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

void	onResourceRelease (void)

void	consume (const IMC::Announce *msg)

void	consume (const IMC::EstimatedState *msg)

void	consume (const IMC::LblConfig *msg)

void	consume (const IMC::PlanGeneration *msg)

void	onMain (void)

bool	getCurrentPosition (double lat, double lon, double *depth)

void	sequentialPlan (std::string plan_id, const IMC::MessageList< IMC::Maneuver > *maneuvers, IMC::PlanSpecification &result)

void	updatePositionFromBeacon (const std::string &match, const IMC::LblBeacon msg, double lat, double *lon)

bool	generate (const std::string &plan_id, TupleList &params, IMC::PlanSpecification &result)

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
Arguments	m_args

IMC::EstimatedState *	m_estate

IMC::LblConfig *	m_last_lbl_config

std::map< unsigned int, IMC::Announce >	m_last_announces

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	onResourceInitialization (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)

Protected Attributes inherited from DUNE::Tasks::Task
Context &	m_ctx

std::vector < Entities::BasicEntity * >	m_entities

Constructor & Destructor Documentation

Plan::Generator::Task::Task	(	const std::string &	name,
		Tasks::Context &	ctx
	)

inline

Class constructor.

References DUNE::Tasks::Context::config, DUNE::Tasks::Parameter::description(), Plan::Generator::Arguments::dive_depth, Plan::Generator::Arguments::dive_time, Plan::Generator::Arguments::generate_at_boot, DUNE::Parsers::Config::get(), m_args, DUNE::Tasks::Task::m_ctx, Plan::Generator::Arguments::max_rpms, DUNE::Tasks::Task::param(), Plan::Generator::Arguments::radius, Plan::Generator::Arguments::recovery_plan, Plan::Generator::Arguments::speed_rpms, and Plan::Generator::Arguments::travel_depth.

Member Function Documentation

void Plan::Generator::Task::consume ( const IMC::Announce * msg )

inline

Stores the announce in the map (one announce per system id).

References m_last_announces.

void Plan::Generator::Task::consume ( const IMC::EstimatedState * msg )

inline

Stores the last received EstimatedState message.

References DUNE::Tasks::Task::getSystemId(), m_estate, and DUNE::Tasks::Task::setEntityState().

void Plan::Generator::Task::consume ( const IMC::LblConfig * msg )

inline

Stores the last received LblConfig message.

References m_last_lbl_config.

void Plan::Generator::Task::consume ( const IMC::PlanGeneration * msg )

inline

Handles a PlanGeneration message.

According to the 'plan_id' may result in the generation of different plans: go_home:

Goto maneuver 50 meters from EstimatedState reference location, followed by a StationKeeping on top of the current location (derived from EstimatedState).

surface:

Elevator at the current position, followed by a StationKeeping at the surface

dive:

Loiter at the current position (radius, time, depth and speed are configuration parameters)

go:

This template looks in the 'params' tuplelist for the arguments loc, lat and lon. If loc is set, then it will look for a beacon with same name (in which cases uses its location), a an announced system with the same name (in which case uses its location) or the string "home" (in which case uses the EstimatedState reference location). If lat / lon arguments are set, uses those as the coordinates of the location where to go. The resulting plan is a Goto maneuver to the target location, followed by a station keeping in the same location.

sk:

This template is similar to 'go' but generates only the maneuver StationKeeping at the desired location.

dislodge:

Attempt to unstuck the vehicle from an entangled condition.

References DUNE::Tasks::Task::dispatch(), generate(), and DUNE::Tasks::Task::inf().

bool Plan::Generator::Task::generate	(	const std::string &	plan_id,
		TupleList &	params,
		IMC::PlanSpecification &	result
	)

inline

This method parses a string and a list of parameters and eventually generates a corresponding plan.

Parameters

[in]	plan_id	the string to be parsed (command).
[in]	params	a tuple list with parameters to be used in the generation.
[out]	result	where to store the resulting plan specification.

Returns: true if a plan was actually generated or false if result wasn't touched.

References Plan::Generator::Arguments::dive_depth, Plan::Generator::Arguments::dive_time, getCurrentPosition(), DUNE::Tasks::Task::inf(), m_args, m_estate, m_last_announces, m_last_lbl_config, Plan::Generator::Arguments::max_rpms, Plan::Generator::Arguments::radius, Plan::Generator::Arguments::recovery_plan, sequentialPlan(), Plan::Generator::Arguments::speed_rpms, Plan::Generator::Arguments::travel_depth, and updatePositionFromBeacon().

Referenced by consume().

bool Plan::Generator::Task::getCurrentPosition	(	double *	lat,
		double *	lon,
		double *	depth
	)

inline

This (utilitary) method calculates the current position using the last received state.

Parameters

[out]	lat	where the current latitude will be stored
[out]	lon	where the current longitude will be stored
[out]	depth	where the current depth will be stored

Returns: true if it was possible to get position or false otherwise.

References m_estate.

Referenced by generate().

void Plan::Generator::Task::onMain ( void )

inlinevirtual

Implements DUNE::Tasks::Task.

References DUNE::Tasks::Task::dispatch(), Plan::Generator::Arguments::generate_at_boot, m_args, DUNE::Tasks::Task::stopping(), and DUNE::Tasks::Task::waitForMessages().

void Plan::Generator::Task::onResourceRelease ( void )

inlinevirtual

Frees memory associated with stored messages.

Reimplemented from DUNE::Tasks::Task.

References m_estate, and m_last_lbl_config.

void Plan::Generator::Task::sequentialPlan	(	std::string	plan_id,
		const IMC::MessageList< IMC::Maneuver > *	maneuvers,
		IMC::PlanSpecification &	result
	)

inline

This (utility) method generates a PlanSpecification consisting in the given maneuver sequence.

Parameters

[in]	plan_id	The name of the plan to be generated
[in]	maneuvers	A vector with maneuvers (order of the resulting plan will correspond to the order of this vector).
[out]	result	The resulting PlanSpecification will be stored here.

Referenced by generate().

void Plan::Generator::Task::updatePositionFromBeacon	(	const std::string &	match,
		const IMC::LblBeacon *	msg,
		double *	lat,
		double *	lon
	)

inline

This (utility) method updates a position if the name of the beacon found in the given message matches the string we are looking for (match parameter).

Parameters

[in]	match	the string we are looking for.
[in]	msg	inline message with beacon position.
[out]	lat	where the latitude will be updated
[out]	lon	where the longitude will be updated