Detailed Description

Base abstract class for maneuver tasks.

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

virtual	~Maneuver ()

void	onEntityReservation (void)

void	onResourceInitialization (void)

virtual void	onManeuverActivation (void)

virtual void	onManeuverDeactivation (void)

virtual void	onPathControlState (const IMC::PathControlState *pcs)

void	onActivation (void)

void	onDeactivation (void)

template<typename T , typename M >
void	startManeuver (const M *maneuver)

template<typename T , typename M >
void	bindToManeuver (void)

template<typename T >
void	bindToManeuvers (T *task_obj, const std::vector< uint32_t > &list)

template<typename M , typename T >
void	consumeIfActive (const M *msg)

template<typename M , typename T >
void	bind (T *task_obj, bool always=false)

void	consume (const IMC::StopManeuver *sm)

void	consume (const IMC::PathControlState *pcs)

void	setControl (uint32_t mask)

void	setEntityId (unsigned eid)

void	dispatch (IMC::Message *msg, unsigned int flags=0)

void	dispatch (IMC::Message &msg, unsigned int flags=0)

void	dispatch (IMC::DesiredPath *msg, unsigned int flags=0)

void	dispatch (IMC::DesiredPath &msg, unsigned int flags=0)

virtual void	onStateReport (void)

void	updateLoops (const IMC::ControlLoops *cl)

void	signalError (const std::string &msg)

void	signalInvalidZ (void)

void	signalNoAltitude (void)

void	signalCompletion (const std::string &msg="done")

void	signalProgress (uint16_t time_left, const std::string &msg)

void	signalProgress (const std::string &msg)

void	signalProgress (uint16_t time_left)

void	signalProgress (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)

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	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	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

DUNE::Maneuvers::Maneuver::Maneuver	(	const std::string &	name,
		Tasks::Context &	ctx
	)

Constructor.

DUNE::Maneuvers::Maneuver::~Maneuver ( void )

virtual

Destructor.

Member Function Documentation

template<typename M , typename T >

void DUNE::Maneuvers::Maneuver::bind	(	T *	task_obj,
		bool	always = `false`
	)

inline

References consume(), and setControl().

template<typename T , typename M >

void DUNE::Maneuvers::Maneuver::bindToManeuver ( void )

inline

template<typename T >

void DUNE::Maneuvers::Maneuver::bindToManeuvers	(	T *	task_obj,
		const std::vector< uint32_t > &	list
	)

inline

void DUNE::Maneuvers::Maneuver::consume ( const IMC::StopManeuver * sm )

Consumer for StopManeuver message.

Parameters

sm	message to consume.

References dispatch(), DUNE::IMC::ManeuverControlState::eta, DUNE::IMC::ManeuverControlState::info, DUNE::Tasks::Task::isActive(), DUNE::IMC::ManeuverControlState::MCS_STOPPED, DUNE::Tasks::Task::requestDeactivation(), and DUNE::IMC::ManeuverControlState::state.

Referenced by bind(), consumeIfActive(), and startManeuver().

void DUNE::Maneuvers::Maneuver::consume ( const IMC::PathControlState * pcs )

Consumer for PathControlState message.

Parameters

pcs	message to consume.

References DUNE::Tasks::Task::isActive(), onPathControlState(), and DUNE::IMC::PathControlState::path_ref.

template<typename M , typename T >

void DUNE::Maneuvers::Maneuver::consumeIfActive ( const M * msg )

inline

References consume(), and DUNE::Tasks::Task::isActive().

void DUNE::Maneuvers::Maneuver::dispatch	(	IMC::Message *	msg,
		unsigned int	flags = `0`
	)

inline

Dispatch needs to be handled in a special fashion for DesiredPath.

This function handles every other kind of message.

Parameters

[in]	msg	message pointer.
[in]	flags	bitfield with flags.

References DUNE::Tasks::DF_KEEP_SRC_EID, and DUNE::IMC::Message::setSourceEntity().

Referenced by consume(), dispatch(), onMain(), setControl(), signalCompletion(), signalError(), and signalProgress().

void DUNE::Maneuvers::Maneuver::dispatch	(	IMC::Message &	msg,
		unsigned int	flags = `0`
	)

inline

Dispatch needs to be handled in a special fashion for DesiredPath.

This function handles every other kind of message.

Parameters

[in]	msg	message reference.
[in]	flags	bitfield with flags.

References dispatch().

void DUNE::Maneuvers::Maneuver::dispatch	(	IMC::DesiredPath *	msg,
		unsigned int	flags = `0`
	)

inline

Dispatch needs to be handled in a special fashion for DesiredPath.

Parameters

[in]	msg	message pointer.
[in]	flags	bitfield with flags.

References DUNE::Tasks::DF_KEEP_SRC_EID, DUNE::IMC::DesiredPath::path_ref, and DUNE::IMC::Message::setSourceEntity().

void DUNE::Maneuvers::Maneuver::dispatch	(	IMC::DesiredPath &	msg,
		unsigned int	flags = `0`
	)

inline

Dispatch needs to be handled in a special fashion for DesiredPath.

Parameters

[in]	msg	message reference.
[in]	flags	bitfield with flags.

References dispatch().

void DUNE::Maneuvers::Maneuver::onActivation ( void )

virtual

On task activation Should be used only by parent class Maneuver.

Reimplemented from DUNE::Tasks::Task.

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

Referenced by onPathControlState().

void DUNE::Maneuvers::Maneuver::onDeactivation ( void )

virtual

On task deactivation Should be used only by parent class Maneuver.

Reimplemented from DUNE::Tasks::Task.

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

Referenced by onPathControlState().

void DUNE::Maneuvers::Maneuver::onEntityReservation ( void )

virtual

On entity reservation.

Reimplemented from DUNE::Tasks::Task.

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

void DUNE::Maneuvers::Maneuver::onMain ( void )

virtual

Implements DUNE::Tasks::Task.

References dispatch(), DUNE::Tasks::Task::isActive(), DUNE::IMC::RegisterManeuver::mid, onStateReport(), DUNE::Tasks::Task::stopping(), and DUNE::Tasks::Task::waitForMessages().

Referenced by signalProgress().

virtual void DUNE::Maneuvers::Maneuver::onManeuverActivation ( void )

inlinevirtual

On maneuver activation.

Referenced by onActivation().

virtual void DUNE::Maneuvers::Maneuver::onManeuverDeactivation ( void )

inlinevirtual

On maneuver deactivation.

Referenced by onDeactivation().

virtual void DUNE::Maneuvers::Maneuver::onPathControlState ( const IMC::PathControlState * pcs )

inlinevirtual

On Path Control State.

References onActivation(), and onDeactivation().

Referenced by consume().

void DUNE::Maneuvers::Maneuver::onResourceInitialization ( void )

inlinevirtual

On resource initialization.

Reimplemented from DUNE::Tasks::Task.

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

virtual void DUNE::Maneuvers::Maneuver::onStateReport ( void )

inlinevirtual

State report handler.

It should be overriden by maneuvers where it convenient to do so in time-triggered manner rather than in response to a particular message.

References signalCompletion(), signalError(), signalInvalidZ(), signalNoAltitude(), signalProgress(), and updateLoops().

Referenced by onMain().

void DUNE::Maneuvers::Maneuver::setControl ( uint32_t mask )

Set or reconfigure control loops used by maneuver task.

Parameters

mask	mask identifying controllers that should be made active.

References DUNE::IMC::CL_ALL, DUNE::IMC::ControlLoops::CL_DISABLE, DUNE::IMC::ControlLoops::CL_ENABLE, dispatch(), DUNE::IMC::ControlLoops::enable, DUNE::IMC::ControlLoops::mask, DUNE::IMC::ControlLoops::scope_ref, and updateLoops().

Referenced by bind().

void DUNE::Maneuvers::Maneuver::setEntityId ( unsigned eid )

inline

Set entity Id for dispatching message Useful for maneuvers binding to more than one maneuver message.

void DUNE::Maneuvers::Maneuver::signalCompletion ( const std::string & msg = "done" )

Signal an error.

This method should be used by subclasses to signal maneuver completion.

Parameters

msg	completion message

References DUNE::Tasks::Task::debug(), dispatch(), DUNE::IMC::ManeuverControlState::eta, DUNE::IMC::ManeuverControlState::info, DUNE::IMC::ManeuverControlState::MCS_DONE, DUNE::Tasks::Task::requestDeactivation(), and DUNE::IMC::ManeuverControlState::state.

Referenced by onStateReport().

void DUNE::Maneuvers::Maneuver::signalError ( const std::string & msg )

Signal an error.

This method should be used by subclasses to signal an error condition.

Parameters

msg	error message

References dispatch(), DUNE::Tasks::Task::err(), DUNE::IMC::ManeuverControlState::eta, DUNE::IMC::ManeuverControlState::info, DUNE::IMC::ManeuverControlState::MCS_ERROR, DUNE::Tasks::Task::requestDeactivation(), and DUNE::IMC::ManeuverControlState::state.

Referenced by onStateReport(), signalInvalidZ(), and signalNoAltitude().

void DUNE::Maneuvers::Maneuver::signalInvalidZ ( void )

Signal invalid Z reference This method should be used by subclasses to signal an error condition.

References signalError().

Referenced by onStateReport().

void DUNE::Maneuvers::Maneuver::signalNoAltitude ( void )

Signal no altitude error.

This method should be used by subclasses to signal an error condition.

References signalError().

Referenced by onStateReport().

void DUNE::Maneuvers::Maneuver::signalProgress	(	uint16_t	time_left,
		const std::string &	msg
	)

Signal maneuver progress.

Parameters

time_left	estimated time for completion.
msg	human-readable information.

References dispatch(), DUNE::IMC::ManeuverControlState::eta, DUNE::IMC::ManeuverControlState::info, DUNE::IMC::ManeuverControlState::MCS_EXECUTING, and DUNE::IMC::ManeuverControlState::state.

Referenced by onStateReport(), and startManeuver().

void DUNE::Maneuvers::Maneuver::signalProgress ( const std::string & msg )

inline

Signal maneuver progress.

Parameters

msg	human-readable information.

void DUNE::Maneuvers::Maneuver::signalProgress ( uint16_t time_left )

inline

Signal maneuver progress.

Parameters

time_left estimated time for completion.

void DUNE::Maneuvers::Maneuver::signalProgress ( void )

inline

Signal maneuver progress.

References onMain().

template<typename T , typename M >

void DUNE::Maneuvers::Maneuver::startManeuver ( const M * maneuver )

inline

Method fired on maneuver startup.

It performs some initialization, then delegates handling on the task's consume method for the message.

Parameters

maneuver maneuver object

References consume(), DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::requestActivation(), and signalProgress().

void DUNE::Maneuvers::Maneuver::updateLoops ( const IMC::ControlLoops * cl )

Update active control loops.

Parameters

cl	control loops message

References DUNE::IMC::ControlLoops::CL_ENABLE, DUNE::IMC::ControlLoops::enable, and DUNE::IMC::ControlLoops::mask.

Referenced by onStateReport(), and setControl().

Collaboration diagram for DUNE::Maneuvers::Maneuver:

Detailed Description

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation