DUNE: Uniform Navigational Environment  2016.09.0
List of all members | Public Member Functions | Public Attributes
Control::AUV::RemoteOperation::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
void onUpdateParameters (void)
 
void onActivation (void)
 
void onDeactivation (void)
 
void onRemoteActions (const IMC::RemoteActions *msg)
 
void onConnectionTimeout (void)
 
void consume (const IMC::EstimatedState *msg)
 
void activateTorqueControl (void)
 
void deactivateTorqueControl (void)
 
void actuate (void)
 
- Public Member Functions inherited from DUNE::Control::BasicRemoteOperation
 BasicRemoteOperation (const std::string &name, Tasks::Context &ctx)
 
virtual ~BasicRemoteOperation (void)
 
void consume (const IMC::RemoteActions *message)
 
void consume (const IMC::RemoteActionsRequest *message)
 
void consume (const IMC::ControlLoops *message)
 
void consume (const IMC::Teleoperation *message)
 
- 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

float m_hrate
 
float m_thrust
 
int m_acceleration
 
float m_verfin
 
float m_horfin
 
bool m_torque_control
 
Counter< float > m_last_estate
 
Arguments m_args
 
bool m_analog_thrust
 

Additional Inherited Members

- Public Types inherited from DUNE::Concurrency::Runnable
enum  State {
  StateStarting, StateRunning, StateStopping, StateDead,
  StateUnknown
}
 
- Protected Member Functions inherited from DUNE::Control::BasicRemoteOperation
void addActionButton (const std::string &action)
 
void addActionAxis (const std::string &action)
 
void setConnectionTimeout (const float tout)
 
virtual void onRemoteActions (const IMC::RemoteActions *message)
 
virtual void onConnectionResumed (void)
 
virtual void onResourceInitialization (void)
 
void enableControlLoops (uint32_t mask)
 
void disableControlLoops (uint32_t mask)
 
- 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 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)
 
unsigned getPriorityImpl (void)
 
- Protected Attributes inherited from DUNE::Tasks::Task
Context & m_ctx
 
std::vector
< Entities::BasicEntity * > 		m_entities
 

Constructor & Destructor Documentation

Control::AUV::RemoteOperation::Task::Task ( const std::string &  name,
Tasks::Context &  ctx 
)
inline

References DUNE::Control::BasicRemoteOperation::addActionAxis(), DUNE::Control::BasicRemoteOperation::addActionButton(), DUNE::Tasks::Parameter::defaultValue(), Control::AUV::RemoteOperation::Arguments::disable_analog_thrust, Control::AUV::RemoteOperation::Arguments::estate_tout, Control::AUV::RemoteOperation::Arguments::force_torque_control, Control::AUV::RemoteOperation::Arguments::horfin_pos, m_args, Control::AUV::RemoteOperation::Arguments::max_hrate, Control::AUV::RemoteOperation::Arguments::max_thrust, DUNE::Tasks::Task::param(), and Control::AUV::RemoteOperation::Arguments::pitch_ref.

Member Function Documentation

void Control::AUV::RemoteOperation::Task::activateTorqueControl ( void  )
inline

Activate direct torque control.

References DUNE::Control::BasicRemoteOperation::disableControlLoops(), DUNE::Control::BasicRemoteOperation::enableControlLoops(), Control::AUV::RemoteOperation::Arguments::horfin_pos, m_args, m_horfin, m_torque_control, and m_verfin.

Referenced by actuate().

void Control::AUV::RemoteOperation::Task::actuate ( void  )
inlinevirtual

Compute and dispatch control commands.

Reimplemented from DUNE::Control::BasicRemoteOperation.

References activateTorqueControl(), DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::dispatch(), Control::AUV::RemoteOperation::Arguments::force_torque_control, m_acceleration, m_args, m_horfin, m_hrate, m_last_estate, m_thrust, m_torque_control, m_verfin, Control::AUV::RemoteOperation::Arguments::max_thrust, DUNE::Time::Counter< T >::overflow(), and Control::AUV::RemoteOperation::Arguments::pitch_ref.

Referenced by onActivation(), and onConnectionTimeout().

void Control::AUV::RemoteOperation::Task::consume ( const IMC::EstimatedState *  msg)
inline

References DUNE::Tasks::Task::getSystemId(), m_last_estate, and DUNE::Time::Counter< T >::reset().

void Control::AUV::RemoteOperation::Task::deactivateTorqueControl ( void  )
inline

Deactivate direct torque control.

References DUNE::Control::BasicRemoteOperation::disableControlLoops(), DUNE::Control::BasicRemoteOperation::enableControlLoops(), m_hrate, and m_torque_control.

Referenced by onUpdateParameters().

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

Called when the task starts/resumes normal execution.

Reimplemented from DUNE::Tasks::Task.

References actuate(), DUNE::Control::BasicRemoteOperation::enableControlLoops(), Control::AUV::RemoteOperation::Arguments::horfin_pos, m_acceleration, m_args, m_horfin, m_hrate, m_thrust, m_torque_control, and m_verfin.

void Control::AUV::RemoteOperation::Task::onConnectionTimeout ( void  )
inlinevirtual

Reimplemented from DUNE::Control::BasicRemoteOperation.

References actuate(), m_hrate, m_thrust, and m_verfin.

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

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

Reimplemented from DUNE::Tasks::Task.

References m_acceleration, m_horfin, m_hrate, m_thrust, and m_verfin.

void Control::AUV::RemoteOperation::Task::onRemoteActions ( const IMC::RemoteActions *  msg)
inline

References Control::AUV::RemoteOperation::Arguments::disable_analog_thrust, m_acceleration, m_analog_thrust, m_args, m_hrate, m_thrust, m_torque_control, m_verfin, and Control::AUV::RemoteOperation::Arguments::max_hrate.

void Control::AUV::RemoteOperation::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 deactivateTorqueControl(), DUNE::Tasks::Task::debug(), Control::AUV::RemoteOperation::Arguments::estate_tout, Control::AUV::RemoteOperation::Arguments::force_torque_control, Control::AUV::RemoteOperation::Arguments::horfin_pos, m_args, m_last_estate, m_torque_control, Control::AUV::RemoteOperation::Arguments::max_hrate, Control::AUV::RemoteOperation::Arguments::max_thrust, DUNE::Tasks::Task::paramChanged(), Control::AUV::RemoteOperation::Arguments::pitch_ref, and DUNE::Time::Counter< T >::setTop().

Member Data Documentation

int Control::AUV::RemoteOperation::Task::m_acceleration

Acceleration.

Referenced by actuate(), onActivation(), onDeactivation(), and onRemoteActions().

bool Control::AUV::RemoteOperation::Task::m_analog_thrust

The analog axis is being used for thrust.

Referenced by onRemoteActions().

Arguments Control::AUV::RemoteOperation::Task::m_args

Task arguments.

Referenced by activateTorqueControl(), actuate(), onActivation(), onRemoteActions(), onUpdateParameters(), and Task().

float Control::AUV::RemoteOperation::Task::m_horfin

Position of the horizontal fins. (for torque control)

Referenced by activateTorqueControl(), actuate(), onActivation(), and onDeactivation().

float Control::AUV::RemoteOperation::Task::m_hrate

Heading rate reference.

Referenced by actuate(), deactivateTorqueControl(), onActivation(), onConnectionTimeout(), onDeactivation(), and onRemoteActions().

Counter<float> Control::AUV::RemoteOperation::Task::m_last_estate

Last received EstimatedState.

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

float Control::AUV::RemoteOperation::Task::m_thrust

Forward thrust reference.

Referenced by actuate(), onActivation(), onConnectionTimeout(), onDeactivation(), and onRemoteActions().

bool Control::AUV::RemoteOperation::Task::m_torque_control

Control the fins directly.

Referenced by activateTorqueControl(), actuate(), deactivateTorqueControl(), onActivation(), onRemoteActions(), and onUpdateParameters().

float Control::AUV::RemoteOperation::Task::m_verfin

Position of the vertical fins. (for torque control)

Referenced by activateTorqueControl(), actuate(), onActivation(), onConnectionTimeout(), onDeactivation(), and onRemoteActions().

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