DUNE::Control::BasicUAVAutopilot Class Reference

Public Member Functions
	BasicUAVAutopilot (const std::string &name, Tasks::Context &ctx, const uint32_t controllable_loops, const uint32_t required_loops)
virtual	~BasicUAVAutopilot (void)
virtual void	onResourceInitialization (void)
virtual void	onResourceAcquisition (void)
virtual void	onResourceRelease (void)
virtual void	reset (void)
virtual void	onEstimatedState (const double timestep, const IMC::EstimatedState *msg)=0
void	consume (const IMC::EstimatedState *msg)
void	consume (const IMC::ControlLoops *msg)
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)

Protected Member Functions
virtual void	onAutopilotActivation (void)
virtual void	onAutopilotDeactivation (void)
void	onDeactivation (void)
void	onActivation (void)
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	onUpdateParameters (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)

Additional Inherited Members
Public Types inherited from DUNE::Concurrency::Runnable
enum	State {   StateStarting, StateRunning, StateStopping, StateDead,   StateUnknown }
Protected Attributes inherited from DUNE::Tasks::Task
Context &	m_ctx
std::vector < Entities::BasicEntity * >	m_entities

Constructor & Destructor Documentation

DUNE::Control::BasicUAVAutopilot::BasicUAVAutopilot	(	const std::string &	name,
		Tasks::Context &	ctx,
		const uint32_t	controllable_loops,
		const uint32_t	required_loops
	)

Constructor.

References DUNE::Status::CODE_IDLE, DUNE::IMC::EntityState::ESTA_NORMAL, and DUNE::Tasks::Task::setEntityState().

DUNE::Control::BasicUAVAutopilot::~BasicUAVAutopilot ( void  )

virtual

Destructor.

Member Function Documentation

void DUNE::Control::BasicUAVAutopilot::consume

(

const IMC::EstimatedState *

msg

)

References DUNE::Time::Delta::getDelta(), DUNE::Tasks::Task::isActive(), and onEstimatedState().

void DUNE::Control::BasicUAVAutopilot::consume

(

const IMC::ControlLoops *

msg

)

References DUNE::IMC::ControlLoops::CL_ENABLE, DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::dispatch(), DUNE::IMC::ControlLoops::enable, DUNE::Tasks::Task::isActive(), DUNE::IMC::ControlLoops::mask, DUNE::Tasks::Task::requestActivation(), DUNE::Tasks::Task::requestDeactivation(), and DUNE::IMC::ControlLoops::scope_ref.

void DUNE::Control::BasicUAVAutopilot::onActivation ( void  )

inlineprotectedvirtual

On activation enter active entity state Method from parent class.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Status::CODE_ACTIVE, DUNE::IMC::EntityState::ESTA_NORMAL, onAutopilotActivation(), reset(), and DUNE::Tasks::Task::setEntityState().

virtual void DUNE::Control::BasicUAVAutopilot::onAutopilotActivation ( void  )

inlineprotectedvirtual

On autopilot activation Does nothing by default.

Referenced by onActivation().

virtual void DUNE::Control::BasicUAVAutopilot::onAutopilotDeactivation ( void  )

inlineprotectedvirtual

On autopilot deactivation Does nothing by default.

Referenced by onDeactivation().

void DUNE::Control::BasicUAVAutopilot::onDeactivation ( void  )

inlineprotectedvirtual

On deactivation leave error or active entity state Method from parent class.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Status::CODE_IDLE, DUNE::IMC::EntityState::ESTA_NORMAL, onAutopilotDeactivation(), reset(), and DUNE::Tasks::Task::setEntityState().

virtual void DUNE::Control::BasicUAVAutopilot::onEstimatedState ( const double  timestep, const IMC::EstimatedState *  msg  )

pure virtual

To be used by derived class when estimated state is received.

Referenced by consume().

void DUNE::Control::BasicUAVAutopilot::onMain ( void  )

virtual

Implements DUNE::Tasks::Task.

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

virtual void DUNE::Control::BasicUAVAutopilot::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.

void DUNE::Control::BasicUAVAutopilot::onResourceInitialization ( void  )

virtual

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 DUNE::Tasks::Task::requestDeactivation().

virtual void DUNE::Control::BasicUAVAutopilot::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.

void DUNE::Control::BasicUAVAutopilot::reset ( void  )

virtual

Reset to initial values.

Referenced by onActivation(), and onDeactivation().

Collaboration diagram for DUNE::Control::BasicUAVAutopilot: