DUNE: Uniform Navigational Environment  2016.05.0
List of all members | Public Member Functions | Public Attributes
Monitors::FuelLevel::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
 ~Task (void)
 
void onUpdateParameters (void)
 
void onResourceRelease (void)
 
void onResourceAcquisition (void)
 
void onEntityResolution (void)
 
void consume (const IMC::Voltage *msg)
 
void consume (const IMC::Current *msg)
 
void consume (const IMC::Temperature *msg)
 
void consume (const IMC::VehicleState *msg)
 
void consume (const IMC::EntityActivationState *msg)
 
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)
 
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

FuelFilter * m_fuel_filter
 
IMC::FuelLevel m_fuel
 
unsigned m_eids [BatteryData::BM_TOTAL]
 
bool m_filter_ready
 
EPMap m_epower
 
Power::Model * m_power_model
 
std::vector< std::string > m_op_labels
 
std::vector< float > m_op_values
 
Arguments m_args
 

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 onEntityReservation (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
 

Constructor & Destructor Documentation

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

References Monitors::FuelLevel::FuelFilter::Arguments::acceptable_temperature, Monitors::FuelLevel::FuelFilter::Arguments::avg_win, Monitors::FuelLevel::Arguments::battery_packs, Monitors::FuelLevel::BatteryData::BM_TOTAL, DUNE::Tasks::Context::config, Monitors::FuelLevel::FuelFilter::BatteryModel::current, Monitors::FuelLevel::FuelFilter::Arguments::decay_factor, DUNE::Tasks::Parameter::defaultValue(), Monitors::FuelLevel::Arguments::elb, Monitors::FuelLevel::FuelFilter::BatteryModel::energy, Monitors::FuelLevel::Arguments::err_lvl, Monitors::FuelLevel::Arguments::est_list, Monitors::FuelLevel::Arguments::est_power, Monitors::FuelLevel::Arguments::filter_args, Monitors::FuelLevel::FuelFilter::Arguments::full_capacity, DUNE::Parsers::Config::get(), Monitors::FuelLevel::Arguments::low_confidence, m_args, DUNE::Tasks::Task::m_ctx, m_op_labels, m_op_values, m_power_model, Monitors::FuelLevel::FuelFilter::MDL_TOTAL, Monitors::FuelLevel::FuelFilter::Arguments::min_samples, Monitors::FuelLevel::FuelFilter::Arguments::min_update_conf, Monitors::FuelLevel::FuelFilter::Arguments::models, DUNE::Tasks::Task::param(), Monitors::FuelLevel::FuelFilter::BatteryModel::temp, Monitors::FuelLevel::FuelFilter::Arguments::update_anytime, Monitors::FuelLevel::FuelFilter::BatteryModel::voltage, and Monitors::FuelLevel::Arguments::war_lvl.

Monitors::FuelLevel::Task::~Task ( void  )
inlinevirtual

Destructor.

Reimplemented from DUNE::Tasks::Task.

References m_power_model.

Member Function Documentation

void Monitors::FuelLevel::Task::consume ( const IMC::Voltage *  msg)
inline

References m_fuel_filter, and Monitors::FuelLevel::FuelFilter::onVoltage().

void Monitors::FuelLevel::Task::consume ( const IMC::Current *  msg)
inline

References m_fuel_filter, and Monitors::FuelLevel::FuelFilter::onCurrent().

void Monitors::FuelLevel::Task::consume ( const IMC::Temperature *  msg)
inline

References m_fuel_filter, and Monitors::FuelLevel::FuelFilter::onTemperature().

void Monitors::FuelLevel::Task::consume ( const IMC::VehicleState *  msg)
inline

References m_fuel_filter, and Monitors::FuelLevel::FuelFilter::onVehicleState().

void Monitors::FuelLevel::Task::consume ( const IMC::EntityActivationState *  msg)
inline

References m_fuel_filter, and Monitors::FuelLevel::FuelFilter::onEntityActivationState().

void Monitors::FuelLevel::Task::onEntityResolution ( void  )
inlinevirtual

Called when the task is instructed to resolve all the entity identifiers it needs for normal execution.

See resolveEntity(). Derived classes that need to resolve entity identifiers should override this function.

Reimplemented from DUNE::Tasks::Task.

References Monitors::FuelLevel::BatteryData::BM_TOTAL, Monitors::FuelLevel::Arguments::elb, Monitors::FuelLevel::Arguments::est_list, Monitors::FuelLevel::Arguments::est_power, m_args, m_eids, m_epower, and DUNE::Tasks::Task::resolveEntity().

void Monitors::FuelLevel::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 Monitors::FuelLevel::Arguments::battery_packs, Monitors::FuelLevel::FuelFilter::BatteryModel::energy, Monitors::FuelLevel::Arguments::filter_args, m_args, m_eids, m_epower, m_fuel_filter, Monitors::FuelLevel::FuelFilter::MDL_TOTAL, and Monitors::FuelLevel::FuelFilter::Arguments::models.

void Monitors::FuelLevel::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_fuel_filter.

void Monitors::FuelLevel::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::FuelLevel::FuelFilter::Arguments::decay_factor, Monitors::FuelLevel::FuelFilter::BatteryModel::energy, DUNE::Tasks::Task::err(), Monitors::FuelLevel::Arguments::filter_args, m_args, Monitors::FuelLevel::FuelFilter::MDL_TOTAL, Monitors::FuelLevel::FuelFilter::Arguments::models, DUNE::Tasks::Task::paramChanged(), and Monitors::FuelLevel::FuelFilter::BatteryModel::voltage.

void Monitors::FuelLevel::Task::task ( void  )
inlinevirtual

The task to be executed on each cycle.

Implements DUNE::Tasks::Periodic.

References DUNE::Tasks::Task::dispatch(), Monitors::FuelLevel::Arguments::err_lvl, Monitors::FuelLevel::FuelFilter::fillMessage(), DUNE::Tasks::Task::getEntityState(), Monitors::FuelLevel::Arguments::low_confidence, m_args, m_filter_ready, m_fuel, m_fuel_filter, m_op_labels, m_op_values, DUNE::Tasks::Task::setEntityState(), DUNE::Tasks::Task::trace(), Monitors::FuelLevel::FuelFilter::update(), and Monitors::FuelLevel::Arguments::war_lvl.

Member Data Documentation

Arguments Monitors::FuelLevel::Task::m_args

Task arguments.

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

unsigned Monitors::FuelLevel::Task::m_eids[BatteryData::BM_TOTAL]

Array of entities.

Referenced by onEntityResolution(), and onResourceAcquisition().

EPMap Monitors::FuelLevel::Task::m_epower

Set to gather estimated power consumption of certain entities.

Referenced by onEntityResolution(), and onResourceAcquisition().

bool Monitors::FuelLevel::Task::m_filter_ready

True if filter is ready and computing estimates.

Referenced by task().

IMC::FuelLevel Monitors::FuelLevel::Task::m_fuel

Fuel level message.

Referenced by task().

FuelFilter* Monitors::FuelLevel::Task::m_fuel_filter

Fuel filter.

Referenced by consume(), onResourceAcquisition(), onResourceRelease(), and task().

std::vector<std::string> Monitors::FuelLevel::Task::m_op_labels

Label of the operation modes.

Referenced by Task(), and task().

std::vector<float> Monitors::FuelLevel::Task::m_op_values

Corresponding value of power consumption in these modes.

Referenced by Task(), and task().

Power::Model* Monitors::FuelLevel::Task::m_power_model

Power model.

Referenced by Task(), and ~Task().

Collaboration diagram for Monitors::FuelLevel::Task:
Collaboration graph