Control::AUV::Allocator::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onUpdateParameters (void)
void	onActivation (void)
void	onDeactivation (void)
void	reset (void)
void	onResourceRelease (void)
void	onResourceInitialization (void)
void	onEntityResolution (void)
void	consume (const IMC::Brake *msg)
void	consume (const IMC::ServoPosition *msg)
void	consume (const IMC::DesiredControl *msg)
void	consume (const IMC::ControlLoops *msg)
void	consume (const IMC::EstimatedState *msg)
void	consume (const IMC::Rpm *msg)
void	allocate (float k, float m, float n)
void	brake (float k, float m)
void	brake (void)
void	brakePitch (void)
void	computeProducedTorque (void)
void	dispatchAllFins (void)
void	onMain (void)
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
IMC::SetServoPosition	m_fins [c_fins]
IMC::SetServoPosition	m_last [c_fins]
IMC::AllocatedControlTorques	m_allocated
IMC::EstimatedState *	m_last_estimated_state
IMC::Rpm *	m_last_rpm
bool	m_braking
unsigned	m_spos_ent
float	m_servo_pos [c_fins]
uint32_t	m_scope_ref
Time::Delta	m_delta
Arguments	m_args
Math::MovingAverage< double > *	m_avg_ms
Math::MovingAverage< double > *	m_avg_rpm

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	onReportEntityState (void)
virtual void	onResourceAcquisition (void)
virtual void	onRequestActivation (void)
virtual void	onRequestDeactivation (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

Control::AUV::Allocator::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Control::AUV::Allocator::Arguments::brake_margin, DUNE::Tasks::Context::config, Control::AUV::Allocator::Arguments::conv, DUNE::Tasks::Parameter::defaultValue(), DUNE::Parsers::Config::get(), Control::AUV::Allocator::Arguments::k_pitch, Control::AUV::Allocator::Arguments::k_roll, Control::AUV::Allocator::Arguments::k_yaw, m_args, m_avg_ms, m_avg_rpm, DUNE::Tasks::Task::m_ctx, Control::AUV::Allocator::Arguments::max_fin_rate, Control::AUV::Allocator::Arguments::max_fin_rot, Control::AUV::Allocator::Arguments::max_ms, Control::AUV::Allocator::Arguments::max_rpm, Control::AUV::Allocator::Arguments::ms_minimum, DUNE::Tasks::Task::param(), Control::AUV::Allocator::Arguments::pitch_brake, Control::AUV::Allocator::Arguments::roll_not_velocity_dependent, Control::AUV::Allocator::Arguments::rpm_minimum, DUNE::Tasks::Task::setEntityState(), Control::AUV::Allocator::Arguments::spos_label, Control::AUV::Allocator::Arguments::velocity_dependent, and Control::AUV::Allocator::Arguments::velocity_dependent_unit.

Member Function Documentation

void Control::AUV::Allocator::Task::allocate ( float  k, float  m, float  n  )

inline

Allocate desired control torques on the fins.

Parameters

[in]	k	desired control torque in roll
[in]	m	desired control torque in pitch
[in]	n	desired control torque in yaw

References Control::AUV::Allocator::Arguments::conv, DUNE::Tasks::Task::dispatch(), dispatchAllFins(), Control::AUV::Allocator::Arguments::k_pitch, Control::AUV::Allocator::Arguments::k_roll, Control::AUV::Allocator::Arguments::k_yaw, m_allocated, m_args, m_avg_ms, m_avg_rpm, m_fins, m_last_estimated_state, m_last_rpm, Control::AUV::Allocator::Arguments::max_fin_rot, Control::AUV::Allocator::Arguments::max_ms, Control::AUV::Allocator::Arguments::max_rpm, Control::AUV::Allocator::Arguments::ms_minimum, Control::AUV::Allocator::Arguments::roll_not_velocity_dependent, Control::AUV::Allocator::Arguments::rpm_minimum, DUNE::Math::trimValue(), DUNE::Math::trimValueMod(), Control::AUV::Allocator::Arguments::velocity_dependent, and Control::AUV::Allocator::Arguments::velocity_dependent_unit.

Referenced by consume().

void Control::AUV::Allocator::Task::brake ( float  k, float  m  )

inline

Parameters

[in]	k	torque about x to apply
[in]	m	torque about y to apply

References Control::AUV::Allocator::Arguments::brake_margin, Control::AUV::Allocator::Arguments::conv, dispatchAllFins(), m_args, m_fins, Control::AUV::Allocator::Arguments::max_fin_rot, and DUNE::Math::trimValue().

void Control::AUV::Allocator::Task::brake ( void  )

inline

Brake but ignore desired control.

References dispatchAllFins(), m_args, m_fins, and Control::AUV::Allocator::Arguments::max_fin_rot.

Referenced by consume().

void Control::AUV::Allocator::Task::brakePitch ( void  )

inline

Change my pitch up.

References dispatchAllFins(), m_args, m_fins, and Control::AUV::Allocator::Arguments::max_fin_rot.

Referenced by consume().

void Control::AUV::Allocator::Task::computeProducedTorque ( void  )

inline

Compute actually produced torque.

References DUNE::Tasks::Task::dispatch(), and m_servo_pos.

Referenced by consume().

void Control::AUV::Allocator::Task::consume ( const IMC::Brake *  msg )

inline

References brake(), brakePitch(), m_args, m_braking, and Control::AUV::Allocator::Arguments::pitch_brake.

void Control::AUV::Allocator::Task::consume ( const IMC::ServoPosition *  msg )

inline

References computeProducedTorque(), m_servo_pos, and m_spos_ent.

void Control::AUV::Allocator::Task::consume ( const IMC::DesiredControl *  msg )

inline

References allocate(), brake(), Control::AUV::Allocator::Arguments::brake_margin, brakePitch(), DUNE::Tasks::Task::isActive(), m_args, m_braking, and Control::AUV::Allocator::Arguments::pitch_brake.

void Control::AUV::Allocator::Task::consume ( const IMC::ControlLoops *  msg )

inline

References allocate(), DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::isActive(), m_scope_ref, DUNE::Tasks::Task::requestActivation(), and reset().

void Control::AUV::Allocator::Task::consume ( const IMC::EstimatedState *  msg )

inline

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

void Control::AUV::Allocator::Task::consume ( const IMC::Rpm *  msg )

inline

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

void Control::AUV::Allocator::Task::dispatchAllFins ( void  )

inline

Dispatch all fins desired positions.

References DUNE::Tasks::Task::dispatch(), m_args, m_delta, m_fins, m_last, DUNE::Math::max(), and Control::AUV::Allocator::Arguments::max_fin_rate.

Referenced by allocate(), brake(), and brakePitch().

void Control::AUV::Allocator::Task::onActivation ( void  )

inlinevirtual

Called when the task starts/resumes normal execution.

Reimplemented from DUNE::Tasks::Task.

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

void Control::AUV::Allocator::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 Control::AUV::Allocator::Task::onEntityResolution ( void  )

inlinevirtual

Resolve entities for messages.

Reimplemented from DUNE::Tasks::Task.

References m_args, m_spos_ent, DUNE::Tasks::Task::resolveEntity(), and Control::AUV::Allocator::Arguments::spos_label.

void Control::AUV::Allocator::Task::onMain ( void  )

inlinevirtual

Implements DUNE::Tasks::Task.

References DUNE::Tasks::Task::stopping(), and DUNE::Tasks::Task::waitForMessages().

void Control::AUV::Allocator::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 m_args, m_avg_ms, m_avg_rpm, m_fins, m_last, m_servo_pos, Control::AUV::Allocator::Arguments::ms_minimum, reset(), and Control::AUV::Allocator::Arguments::rpm_minimum.

void Control::AUV::Allocator::Task::onResourceRelease ( void  )

inlinevirtual

Release resources.

Reimplemented from DUNE::Tasks::Task.

References m_avg_ms, m_avg_rpm, m_last_estimated_state, and m_last_rpm.

void Control::AUV::Allocator::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, Control::AUV::Allocator::Arguments::max_fin_rate, Control::AUV::Allocator::Arguments::max_fin_rot, and DUNE::Tasks::Task::paramChanged().

void Control::AUV::Allocator::Task::reset ( void  )

inline

References m_braking, and DUNE::Tasks::Task::requestDeactivation().

Referenced by consume(), and onResourceInitialization().

Member Data Documentation

IMC::AllocatedControlTorques Control::AUV::Allocator::Task::m_allocated

Allocated torques feedback message.

Referenced by allocate().

Arguments Control::AUV::Allocator::Task::m_args

Task arguments.

Referenced by allocate(), brake(), brakePitch(), consume(), dispatchAllFins(), onEntityResolution(), onResourceInitialization(), onUpdateParameters(), and Task().

Math::MovingAverage<double>* Control::AUV::Allocator::Task::m_avg_ms

Referenced by allocate(), onResourceInitialization(), onResourceRelease(), and Task().

Math::MovingAverage<double>* Control::AUV::Allocator::Task::m_avg_rpm

Referenced by allocate(), onResourceInitialization(), onResourceRelease(), and Task().

bool Control::AUV::Allocator::Task::m_braking

Braking.

Referenced by consume(), and reset().

Time::Delta Control::AUV::Allocator::Task::m_delta

Time Delta.

Referenced by dispatchAllFins().

IMC::SetServoPosition Control::AUV::Allocator::Task::m_fins[c_fins]

Fin commands.

Referenced by allocate(), brake(), brakePitch(), dispatchAllFins(), and onResourceInitialization().

IMC::SetServoPosition Control::AUV::Allocator::Task::m_last[c_fins]

Fin last commands.

Referenced by dispatchAllFins(), and onResourceInitialization().

IMC::EstimatedState* Control::AUV::Allocator::Task::m_last_estimated_state

Last lats EstimatedState.

Referenced by allocate(), consume(), and onResourceRelease().

IMC::Rpm* Control::AUV::Allocator::Task::m_last_rpm

Last lats Rpm.

Referenced by allocate(), consume(), and onResourceRelease().

uint32_t Control::AUV::Allocator::Task::m_scope_ref

Control loops last reference.

Referenced by consume().

float Control::AUV::Allocator::Task::m_servo_pos[c_fins]

Servo positions.

Referenced by computeProducedTorque(), consume(), and onResourceInitialization().

unsigned Control::AUV::Allocator::Task::m_spos_ent

Entity id for the servo position messages.

Referenced by consume(), and onEntityResolution().

Collaboration diagram for Control::AUV::Allocator::Task: