DUNE: Uniform Navigational Environment  2016.05.0
List of all members | Public Types | Public Member Functions | Public Attributes
Control::UAV::Ardupilot::Task Struct Reference

Public Types

typedef void(Task::* PktHandler )(const mavlink_message_t *msg)
 
typedef std::map< int, PktHandler > PktHandlerMap
 
- 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 onResourceRelease (void)
 
void onResourceAcquisition (void)
 
void onUpdateParameters (void)
 
void openConnection (void)
 
void setupRate (uint8_t rate)
 
void info (uint32_t was, uint32_t is, uint32_t loop, const char *desc)
 
void consume (const IMC::ControlLoops *cloops)
 
void activateFBW (void)
 
void consume (const IMC::DesiredRoll *d_roll)
 
void consume (const IMC::DesiredControl *d_acc)
 
void consume (const IMC::DesiredZ *d_z)
 
void consume (const IMC::DesiredVerticalRate *d_vr)
 
void consume (const IMC::DesiredSpeed *d_speed)
 
int map2PWM (int min_pwm, int max_pwm, float min_value, float max_value, float value, bool reverse)
 
void consume (const IMC::DesiredPath *path)
 
void takeoff_copter (const IMC::DesiredPath *dpath)
 
void takeoff_plane (const IMC::DesiredPath *dpath)
 
void loiterHere (void)
 
void consume (const IMC::IdleManeuver *idle)
 
void consume (const IMC::VehicleMedium *vm)
 
void consume (const IMC::VehicleState *msg)
 
void consume (const IMC::SimulatedState *sim_state)
 
void consume (const IMC::DevCalibrationControl *msg)
 
void consume (const IMC::AutopilotMode *msg)
 
void sendCommandPacket (uint16_t cmd, float arg1=0, float arg2=0, float arg3=0, float arg4=0, float arg5=0, float arg6=0, float arg7=0)
 
void sendMissionItem (bool next)
 
void onMain (void)
 
bool poll (double timeout)
 
int sendData (uint8_t *bfr, int size)
 
int receiveData (uint8_t *buf, size_t blen)
 
void handleArdupilotData (void)
 
void handleAttitudePacket (const mavlink_message_t *msg)
 
void handleImuRaw (const mavlink_message_t *msg)
 
void handlePositionPacket (const mavlink_message_t *msg)
 
float getHeight (void)
 
void handleHWStatusPacket (const mavlink_message_t *msg)
 
void handleSystemStatusPacket (const mavlink_message_t *msg)
 
void handleScaledPressurePacket (const mavlink_message_t *msg)
 
void handleRawGPSPacket (const mavlink_message_t *msg)
 
void handleWindPacket (const mavlink_message_t *msg)
 
void handleCmdAckPacket (const mavlink_message_t *msg)
 
void handleMissionAckPacket (const mavlink_message_t *msg)
 
void handleMissionCurrentPacket (const mavlink_message_t *msg)
 
void handleStatusTextPacket (const mavlink_message_t *msg)
 
void handleHeartbeatPacket (const mavlink_message_t *msg)
 
void handleNavControllerPacket (const mavlink_message_t *msg)
 
void handleMissionItemPacket (const mavlink_message_t *msg)
 
void handleHUDPacket (const mavlink_message_t *msg)
 
void handleSystemTimePacket (const mavlink_message_t *msg)
 
void handleMissionRequestPacket (const mavlink_message_t *msg)
 
- 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
 
PktHandlerMap m_mlh
 
double m_last_pkt_time
 
uint8_t m_buf [512]
 
IMC::EstimatedState m_estate
 
IMC::Voltage m_volt
 
IMC::Current m_curr
 
IMC::FuelLevel m_fuel
 
IMC::Pressure m_pressure
 
IMC::Temperature m_temp
 
IMC::GpsFix m_fix
 
IMC::EstimatedStreamVelocity m_stream
 
IMC::PathControlState m_pcs
 
IMC::DesiredPath m_dpath
 
IMC::ControlLoops m_controllps
 
fp64_t m_ref_lat
 
fp64_t m_ref_lon
 
fp32_t m_ref_hae
 
Network::TCPSocket * m_TCP_sock
 
uint8_t m_sysid
 
double m_lat
 
double m_lon
 
float m_hae_msl
 
float m_hae_offset
 
bool m_external
 
int m_current_wp
 
bool m_critical
 
uint32_t m_cloops
 
mavlink_message_t m_msg
 
int m_desired_radius
 
int m_gnd_speed
 
int m_mode
 
bool m_changing_wp
 
bool m_error_missing
 
bool m_esta_ext
 
bool m_has_setup_rate
 
bool m_ground
 
float m_droll
 
float m_dclimb
 
float m_dspeed
 
APM_Vehicle m_vehicle_type
 
bool m_service
 
float m_last_wp
 
std::queue< mavlink_message_t > m_mission_items
 
float m_gb_pan
 
float m_gb_tilt
 
float m_gb_retract
 

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 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 void(Task::* Control::UAV::Ardupilot::Task::PktHandler)(const mavlink_message_t *msg)

Type definition for Arduino packet handler.

typedef std::map<int, PktHandler> Control::UAV::Ardupilot::Task::PktHandlerMap

Constructor & Destructor Documentation

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

References Control::UAV::Ardupilot::Arguments::alt, Control::UAV::Ardupilot::Arguments::ardu_tracker, Control::UAV::Ardupilot::Arguments::comm_timeout, Control::UAV::Ardupilot::Arguments::convert_msl, Control::UAV::Ardupilot::Arguments::cp_wp_radius, DUNE::Tasks::Parameter::defaultValue(), Control::UAV::Ardupilot::Arguments::form_fl, Control::UAV::Ardupilot::Arguments::form_fl_ent, handleAttitudePacket(), handleCmdAckPacket(), handleHeartbeatPacket(), handleHUDPacket(), handleHWStatusPacket(), handleImuRaw(), handleMissionAckPacket(), handleMissionCurrentPacket(), handleMissionItemPacket(), handleMissionRequestPacket(), handleNavControllerPacket(), handlePositionPacket(), handleRawGPSPacket(), handleScaledPressurePacket(), handleStatusTextPacket(), handleSystemStatusPacket(), handleSystemTimePacket(), handleWindPacket(), Control::UAV::Ardupilot::Arguments::hitl, Control::UAV::Ardupilot::Arguments::lradius, Control::UAV::Ardupilot::Arguments::ltolerance, m_args, m_estate, m_last_pkt_time, m_mlh, DUNE::Tasks::Parameter::maximumValue(), DUNE::Tasks::Parameter::minimumValue(), DUNE::Tasks::Task::param(), Control::UAV::Ardupilot::RadioChannel::pwm_max, Control::UAV::Ardupilot::RadioChannel::pwm_min, Control::UAV::Ardupilot::Arguments::pwrm, Control::UAV::Ardupilot::Arguments::rc1, Control::UAV::Ardupilot::Arguments::rc2, Control::UAV::Ardupilot::Arguments::rc3, Control::UAV::Ardupilot::RadioChannel::reverse, DUNE::Tasks::Parameter::scope(), Control::UAV::Ardupilot::Arguments::secs, Control::UAV::Ardupilot::Arguments::TCP_addr, Control::UAV::Ardupilot::Arguments::TCP_port, Control::UAV::Ardupilot::Arguments::trate, Control::UAV::Ardupilot::RadioChannel::val_max, Control::UAV::Ardupilot::RadioChannel::val_min, and DUNE::Tasks::Parameter::visibility().

Member Function Documentation

void Control::UAV::Ardupilot::Task::activateFBW ( void  )
inline

Messages for FBWB control (using DUNE's controllers)

References m_sysid, and sendData().

Referenced by consume().

void Control::UAV::Ardupilot::Task::consume ( const IMC::ControlLoops *  cloops)
inline

References activateFBW(), Control::UAV::Ardupilot::Arguments::ardu_tracker, DUNE::Tasks::Task::inf(), info(), m_args, m_cloops, m_controllps, m_external, m_ground, onUpdateParameters(), and sendData().

void Control::UAV::Ardupilot::Task::consume ( const IMC::DesiredRoll *  d_roll)
inline

References DUNE::Tasks::Task::debug(), Control::UAV::Ardupilot::Arguments::form_fl, Control::UAV::Ardupilot::Arguments::form_fl_ent, m_args, m_cloops, m_critical, m_dclimb, m_droll, m_dspeed, m_external, m_ground, map2PWM(), Control::UAV::Ardupilot::RadioChannel::pwm_max, Control::UAV::Ardupilot::RadioChannel::pwm_min, Control::UAV::Ardupilot::Arguments::rc1, Control::UAV::Ardupilot::Arguments::rc2, Control::UAV::Ardupilot::Arguments::rc3, DUNE::Tasks::Task::resolveEntity(), Control::UAV::Ardupilot::RadioChannel::reverse, sendData(), Control::UAV::Ardupilot::RadioChannel::val_max, and Control::UAV::Ardupilot::RadioChannel::val_min.

void Control::UAV::Ardupilot::Task::consume ( const IMC::DesiredControl *  d_acc)
inline

References Control::UAV::Ardupilot::Arguments::ardu_tracker, Control::UAV::Ardupilot::CP_MODE_GUIDED, DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::getSystemId(), m_args, m_cloops, m_external, m_mode, m_sysid, m_vehicle_type, DUNE::Tasks::Task::resolveEntity(), DUNE::Tasks::Task::resolveSystemId(), sendData(), DUNE::Tasks::Task::spew(), DUNE::Tasks::Task::trace(), and Control::UAV::Ardupilot::VEHICLE_COPTER.

void Control::UAV::Ardupilot::Task::consume ( const IMC::DesiredZ *  d_z)
inline

References DUNE::Tasks::Task::debug(), and m_cloops.

void Control::UAV::Ardupilot::Task::consume ( const IMC::DesiredVerticalRate *  d_vr)
inline

References DUNE::Tasks::Task::debug(), m_cloops, and m_dclimb.

void Control::UAV::Ardupilot::Task::consume ( const IMC::DesiredSpeed *  d_speed)
inline

References DUNE::Tasks::Task::inf(), m_cloops, and m_dspeed.

void Control::UAV::Ardupilot::Task::consume ( const IMC::DesiredPath *  path)
inline

Message for GUIDED/AUTO control (using Ardupilot's controllers)

References Control::UAV::Ardupilot::Arguments::alt, Control::UAV::Ardupilot::Arguments::ardu_tracker, Control::UAV::Ardupilot::CP_MODE_GUIDED, DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::dispatch(), getHeight(), DUNE::Tasks::Task::inf(), m_args, m_changing_wp, m_cloops, m_desired_radius, m_dpath, m_external, m_ground, m_hae_offset, m_last_wp, m_lat, m_lon, m_pcs, m_sysid, m_vehicle_type, Control::UAV::Ardupilot::PL_MODE_GUIDED, sendData(), takeoff_copter(), takeoff_plane(), Control::UAV::Ardupilot::VEHICLE_COPTER, and Control::UAV::Ardupilot::VEHICLE_FIXEDWING.

void Control::UAV::Ardupilot::Task::consume ( const IMC::IdleManeuver *  idle)
inline

References loiterHere(), and m_dpath.

void Control::UAV::Ardupilot::Task::consume ( const IMC::VehicleMedium *  vm)
inline

References m_ground.

void Control::UAV::Ardupilot::Task::consume ( const IMC::VehicleState *  msg)
inline

References m_service.

void Control::UAV::Ardupilot::Task::consume ( const IMC::SimulatedState *  sim_state)
inline

Used for HITL simulations.

References DUNE::Tasks::Profiles::isSelected(), DUNE::Tasks::Task::m_ctx, DUNE::Tasks::Context::profiles, and sendData().

void Control::UAV::Ardupilot::Task::consume ( const IMC::DevCalibrationControl *  msg)
inline

References sendCommandPacket().

void Control::UAV::Ardupilot::Task::consume ( const IMC::AutopilotMode *  msg)
inline

References sendCommandPacket().

float Control::UAV::Ardupilot::Task::getHeight ( void  )
inline

References m_hae_msl, and m_hae_offset.

Referenced by consume(), handleNavControllerPacket(), handlePositionPacket(), takeoff_copter(), and takeoff_plane().

void Control::UAV::Ardupilot::Task::handleArdupilotData ( void  )
inline

References Control::UAV::Ardupilot::Arguments::comm_timeout, DUNE::Tasks::Task::debug(), m_args, m_buf, m_error_missing, m_esta_ext, m_last_pkt_time, m_mlh, m_msg, m_sysid, poll(), receiveData(), DUNE::Tasks::Task::setEntityState(), DUNE::Tasks::Task::spew(), and DUNE::Tasks::Task::trace().

Referenced by onMain().

void Control::UAV::Ardupilot::Task::handleAttitudePacket ( const mavlink_message_t *  msg)
inline

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

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleCmdAckPacket ( const mavlink_message_t *  msg)
inline

References DUNE::Tasks::Task::debug(), m_changing_wp, and m_last_wp.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleHeartbeatPacket ( const mavlink_message_t *  msg)
inline

References Control::UAV::Ardupilot::CP_MODE_AUTO, Control::UAV::Ardupilot::CP_MODE_DUNE, Control::UAV::Ardupilot::CP_MODE_GUIDED, Control::UAV::Ardupilot::CP_MODE_LOITER, DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::err(), DUNE::Tasks::Task::inf(), loiterHere(), m_args, m_controllps, m_critical, m_dpath, m_external, m_has_setup_rate, m_mode, m_service, m_vehicle_type, Control::UAV::Ardupilot::PL_MODE_AUTO, Control::UAV::Ardupilot::PL_MODE_AUTOTUNE, Control::UAV::Ardupilot::PL_MODE_CIRCLE, Control::UAV::Ardupilot::PL_MODE_FBWB, Control::UAV::Ardupilot::PL_MODE_GUIDED, Control::UAV::Ardupilot::PL_MODE_LOITER, Control::UAV::Ardupilot::PL_MODE_MANUAL, Control::UAV::Ardupilot::PL_MODE_RTL, Control::UAV::Ardupilot::PL_MODE_STABILIZE, DUNE::Tasks::Task::receive(), setupRate(), DUNE::Tasks::Task::trace(), Control::UAV::Ardupilot::Arguments::trate, Control::UAV::Ardupilot::VEHICLE_COPTER, Control::UAV::Ardupilot::VEHICLE_FIXEDWING, Control::UAV::Ardupilot::VEHICLE_UNKNOWN, and DUNE::Tasks::Task::war().

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleHUDPacket ( const mavlink_message_t *  msg)
inline

References DUNE::Tasks::Task::dispatch(), m_gnd_speed, m_hae_msl, m_vehicle_type, and Control::UAV::Ardupilot::VEHICLE_COPTER.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleHWStatusPacket ( const mavlink_message_t *  msg)
inline

References DUNE::Tasks::Task::dispatch(), m_args, m_volt, and Control::UAV::Ardupilot::Arguments::pwrm.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleImuRaw ( const mavlink_message_t *  msg)
inline

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

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleMissionAckPacket ( const mavlink_message_t *  msg)
inline

References DUNE::Tasks::Task::debug(), m_changing_wp, and m_last_wp.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleMissionCurrentPacket ( const mavlink_message_t *  msg)
inline

References m_current_wp, m_sysid, sendData(), and DUNE::Tasks::Task::trace().

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleMissionItemPacket ( const mavlink_message_t *  msg)
inline

References m_critical, and DUNE::Tasks::Task::trace().

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleMissionRequestPacket ( const mavlink_message_t *  msg)
inline

References DUNE::Tasks::Task::debug(), and sendMissionItem().

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleNavControllerPacket ( const mavlink_message_t *  msg)
inline

References Control::UAV::Ardupilot::Arguments::alt, Control::UAV::Ardupilot::Arguments::ardu_tracker, Control::UAV::Ardupilot::CP_MODE_AUTO, Control::UAV::Ardupilot::CP_MODE_GUIDED, Control::UAV::Ardupilot::Arguments::cp_wp_radius, DUNE::Tasks::Task::dispatch(), getHeight(), Control::UAV::Ardupilot::Arguments::ltolerance, m_args, m_changing_wp, m_current_wp, m_desired_radius, m_dpath, m_estate, m_gnd_speed, m_last_wp, m_mode, m_pcs, m_vehicle_type, DUNE::Tasks::Task::receive(), Control::UAV::Ardupilot::Arguments::secs, DUNE::Tasks::Task::trace(), and Control::UAV::Ardupilot::VEHICLE_COPTER.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handlePositionPacket ( const mavlink_message_t *  msg)
inline

References Control::UAV::Ardupilot::Arguments::convert_msl, DUNE::Tasks::Context::dir_cfg, getHeight(), m_args, DUNE::Tasks::Task::m_ctx, m_estate, m_hae_msl, m_hae_offset, m_lat, m_lon, m_ref_hae, m_ref_lat, m_ref_lon, m_vehicle_type, Control::UAV::Ardupilot::VEHICLE_COPTER, and Control::UAV::Ardupilot::VEHICLE_UNKNOWN.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleRawGPSPacket ( const mavlink_message_t *  msg)
inline

References m_fix.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleScaledPressurePacket ( const mavlink_message_t *  msg)
inline

References DUNE::Tasks::Task::dispatch(), m_pressure, and m_temp.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleStatusTextPacket ( const mavlink_message_t *  msg)
inline

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

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleSystemStatusPacket ( const mavlink_message_t *  msg)
inline

References DUNE::Tasks::Task::dispatch(), m_args, m_curr, m_fuel, m_volt, and Control::UAV::Ardupilot::Arguments::pwrm.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleSystemTimePacket ( const mavlink_message_t *  msg)
inline

References DUNE::Tasks::Task::dispatch(), Control::UAV::Ardupilot::Arguments::hitl, m_args, and m_fix.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleWindPacket ( const mavlink_message_t *  msg)
inline

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

Referenced by Task().

void Control::UAV::Ardupilot::Task::info ( uint32_t  was,
uint32_t  is,
uint32_t  loop,
const char *  desc 
)
inline

Prints to terminal and log when control loops are activated and deactivated.

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

Referenced by consume().

void Control::UAV::Ardupilot::Task::loiterHere ( void  )
inline

References DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::getEntityState(), Control::UAV::Ardupilot::Arguments::lradius, m_args, m_estate, m_external, m_fix, m_ground, m_pcs, m_sysid, m_vehicle_type, sendCommandPacket(), sendData(), and Control::UAV::Ardupilot::VEHICLE_COPTER.

Referenced by consume(), and handleHeartbeatPacket().

int Control::UAV::Ardupilot::Task::map2PWM ( int  min_pwm,
int  max_pwm,
float  min_value,
float  max_value,
float  value,
bool  reverse 
)
inline

Converts value in range min_value:max_value to a value_pwm in range min_pwm:max_pwm.

References DUNE::Math::trimValue().

Referenced by consume().

void Control::UAV::Ardupilot::Task::onMain ( void  )
inlinevirtual

Implements DUNE::Tasks::Task.

References DUNE::Tasks::Task::consumeMessages(), handleArdupilotData(), m_error_missing, m_esta_ext, m_external, m_TCP_sock, openConnection(), DUNE::Tasks::Task::setEntityState(), and DUNE::Tasks::Task::stopping().

void Control::UAV::Ardupilot::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 openConnection().

void Control::UAV::Ardupilot::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_TCP_sock.

void Control::UAV::Ardupilot::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 m_args, Control::UAV::Ardupilot::Arguments::rc1, Control::UAV::Ardupilot::Arguments::rc2, Control::UAV::Ardupilot::RadioChannel::val_max, and Control::UAV::Ardupilot::RadioChannel::val_min.

Referenced by consume().

void Control::UAV::Ardupilot::Task::openConnection ( void  )
inline

References DUNE::Tasks::Task::inf(), m_args, m_TCP_sock, DUNE::Tasks::Task::setEntityState(), setupRate(), Control::UAV::Ardupilot::Arguments::TCP_addr, Control::UAV::Ardupilot::Arguments::TCP_port, Control::UAV::Ardupilot::Arguments::trate, and DUNE::Tasks::Task::war().

Referenced by onMain(), and onResourceAcquisition().

bool Control::UAV::Ardupilot::Task::poll ( double  timeout)
inline

References m_TCP_sock.

Referenced by handleArdupilotData().

int Control::UAV::Ardupilot::Task::receiveData ( uint8_t *  buf,
size_t  blen 
)
inline

References DUNE::Tasks::Task::err(), m_args, m_TCP_sock, Control::UAV::Ardupilot::Arguments::TCP_addr, Control::UAV::Ardupilot::Arguments::TCP_port, and DUNE::Tasks::Task::war().

Referenced by handleArdupilotData().

void Control::UAV::Ardupilot::Task::sendCommandPacket ( uint16_t  cmd,
float  arg1 = 0,
float  arg2 = 0,
float  arg3 = 0,
float  arg4 = 0,
float  arg5 = 0,
float  arg6 = 0,
float  arg7 = 0 
)
inline

References m_sysid, sendData(), and DUNE::Tasks::Task::trace().

Referenced by consume(), loiterHere(), and takeoff_copter().

int Control::UAV::Ardupilot::Task::sendData ( uint8_t *  bfr,
int  size 
)
inline

References m_TCP_sock, and DUNE::Tasks::Task::trace().

Referenced by activateFBW(), consume(), handleMissionCurrentPacket(), loiterHere(), sendCommandPacket(), sendMissionItem(), setupRate(), and takeoff_plane().

void Control::UAV::Ardupilot::Task::sendMissionItem ( bool  next)
inline

References DUNE::Tasks::Task::debug(), m_mission_items, and sendData().

Referenced by handleMissionRequestPacket(), and takeoff_plane().

void Control::UAV::Ardupilot::Task::setupRate ( uint8_t  rate)
inline

References m_sysid, sendData(), and DUNE::Tasks::Task::spew().

Referenced by handleHeartbeatPacket(), and openConnection().

void Control::UAV::Ardupilot::Task::takeoff_copter ( const IMC::DesiredPath *  dpath)
inline

References Control::UAV::Ardupilot::Arguments::alt, DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::dispatch(), getHeight(), m_args, m_hae_offset, m_lat, m_lon, m_pcs, and sendCommandPacket().

Referenced by consume().

void Control::UAV::Ardupilot::Task::takeoff_plane ( const IMC::DesiredPath *  dpath)
inline

References Control::UAV::Ardupilot::Arguments::alt, DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::dispatch(), getHeight(), m_args, m_hae_msl, m_hae_offset, m_lat, m_lon, m_mission_items, m_pcs, m_sysid, sendData(), and sendMissionItem().

Referenced by consume().

Member Data Documentation

Arguments Control::UAV::Ardupilot::Task::m_args

Task arguments.

Referenced by consume(), handleArdupilotData(), handleHeartbeatPacket(), handleHWStatusPacket(), handleNavControllerPacket(), handlePositionPacket(), handleSystemStatusPacket(), handleSystemTimePacket(), loiterHere(), onUpdateParameters(), openConnection(), receiveData(), takeoff_copter(), takeoff_plane(), and Task().

uint8_t Control::UAV::Ardupilot::Task::m_buf[512]

Referenced by handleArdupilotData().

bool Control::UAV::Ardupilot::Task::m_changing_wp

Referenced by consume(), handleCmdAckPacket(), handleMissionAckPacket(), and handleNavControllerPacket().

uint32_t Control::UAV::Ardupilot::Task::m_cloops

Bitfield of enabled control loops.

Referenced by consume().

IMC::ControlLoops Control::UAV::Ardupilot::Task::m_controllps

DesiredPath message.

Referenced by consume(), and handleHeartbeatPacket().

bool Control::UAV::Ardupilot::Task::m_critical

Critical WP.

Referenced by consume(), handleHeartbeatPacket(), and handleMissionItemPacket().

IMC::Current Control::UAV::Ardupilot::Task::m_curr

Referenced by handleSystemStatusPacket().

int Control::UAV::Ardupilot::Task::m_current_wp

Current waypoint.

Referenced by handleMissionCurrentPacket(), and handleNavControllerPacket().

float Control::UAV::Ardupilot::Task::m_dclimb

Referenced by consume().

int Control::UAV::Ardupilot::Task::m_desired_radius

Referenced by consume(), and handleNavControllerPacket().

IMC::DesiredPath Control::UAV::Ardupilot::Task::m_dpath

DesiredPath message.

Referenced by consume(), handleHeartbeatPacket(), and handleNavControllerPacket().

float Control::UAV::Ardupilot::Task::m_droll

Desired control.

Referenced by consume().

float Control::UAV::Ardupilot::Task::m_dspeed

Referenced by consume().

bool Control::UAV::Ardupilot::Task::m_error_missing

Referenced by handleArdupilotData(), and onMain().

bool Control::UAV::Ardupilot::Task::m_esta_ext

Referenced by handleArdupilotData(), and onMain().

IMC::EstimatedState Control::UAV::Ardupilot::Task::m_estate

Estimated state message.

Referenced by handleAttitudePacket(), handleNavControllerPacket(), handlePositionPacket(), loiterHere(), and Task().

bool Control::UAV::Ardupilot::Task::m_external

External control.

Referenced by consume(), handleHeartbeatPacket(), loiterHere(), and onMain().

IMC::GpsFix Control::UAV::Ardupilot::Task::m_fix

GPS Fix message.

Referenced by handleRawGPSPacket(), handleSystemTimePacket(), and loiterHere().

IMC::FuelLevel Control::UAV::Ardupilot::Task::m_fuel

Referenced by handleSystemStatusPacket().

float Control::UAV::Ardupilot::Task::m_gb_pan

Desired gimbal angles.

float Control::UAV::Ardupilot::Task::m_gb_retract
float Control::UAV::Ardupilot::Task::m_gb_tilt
int Control::UAV::Ardupilot::Task::m_gnd_speed

Referenced by handleHUDPacket(), and handleNavControllerPacket().

bool Control::UAV::Ardupilot::Task::m_ground

Vehicle is on ground.

Referenced by consume(), and loiterHere().

float Control::UAV::Ardupilot::Task::m_hae_msl

Height received from the Ardupilot (Geoid/MSL).

Referenced by getHeight(), handleHUDPacket(), handlePositionPacket(), and takeoff_plane().

float Control::UAV::Ardupilot::Task::m_hae_offset

Height offset to convert to WGS-84 ellipsoid.

Referenced by consume(), getHeight(), handlePositionPacket(), takeoff_copter(), and takeoff_plane().

bool Control::UAV::Ardupilot::Task::m_has_setup_rate

Setup rate hack.

Referenced by handleHeartbeatPacket().

double Control::UAV::Ardupilot::Task::m_last_pkt_time

Referenced by handleArdupilotData(), and Task().

float Control::UAV::Ardupilot::Task::m_last_wp

Time since last waypoint was sent.

Referenced by consume(), handleCmdAckPacket(), handleMissionAckPacket(), and handleNavControllerPacket().

double Control::UAV::Ardupilot::Task::m_lat

Last received position.

Referenced by consume(), handlePositionPacket(), takeoff_copter(), and takeoff_plane().

double Control::UAV::Ardupilot::Task::m_lon

Referenced by consume(), handlePositionPacket(), takeoff_copter(), and takeoff_plane().

std::queue<mavlink_message_t> Control::UAV::Ardupilot::Task::m_mission_items

Mission items queue.

Referenced by sendMissionItem(), and takeoff_plane().

PktHandlerMap Control::UAV::Ardupilot::Task::m_mlh

Arduino packet handling.

Referenced by handleArdupilotData(), and Task().

int Control::UAV::Ardupilot::Task::m_mode

Referenced by consume(), handleHeartbeatPacket(), and handleNavControllerPacket().

mavlink_message_t Control::UAV::Ardupilot::Task::m_msg

Parser Variables.

Referenced by handleArdupilotData().

IMC::PathControlState Control::UAV::Ardupilot::Task::m_pcs

Path Control State.

Referenced by consume(), handleNavControllerPacket(), loiterHere(), takeoff_copter(), and takeoff_plane().

IMC::Pressure Control::UAV::Ardupilot::Task::m_pressure

Pressure message.

Referenced by handleScaledPressurePacket().

fp32_t Control::UAV::Ardupilot::Task::m_ref_hae

Referenced by handlePositionPacket().

fp64_t Control::UAV::Ardupilot::Task::m_ref_lat

Localization origin (WGS-84)

Referenced by handlePositionPacket().

fp64_t Control::UAV::Ardupilot::Task::m_ref_lon

Referenced by handlePositionPacket().

bool Control::UAV::Ardupilot::Task::m_service

Check if is in service.

Referenced by consume(), and handleHeartbeatPacket().

IMC::EstimatedStreamVelocity Control::UAV::Ardupilot::Task::m_stream

Wind message.

Referenced by handleWindPacket().

uint8_t Control::UAV::Ardupilot::Task::m_sysid

System ID.

Referenced by activateFBW(), consume(), handleArdupilotData(), handleMissionCurrentPacket(), loiterHere(), sendCommandPacket(), setupRate(), and takeoff_plane().

Network::TCPSocket* Control::UAV::Ardupilot::Task::m_TCP_sock

TCP socket.

Referenced by onMain(), onResourceRelease(), openConnection(), poll(), receiveData(), and sendData().

IMC::Temperature Control::UAV::Ardupilot::Task::m_temp

Temperature message.

Referenced by handleScaledPressurePacket().

APM_Vehicle Control::UAV::Ardupilot::Task::m_vehicle_type

Type of system to be controlled.

Referenced by consume(), handleHeartbeatPacket(), handleHUDPacket(), handleNavControllerPacket(), handlePositionPacket(), and loiterHere().

IMC::Voltage Control::UAV::Ardupilot::Task::m_volt

Battery messages.

Referenced by handleHWStatusPacket(), and handleSystemStatusPacket().

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