DUNE: Uniform Navigational Environment
2016.09.0
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Public Member Functions | |
Task (const std::string &name, Tasks::Context &ctx) | |
void | onEntityResolution (void) |
void | onEntityReservation (void) |
void | onResourceInitialization (void) |
void | onResourceRelease (void) |
void | onResourceAcquisition (void) |
void | onActivation (void) |
void | onDeactivation (void) |
void | onUpdateParameters (void) |
void | consume (const IMC::EstimatedState *msg) |
void | consume (const IMC::Distance *msg) |
void | toggleWallTracker (void) |
void | forwardControl (int value) |
void | rotateControl (int value) |
void | onRemoteActions (const IMC::RemoteActions *msg) |
void | onConnectionTimeout (void) |
void | actuateThruster (unsigned i) |
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 | |
Matrix | m_thruster |
Matrix | m_forces |
IMC::DesiredVelocity | m_dvel |
float | m_start_depth |
float | m_start_heading |
float | m_depth |
float | m_h_ref |
bool | m_dh_data |
DistanceTracking * | m_dt |
float | m_wdist_desired |
bool | m_wt_enabled |
Time::Counter< float > | m_wt_counter |
MovingAverage< float > * | m_wdist_mav |
unsigned | m_wdist_ent |
unsigned | m_filt_wdist_ent |
unsigned | m_wdist_des_ent |
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::Control::BasicRemoteOperation | |
void | addActionButton (const std::string &action) |
void | addActionAxis (const std::string &action) |
void | setConnectionTimeout (const float tout) |
virtual void | onConnectionResumed (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 | onReportEntityState (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 |
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References Control::ROV::RemoteOperation::DTArguments::abs_max_dist, Control::ROV::RemoteOperation::Arguments::actuat, DUNE::Control::BasicRemoteOperation::addActionAxis(), DUNE::Control::BasicRemoteOperation::addActionButton(), DUNE::Tasks::Parameter::defaultValue(), Control::ROV::RemoteOperation::Arguments::depth_deadzone, Control::ROV::RemoteOperation::Arguments::depth_inc, Control::ROV::RemoteOperation::Arguments::depth_rate, Control::ROV::RemoteOperation::Arguments::dh_control, Control::ROV::RemoteOperation::Arguments::dt, Control::ROV::RemoteOperation::Arguments::filt_wdist_label, Control::ROV::RemoteOperation::DTArguments::gains, Control::ROV::RemoteOperation::Arguments::heading_control, Control::ROV::RemoteOperation::Arguments::heading_rate, Control::ROV::RemoteOperation::DTArguments::int_limit, m_args, Control::ROV::RemoteOperation::Arguments::max_dist, Control::ROV::RemoteOperation::DTArguments::max_speed, Control::ROV::RemoteOperation::Arguments::max_speed, DUNE::Tasks::Task::param(), DUNE::Tasks::Parameter::visibility(), Control::ROV::RemoteOperation::Arguments::wdist_bounds, Control::ROV::RemoteOperation::Arguments::wdist_des_label, Control::ROV::RemoteOperation::Arguments::wdist_inc, Control::ROV::RemoteOperation::Arguments::wdist_label, and Control::ROV::RemoteOperation::Arguments::wdist_mav_size.
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inlinevirtual |
Reimplemented from DUNE::Control::BasicRemoteOperation.
References Control::ROV::RemoteOperation::Arguments::actuat, actuateThruster(), Control::ROV::RemoteOperation::Arguments::dh_control, DUNE::Tasks::Task::dispatch(), DUNE::IMC::DesiredVelocity::flags, Control::ROV::RemoteOperation::Arguments::heading_control, m_args, m_depth, m_dh_data, m_forces, m_h_ref, m_thruster, Control::ROV::RemoteOperation::Arguments::max_speed, DUNE::IMC::DesiredVelocity::u, DUNE::IMC::DesiredVelocity::v, DUNE::IMC::DesiredHeading::value, DUNE::IMC::DesiredZ::value, DUNE::IMC::DesiredHeadingRate::value, and DUNE::IMC::DesiredZ::z_units.
Referenced by onActivation(), onConnectionTimeout(), and onDeactivation().
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References DUNE::Tasks::Task::dispatch(), DUNE::IMC::SetThrusterActuation::id, m_thruster, DUNE::Math::trimValue(), and DUNE::IMC::SetThrusterActuation::value.
Referenced by actuate().
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References DUNE::Tasks::Task::dispatch(), DUNE::IMC::Message::getSourceEntity(), m_args, m_dt, m_filt_wdist_ent, m_forces, m_wdist_desired, m_wdist_ent, m_wdist_mav, m_wt_enabled, Control::ROV::RemoteOperation::Arguments::max_dist, Control::ROV::RemoteOperation::Arguments::max_speed, DUNE::IMC::Message::setSourceEntity(), DUNE::Math::MovingAverage< T >::update(), Control::ROV::RemoteOperation::DistanceTracking::update(), and DUNE::IMC::Distance::value.
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References DUNE::Tasks::Task::dispatch(), m_args, m_dt, m_forces, m_wdist_des_ent, m_wdist_desired, m_wt_enabled, Control::ROV::RemoteOperation::DistanceTracking::setDesiredDistance(), DUNE::IMC::Message::setSourceEntity(), DUNE::Math::trimValue(), DUNE::IMC::Distance::value, Control::ROV::RemoteOperation::Arguments::wdist_bounds, and Control::ROV::RemoteOperation::Arguments::wdist_inc.
Referenced by onRemoteActions().
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inlinevirtual |
Called when the task starts/resumes normal execution.
Reimplemented from DUNE::Tasks::Task.
References actuate(), Control::ROV::RemoteOperation::Arguments::dh_control, DUNE::Control::BasicRemoteOperation::disableControlLoops(), DUNE::Control::BasicRemoteOperation::enableControlLoops(), DUNE::Math::Matrix::fill(), Control::ROV::RemoteOperation::Arguments::heading_control, m_args, m_depth, m_h_ref, m_start_depth, m_start_heading, and m_thruster.
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inlinevirtual |
Reimplemented from DUNE::Control::BasicRemoteOperation.
References actuate(), Control::ROV::RemoteOperation::Arguments::dh_control, DUNE::Control::BasicRemoteOperation::disableControlLoops(), DUNE::Math::Matrix::fill(), Control::ROV::RemoteOperation::Arguments::heading_control, m_args, m_depth, m_h_ref, m_start_depth, m_start_heading, and m_thruster.
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inlinevirtual |
Called when the task stops normal execution and enters an idleness state.
Reimplemented from DUNE::Tasks::Task.
References actuate(), Control::ROV::RemoteOperation::Arguments::dh_control, DUNE::Control::BasicRemoteOperation::disableControlLoops(), DUNE::Math::Matrix::fill(), m_args, and m_thruster.
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inlinevirtual |
Called when the task is instructed to reserve all the entity identifiers it needs for normal execution.
See reserveEntity(). Derived classes that need to reserve entity identifiers other than that of the main entity should override this function.
Reimplemented from DUNE::Tasks::Task.
References Control::ROV::RemoteOperation::Arguments::filt_wdist_label, m_args, m_filt_wdist_ent, m_wdist_des_ent, DUNE::Tasks::Task::reserveEntity(), and Control::ROV::RemoteOperation::Arguments::wdist_des_label.
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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 m_args, m_wdist_ent, DUNE::Tasks::Task::resolveEntity(), and Control::ROV::RemoteOperation::Arguments::wdist_label.
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Reimplemented from DUNE::Control::BasicRemoteOperation.
References DUNE::IMC::RemoteActions::actions, Control::ROV::RemoteOperation::Arguments::depth_deadzone, Control::ROV::RemoteOperation::Arguments::depth_inc, Control::ROV::RemoteOperation::Arguments::depth_rate, Control::ROV::RemoteOperation::Arguments::dh_control, forwardControl(), DUNE::Math::Matrix::get(), Control::ROV::RemoteOperation::Arguments::heading_control, m_args, m_depth, m_forces, m_h_ref, m_start_depth, m_start_heading, rotateControl(), and toggleWallTracker().
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inlinevirtual |
Called when the task is instructed to acquire resources whose configuration is defined by run-time parameters.
Reimplemented from DUNE::Tasks::Task.
References m_args, m_wdist_mav, and Control::ROV::RemoteOperation::Arguments::wdist_mav_size.
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Called when the task is instructed to initialize resources acquired previously or whose initialization depends on run-time parameters.
Reimplemented from DUNE::Control::BasicRemoteOperation.
References m_wt_counter, DUNE::Control::BasicRemoteOperation::onResourceInitialization(), and DUNE::Time::Counter< T >::setTop().
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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 DUNE::Memory::clear(), m_dt, and m_wdist_mav.
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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 Control::ROV::RemoteOperation::Arguments::heading_rate, m_args, and DUNE::Tasks::Task::paramChanged().
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References Control::ROV::RemoteOperation::Arguments::heading_control, Control::ROV::RemoteOperation::Arguments::heading_rate, m_args, and m_h_ref.
Referenced by onRemoteActions().
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References DUNE::Memory::clear(), Control::ROV::RemoteOperation::Arguments::dt, DUNE::Tasks::Task::inf(), m_args, m_dt, m_wdist_desired, m_wt_counter, m_wt_enabled, DUNE::Time::Counter< T >::overflow(), DUNE::Time::Counter< T >::reset(), and Control::ROV::RemoteOperation::DistanceTracking::setDesiredDistance().
Referenced by onRemoteActions().
Arguments Control::ROV::RemoteOperation::Task::m_args |
float Control::ROV::RemoteOperation::Task::m_depth |
Current vehicle depth.
Referenced by actuate(), onActivation(), onConnectionTimeout(), and onRemoteActions().
bool Control::ROV::RemoteOperation::Task::m_dh_data |
DistanceTracking* Control::ROV::RemoteOperation::Task::m_dt |
Distance tracking algorithm.
Referenced by consume(), forwardControl(), onResourceRelease(), and toggleWallTracker().
IMC::DesiredVelocity Control::ROV::RemoteOperation::Task::m_dvel |
Desired Velocity message.
unsigned Control::ROV::RemoteOperation::Task::m_filt_wdist_ent |
Filtered distance to wall source entity.
Referenced by consume(), and onEntityReservation().
Matrix Control::ROV::RemoteOperation::Task::m_forces |
Vector of forces to apply.
Referenced by actuate(), consume(), forwardControl(), and onRemoteActions().
float Control::ROV::RemoteOperation::Task::m_h_ref |
Current heading or heading rate reference.
Referenced by actuate(), onActivation(), onConnectionTimeout(), onRemoteActions(), and rotateControl().
float Control::ROV::RemoteOperation::Task::m_start_depth |
Starting depth.
Referenced by consume(), onActivation(), onConnectionTimeout(), and onRemoteActions().
float Control::ROV::RemoteOperation::Task::m_start_heading |
Starting heading.
Referenced by consume(), onActivation(), onConnectionTimeout(), and onRemoteActions().
Matrix Control::ROV::RemoteOperation::Task::m_thruster |
Thruster actuation vector.
Referenced by actuate(), actuateThruster(), onActivation(), onConnectionTimeout(), and onDeactivation().
unsigned Control::ROV::RemoteOperation::Task::m_wdist_des_ent |
Desired distance to wall source entity.
Referenced by forwardControl(), and onEntityReservation().
float Control::ROV::RemoteOperation::Task::m_wdist_desired |
Desired distance to wall.
Referenced by consume(), forwardControl(), and toggleWallTracker().
unsigned Control::ROV::RemoteOperation::Task::m_wdist_ent |
Distance to wall source entity.
Referenced by consume(), and onEntityResolution().
MovingAverage<float>* Control::ROV::RemoteOperation::Task::m_wdist_mav |
Moving average for the distance to wall.
Referenced by consume(), onResourceAcquisition(), and onResourceRelease().
Time::Counter<float> Control::ROV::RemoteOperation::Task::m_wt_counter |
Wall tracking enabled counter.
Referenced by onResourceInitialization(), and toggleWallTracker().
bool Control::ROV::RemoteOperation::Task::m_wt_enabled |
Wall tracking enabled.
Referenced by consume(), forwardControl(), and toggleWallTracker().