DUNE::Control::PathController Class Reference

Classes
struct	TrackingState

Public Member Functions
	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	onUpdateParameters (void)
virtual void	onResourceInitialization (void)
virtual void	onResourceRelease (void)
virtual void	onPathActivation (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)

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

DUNE::Control::PathController::PathController	(	std::string	name,
		Tasks::Context &	ctx
	)

Constructor.

References DUNE::Tasks::Context::config, DUNE::Tasks::Parameter::defaultValue(), DUNE::Parsers::Config::get(), DUNE::Tasks::Task::m_ctx, and DUNE::Tasks::Task::param().

DUNE::Control::PathController::~PathController ( void  )

virtual

Destructor.

References DUNE::Memory::clear().

Member Function Documentation

void DUNE::Control::PathController::consume

(

const IMC::Brake *

brake

)

Consumer for Brake message.

Parameters

brake

message to consume.

References DUNE::IMC::Brake::op, and DUNE::IMC::Brake::OP_START.

void DUNE::Control::PathController::consume

(

const IMC::EstimatedState *

es

)

Consumer for EstimatedState message.

Parameters

es	message to consume.

References DUNE::Control::PathController::TrackingState::LoiterData::center, DUNE::Control::PathController::TrackingState::course_error, DUNE::Tasks::Task::debug(), DUNE::Control::PathController::TrackingState::delta, DUNE::Tasks::Task::dispatch(), DUNE::Control::PathController::TrackingState::end, DUNE::IMC::PathControlState::end_lat, DUNE::IMC::PathControlState::end_lon, DUNE::Control::PathController::TrackingState::end_time, DUNE::IMC::EstimatedState::height, DUNE::Tasks::Task::inf(), DUNE::Tasks::Task::isActive(), DUNE::IMC::EstimatedState::lat, DUNE::Control::PathController::TrackingState::loiter, loiter(), DUNE::Control::PathController::TrackingState::loitering, DUNE::IMC::EstimatedState::lon, DUNE::Control::PathController::TrackingState::nearby, DUNE::Control::PathController::TrackingState::now, DUNE::Control::BottomTracker::onEstimatedState(), DUNE::IMC::Brake::op, DUNE::IMC::Brake::OP_STOP, DUNE::Time::Counter< T >::overflow(), DUNE::Control::PathController::TrackingState::LoiterData::radius, DUNE::Time::Counter< T >::setTop(), signalError(), sourceFilter(), DUNE::Control::PathController::TrackingState::start, DUNE::IMC::PathControlState::start_lat, DUNE::IMC::PathControlState::start_lon, step(), DUNE::Control::PathController::TrackingState::track_pos, DUNE::Math::trimValue(), DUNE::Control::PathController::TrackingState::Coord::x, DUNE::Control::PathController::TrackingState::TrackCoord::x, and DUNE::Control::PathController::TrackingState::Coord::y.

void DUNE::Control::PathController::consume

(

const IMC::ControlLoops *

cl

)

Consumer for ControlLoops message.

Parameters

cl	message to consume.

References DUNE::IMC::ControlLoops::CL_ENABLE, DUNE::IMC::CL_PATH, DUNE::IMC::ControlLoops::enable, DUNE::Tasks::Task::isActive(), DUNE::IMC::ControlLoops::mask, DUNE::Tasks::Task::requestActivation(), DUNE::Tasks::Task::requestDeactivation(), and DUNE::IMC::ControlLoops::scope_ref.

void DUNE::Control::PathController::consume

(

const IMC::DesiredPath *

dp

)

Consumer for DesiredPath message.

Parameters

dp	message to consume.

References DUNE::Control::PathController::TrackingState::LoiterData::center, DUNE::IMC::CL_ALTITUDE, DUNE::IMC::CL_DEPTH, DUNE::IMC::CL_SPEED, DUNE::Control::PathController::TrackingState::LoiterData::clockwise, DUNE::Control::PathController::TrackingState::course_error, DUNE::Math::Angles::degrees(), DUNE::Control::PathController::TrackingState::delta, DUNE::Tasks::DF_LOOP_BACK, disableControlLoops(), DUNE::Tasks::Task::dispatch(), enableControlLoops(), DUNE::Control::PathController::TrackingState::end, DUNE::IMC::DesiredPath::end_lat, DUNE::IMC::PathControlState::end_lat, DUNE::IMC::DesiredPath::end_lon, DUNE::IMC::PathControlState::end_lon, DUNE::Control::PathController::TrackingState::end_time, DUNE::IMC::DesiredPath::end_z, DUNE::IMC::PathControlState::end_z, DUNE::IMC::DesiredPath::end_z_units, DUNE::IMC::PathControlState::end_z_units, DUNE::Tasks::Task::err(), DUNE::IMC::DesiredPath::FL_CCLOCKW, DUNE::IMC::DesiredPath::FL_DIRECT, DUNE::IMC::DesiredPath::FL_LOITER_CURR, DUNE::IMC::DesiredPath::FL_NO_Z, DUNE::IMC::PathControlState::FL_NO_Z, DUNE::IMC::DesiredPath::FL_START, DUNE::IMC::DesiredPath::flags, DUNE::IMC::PathControlState::flags, DUNE::Coordinates::getBearingAndRange(), hasSpecificZControl(), DUNE::Tasks::Task::inf(), DUNE::Tasks::Task::isActive(), DUNE::IMC::EstimatedState::lat, DUNE::Control::PathController::TrackingState::loiter, DUNE::Control::PathController::TrackingState::loitering, DUNE::IMC::EstimatedState::lon, DUNE::IMC::DesiredPath::lradius, DUNE::Control::PathController::TrackingState::nearby, DUNE::Math::Angles::normalizeRadian(), DUNE::Control::PathController::TrackingState::now, DUNE::Control::BottomTracker::onDesiredZ(), onPathStartup(), DUNE::IMC::DesiredPath::path_ref, DUNE::IMC::PathControlState::path_ref, DUNE::IMC::EstimatedState::psi, DUNE::Control::PathController::TrackingState::LoiterData::radius, DUNE::Coordinates::setBearingAndRange(), DUNE::IMC::DesiredPath::speed, DUNE::IMC::DesiredSpeed::speed_units, DUNE::IMC::DesiredPath::speed_units, DUNE::Control::PathController::TrackingState::start, DUNE::IMC::DesiredPath::start_lat, DUNE::IMC::PathControlState::start_lat, DUNE::IMC::DesiredPath::start_lon, DUNE::IMC::PathControlState::start_lon, DUNE::Control::PathController::TrackingState::start_time, DUNE::IMC::DesiredPath::start_z, DUNE::IMC::PathControlState::start_z, DUNE::IMC::DesiredPath::start_z_units, DUNE::IMC::PathControlState::start_z_units, DUNE::Coordinates::toWGS84(), DUNE::Tasks::Task::trace(), DUNE::Control::PathController::TrackingState::track_bearing, DUNE::Control::PathController::TrackingState::track_length, DUNE::Control::PathController::TrackingState::track_pos, DUNE::IMC::DesiredZ::value, DUNE::IMC::DesiredSpeed::value, DUNE::Control::PathController::TrackingState::Coord::x, DUNE::Control::PathController::TrackingState::TrackCoord::x, DUNE::IMC::EstimatedState::x, DUNE::Control::PathController::TrackingState::Coord::y, DUNE::Control::PathController::TrackingState::TrackCoord::y, DUNE::IMC::EstimatedState::y, DUNE::Control::PathController::TrackingState::Coord::z, DUNE::Control::PathController::TrackingState::TrackCoord::z, DUNE::IMC::EstimatedState::z, DUNE::IMC::Z_ALTITUDE, DUNE::Control::PathController::TrackingState::z_control, DUNE::IMC::Z_DEPTH, DUNE::IMC::Z_HEIGHT, and DUNE::IMC::DesiredZ::z_units.

void DUNE::Control::PathController::consume

(

const IMC::NavigationUncertainty *

nu

)

Consumer for NavigationUncertainty message.

Parameters

nu	message to consume.

References DUNE::IMC::NavigationUncertainty::x, and DUNE::IMC::NavigationUncertainty::y.

void DUNE::Control::PathController::consume

(

const IMC::Distance *

dist

)

Consumer for Distance message.

Parameters

dist	message to consume.

References DUNE::Control::BottomTracker::onDistance().

void DUNE::Control::PathController::consume

(

const IMC::DesiredZ *

zref

)

Consumer for DesiredZ message.

Parameters

zref	message to consume.

References DUNE::Control::BottomTracker::onDesiredZ().

void DUNE::Control::PathController::consume

(

const IMC::DesiredSpeed *

dspeed

)

Consumer for DesiredSpeed message.

Parameters

dspeed

message to consume.

References DUNE::Control::BottomTracker::onDesiredSpeed().

void DUNE::Control::PathController::disableControlLoops ( uint32_t  mask )

inline

Disable control loops (need to use only if control mode changes during path control, not on deactivation).

Parameters

mask	control loop mask

References DUNE::IMC::ControlLoops::CL_DISABLE.

Referenced by consume().

void DUNE::Control::PathController::enableControlLoops ( uint32_t  mask )

inline

Enable control loops.

Parameters

mask	control loop mask

References DUNE::IMC::ControlLoops::CL_ENABLE.

Referenced by consume(), Control::Path::PurePursuit::Task::onPathActivation(), Control::UAV::LOS::Task::onPathActivation(), Control::Path::VectorField::Task::onPathActivation(), Control::Path::LOSnSMC::Task::onPathActivation(), and Control::Path::ILOS::Task::onPathActivation().

virtual bool DUNE::Control::PathController::hasSpecificZControl ( void  ) const

inlinevirtual

Flagging method indicating if controller wishes to handle altitude/depth control.

If not (the default) depth or altitude references will be fired at the start of a path.

Returns

false (at the base class level)

Referenced by consume().

void DUNE::Control::PathController::loiter ( const IMC::EstimatedState &  state, const TrackingState &  ts  )

virtual

Default implementation for loiter control, that can be overriden for a controller specific implementation.

Parameters

state	navigation state
ts	tracking state information

References DUNE::Control::PathController::TrackingState::LoiterData::clockwise, DUNE::Control::PathController::TrackingState::end, DUNE::Coordinates::getBearing(), DUNE::Control::PathController::TrackingState::loiter, DUNE::Control::PathController::TrackingState::los_angle, DUNE::Control::PathController::TrackingState::LoiterData::radius, DUNE::Coordinates::setBearingAndRange(), DUNE::Control::PathController::TrackingState::start, step(), DUNE::Control::PathController::TrackingState::track_bearing, DUNE::Control::PathController::TrackingState::track_length, DUNE::Control::PathController::TrackingState::track_pos, and DUNE::Control::PathController::TrackingState::TrackCoord::x.

Referenced by consume().

void DUNE::Control::PathController::onEntityReservation ( void  )

virtual

Entity reservation callback.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Tasks::Task::getEntityLabel(), and DUNE::Utils::String::str().

void DUNE::Control::PathController::onMain ( void  )

virtual

Task method.

Implements DUNE::Tasks::Task.

References DUNE::Tasks::Task::stopping(), and DUNE::Tasks::Task::waitForMessages().

virtual void DUNE::Control::PathController::onPathActivation ( void  )

inlinevirtual

Handler for path control activation.

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

Reimplemented in Control::Path::ILOS::Task, Control::Path::LOSnSMC::Task, Control::Path::VectorField::Task, Control::UAV::LOS::Task, and Control::Path::PurePursuit::Task.

virtual void DUNE::Control::PathController::onPathDeactivation ( void  )

inlinevirtual

Handler for path control deactivation.

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

virtual void DUNE::Control::PathController::onPathStartup ( const IMC::EstimatedState &  state, const TrackingState &  ts  )

inlinevirtual

Handler for the startup of a new path.

The default handler does nothing and can be overriden. This is called when a new path is started (several paths may be executed between activation and deactivation).

Parameters

state	current navigational state.
ts	initial tracking state.

Referenced by consume().

void DUNE::Control::PathController::onResourceInitialization ( void  )

virtual

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

Reimplemented from DUNE::Tasks::Task.

References DUNE::Tasks::Task::requestDeactivation().

void DUNE::Control::PathController::onResourceRelease ( void  )

virtual

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

Reimplemented from DUNE::Tasks::Task.

void DUNE::Control::PathController::onUpdateParameters ( void  )

virtual

Handler for parameter updates.

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

Reimplemented from DUNE::Tasks::Task.

Reimplemented in Control::Path::LOSnSMC::Task, Control::Path::ILOS::Task, Control::UAV::LOS::Task, Control::Path::VectorField::Task, and Control::Path::PurePursuit::Task.

References DUNE::Control::BottomTracker, DUNE::Control::PathController::TrackingState::cc, DUNE::Memory::clear(), DUNE::Control::PathController::TrackingState::end_time, DUNE::Control::PathController::TrackingState::loitering, DUNE::Control::PathController::TrackingState::nearby, DUNE::Tasks::Task::paramChanged(), DUNE::Math::Angles::radians(), and DUNE::Control::PathController::TrackingState::z_control.

void DUNE::Control::PathController::signalError

(

const std::string &

msg

)

Signal an error.

This method should be used by subclasses to signal an error condition.

Parameters

msg	error message

References DUNE::Tasks::Task::err().

Referenced by consume().

virtual bool DUNE::Control::PathController::sourceFilter ( const IMC::EstimatedState *  es )

inlinevirtual

Handler for EstimatedState source id filter.

This is called when an EstimatedState is received. By default it only passes EstimatedState messages from the system itself.

Parameters

[in]

es

EstimatedState message.

Returns

true if the message is NOT allowed to pass.

Reimplemented in DUNE::Control::ProxyPathController.

References DUNE::IMC::Message::getSource(), and DUNE::Tasks::Task::getSystemId().

Referenced by consume().

virtual void DUNE::Control::PathController::step ( const IMC::EstimatedState &  state, const TrackingState &  ts  )

pure virtual

Abstract method for controller step that must be provided by subclasses.

Parameters

state	navigation state
ts	tracking state information

Referenced by consume(), and loiter().

Collaboration diagram for DUNE::Control::PathController: