DUNE::Control::BasicRemoteOperation Class Reference

Public Member Functions
	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)

Protected Member Functions
void	addActionButton (const std::string &action)
void	addActionAxis (const std::string &action)
void	setConnectionTimeout (const float tout)
virtual void	onRemoteActions (const IMC::RemoteActions *message)
virtual void	onConnectionTimeout (void)
virtual void	onConnectionResumed (void)
virtual void	actuate (void)
virtual void	onResourceInitialization (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)
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	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)

Additional Inherited Members
Public Types inherited from DUNE::Concurrency::Runnable
enum	State {   StateStarting, StateRunning, StateStopping, StateDead,   StateUnknown }
Protected Attributes inherited from DUNE::Tasks::Task
Context &	m_ctx
std::vector < Entities::BasicEntity * >	m_entities

Constructor & Destructor Documentation

DUNE::Control::BasicRemoteOperation::BasicRemoteOperation	(	const std::string &	name,
		Tasks::Context &	ctx
	)

Constructor.

References addActionButton(), DUNE::Tasks::Parameter::defaultValue(), DUNE::IMC::RemoteActionsRequest::op, DUNE::IMC::RemoteActionsRequest::OP_REPORT, DUNE::Tasks::Task::param(), DUNE::Tasks::Task::paramActive(), DUNE::Tasks::Parameter::SCOPE_MANEUVER, and DUNE::Tasks::Parameter::VISIBILITY_DEVELOPER.

virtual DUNE::Control::BasicRemoteOperation::~BasicRemoteOperation ( void  )

inlinevirtual

Member Function Documentation

virtual void DUNE::Control::BasicRemoteOperation::actuate ( void  )

inlineprotectedvirtual

Reimplemented in Control::ROV::RemoteOperation::Task, Control::AUV::RemoteOperation::Task, and Control::ASV::RemoteOperation::Task.

void DUNE::Control::BasicRemoteOperation::addActionAxis ( const std::string &  action )

inlineprotected

Referenced by Control::UAV::RemoteOperation::Task::Task(), Control::ASV::RemoteOperation::Task::Task(), Control::AUV::RemoteOperation::Task::Task(), and Control::ROV::RemoteOperation::Task::Task().

void DUNE::Control::BasicRemoteOperation::addActionButton ( const std::string &  action )

inlineprotected

Referenced by BasicRemoteOperation(), Control::ASV::RemoteOperation::Task::Task(), Control::AUV::RemoteOperation::Task::Task(), and Control::ROV::RemoteOperation::Task::Task().

void DUNE::Control::BasicRemoteOperation::consume

(

const IMC::RemoteActions *

message

)

References DUNE::IMC::RemoteActions::actions, DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::dispatch(), DUNE::Utils::TupleList::get(), DUNE::Time::Clock::get(), DUNE::IMC::Message::getSource(), DUNE::Tasks::Task::isActive(), DUNE::Tasks::Task::m_ctx, onRemoteActions(), DUNE::IMC::AddressResolver::resolve(), and DUNE::Tasks::Context::resolver.

void DUNE::Control::BasicRemoteOperation::consume

(

const IMC::RemoteActionsRequest *

message

)

References DUNE::Tasks::Task::dispatch(), DUNE::IMC::RemoteActionsRequest::op, and DUNE::IMC::RemoteActionsRequest::OP_QUERY.

void DUNE::Control::BasicRemoteOperation::consume

(

const IMC::ControlLoops *

message

)

References DUNE::IMC::ControlLoops::CL_ENABLE, DUNE::IMC::CL_TELEOPERATION, DUNE::Status::CODE_ACTIVE, DUNE::Status::CODE_IDLE, DUNE::IMC::ControlLoops::enable, DUNE::IMC::EntityState::ESTA_NORMAL, DUNE::Tasks::Task::isActive(), DUNE::Tasks::Task::m_ctx, DUNE::IMC::ControlLoops::mask, DUNE::Tasks::Task::requestActivation(), DUNE::Tasks::Task::requestDeactivation(), DUNE::IMC::AddressResolver::resolve(), DUNE::Tasks::Context::resolver, DUNE::IMC::ControlLoops::scope_ref, DUNE::Tasks::Task::setEntityState(), and DUNE::Utils::String::str().

void DUNE::Control::BasicRemoteOperation::consume

(

const IMC::Teleoperation *

message

)

References DUNE::IMC::Teleoperation::custom, and DUNE::Utils::TupleList.

void DUNE::Control::BasicRemoteOperation::disableControlLoops ( uint32_t  mask )

inlineprotected

Disable control loops (need to use only if control mode changes during path control, not on deactivation).

Parameters

mask	control loop mask

References DUNE::IMC::ControlLoops::CL_DISABLE.

Referenced by Control::AUV::RemoteOperation::Task::activateTorqueControl(), Control::AUV::RemoteOperation::Task::deactivateTorqueControl(), Control::ROV::RemoteOperation::Task::onActivation(), Control::ROV::RemoteOperation::Task::onConnectionTimeout(), and Control::ROV::RemoteOperation::Task::onDeactivation().

void DUNE::Control::BasicRemoteOperation::enableControlLoops ( uint32_t  mask )

inlineprotected

Enable control loops.

Parameters

mask	control loop mask

References DUNE::IMC::ControlLoops::CL_ENABLE.

Referenced by Control::AUV::RemoteOperation::Task::activateTorqueControl(), Control::AUV::RemoteOperation::Task::deactivateTorqueControl(), Control::UAV::RemoteOperation::Task::onActivation(), Control::AUV::RemoteOperation::Task::onActivation(), and Control::ROV::RemoteOperation::Task::onActivation().

virtual void DUNE::Control::BasicRemoteOperation::onConnectionResumed ( void  )

inlineprotectedvirtual

virtual void DUNE::Control::BasicRemoteOperation::onConnectionTimeout ( void  )

inlineprotectedvirtual

Reimplemented in Control::ROV::RemoteOperation::Task, Control::AUV::RemoteOperation::Task, Control::UAV::RemoteOperation::Task, and Control::ASV::RemoteOperation::Task.

virtual void DUNE::Control::BasicRemoteOperation::onRemoteActions ( const IMC::RemoteActions *  message )

inlineprotectedvirtual

Reimplemented in Control::ROV::RemoteOperation::Task.

Referenced by consume().

void DUNE::Control::BasicRemoteOperation::onResourceInitialization ( void  )

protectedvirtual

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

Reimplemented from DUNE::Tasks::Task.

Reimplemented in Control::ROV::RemoteOperation::Task.

References DUNE::Status::CODE_IDLE, DUNE::IMC::EntityState::ESTA_NORMAL, and DUNE::Tasks::Task::setEntityState().

Referenced by Control::ROV::RemoteOperation::Task::onResourceInitialization().

void DUNE::Control::BasicRemoteOperation::setConnectionTimeout ( const float  tout )

inlineprotected

Collaboration diagram for DUNE::Control::BasicRemoteOperation: