Supervisors::AUV::LostComms::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onResourceInitialization (void)
void	onDeactivation (void)
void	consume (const IMC::Abort *msg)
void	consume (const IMC::Heartbeat *msg)
void	consume (const IMC::PlanControlState *msg)
void	consume (const IMC::VehicleState *msg)
void	consume (const IMC::VehicleMedium *msg)
void	getPlanSpec (const IMC::InlineMessage< IMC::Message > *msg)
void	consume (const IMC::PlanControl *msg)
void	consume (const IMC::PlanDB *msg)
bool	testVehicleState (void)
bool	testPlanControlState (void)
bool	canStartTimer (void)
bool	canKeepTimer (void)
bool	canTakeAction (void)
bool	isStillExecuting (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
Counter< double >	m_lost_coms_timer
bool	m_serv_err
IMC::VehicleMedium	m_medium
IMC::PlanControlState	m_pcs
unsigned	m_dr
LostCommsState	m_lcs
IMC::PlanSpecification	m_plan
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	onResourceAcquisition (void)
virtual void	onResourceRelease (void)
virtual void	onUpdateParameters (void)
virtual void	onRequestActivation (void)
virtual void	onRequestDeactivation (void)
virtual void	onActivation (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::LostComms::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References DUNE::Tasks::Parameter::defaultValue(), m_args, DUNE::Tasks::Task::param(), Supervisors::AUV::LostComms::Arguments::plan_name, and Supervisors::AUV::LostComms::Arguments::timeout.

Member Function Documentation

bool Supervisors::AUV::LostComms::Task::canKeepTimer ( void  )

inline

References m_medium, testPlanControlState(), and testVehicleState().

Referenced by task().

bool Supervisors::AUV::LostComms::Task::canStartTimer ( void  )

inline

References m_medium, testPlanControlState(), and testVehicleState().

Referenced by task().

bool Supervisors::AUV::LostComms::Task::canTakeAction ( void  )

inline

References m_lost_coms_timer, and DUNE::Time::Counter< T >::overflow().

Referenced by task().

void Supervisors::AUV::LostComms::Task::consume ( const IMC::Abort *  msg )

inline

References DUNE::Tasks::Task::getSystemId(), DUNE::Tasks::Task::isActive(), and DUNE::Tasks::Task::requestDeactivation().

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

inline

References DUNE::Tasks::Task::getSystemId(), m_lcs, m_lost_coms_timer, DUNE::Time::Counter< T >::reset(), and Supervisors::AUV::LostComms::STATE_STARTED.

void Supervisors::AUV::LostComms::Task::consume ( const IMC::PlanControlState *  msg )

inline

References Supervisors::AUV::LostComms::GOT_PCS, m_dr, and m_pcs.

void Supervisors::AUV::LostComms::Task::consume ( const IMC::VehicleState *  msg )

inline

References Supervisors::AUV::LostComms::GOT_VSTATE, m_dr, and m_serv_err.

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

inline

References Supervisors::AUV::LostComms::GOT_MEDIUM, m_dr, and m_medium.

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

inline

References getPlanSpec(), m_args, and Supervisors::AUV::LostComms::Arguments::plan_name.

void Supervisors::AUV::LostComms::Task::consume ( const IMC::PlanDB *  msg )

inline

References getPlanSpec(), m_args, and Supervisors::AUV::LostComms::Arguments::plan_name.

void Supervisors::AUV::LostComms::Task::getPlanSpec ( const IMC::InlineMessage< IMC::Message > *  msg )

inline

References DUNE::Tasks::Task::debug(), Supervisors::AUV::LostComms::GOT_LCPLAN, DUNE::Tasks::Task::isActive(), m_dr, m_plan, DUNE::Tasks::Task::requestActivation(), and DUNE::Tasks::Task::setEntityState().

Referenced by consume().

bool Supervisors::AUV::LostComms::Task::isStillExecuting ( void  )

inline

References m_args, m_pcs, and Supervisors::AUV::LostComms::Arguments::plan_name.

Referenced by task().

void Supervisors::AUV::LostComms::Task::onDeactivation ( void  )

inlinevirtual

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

Reimplemented from DUNE::Tasks::Task.

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

void Supervisors::AUV::LostComms::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::LostComms::Task::task ( void  )

inlinevirtual

The task to be executed on each cycle.

Implements DUNE::Tasks::Periodic.

References canKeepTimer(), canStartTimer(), canTakeAction(), DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::dispatch(), DUNE::Time::Counter< T >::getRemaining(), Supervisors::AUV::LostComms::GOT_ALL, DUNE::Tasks::Task::isActive(), isStillExecuting(), m_args, m_dr, m_lcs, m_lost_coms_timer, m_plan, Supervisors::AUV::LostComms::Arguments::plan_name, DUNE::Time::Counter< T >::setTop(), Supervisors::AUV::LostComms::STATE_EXEC, Supervisors::AUV::LostComms::STATE_NOT_MET, Supervisors::AUV::LostComms::STATE_STARTED, Supervisors::AUV::LostComms::Arguments::timeout, DUNE::Tasks::Task::trace(), and DUNE::Tasks::Task::war().

bool Supervisors::AUV::LostComms::Task::testPlanControlState ( void  )

inline

Checks if the vehicle is plan ready or blocked, and had a failure outcome from the previous plan.

References m_pcs.

Referenced by canKeepTimer(), and canStartTimer().

bool Supervisors::AUV::LostComms::Task::testVehicleState ( void  )

inline

References m_serv_err.

Referenced by canKeepTimer(), and canStartTimer().

Member Data Documentation

Arguments Supervisors::AUV::LostComms::Task::m_args

Task arguments.

Referenced by consume(), isStillExecuting(), Task(), and task().

unsigned Supervisors::AUV::LostComms::Task::m_dr

Availability of data.

Referenced by consume(), getPlanSpec(), and task().

LostCommsState Supervisors::AUV::LostComms::Task::m_lcs

State of the task.

Referenced by consume(), and task().

Counter<double> Supervisors::AUV::LostComms::Task::m_lost_coms_timer

Lost communications timer.

Referenced by canTakeAction(), consume(), and task().

IMC::VehicleMedium Supervisors::AUV::LostComms::Task::m_medium

Vehicle medium.

Referenced by canKeepTimer(), canStartTimer(), and consume().

IMC::PlanControlState Supervisors::AUV::LostComms::Task::m_pcs

Plan Control State.

Referenced by consume(), isStillExecuting(), and testPlanControlState().

IMC::PlanSpecification Supervisors::AUV::LostComms::Task::m_plan

Plan specification for lost comms.

Referenced by getPlanSpec(), and task().

bool Supervisors::AUV::LostComms::Task::m_serv_err

Vehicle state is error or service.

Referenced by consume(), and testVehicleState().

Collaboration diagram for Supervisors::AUV::LostComms::Task: