Maneuver::VehicleFormation::Test::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onUpdateParameters (void)
void	onEntityResolution (void)
void	onResourceAcquisition (void)
void	onResourceRelease (void)
void	consume (const IMC::EstimatedState *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)
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
bool	m_param_update_first
Matrix	m_last_param_update
double	m_last_time_verb_task
double	m_timestep_trace
IMC::FormationControlParams	m_formation_ctrl_params
double	m_k_longitudinal
double	m_k_lateral
double	m_k_boundary
double	m_k_leader
double	m_k_deconfliction
double	m_flow_accel_max
double	m_safe_dist
double	m_deconfliction_offset
double	m_acc_safety_marg
double	m_accel_lim_x

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

Maneuver::VehicleFormation::Test::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Maneuver::VehicleFormation::Test::Arguments::acc_safety_marg, Maneuver::VehicleFormation::Test::Arguments::deconfliction_offset, DUNE::Tasks::Parameter::defaultValue(), Maneuver::VehicleFormation::Test::Arguments::flow_accel_max, Maneuver::VehicleFormation::Test::Arguments::k_boundary, Maneuver::VehicleFormation::Test::Arguments::k_deconfliction, Maneuver::VehicleFormation::Test::Arguments::k_lateral, Maneuver::VehicleFormation::Test::Arguments::k_leader, Maneuver::VehicleFormation::Test::Arguments::k_longitudinal, m_args, DUNE::Math::min(), DUNE::Tasks::Task::param(), DUNE::Tasks::Task::paramActive(), Maneuver::VehicleFormation::Test::Arguments::safe_dist, Maneuver::VehicleFormation::Test::Arguments::speed_max, and Maneuver::VehicleFormation::Test::Arguments::speed_min.

Member Function Documentation

void Maneuver::VehicleFormation::Test::Task::consume ( const IMC::EstimatedState *  msg )

inline

References DUNE::Tasks::Task::inf(), DUNE::Tasks::Task::resolveEntity(), and DUNE::Tasks::Task::resolveSystemId().

void Maneuver::VehicleFormation::Test::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 DUNE::Tasks::Task::spew().

void Maneuver::VehicleFormation::Test::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 DUNE::Tasks::Task::setEntityState().

void Maneuver::VehicleFormation::Test::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.

void Maneuver::VehicleFormation::Test::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 DUNE::Tasks::Task::debug(), and DUNE::Tasks::Task::spew().

void Maneuver::VehicleFormation::Test::Task::task ( void  )

inlinevirtual

The task to be executed on each cycle.

Implements DUNE::Tasks::Periodic.

References DUNE::Tasks::Task::consumeMessages(), DUNE::Tasks::Task::getSystemName(), DUNE::Tasks::Task::isActivating(), DUNE::Tasks::Task::isActive(), m_last_time_verb_task, m_timestep_trace, DUNE::Tasks::Task::spew(), and DUNE::Tasks::Task::trace().

Member Data Documentation

double Maneuver::VehicleFormation::Test::Task::m_acc_safety_marg

double Maneuver::VehicleFormation::Test::Task::m_accel_lim_x

Arguments Maneuver::VehicleFormation::Test::Task::m_args

Task arguments.

Referenced by Task().

double Maneuver::VehicleFormation::Test::Task::m_deconfliction_offset

double Maneuver::VehicleFormation::Test::Task::m_flow_accel_max

IMC::FormationControlParams Maneuver::VehicleFormation::Test::Task::m_formation_ctrl_params

Controller parameters.

double Maneuver::VehicleFormation::Test::Task::m_k_boundary

double Maneuver::VehicleFormation::Test::Task::m_k_deconfliction

double Maneuver::VehicleFormation::Test::Task::m_k_lateral

double Maneuver::VehicleFormation::Test::Task::m_k_leader

double Maneuver::VehicleFormation::Test::Task::m_k_longitudinal

Matrix Maneuver::VehicleFormation::Test::Task::m_last_param_update

double Maneuver::VehicleFormation::Test::Task::m_last_time_verb_task

Referenced by task().

bool Maneuver::VehicleFormation::Test::Task::m_param_update_first

double Maneuver::VehicleFormation::Test::Task::m_safe_dist

double Maneuver::VehicleFormation::Test::Task::m_timestep_trace

Referenced by task().

Collaboration diagram for Maneuver::VehicleFormation::Test::Task: