DUNE: Uniform Navigational Environment  2016.09.0
List of all members | Public Member Functions | Public Attributes
Simulators::UAV::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
void onUpdateParameters (void)
 
void onResourceRelease (void)
 
void onResourceAcquisition (void)
 
void consume (const IMC::GpsFix *msg)
 
void consume (const IMC::DesiredRoll *msg)
 
void consume (const IMC::DesiredSpeed *msg)
 
void consume (const IMC::DesiredZ *msg)
 
void consume (const IMC::DesiredPitch *msg)
 
bool commandFilter (const IMC::Message *msg)
 
void commandPrintOut (const IMC::Message *msg, const double *d_msg_value)
 
Matrix matrixRotRbody2gnd (float roll, float pitch)
 
Matrix matrixRotRgnd2body (float roll, float pitch)
 
Matrix matrixJ (float roll, float pitch, float yaw)
 
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)
 
unsigned getPriority (void)
 
State getState (void)
 
bool isCreated (void)
 
bool isStopping (void)
 
bool isRunning (void)
 
bool isStarting (void)
 
bool isDead (void)
 

Public Attributes

Arguments m_args
 
DUNE::Simulation::UAVSimulation * m_model
 
IMC::SimulatedState m_sstate
 
double m_start_time
 
double m_last_update
 
double m_last_time_debug
 
double m_last_time_trace
 
float m_thruster_act
 
Matrix m_servo_pos
 
Matrix m_position
 
Matrix m_velocity
 
Matrix m_wind
 
DUNE::Tasks::SourceFilter * m_cmd_flt
 
uint32_t m_alias_id
 

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 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)
 
unsigned getPriorityImpl (void)
 
- Protected Attributes inherited from DUNE::Tasks::Task
Context & m_ctx
 
std::vector
< Entities::BasicEntity * > 		m_entities
 

Constructor & Destructor Documentation

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

References Simulators::UAV::Arguments::aac, Simulators::UAV::Arguments::addedmass, Simulators::UAV::Arguments::base_drag, Simulators::UAV::Arguments::c_alt, Simulators::UAV::Arguments::c_bank, Simulators::UAV::Arguments::c_speed, Simulators::UAV::Arguments::cmd_src, DUNE::Tasks::Parameter::defaultValue(), Simulators::UAV::Arguments::elev_lift, Simulators::UAV::Arguments::fac, Simulators::UAV::Arguments::inertia, Simulators::UAV::Arguments::init_alt, Simulators::UAV::Arguments::init_hei, Simulators::UAV::Arguments::init_lat, Simulators::UAV::Arguments::init_lon, Simulators::UAV::Arguments::init_roll, Simulators::UAV::Arguments::init_speed, Simulators::UAV::Arguments::init_yaw, Simulators::UAV::Arguments::l_accel_x, Simulators::UAV::Arguments::l_bank_rate, Simulators::UAV::Arguments::l_vert_slope, Simulators::UAV::Arguments::label_gps, Simulators::UAV::Arguments::lift, m_args, Simulators::UAV::Arguments::mass, Simulators::UAV::Arguments::max_thrust, DUNE::Math::min(), DUNE::Tasks::Task::param(), Simulators::UAV::Arguments::quadratic_drag, Simulators::UAV::Arguments::rud_lift, Simulators::UAV::Arguments::sim_type, Simulators::UAV::Arguments::src_alias, Simulators::UAV::Arguments::tac, DUNE::Tasks::Parameter::units(), Simulators::UAV::Arguments::wac, Simulators::UAV::Arguments::wx, and Simulators::UAV::Arguments::wy.

Member Function Documentation

bool Simulators::UAV::Task::commandFilter ( const IMC::Message *  msg)
inline

References DUNE::Tasks::Task::isActive(), m_cmd_flt, DUNE::Tasks::SourceFilter::match(), DUNE::Tasks::Task::trace(), and DUNE::Tasks::Task::war().

Referenced by consume().

void Simulators::UAV::Task::commandPrintOut ( const IMC::Message *  msg,
const double *  d_msg_value 
)
inline

References DUNE::Math::Angles::degrees(), DUNE::Tasks::Task::resolveEntity(), DUNE::Tasks::Task::resolveSystemId(), DUNE::Tasks::Task::spew(), and DUNE::Tasks::Task::war().

Referenced by consume().

void Simulators::UAV::Task::consume ( const IMC::GpsFix *  msg)
inline

References DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::getSystemId(), DUNE::Tasks::Task::isActive(), m_alias_id, m_last_update, m_model, m_position, m_sstate, m_start_time, DUNE::Tasks::Task::requestActivation(), DUNE::Simulation::UAVSimulation::setPosition(), and DUNE::Tasks::Task::spew().

void Simulators::UAV::Task::consume ( const IMC::DesiredRoll *  msg)
inline

References DUNE::Simulation::UAVSimulation::commandBank(), commandFilter(), commandPrintOut(), m_model, and DUNE::Tasks::Task::spew().

void Simulators::UAV::Task::consume ( const IMC::DesiredSpeed *  msg)
inline

References DUNE::Simulation::UAVSimulation::commandAirspeed(), commandFilter(), commandPrintOut(), m_model, and DUNE::Tasks::Task::spew().

void Simulators::UAV::Task::consume ( const IMC::DesiredZ *  msg)
inline

References DUNE::Simulation::UAVSimulation::commandAlt(), commandFilter(), commandPrintOut(), m_model, m_sstate, and DUNE::Tasks::Task::spew().

void Simulators::UAV::Task::consume ( const IMC::DesiredPitch *  msg)
inline

References commandFilter(), DUNE::Simulation::UAVSimulation::commandFPA(), commandPrintOut(), m_model, and DUNE::Tasks::Task::spew().

Matrix Simulators::UAV::Task::matrixJ ( float  roll,
float  pitch,
float  yaw 
)
inline

References DUNE::Math::Matrix::horzCat(), matrixRotRbody2gnd(), DUNE::Math::Matrix::toDCM(), and DUNE::Math::Matrix::vertCat().

Matrix Simulators::UAV::Task::matrixRotRbody2gnd ( float  roll,
float  pitch 
)
inline

Referenced by matrixJ().

Matrix Simulators::UAV::Task::matrixRotRgnd2body ( float  roll,
float  pitch 
)
inline
void Simulators::UAV::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 Simulators::UAV::Arguments::c_alt, Simulators::UAV::Arguments::c_bank, Simulators::UAV::Arguments::c_speed, Simulators::UAV::Arguments::cmd_src, DUNE::Simulation::UAVSimulation::command(), DUNE::Tasks::Task::debug(), DUNE::Math::Angles::degrees(), DUNE::Tasks::Task::inf(), Simulators::UAV::Arguments::init_alt, Simulators::UAV::Arguments::init_roll, Simulators::UAV::Arguments::init_speed, Simulators::UAV::Arguments::init_yaw, Simulators::UAV::Arguments::l_accel_x, Simulators::UAV::Arguments::l_bank_rate, Simulators::UAV::Arguments::l_vert_slope, m_args, m_cmd_flt, m_last_update, m_model, m_position, DUNE::Simulation::UAVSimulation::m_sim_type, m_sstate, m_start_time, m_velocity, m_wind, DUNE::Simulation::UAVSimulation::m_wind, DUNE::Math::Angles::radians(), DUNE::Simulation::UAVSimulation::setAccelLim(), DUNE::Simulation::UAVSimulation::setBankRateLim(), DUNE::Simulation::UAVSimulation::setVertSlopeLim(), Simulators::UAV::Arguments::sim_type, DUNE::Tasks::Task::spew(), DUNE::Simulation::UAVSimulation, Simulators::UAV::Arguments::wx, and Simulators::UAV::Arguments::wy.

void Simulators::UAV::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_cmd_flt, m_model, and DUNE::Tasks::Task::spew().

void Simulators::UAV::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(), DUNE::Tasks::Task::dispatch(), Simulators::UAV::Arguments::init_hei, Simulators::UAV::Arguments::init_lat, Simulators::UAV::Arguments::init_lon, m_alias_id, m_args, m_model, m_sstate, DUNE::Simulation::UAVSimulation::m_wind, DUNE::Math::Angles::radians(), DUNE::Tasks::Task::requestActivation(), DUNE::Tasks::Task::resolveSystemName(), Simulators::UAV::Arguments::src_alias, Simulators::UAV::Arguments::wx, and Simulators::UAV::Arguments::wy.

void Simulators::UAV::Task::task ( void  )
inlinevirtual

The task to be executed on each cycle.

Implements DUNE::Tasks::Periodic.

References DUNE::Tasks::Task::consumeMessages(), DUNE::Tasks::Task::dispatch(), DUNE::Math::Matrix::get(), DUNE::Simulation::UAVSimulation::getPosition(), DUNE::Tasks::Task::getSystemId(), DUNE::Simulation::UAVSimulation::getVelocity(), DUNE::Tasks::Task::isActive(), m_alias_id, m_last_update, m_model, m_position, m_sstate, m_velocity, DUNE::Simulation::UAVSimulation::m_wind, DUNE::Math::Matrix::toDCM(), DUNE::Math::transpose(), and DUNE::Simulation::UAVSimulation::update().

Member Data Documentation

uint32_t Simulators::UAV::Task::m_alias_id

System alias id.

Referenced by consume(), onUpdateParameters(), and task().

Arguments Simulators::UAV::Task::m_args

Task arguments.

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

DUNE::Tasks::SourceFilter* Simulators::UAV::Task::m_cmd_flt

Gps simulator entity id.

Commands filter

Referenced by commandFilter(), onResourceAcquisition(), and onResourceRelease().

double Simulators::UAV::Task::m_last_time_debug

Last time debug information was shown.

double Simulators::UAV::Task::m_last_time_trace
double Simulators::UAV::Task::m_last_update

Last time update was ran.

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

DUNE::Simulation::UAVSimulation* Simulators::UAV::Task::m_model

Simulation vehicle.

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

Matrix Simulators::UAV::Task::m_position

Vehicle position.

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

Matrix Simulators::UAV::Task::m_servo_pos

Set Servo positions.

IMC::SimulatedState Simulators::UAV::Task::m_sstate

Simulated position (X,Y,Z).

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

double Simulators::UAV::Task::m_start_time

Start time.

Referenced by consume(), and onResourceAcquisition().

float Simulators::UAV::Task::m_thruster_act

Actuation in the thruster.

Matrix Simulators::UAV::Task::m_velocity

Vehicle velocity vector.

Referenced by onResourceAcquisition(), and task().

Matrix Simulators::UAV::Task::m_wind

Wind velocity vector.

Referenced by onResourceAcquisition().

Collaboration diagram for Simulators::UAV::Task:
Collaboration graph