DUNE: Uniform Navigational Environment  2016.05.0
List of all members | Public Member Functions | Public Attributes
Control::UAV::LOS::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 step (const IMC::EstimatedState &state, const TrackingState &ts)
 
- Public Member Functions inherited from DUNE::Control::ProxyPathController
 ProxyPathController (const std::string &name, Tasks::Context &ctx)
 
virtual ~ProxyPathController (void)
 
void onEntityResolution (void)
 
virtual bool sourceFilter (const IMC::EstimatedState *es)
 
- 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)
 
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
 

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 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::UAV::LOS::Task::Task ( const std::string &  name,
Tasks::Context &  ctx 
)
inline

References DUNE::Tasks::Parameter::defaultValue(), Control::UAV::LOS::Arguments::la_gain, m_args, Control::UAV::LOS::Arguments::max_bank, DUNE::Tasks::Task::param(), DUNE::Tasks::Parameter::scope(), Control::UAV::LOS::Arguments::tr_gain, DUNE::Tasks::Parameter::units(), Control::UAV::LOS::Arguments::use_controller, and DUNE::Tasks::Parameter::visibility().

Member Function Documentation

void Control::UAV::LOS::Task::consume ( const IMC::IndicatedSpeed *  airspeed)
inline

References m_airspeed.

void Control::UAV::LOS::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::UAV::LOS::Arguments::use_controller.

void Control::UAV::LOS::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::UAV::LOS::Arguments::la_gain, m_args, Control::UAV::LOS::Arguments::max_bank, and DUNE::Tasks::Task::paramChanged().

void Control::UAV::LOS::Task::step ( const IMC::EstimatedState &  state,
const TrackingState &  ts 
)
inline

References DUNE::Tasks::Task::dispatch(), Control::UAV::LOS::Arguments::la_gain, m_airspeed, m_args, m_bank, Control::UAV::LOS::Arguments::max_bank, DUNE::Tasks::Task::spew(), Control::UAV::LOS::Arguments::tr_gain, DUNE::Control::PathController::TrackingState::track_pos, DUNE::Control::PathController::TrackingState::track_vel, DUNE::Math::trimValue(), Control::UAV::LOS::Arguments::use_controller, DUNE::Tasks::Task::war(), DUNE::Control::PathController::TrackingState::TrackCoord::x, and DUNE::Control::PathController::TrackingState::TrackCoord::y.

Member Data Documentation

double Control::UAV::LOS::Task::m_airspeed

Referenced by consume(), and step().

Arguments Control::UAV::LOS::Task::m_args

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

IMC::DesiredRoll Control::UAV::LOS::Task::m_bank

Referenced by step().

Collaboration diagram for Control::UAV::LOS::Task:
Collaboration graph