DUNE: Uniform Navigational Environment  2016.05.0
List of all members | Public Member Functions | Public Attributes
Control::AUV::Allocator::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
void onUpdateParameters (void)
 
void onActivation (void)
 
void onDeactivation (void)
 
void reset (void)
 
void onResourceInitialization (void)
 
void onEntityResolution (void)
 
void consume (const IMC::Brake *msg)
 
void consume (const IMC::ServoPosition *msg)
 
void consume (const IMC::DesiredControl *msg)
 
void consume (const IMC::ControlLoops *msg)
 
void allocate (float k, float m, float n)
 
void brake (float k, float m)
 
void brake (void)
 
void brakePitch (void)
 
void computeProducedTorque (void)
 
void dispatchAllFins (void)
 
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

IMC::SetServoPosition m_fins [c_fins]
 
IMC::AllocatedControlTorques m_allocated
 
bool m_braking
 
unsigned m_spos_ent
 
float m_servo_pos [c_fins]
 
uint32_t m_scope_ref
 
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 onResourceAcquisition (void)
 
virtual void onResourceRelease (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::AUV::Allocator::Task::Task ( const std::string &  name,
Tasks::Context &  ctx 
)
inline

References Control::AUV::Allocator::Arguments::brake_margin, Control::AUV::Allocator::Arguments::conv, DUNE::Tasks::Parameter::defaultValue(), m_args, Control::AUV::Allocator::Arguments::max_fin_rot, DUNE::Tasks::Task::param(), Control::AUV::Allocator::Arguments::pitch_brake, DUNE::Tasks::Task::setEntityState(), and Control::AUV::Allocator::Arguments::spos_label.

Member Function Documentation

void Control::AUV::Allocator::Task::allocate ( float  k,
float  m,
float  n 
)
inline

Allocate desired control torques on the fins.

Parameters
[in]kdesired control torque in roll
[in]mdesired control torque in pitch
[in]ndesired control torque in yaw

References Control::AUV::Allocator::Arguments::conv, DUNE::Tasks::Task::dispatch(), dispatchAllFins(), m_allocated, m_args, m_fins, Control::AUV::Allocator::Arguments::max_fin_rot, DUNE::Math::trimValue(), and DUNE::Math::trimValueMod().

Referenced by consume().

void Control::AUV::Allocator::Task::brake ( float  k,
float  m 
)
inline
Parameters
[in]ktorque about x to apply
[in]mtorque about y to apply

References Control::AUV::Allocator::Arguments::brake_margin, Control::AUV::Allocator::Arguments::conv, dispatchAllFins(), m_args, m_fins, Control::AUV::Allocator::Arguments::max_fin_rot, and DUNE::Math::trimValue().

void Control::AUV::Allocator::Task::brake ( void  )
inline

Brake but ignore desired control.

References dispatchAllFins(), m_args, m_fins, and Control::AUV::Allocator::Arguments::max_fin_rot.

Referenced by consume().

void Control::AUV::Allocator::Task::brakePitch ( void  )
inline

Change my pitch up.

References dispatchAllFins(), m_args, m_fins, and Control::AUV::Allocator::Arguments::max_fin_rot.

Referenced by consume().

void Control::AUV::Allocator::Task::computeProducedTorque ( void  )
inline

Compute actually produced torque.

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

Referenced by consume().

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

References brake(), brakePitch(), m_args, m_braking, and Control::AUV::Allocator::Arguments::pitch_brake.

void Control::AUV::Allocator::Task::consume ( const IMC::ServoPosition *  msg)
inline

References computeProducedTorque(), m_servo_pos, and m_spos_ent.

void Control::AUV::Allocator::Task::consume ( const IMC::DesiredControl *  msg)
inline

References allocate(), brake(), Control::AUV::Allocator::Arguments::brake_margin, brakePitch(), DUNE::Tasks::Task::isActive(), m_args, m_braking, and Control::AUV::Allocator::Arguments::pitch_brake.

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

References allocate(), DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::isActive(), m_scope_ref, DUNE::Tasks::Task::requestActivation(), and reset().

void Control::AUV::Allocator::Task::dispatchAllFins ( void  )
inline

Dispatch all fins desired positions.

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

Referenced by allocate(), brake(), and brakePitch().

void Control::AUV::Allocator::Task::onActivation ( void  )
inlinevirtual

Called when the task starts/resumes normal execution.

Reimplemented from DUNE::Tasks::Task.

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

void Control::AUV::Allocator::Task::onDeactivation ( void  )
inlinevirtual

Called when the task stops normal execution and enters an idleness state.

Reimplemented from DUNE::Tasks::Task.

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

void Control::AUV::Allocator::Task::onEntityResolution ( void  )
inlinevirtual

Resolve entities for messages.

Reimplemented from DUNE::Tasks::Task.

References m_args, m_spos_ent, DUNE::Tasks::Task::resolveEntity(), and Control::AUV::Allocator::Arguments::spos_label.

void Control::AUV::Allocator::Task::onMain ( void  )
inlinevirtual

Implements DUNE::Tasks::Task.

References DUNE::Tasks::Task::stopping(), and DUNE::Tasks::Task::waitForMessages().

void Control::AUV::Allocator::Task::onResourceInitialization ( void  )
inlinevirtual

Called when the task is instructed to initialize resources acquired previously or whose initialization depends on run-time parameters.

Reimplemented from DUNE::Tasks::Task.

References m_fins, m_servo_pos, and reset().

void Control::AUV::Allocator::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::AUV::Allocator::Arguments::max_fin_rot, and DUNE::Tasks::Task::paramChanged().

void Control::AUV::Allocator::Task::reset ( void  )
inline

References m_braking, and DUNE::Tasks::Task::requestDeactivation().

Referenced by consume(), and onResourceInitialization().

Member Data Documentation

IMC::AllocatedControlTorques Control::AUV::Allocator::Task::m_allocated

Allocated torques feedback message.

Referenced by allocate().

Arguments Control::AUV::Allocator::Task::m_args

Task arguments.

Referenced by allocate(), brake(), brakePitch(), consume(), onEntityResolution(), onUpdateParameters(), and Task().

bool Control::AUV::Allocator::Task::m_braking

Braking.

Referenced by consume(), and reset().

IMC::SetServoPosition Control::AUV::Allocator::Task::m_fins[c_fins]

Fin commands.

Referenced by allocate(), brake(), brakePitch(), dispatchAllFins(), and onResourceInitialization().

uint32_t Control::AUV::Allocator::Task::m_scope_ref

Control loops last reference.

Referenced by consume().

float Control::AUV::Allocator::Task::m_servo_pos[c_fins]

Servo positions.

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

unsigned Control::AUV::Allocator::Task::m_spos_ent

Entity id for the servo position messages.

Referenced by consume(), and onEntityResolution().

Collaboration diagram for Control::AUV::Allocator::Task:
Collaboration graph