Control::AUV::Diving::Task Struct Reference

Detailed Description

Motor simulator task

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onResourceRelease (void)
void	onResourceAcquisition (void)
void	onResourceInitialization (void)
void	onActivation (void)
void	onDeactivation (void)
void	reset (void)
void	consume (const IMC::Brake *msg)
void	consume (const IMC::Rpm *msg)
void	consume (const IMC::EstimatedState *msg)
void	consume (const IMC::DesiredSpeed *msg)
void	consume (const IMC::DesiredZ *msg)
void	consume (const IMC::ControlLoops *msg)
void	task (void)
void	onIdle (void)
void	onChecking (void)
void	onSubmerged (void)
void	onForcing (void)
bool	increaseSpeed (void)
bool	hasZReference (void)

Public Attributes
uint32_t	m_aloops
MachineStates	m_mstate
IMC::DesiredSpeed	m_forced_speed
IMC::DesiredSpeed	m_dspeed
IMC::DesiredZ	m_z_ref
unsigned	m_incs
float	m_speed_inc
Time::Counter< float > *	m_counter_solo
Time::Counter< float > *	m_counter_step
float	m_rpm
float	m_depth
float	m_alt
bool	m_got_data
bool	m_last_try
bool	m_braking
uint32_t	m_scope_ref
Arguments	m_args

Constructor & Destructor Documentation

Control::AUV::Diving::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Control::AUV::Diving::Arguments::depth_threshold, m_args, Control::AUV::Diving::Arguments::max_increase, Control::AUV::Diving::Arguments::speed_step, Control::AUV::Diving::Arguments::speed_tol, Control::AUV::Diving::Arguments::time_solo, and Control::AUV::Diving::Arguments::time_step.

Member Function Documentation

void Control::AUV::Diving::Task::consume ( const IMC::Brake *  msg )

inline

References m_braking, m_counter_solo, m_counter_step, m_dspeed, m_last_try, m_mstate, Control::AUV::Diving::SM_FORCING, and Control::AUV::Diving::SM_IDLE.

void Control::AUV::Diving::Task::consume ( const IMC::Rpm *  msg )

inline

References m_rpm.

void Control::AUV::Diving::Task::consume ( const IMC::EstimatedState *  msg )

inline

References m_alt, and m_depth.

void Control::AUV::Diving::Task::consume ( const IMC::DesiredSpeed *  msg )

inline

References m_dspeed.

void Control::AUV::Diving::Task::consume ( const IMC::DesiredZ *  msg )

inline

References m_z_ref.

void Control::AUV::Diving::Task::consume ( const IMC::ControlLoops *  msg )

inline

References m_aloops, m_scope_ref, and reset().

bool Control::AUV::Diving::Task::hasZReference ( void  )

inline

Check if we have depth/altitude reference.

Returns

true if we do, false otherwise

References Control::AUV::Diving::Arguments::depth_threshold, m_alt, m_args, m_depth, and m_z_ref.

Referenced by onChecking(), onForcing(), and onSubmerged().

bool Control::AUV::Diving::Task::increaseSpeed ( void  )

inline

Increase desired speed.

Returns

true if was able to increase speed, false otherwise

References m_args, m_counter_step, m_dspeed, m_forced_speed, m_incs, m_speed_inc, Control::AUV::Diving::Arguments::max_increase, and Control::AUV::Diving::Arguments::speed_step.

Referenced by onChecking(), and onForcing().

void Control::AUV::Diving::Task::onActivation ( void  )

inline

On activation.

void Control::AUV::Diving::Task::onChecking ( void  )

inline

Checking state machine routine.

References Control::AUV::Diving::Arguments::depth_threshold, hasZReference(), increaseSpeed(), m_args, m_counter_solo, m_counter_step, m_depth, m_dspeed, m_mstate, Control::AUV::Diving::SM_FORCING, Control::AUV::Diving::SM_IDLE, and Control::AUV::Diving::SM_SUBMERGED.

Referenced by task().

void Control::AUV::Diving::Task::onDeactivation ( void  )

inline

On deactivation.

void Control::AUV::Diving::Task::onForcing ( void  )

inline

Forcing state machine routine.

References Control::AUV::Diving::Arguments::depth_threshold, hasZReference(), increaseSpeed(), m_args, m_counter_solo, m_counter_step, m_depth, m_dspeed, m_incs, m_last_try, m_mstate, reset(), Control::AUV::Diving::SM_IDLE, and Control::AUV::Diving::SM_SUBMERGED.

Referenced by task().

void Control::AUV::Diving::Task::onIdle ( void  )

inline

Idle state machine routine.

References Control::AUV::Diving::Arguments::depth_threshold, m_args, m_counter_solo, m_depth, m_dspeed, m_mstate, m_rpm, m_z_ref, Control::AUV::Diving::SM_CHECKING, and Control::AUV::Diving::Arguments::speed_tol.

Referenced by task().

void Control::AUV::Diving::Task::onResourceAcquisition ( void  )

inline

Acquire resources.

References m_args, m_counter_solo, m_counter_step, Control::AUV::Diving::Arguments::time_solo, and Control::AUV::Diving::Arguments::time_step.

void Control::AUV::Diving::Task::onResourceInitialization ( void  )

inline

Initialize resources.

References reset().

void Control::AUV::Diving::Task::onResourceRelease ( void  )

inline

Release resources.

References m_counter_solo, and m_counter_step.

void Control::AUV::Diving::Task::onSubmerged ( void  )

inline

Submerged state machine routine.

References Control::AUV::Diving::Arguments::depth_threshold, hasZReference(), m_args, m_counter_solo, m_depth, m_mstate, Control::AUV::Diving::SM_CHECKING, and Control::AUV::Diving::SM_IDLE.

Referenced by task().

void Control::AUV::Diving::Task::reset ( void  )

inline

Reset all variables.

References m_alt, m_counter_solo, m_counter_step, m_depth, m_dspeed, m_got_data, m_incs, m_last_try, m_mstate, m_rpm, m_speed_inc, m_z_ref, and Control::AUV::Diving::SM_IDLE.

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

void Control::AUV::Diving::Task::task ( void  )

inline

References m_alt, m_braking, m_depth, m_dspeed, m_got_data, m_mstate, m_rpm, m_z_ref, onChecking(), onForcing(), onIdle(), onSubmerged(), Control::AUV::Diving::SM_CHECKING, Control::AUV::Diving::SM_FORCING, Control::AUV::Diving::SM_IDLE, and Control::AUV::Diving::SM_SUBMERGED.

Member Data Documentation

uint32_t Control::AUV::Diving::Task::m_aloops

Active loops.

Referenced by consume().

float Control::AUV::Diving::Task::m_alt

Vehicle's altitude (if any)

Referenced by consume(), hasZReference(), reset(), and task().

Arguments Control::AUV::Diving::Task::m_args

Task arguments.

Referenced by hasZReference(), increaseSpeed(), onChecking(), onForcing(), onIdle(), onResourceAcquisition(), onSubmerged(), and Task().

bool Control::AUV::Diving::Task::m_braking

Braking flag.

Referenced by consume(), and task().

Time::Counter<float>* Control::AUV::Diving::Task::m_counter_solo

Timer counter for solo attempt.

Referenced by consume(), onChecking(), onForcing(), onIdle(), onResourceAcquisition(), onResourceRelease(), onSubmerged(), and reset().

Time::Counter<float>* Control::AUV::Diving::Task::m_counter_step

Timer counter for each speed increase step.

Referenced by consume(), increaseSpeed(), onChecking(), onForcing(), onResourceAcquisition(), onResourceRelease(), and reset().

float Control::AUV::Diving::Task::m_depth

Vehicle's depth.

Referenced by consume(), hasZReference(), onChecking(), onForcing(), onIdle(), onSubmerged(), reset(), and task().

IMC::DesiredSpeed Control::AUV::Diving::Task::m_dspeed

Last received desired speed.

Referenced by consume(), increaseSpeed(), onChecking(), onForcing(), onIdle(), reset(), and task().

IMC::DesiredSpeed Control::AUV::Diving::Task::m_forced_speed

Forced desired speed.

Referenced by increaseSpeed().

bool Control::AUV::Diving::Task::m_got_data

Got necessary data to proceed.

Referenced by reset(), and task().

unsigned Control::AUV::Diving::Task::m_incs

Number of speed increases.

Referenced by increaseSpeed(), onForcing(), and reset().

bool Control::AUV::Diving::Task::m_last_try

On last attempt.

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

MachineStates Control::AUV::Diving::Task::m_mstate

State machine state.

Referenced by consume(), onChecking(), onForcing(), onIdle(), onSubmerged(), reset(), and task().

float Control::AUV::Diving::Task::m_rpm

Motor's rpms.

Referenced by consume(), onIdle(), reset(), and task().

uint32_t Control::AUV::Diving::Task::m_scope_ref

Control loops last reference.

Referenced by consume().

float Control::AUV::Diving::Task::m_speed_inc

Speed amount to increase.

Referenced by increaseSpeed(), and reset().

IMC::DesiredZ Control::AUV::Diving::Task::m_z_ref

Last received desired z.

Referenced by consume(), hasZReference(), onIdle(), reset(), and task().

Collaboration diagram for Control::AUV::Diving::Task: