Monitors::OperationalLimits::Task Struct Reference

Classes
struct	LError

Public Types
typedef std::map< uint8_t, LError >	LErrorMap
Public Types inherited from DUNE::Concurrency::Runnable
enum	State {   StateStarting, StateRunning, StateStopping, StateDead,   StateUnknown }

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	init (fp32_t &v, fp32_t dfl, uint8_t mask)
void	setMaxDepth (void)
void	onUpdateParameters (void)
void	reset (void)
void	consume (const IMC::OperationalLimits *msg)
void	setError (uint8_t lmask, const char *ldesc, double v1, double v2)
void	clearError (uint8_t lmask, const char *ldesc, double v1, double v2)
bool	test (uint8_t lmask, const char *ldesc, double v1, double v2, double hyst=0.0)
void	consume (const IMC::EstimatedState *msg)
void	consume (const IMC::GetOperationalLimits *msg)
void	updateState (void)
void	task (void)
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
Arguments	m_args
LErrorMap	m_errs
IMC::OperationalLimits	m_ol
IMC::EstimatedState	m_estate
uint8_t	m_emask
IMC::CacheControl	m_cc
double	m_atest_time
bool	m_use_cfg
float	m_max_depth

Additional Inherited Members
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	onResourceAcquisition (void)
virtual void	onResourceRelease (void)
virtual void	onResourceInitialization (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

Member Typedef Documentation

typedef std::map<uint8_t, LError> Monitors::OperationalLimits::Task::LErrorMap

Mapping of error bitmask to op limits error.

Constructor & Destructor Documentation

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

inline

References DUNE::Tasks::Context::config, DUNE::Tasks::Parameter::defaultValue(), DUNE::Parsers::Config::get(), Monitors::OperationalLimits::Arguments::h_max_depth, Monitors::OperationalLimits::Arguments::h_min_altitude, Monitors::OperationalLimits::Arguments::i_max_altitude, Monitors::OperationalLimits::Arguments::i_max_depth, Monitors::OperationalLimits::Arguments::i_max_speed, Monitors::OperationalLimits::Arguments::i_max_vrate, Monitors::OperationalLimits::Arguments::i_min_altitude, Monitors::OperationalLimits::Arguments::i_min_speed, m_args, DUNE::Tasks::Task::m_ctx, m_max_depth, Monitors::OperationalLimits::Arguments::min_depth, DUNE::Tasks::Parameter::minimumValue(), DUNE::Tasks::Task::param(), and DUNE::Tasks::Parameter::units().

Member Function Documentation

void Monitors::OperationalLimits::Task::clearError ( uint8_t  lmask, const char *  ldesc, double  v1, double  v2  )

inline

Clear an op limit from error state.

Parameters

[in]	lmask	new error bitmask
[in]	ldesc	error description
[in]	v1	current value
[in]	v2	limit value

References m_emask, m_errs, and DUNE::Tasks::Task::war().

Referenced by test().

void Monitors::OperationalLimits::Task::consume ( const IMC::OperationalLimits *  msg )

inline

References DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::getEntityId(), DUNE::Tasks::Task::inf(), m_cc, m_ol, m_use_cfg, reset(), and setMaxDepth().

void Monitors::OperationalLimits::Task::consume ( const IMC::EstimatedState *  msg )

inline

References DUNE::Tasks::Task::getSystemId(), and m_estate.

void Monitors::OperationalLimits::Task::consume ( const IMC::GetOperationalLimits *  msg )

inline

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

void Monitors::OperationalLimits::Task::init ( fp32_t &  v, fp32_t  dfl, uint8_t  mask  )

inline

Initialize op limits mask.

Parameters

[out]	v	value of the limit
[in]	dfl	value for the limit
[in]	mask	initial mask

References m_ol.

Referenced by onUpdateParameters().

void Monitors::OperationalLimits::Task::onUpdateParameters ( void  )

inlinevirtual

Called when the task is instructed to update its run-time parameters.

Derived classes that need to compute auxiliary values based on run-time parameters should override this function.

Reimplemented from DUNE::Tasks::Task.

References Monitors::OperationalLimits::Arguments::i_max_altitude, Monitors::OperationalLimits::Arguments::i_max_depth, Monitors::OperationalLimits::Arguments::i_max_speed, Monitors::OperationalLimits::Arguments::i_max_vrate, Monitors::OperationalLimits::Arguments::i_min_altitude, Monitors::OperationalLimits::Arguments::i_min_speed, init(), m_args, m_ol, m_use_cfg, reset(), and setMaxDepth().

void Monitors::OperationalLimits::Task::reset ( void  )

inline

Reset task to initial state.

References m_atest_time, m_emask, m_errs, m_ol, and DUNE::Tasks::Task::setEntityState().

Referenced by consume(), and onUpdateParameters().

void Monitors::OperationalLimits::Task::setError ( uint8_t  lmask, const char *  ldesc, double  v1, double  v2  )

inline

Set an op limit to error mode.

Parameters

[in]	lmask	new error bitmask
[in]	ldesc	error description
[in]	v1	current value
[in]	v2	limit value

References Monitors::OperationalLimits::Task::LError::desc, DUNE::Tasks::Task::err(), m_emask, m_errs, Monitors::OperationalLimits::Task::LError::v1, and Monitors::OperationalLimits::Task::LError::v2.

Referenced by test().

void Monitors::OperationalLimits::Task::setMaxDepth ( void  )

inline

There's an absolute maximum depth rating, limit the "operational limit".

References m_max_depth, and m_ol.

Referenced by consume(), and onUpdateParameters().

void Monitors::OperationalLimits::Task::task ( void  )

inlinevirtual

The task to be executed on each cycle.

Implements DUNE::Tasks::Periodic.

References Monitors::OperationalLimits::Arguments::h_max_depth, Monitors::OperationalLimits::Arguments::h_min_altitude, m_args, m_atest_time, m_emask, m_errs, m_estate, m_ol, Monitors::OperationalLimits::Arguments::min_depth, test(), and updateState().

bool Monitors::OperationalLimits::Task::test ( uint8_t  lmask, const char *  ldesc, double  v1, double  v2, double  hyst = 0.0  )

inline

Clear an op limit from error state.

Parameters

[in]	lmask	new error bitmask
[in]	ldesc	error description
[in]	v1	current value
[in]	v2	limit value
[in]	hyst	hysteresis factor to avoid chattering

Returns

true if in error mode

References clearError(), m_emask, m_ol, and setError().

Referenced by task().

void Monitors::OperationalLimits::Task::updateState ( void  )

inline

Update state of the system.

References m_emask, m_errs, and DUNE::Tasks::Task::setEntityState().

Referenced by task().

Member Data Documentation

Arguments Monitors::OperationalLimits::Task::m_args

Task arguments.

Referenced by onUpdateParameters(), Task(), and task().

double Monitors::OperationalLimits::Task::m_atest_time

Time of next area limit test.

Referenced by reset(), and task().

IMC::CacheControl Monitors::OperationalLimits::Task::m_cc

Cache control message.

Referenced by consume().

uint8_t Monitors::OperationalLimits::Task::m_emask

Error mask.

Referenced by clearError(), reset(), setError(), task(), test(), and updateState().

LErrorMap Monitors::OperationalLimits::Task::m_errs

Error map.

Referenced by clearError(), reset(), setError(), task(), and updateState().

IMC::EstimatedState Monitors::OperationalLimits::Task::m_estate

Last EstimatedState message.

Referenced by consume(), and task().

float Monitors::OperationalLimits::Task::m_max_depth

Absolute maximum depth.

Referenced by setMaxDepth(), and Task().

IMC::OperationalLimits Monitors::OperationalLimits::Task::m_ol

Limits in use.

Referenced by consume(), init(), onUpdateParameters(), reset(), setMaxDepth(), task(), and test().

bool Monitors::OperationalLimits::Task::m_use_cfg

Use configuration flag.

Referenced by consume(), and onUpdateParameters().

Collaboration diagram for Monitors::OperationalLimits::Task: