maneuverMode(), reset(), and Supervisors::Vehicle::ManeuverSupervisor::update().

void Supervisors::Vehicle::Task::consume ( const IMC::PlanControl *  msg )

inline

References m_in_safe_plan.

void Supervisors::Vehicle::Task::consume ( const IMC::VehicleCommand *  cmd )

inline

References requestOK(), startCalibration(), startManeuver(), stopCalibration(), stopManeuver(), and DUNE::Tasks::Task::trace().

void Supervisors::Vehicle::Task::disableLoops ( void  )

inline

References DUNE::Tasks::Task::dispatch(), and m_scope_ref.

Referenced by task().

bool Supervisors::Vehicle::Task::entityError ( void  )

inline

Check if the entities in error are relevant for performing an emergency plan.

Returns

true if entity error is relevant for current state, false otherwise

References m_args, m_ents_in_error, m_in_safe_plan, m_vs, and Supervisors::Vehicle::Arguments::safe_ents.

Referenced by changeMode(), and consume().

bool Supervisors::Vehicle::Task::errorMode ( void  ) const

inline

References modeIs().

Referenced by consume(), and stopManeuver().

bool Supervisors::Vehicle::Task::externalMode ( void  ) const

inline

References modeIs().

Referenced by consume(), onDisabledControlLoops(), startCalibration(), startManeuver(), stopManeuver(), and task().

bool Supervisors::Vehicle::Task::maneuverIs ( uint16_t  id ) const

inline

References m_vs.

Referenced by teleoperationOn().

bool Supervisors::Vehicle::Task::maneuverMode ( void  ) const

inline

References modeIs().

Referenced by changeMode(), consume(), startCalibration(), and task().

bool Supervisors::Vehicle::Task::modeIs ( IMC::VehicleState::OperationModeEnum  mode ) const

inline

References m_vs.

Referenced by bootMode(), calibrationMode(), errorMode(), externalMode(), maneuverMode(), and serviceMode().

bool Supervisors::Vehicle::Task::nonOverridableLoops ( void  ) const

inline

References m_vs.

Referenced by consume(), onEnabledControlLoops(), and stopManeuver().

void Supervisors::Vehicle::Task::onDisabledControlLoops ( void  )

inline

References changeMode(), DUNE::Tasks::Task::debug(), and externalMode().

Referenced by consume().

void Supervisors::Vehicle::Task::onEnabledControlLoops ( void  )

inline

References changeMode(), DUNE::Tasks::Task::debug(), m_loops_timer, m_vs, nonOverridableLoops(), and reset().

Referenced by consume().

void Supervisors::Vehicle::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.

References Supervisors::Vehicle::Arguments::handle_timeout, m_args, and m_man_sup.

void Supervisors::Vehicle::Task::onResourceInitialization ( void  )

inlinevirtual

Called when the task is instructed to initialize resources acquired previously or whose initialization depends on run-time parameters.

Reimplemented from DUNE::Tasks::Task.

References m_err_timer, m_idle, m_loops_timer, and setInitialState().

void Supervisors::Vehicle::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.

References m_man_sup.

void Supervisors::Vehicle::Task::requestFailed ( const IMC::VehicleCommand *  cmd, const std::string &  desc  )

inline

References answer().

Referenced by startCalibration(), and startManeuver().

void Supervisors::Vehicle::Task::requestOK ( const IMC::VehicleCommand *  cmd, const std::string &  desc  )

inline

References answer().

Referenced by consume(), startCalibration(), startManeuver(), and stopCalibration().

void Supervisors::Vehicle::Task::reset ( void  )

inline

References Supervisors::Vehicle::ManeuverSupervisor::addStart(), Supervisors::Vehicle::ManeuverSupervisor::addStop(), m_err_timer, m_idle, m_in_safe_plan, m_man_sup, and m_vs.

Referenced by consume(), onEnabledControlLoops(), startCalibration(), stopManeuver(), and task().

bool Supervisors::Vehicle::Task::serviceMode ( void  ) const

inline

References modeIs().

Referenced by changeMode(), and task().

void Supervisors::Vehicle::Task::setInitialState ( void  )

inline

References m_eboot, m_ents_in_error, m_last_op, m_vs, and DUNE::Tasks::Task::setEntityState().

Referenced by onResourceInitialization().

std::string Supervisors::Vehicle::Task::splitAndTranslate ( const std::string &  list )

inline

Split comma separated list and translate labels, then join again.

Parameters

[in]

list

comma separated list of entity labels

Returns

'comma + white space' separated list of translated entity labels

Referenced by consume().

void Supervisors::Vehicle::Task::startCalibration ( const IMC::VehicleCommand *  msg )

inline

References Supervisors::Vehicle::ManeuverSupervisor::addStop(), changeMode(), DUNE::Tasks::Task::dispatch(), externalMode(), DUNE::Tasks::Task::inf(), m_calib_timeout, m_man_sup, m_switch_time, maneuverMode(), requestFailed(), requestOK(), and reset().

Referenced by consume().

void Supervisors::Vehicle::Task::startManeuver ( const IMC::VehicleCommand *  msg )

inline

References Supervisors::Vehicle::ManeuverSupervisor::addStop(), changeMode(), externalMode(), m_man_sup, requestFailed(), and requestOK().

Referenced by consume().

void Supervisors::Vehicle::Task::stopCalibration ( const IMC::VehicleCommand *  msg )

inline

References calibrationMode(), changeMode(), DUNE::Tasks::Task::debug(), and requestOK().

Referenced by consume().

void Supervisors::Vehicle::Task::stopManeuver ( bool  abort = false )

inline

References bootMode(), changeMode(), errorMode(), externalMode(), nonOverridableLoops(), and reset().

Referenced by consume().

void Supervisors::Vehicle::Task::task ( void  )

inlinevirtual

The task to be executed on each cycle.

Implements DUNE::Tasks::Periodic.

References calibrationMode(), changeMode(), disableLoops(), DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::err(), Supervisors::Vehicle::Arguments::ext_control, externalMode(), DUNE::Tasks::Task::inf(), m_args, m_calib_timeout, m_loops_timer, m_man_sup, m_switch_time, m_vs, maneuverMode(), reset(), serviceMode(), and Supervisors::Vehicle::ManeuverSupervisor::update().

bool Supervisors::Vehicle::Task::teleoperationOn ( void  ) const

inline

References maneuverIs().

Referenced by consume().

Member Data Documentation

Arguments Supervisors::Vehicle::Task::m_args

Task arguments.

Referenced by entityError(), onResourceAcquisition(), Task(), and task().

float Supervisors::Vehicle::Task::m_calib_timeout

A timeout for calibration state.

Referenced by startCalibration(), and task().

unsigned Supervisors::Vehicle::Task::m_eboot

Entities booting.

Referenced by changeMode(), consume(), and setInitialState().

std::vector<std::string> Supervisors::Vehicle::Task::m_ents_in_error

Vector of labels from entities in error.

Referenced by consume(), entityError(), and setInitialState().

Time::Counter<float> Supervisors::Vehicle::Task::m_err_timer

Counter for printing errors.

Referenced by consume(), onResourceInitialization(), and reset().

IMC::IdleManeuver Supervisors::Vehicle::Task::m_idle

Idle maneuver message.

Referenced by onResourceInitialization(), and reset().

bool Supervisors::Vehicle::Task::m_in_safe_plan

Currently performing a safe plan.

Referenced by consume(), entityError(), and reset().

IMC::VehicleState::OperationModeEnum Supervisors::Vehicle::Task::m_last_op

Last vehicle state operation mode.

Referenced by changeMode(), and setInitialState().

Time::Counter<float> Supervisors::Vehicle::Task::m_loops_timer

Time counter for enabled loops in service mode.

Referenced by changeMode(), onEnabledControlLoops(), onResourceInitialization(), and task().

ManeuverSupervisor* Supervisors::Vehicle::Task::m_man_sup

Maneuver handler.

Referenced by changeMode(), consume(), onResourceAcquisition(), onResourceRelease(), reset(), startCalibration(), startManeuver(), and task().

uint32_t Supervisors::Vehicle::Task::m_scope_ref

Control loops last reference.

Referenced by consume(), and disableLoops().

IMC::StopManeuver Supervisors::Vehicle::Task::m_stop

Stop maneuver message.

float Supervisors::Vehicle::Task::m_switch_time

Timer to wait for calibration and maneuver requests.

Referenced by changeMode(), consume(), startCalibration(), and task().

IMC::VehicleCommand Supervisors::Vehicle::Task::m_vc_reply

Vehicle command message.

Referenced by answer().

IMC::VehicleState Supervisors::Vehicle::Task::m_vs

Vehicle state message.

Referenced by changeMode(), consume(), entityError(), maneuverIs(), modeIs(), nonOverridableLoops(), onEnabledControlLoops(), reset(), setInitialState(), and task().

Collaboration diagram for Supervisors::Vehicle::Task: