Simulators::UAV::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onUpdateParameters (void)
void	onResourceRelease (void)
void	onResourceAcquisition (void)
void	consume (const IMC::GpsFix *msg)
void	consume (const IMC::DesiredRoll *msg)
void	consume (const IMC::DesiredSpeed *msg)
void	consume (const IMC::DesiredZ *msg)
void	consume (const IMC::DesiredPitch *msg)
bool	commandFilter (const IMC::Message *msg)
void	commandPrintOut (const IMC::Message *msg, const double *d_msg_value)
Matrix	matrixRotRbody2gnd (float roll, float pitch)
Matrix	matrixRotRgnd2body (float roll, float pitch)
Matrix	matrixJ (float roll, float pitch, float yaw)
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
Arguments	m_args
DUNE::Simulation::UAVSimulation *	m_model
IMC::SimulatedState	m_sstate
double	m_start_time
double	m_last_update
double	m_last_time_debug
double	m_last_time_trace
float	m_thruster_act
Matrix	m_servo_pos
Matrix	m_position
Matrix	m_velocity
Matrix	m_wind
DUNE::Tasks::SourceFilter *	m_cmd_flt
uint32_t	m_alias_id

Additional Inherited Members
Public Types inherited from DUNE::Concurrency::Runnable
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	onResourceInitialization (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

Simulators::UAV::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Simulators::UAV::Arguments::aac, Simulators::UAV::Arguments::addedmass, Simulators::UAV::Arguments::base_drag, Simulators::UAV::Arguments::c_alt, Simulators::UAV::Arguments::c_bank, Simulators::UAV::Arguments::c_speed, Simulators::UAV::Arguments::cmd_src, Simulators::UAV::Arguments::elev_lift, Simulators::UAV::Arguments::fac, Simulators::UAV::Arguments::inertia, Simulators::UAV::Arguments::init_alt, Simulators::UAV::Arguments::init_hei, Simulators::UAV::Arguments::init_lat, Simulators::UAV::Arguments::init_lon, Simulators::UAV::Arguments::init_roll, Simulators::UAV::Arguments::init_speed, Simulators::UAV::Arguments::init_yaw, Simulators::UAV::Arguments::l_accel_x, Simulators::UAV::Arguments::l_bank_rate, Simulators::UAV::Arguments::l_vert_slope, Simulators::UAV::Arguments::label_gps, Simulators::UAV::Arguments::lift, Simulators::UAV::Arguments::mass, Simulators::UAV::Arguments::max_thrust, DUNE::Math::min(), Simulators::UAV::Arguments::quadratic_drag, Simulators::UAV::Arguments::rud_lift, Simulators::UAV::Arguments::sim_type, Simulators::UAV::Arguments::src_alias, Simulators::UAV::Arguments::tac, Simulators::UAV::Arguments::wac, Simulators::UAV::Arguments::wx, and Simulators::UAV::Arguments::wy.

Member Function Documentation

bool Simulators::UAV::Task::commandFilter ( const IMC::Message *  msg )

inline

References DUNE::Tasks::SourceFilter::match().

void Simulators::UAV::Task::commandPrintOut ( const IMC::Message *  msg, const double *  d_msg_value  )

inline

References DUNE::Math::Angles::degrees().

void Simulators::UAV::Task::consume ( const IMC::GpsFix *  msg )

inline

References DUNE::Simulation::UAVSimulation::setPosition().

void Simulators::UAV::Task::consume ( const IMC::DesiredRoll *  msg )

inline

References DUNE::Simulation::UAVSimulation::commandBank().

void Simulators::UAV::Task::consume ( const IMC::DesiredSpeed *  msg )

inline

References DUNE::Simulation::UAVSimulation::commandAirspeed().

void Simulators::UAV::Task::consume ( const IMC::DesiredZ *  msg )

inline

References DUNE::Simulation::UAVSimulation::commandAlt().

void Simulators::UAV::Task::consume ( const IMC::DesiredPitch *  msg )

inline

References DUNE::Simulation::UAVSimulation::commandFPA().

Matrix Simulators::UAV::Task::matrixJ ( float  roll, float  pitch, float  yaw  )

inline

References DUNE::Math::Matrix::horzCat(), DUNE::Math::Matrix::toDCM(), and DUNE::Math::Matrix::vertCat().

Matrix Simulators::UAV::Task::matrixRotRbody2gnd ( float  roll, float  pitch  )

inline

Matrix Simulators::UAV::Task::matrixRotRgnd2body ( float  roll, float  pitch  )

inline

void Simulators::UAV::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 Simulators::UAV::Arguments::c_alt, Simulators::UAV::Arguments::c_bank, Simulators::UAV::Arguments::c_speed, Simulators::UAV::Arguments::cmd_src, DUNE::Simulation::UAVSimulation::command(), DUNE::Math::Angles::degrees(), Simulators::UAV::Arguments::init_alt, Simulators::UAV::Arguments::init_roll, Simulators::UAV::Arguments::init_speed, Simulators::UAV::Arguments::init_yaw, Simulators::UAV::Arguments::l_accel_x, Simulators::UAV::Arguments::l_bank_rate, Simulators::UAV::Arguments::l_vert_slope, DUNE::Simulation::UAVSimulation::m_sim_type, DUNE::Simulation::UAVSimulation::m_wind, DUNE::Math::Angles::radians(), DUNE::Simulation::UAVSimulation::setAccelLim(), DUNE::Simulation::UAVSimulation::setBankRateLim(), DUNE::Simulation::UAVSimulation::setVertSlopeLim(), Simulators::UAV::Arguments::sim_type, DUNE::Simulation::UAVSimulation, Simulators::UAV::Arguments::wx, and Simulators::UAV::Arguments::wy.

void Simulators::UAV::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.

void Simulators::UAV::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 Simulators::UAV::Arguments::init_hei, Simulators::UAV::Arguments::init_lat, Simulators::UAV::Arguments::init_lon, DUNE::Simulation::UAVSimulation::m_wind, DUNE::Math::Angles::radians(), Simulators::UAV::Arguments::src_alias, Simulators::UAV::Arguments::wx, and Simulators::UAV::Arguments::wy.

void Simulators::UAV::Task::task ( void  )

inlinevirtual

The task to be executed on each cycle.

Implements DUNE::Tasks::Periodic.

References DUNE::Math::Matrix::get(), DUNE::Simulation::UAVSimulation::getPosition(), DUNE::Simulation::UAVSimulation::getVelocity(), DUNE::Simulation::UAVSimulation::m_wind, DUNE::Math::Matrix::toDCM(), DUNE::Math::transpose(), and DUNE::Simulation::UAVSimulation::update().

Member Data Documentation

uint32_t Simulators::UAV::Task::m_alias_id

System alias id.

Arguments Simulators::UAV::Task::m_args

Task arguments.

DUNE::Tasks::SourceFilter* Simulators::UAV::Task::m_cmd_flt

Gps simulator entity id.

Commands filter

double Simulators::UAV::Task::m_last_time_debug

Last time debug information was shown.

double Simulators::UAV::Task::m_last_time_trace

double Simulators::UAV::Task::m_last_update

Last time update was ran.

DUNE::Simulation::UAVSimulation* Simulators::UAV::Task::m_model

Simulation vehicle.

Matrix Simulators::UAV::Task::m_position

Vehicle position.

Matrix Simulators::UAV::Task::m_servo_pos

Set Servo positions.

IMC::SimulatedState Simulators::UAV::Task::m_sstate

Simulated position (X,Y,Z).

double Simulators::UAV::Task::m_start_time

Start time.

float Simulators::UAV::Task::m_thruster_act

Actuation in the thruster.

Matrix Simulators::UAV::Task::m_velocity

Vehicle velocity vector.

Matrix Simulators::UAV::Task::m_wind

Wind velocity vector.

Collaboration diagram for Simulators::UAV::Task: