Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)

void	onUpdateParameters (void)

void	onResourceAcquisition (void)

void	onResourceRelease (void)

void	onResourceInitialization (void)

void	consume (const IMC::GpsFix *msg)

void	consume (const IMC::Heartbeat *msg)

void	consume (const IMC::VehicleMedium *msg)

void	consume (const IMC::EstimatedState *msg)

void	consume (const IMC::PlanGeneration *msg)

void	consume (const IMC::PlanControl *msg)

void	consume (const IMC::Rpm *msg)

void	checkDislodgeResult (const IMC::PlanControl *msg)

void	getFinishDepth (const IMC::PlanControl *msg)

void	failedStartPlan (void)

void	dispatchDislodge (void)

bool	mainConditions (void)

bool	ascentCondition (void)

void	setState (AssistState state)

void	onIdle (void)

void	onCheckStuck (void)

void	onStartDislodge (void)

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
float	m_vz

float	m_depth

uint8_t	m_medium

VerticalMonitor *	m_vmon

AssistState	m_astate

Time::Counter< float >	m_dtimer

Time::Counter< float >	m_ltimer

float	m_finish_depth

bool	m_gps

bool	m_first_fix

float	m_dislodge_rpm

bool	m_motor

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)

Entities::BasicEntity *	getLocalEntity (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	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

Supervisors::AUV::Assist::Task::Task	(	const std::string &	name,
		Tasks::Context &	ctx
	)

inline

References Supervisors::AUV::Assist::Arguments::ascent_wsize, DUNE::Tasks::Context::config, DUNE::Tasks::Parameter::defaultValue(), Supervisors::AUV::Assist::Arguments::depth_threshold, DUNE::Parsers::Config::get(), m_args, DUNE::Tasks::Task::m_ctx, Supervisors::AUV::Assist::Arguments::min_ascent_rate, DUNE::Tasks::Task::param(), Supervisors::AUV::Assist::Arguments::plan_id, and Supervisors::AUV::Assist::Arguments::trigger_time.

Member Function Documentation

bool Supervisors::AUV::Assist::Task::ascentCondition ( void )

inline

Test if the ascent rate condition hold.

Returns: true if condition holds, false otherwise

References m_vmon, and m_vz.

Referenced by onCheckStuck().

void Supervisors::AUV::Assist::Task::checkDislodgeResult ( const IMC::PlanControl * msg )

inline

Check if the received PlanControl message reports to a successful Dislodge plan request.

Parameters

[in] msg pointer to PlanControl message

References m_args, Supervisors::AUV::Assist::Arguments::plan_id, setState(), Supervisors::AUV::Assist::ST_CHECK_STUCK, and Supervisors::AUV::Assist::ST_IDLE.

Referenced by consume().

void Supervisors::AUV::Assist::Task::consume ( const IMC::GpsFix * msg )

inline

References m_first_fix, and m_gps.

void Supervisors::AUV::Assist::Task::consume ( const IMC::Heartbeat * msg )

inline

References DUNE::Tasks::Task::getSystemId(), and m_ltimer.

void Supervisors::AUV::Assist::Task::consume ( const IMC::VehicleMedium * msg )

inline

References m_medium.

void Supervisors::AUV::Assist::Task::consume ( const IMC::EstimatedState * msg )

inline

References Supervisors::AUV::Assist::Arguments::depth_threshold, m_args, m_depth, m_dislodge_rpm, m_finish_depth, and m_vz.

void Supervisors::AUV::Assist::Task::consume ( const IMC::PlanGeneration * msg )

inline

References failedStartPlan(), m_args, m_astate, Supervisors::AUV::Assist::Arguments::plan_id, setState(), Supervisors::AUV::Assist::ST_START_DISLODGE, and Supervisors::AUV::Assist::ST_WAIT_DISLODGE.

void Supervisors::AUV::Assist::Task::consume ( const IMC::PlanControl * msg )

inline

References checkDislodgeResult(), getFinishDepth(), m_args, m_astate, Supervisors::AUV::Assist::Arguments::plan_id, setState(), Supervisors::AUV::Assist::ST_CHECK_STUCK, Supervisors::AUV::Assist::ST_IDLE, Supervisors::AUV::Assist::ST_START_DISLODGE, and Supervisors::AUV::Assist::ST_WAIT_DISLODGE.

void Supervisors::AUV::Assist::Task::consume ( const IMC::Rpm * msg )

inline

References m_motor.

void Supervisors::AUV::Assist::Task::dispatchDislodge ( void )

inline

Dispatch the dislodge plan.

References DUNE::Tasks::Task::dispatch(), m_args, m_dislodge_rpm, Supervisors::AUV::Assist::Arguments::plan_id, and DUNE::Tasks::Task::setEntityState().

Referenced by setState().

void Supervisors::AUV::Assist::Task::failedStartPlan ( void )

inline

Signal that the start of the dislodge plan has failed.

References DUNE::Tasks::Task::err(), m_args, and Supervisors::AUV::Assist::Arguments::plan_id.

Referenced by consume(), and onStartDislodge().

void Supervisors::AUV::Assist::Task::getFinishDepth ( const IMC::PlanControl * msg )

inline

Check if the received PlanControl message reports to a plan that has just finished.

If so, save the depth at which the plan ended

Parameters

[in] msg pointer to PlanControl message

References m_depth, and m_finish_depth.

Referenced by consume().

bool Supervisors::AUV::Assist::Task::mainConditions ( void )

inline

Test the main conditions to consider throwing a dislodge plan.

Returns: true if the conditions hold, false otherwise

References Supervisors::AUV::Assist::Arguments::depth_threshold, m_args, m_depth, m_finish_depth, m_first_fix, m_gps, m_ltimer, m_medium, and m_motor.

Referenced by onCheckStuck(), and onIdle().

void Supervisors::AUV::Assist::Task::onCheckStuck ( void )

inline

Routine to run when on checkstuck state.

References ascentCondition(), m_dtimer, mainConditions(), setState(), Supervisors::AUV::Assist::ST_IDLE, and Supervisors::AUV::Assist::ST_START_DISLODGE.

Referenced by task().

void Supervisors::AUV::Assist::Task::onIdle ( void )

inline

Routine to run when on idle state.

References m_dtimer, mainConditions(), setState(), and Supervisors::AUV::Assist::ST_CHECK_STUCK.

Referenced by task().

void Supervisors::AUV::Assist::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 m_args, m_vmon, and Supervisors::AUV::Assist::Arguments::min_ascent_rate.

void Supervisors::AUV::Assist::Task::onResourceInitialization ( void )

inlinevirtual

Called when the task is instructed to initialize resources acquired previously or whose initialization depends on run-time parameters.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Tasks::Task::setEntityState().

void Supervisors::AUV::Assist::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_vmon.

void Supervisors::AUV::Assist::Task::onStartDislodge ( void )

inline

Routine to run when on startdislodge state.

References failedStartPlan(), m_dtimer, setState(), and Supervisors::AUV::Assist::ST_CHECK_STUCK.

Referenced by task().

void Supervisors::AUV::Assist::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.