Maneuver::Multiplexer::PopUp Class Reference

Detailed Description

PopUp maneuver.

Public Member Functions
	PopUp (Maneuvers::Maneuver *task, PopUpArgs *args)
	~PopUp (void)
void	elevate (float z_value, unsigned z_units)
void	goUp (void)
void	goDown (void)
void	startStationKeeping (void)
bool	isSKeepTooFar (const IMC::EstimatedState *state)
void	onStart (const IMC::PopUp *maneuver)
void	onVehicleMedium (const IMC::VehicleMedium *msg)
void	onGpsFix (const IMC::GpsFix *msg)
void	onEstimatedState (const IMC::EstimatedState *msg)
void	onPathControlState (const IMC::PathControlState *pcs)
void	onStateReport (void)
void	computeETA (void)
bool	useCurr (void)
bool	mustWait (void)
bool	mustKeep (void)
Public Member Functions inherited from Maneuver::Multiplexer::MuxedManeuver< IMC::PopUp, PopUpArgs >
	MuxedManeuver (Maneuvers::Maneuver *task, PopUpArgs *args)
	MuxedManeuver (Maneuvers::Maneuver *task)
virtual	~MuxedManeuver (void)
void	start (const IMC::Maneuver *maneuver)
Public Member Functions inherited from Maneuver::Multiplexer::AbstractMux
	AbstractMux (Maneuvers::Maneuver *task)
virtual	~AbstractMux (void)
virtual void	onBrake (const IMC::Brake *msg)

Additional Inherited Members
Protected Attributes inherited from Maneuver::Multiplexer::MuxedManeuver< IMC::PopUp, PopUpArgs >
PopUpArgs *	m_args
Protected Attributes inherited from Maneuver::Multiplexer::AbstractMux
Maneuvers::Maneuver *	m_task

Constructor & Destructor Documentation

Maneuver::Multiplexer::PopUp::PopUp ( Maneuvers::Maneuver *  task, PopUpArgs *  args  )

inline

Default constructor.

Parameters

[in]	task	pointer to Maneuver task
[in]	args	popup arguments

Maneuver::Multiplexer::PopUp::~PopUp ( void  )

inline

Destructor.

Member Function Documentation

void Maneuver::Multiplexer::PopUp::computeETA ( void  )

inline

Compute ETA.

References Maneuver::Multiplexer::AbstractMux::m_task.

Referenced by onStateReport().

void Maneuver::Multiplexer::PopUp::elevate ( float  z_value, unsigned  z_units  )

inline

Start elevating up or down.

Parameters

[in]	z_value	value of z to where we're elevating
[in]	z_units	units for the z reference

References Maneuver::Multiplexer::PopUpArgs::elev_radius, Maneuver::Multiplexer::MuxedManeuver< IMC::PopUp, PopUpArgs >::m_args, and Maneuver::Multiplexer::AbstractMux::m_task.

Referenced by goDown(), and goUp().

void Maneuver::Multiplexer::PopUp::goDown ( void  )

inline

Go down to the maneuver's z reference.

References elevate().

Referenced by onEstimatedState(), and onGpsFix().

void Maneuver::Multiplexer::PopUp::goUp ( void  )

inline

Go up to the surface.

References elevate().

Referenced by onPathControlState(), and onStart().

bool Maneuver::Multiplexer::PopUp::isSKeepTooFar ( const IMC::EstimatedState *  state )

inline

Check if the station keeping maneuver's center is too far.

Parameters

[in]

state

pointer to EstimatedState message

Returns

true if the center is indeed too far

References Maneuver::Multiplexer::PopUpArgs::elev_radius, Maneuver::Multiplexer::MuxedManeuver< IMC::PopUp, PopUpArgs >::m_args, and Maneuver::Multiplexer::PopUpArgs::max_sk_dist.

Referenced by onEstimatedState().

bool Maneuver::Multiplexer::PopUp::mustKeep ( void  )

inline

Must station keep while at surface.

Returns

true if position must be kept at surface

Referenced by onStart(), and onVehicleMedium().

bool Maneuver::Multiplexer::PopUp::mustWait ( void  )

inline

Must wait some time at surface.

Returns

true if must wait when surface has been reached

Referenced by onGpsFix(), and onStart().

void Maneuver::Multiplexer::PopUp::onEstimatedState ( const IMC::EstimatedState *  msg )

inlinevirtual

On message EstimatedState.

Parameters

[in]

msg

pointer to EstimatedState message

Reimplemented from Maneuver::Multiplexer::AbstractMux.

References goDown(), isSKeepTooFar(), Maneuver::Multiplexer::AbstractMux::m_task, and startStationKeeping().

void Maneuver::Multiplexer::PopUp::onGpsFix ( const IMC::GpsFix *  msg )

inlinevirtual

On message GpsFix.

Parameters

[in]

msg

pointer to GpsFix message

Reimplemented from Maneuver::Multiplexer::AbstractMux.

References goDown(), Maneuver::Multiplexer::MuxedManeuver< IMC::PopUp, PopUpArgs >::m_args, Maneuver::Multiplexer::PopUpArgs::min_sats, and mustWait().

void Maneuver::Multiplexer::PopUp::onPathControlState ( const IMC::PathControlState *  pcs )

inlinevirtual

On PathControlState message.

Parameters

[in]

pcs

pointer to PathControlState message

Reimplemented from Maneuver::Multiplexer::AbstractMux.

References goUp(), and Maneuver::Multiplexer::AbstractMux::m_task.

void Maneuver::Multiplexer::PopUp::onStart ( const IMC::PopUp *  maneuver )

inlinevirtual

Start maneuver function.

Parameters

[in]

maneuver

rows maneuver message

Implements Maneuver::Multiplexer::MuxedManeuver< IMC::PopUp, PopUpArgs >.

References goUp(), Maneuver::Multiplexer::AbstractMux::m_task, mustKeep(), mustWait(), and useCurr().

void Maneuver::Multiplexer::PopUp::onStateReport ( void  )

inlinevirtual

On state report.

Reimplemented from Maneuver::Multiplexer::AbstractMux.

References computeETA().

void Maneuver::Multiplexer::PopUp::onVehicleMedium ( const IMC::VehicleMedium *  msg )

inlinevirtual

On message VehicleMedium.

Parameters

[in]

msg

pointer to VehicleMedium message

Reimplemented from Maneuver::Multiplexer::AbstractMux.

References Maneuver::Multiplexer::MuxedManeuver< IMC::PopUp, PopUpArgs >::m_args, Maneuver::Multiplexer::AbstractMux::m_task, mustKeep(), Maneuver::Multiplexer::PopUpArgs::report, and startStationKeeping().

void Maneuver::Multiplexer::PopUp::startStationKeeping ( void  )

inline

Start station keeping.

References Maneuver::Multiplexer::PopUpArgs::elev_radius, Maneuver::Multiplexer::MuxedManeuver< IMC::PopUp, PopUpArgs >::m_args, and Maneuver::Multiplexer::AbstractMux::m_task.

Referenced by onEstimatedState(), and onVehicleMedium().

bool Maneuver::Multiplexer::PopUp::useCurr ( void  )

inline

Will use current position.

Returns

true if must use current waypoint

Referenced by onStart().

Collaboration diagram for Maneuver::Multiplexer::PopUp: