DUNE: Uniform Navigational Environment  2017.01.0
Supervisors::UAV::LostComms::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
void onUpdateParameters (void)
 
void checkPlan (void)
 
void consume (const IMC::Heartbeat *msg)
 
void consume (const IMC::PlanControl *msg)
 
void consume (const IMC::PlanDB *msg)
 
void consume (const IMC::PlanControlState *msg)
 
void consume (const IMC::VehicleMedium *msg)
 
void resetTimers (void)
 
void startLostComms (void)
 
void getPlanSpec (const IMC::InlineMessage< IMC::Message > *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)
 
unsigned getPriority (void)
 
State getState (void)
 
bool isCreated (void)
 
bool isStopping (void)
 
bool isRunning (void)
 
bool isStarting (void)
 
bool isDead (void)
 

Public Attributes

Time::Counter< double > m_tout_heartbeat
 
Time::Counter< double > m_tout_mission
 
bool m_in_mission
 
bool m_in_lc
 
bool m_check_plan
 
bool m_got_plan
 
IMC::PlanSpecification m_plan
 
IMC::VehicleMedium m_medium
 
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::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 >
Parameterparam (const std::string &name, T &var)
 
template<typename Y , typename T >
Parameterparam (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 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
Contextm_ctx
 
std::vector
< Entities::BasicEntity * > 
m_entities
 

Constructor & Destructor Documentation

Member Function Documentation

void Supervisors::UAV::LostComms::Task::checkPlan ( void  )
inline
void Supervisors::UAV::LostComms::Task::consume ( const IMC::Heartbeat *  msg)
inline
void Supervisors::UAV::LostComms::Task::consume ( const IMC::PlanControl *  msg)
inline
void Supervisors::UAV::LostComms::Task::consume ( const IMC::PlanDB *  msg)
inline
void Supervisors::UAV::LostComms::Task::consume ( const IMC::PlanControlState *  msg)
inline
void Supervisors::UAV::LostComms::Task::consume ( const IMC::VehicleMedium *  msg)
inline

References m_medium.

void Supervisors::UAV::LostComms::Task::getPlanSpec ( const IMC::InlineMessage< IMC::Message > *  msg)
inline
void Supervisors::UAV::LostComms::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 m_args, m_tout_heartbeat, m_tout_mission, DUNE::Tasks::Task::paramChanged(), Supervisors::UAV::LostComms::Arguments::tout_heartbeat, and Supervisors::UAV::LostComms::Arguments::tout_mission.

void Supervisors::UAV::LostComms::Task::resetTimers ( void  )
inline

References m_tout_heartbeat, and m_tout_mission.

Referenced by consume(), and startLostComms().

void Supervisors::UAV::LostComms::Task::startLostComms ( void  )
inline
void Supervisors::UAV::LostComms::Task::task ( void  )
inlinevirtual

The task to be executed on each cycle.

Implements DUNE::Tasks::Periodic.

References DUNE::Tasks::Task::isActive(), m_in_lc, m_in_mission, m_medium, m_tout_heartbeat, m_tout_mission, and startLostComms().

Member Data Documentation

Arguments Supervisors::UAV::LostComms::Task::m_args
bool Supervisors::UAV::LostComms::Task::m_check_plan

Lost comms checked.

Referenced by checkPlan(), and consume().

bool Supervisors::UAV::LostComms::Task::m_got_plan

Got lost comms plan.

Referenced by getPlanSpec().

bool Supervisors::UAV::LostComms::Task::m_in_lc

True if executing LostComms plan.

Referenced by consume(), and task().

bool Supervisors::UAV::LostComms::Task::m_in_mission

True if executing plan.

Referenced by consume(), and task().

IMC::VehicleMedium Supervisors::UAV::LostComms::Task::m_medium

Vehicle Medium.

Referenced by consume(), and task().

IMC::PlanSpecification Supervisors::UAV::LostComms::Task::m_plan

Plan specification for lost comms.

Referenced by getPlanSpec(), and startLostComms().

Time::Counter<double> Supervisors::UAV::LostComms::Task::m_tout_heartbeat

Heartbeat timeout.

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

Time::Counter<double> Supervisors::UAV::LostComms::Task::m_tout_mission

Mission timeout.

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

Collaboration diagram for Supervisors::UAV::LostComms::Task:
Collaboration graph