Monitors::FuelLevel::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
	~Task (void)
void	onUpdateParameters (void)
void	onResourceRelease (void)
void	onResourceAcquisition (void)
void	onEntityResolution (void)
void	consume (const IMC::Voltage *msg)
void	consume (const IMC::Current *msg)
void	consume (const IMC::Temperature *msg)
void	consume (const IMC::VehicleState *msg)
void	consume (const IMC::EntityActivationState *msg)
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)
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
FuelFilter *	m_fuel_filter
IMC::FuelLevel	m_fuel
unsigned	m_eids [BatteryData::BM_TOTAL]
bool	m_volt_error_level
float	m_volt_bat
bool	m_filter_ready
EPMap	m_epower
Power::Model *	m_power_model
std::vector< std::string >	m_op_labels
std::vector< float >	m_op_values
Arguments	m_args

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	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

Monitors::FuelLevel::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Monitors::FuelLevel::FuelFilter::Arguments::acceptable_temperature, Monitors::FuelLevel::FuelFilter::Arguments::avg_win, Monitors::FuelLevel::Arguments::battery_packs, Monitors::FuelLevel::BatteryData::BM_TOTAL, Monitors::FuelLevel::FuelFilter::BatteryModel::current, Monitors::FuelLevel::FuelFilter::Arguments::decay_factor, Monitors::FuelLevel::Arguments::elb, Monitors::FuelLevel::FuelFilter::BatteryModel::energy, Monitors::FuelLevel::Arguments::err_lvl, Monitors::FuelLevel::Arguments::err_lvl_volt, Monitors::FuelLevel::Arguments::est_list, Monitors::FuelLevel::Arguments::est_power, Monitors::FuelLevel::Arguments::filter_args, Monitors::FuelLevel::FuelFilter::Arguments::full_capacity, Monitors::FuelLevel::Arguments::low_confidence, Monitors::FuelLevel::FuelFilter::MDL_TOTAL, Monitors::FuelLevel::FuelFilter::Arguments::min_samples, Monitors::FuelLevel::FuelFilter::Arguments::min_update_conf, Monitors::FuelLevel::FuelFilter::Arguments::models, Monitors::FuelLevel::FuelFilter::BatteryModel::temp, Monitors::FuelLevel::Arguments::thr_err_lvl_volt, Monitors::FuelLevel::FuelFilter::Arguments::update_anytime, Monitors::FuelLevel::FuelFilter::BatteryModel::voltage, and Monitors::FuelLevel::Arguments::war_lvl.

Monitors::FuelLevel::Task::~Task ( void  )

inlinevirtual

Destructor.

Reimplemented from DUNE::Tasks::Task.

Member Function Documentation

void Monitors::FuelLevel::Task::consume ( const IMC::Voltage *  msg )

inline

References Monitors::FuelLevel::Arguments::elb, Monitors::FuelLevel::Arguments::err_lvl_volt, and Monitors::FuelLevel::FuelFilter::onVoltage().

void Monitors::FuelLevel::Task::consume ( const IMC::Current *  msg )

inline

References Monitors::FuelLevel::FuelFilter::onCurrent().

void Monitors::FuelLevel::Task::consume ( const IMC::Temperature *  msg )

inline

References Monitors::FuelLevel::FuelFilter::onTemperature().

void Monitors::FuelLevel::Task::consume ( const IMC::VehicleState *  msg )

inline

References Monitors::FuelLevel::FuelFilter::onVehicleState().

void Monitors::FuelLevel::Task::consume ( const IMC::EntityActivationState *  msg )

inline

References Monitors::FuelLevel::FuelFilter::onEntityActivationState().

void Monitors::FuelLevel::Task::onEntityResolution ( void  )

inlinevirtual

Called when the task is instructed to resolve all the entity identifiers it needs for normal execution.

See resolveEntity(). Derived classes that need to resolve entity identifiers should override this function.

Reimplemented from DUNE::Tasks::Task.

References Monitors::FuelLevel::BatteryData::BM_TOTAL, Monitors::FuelLevel::Arguments::elb, Monitors::FuelLevel::Arguments::est_list, and Monitors::FuelLevel::Arguments::est_power.

void Monitors::FuelLevel::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 Monitors::FuelLevel::Arguments::battery_packs, Monitors::FuelLevel::FuelFilter::BatteryModel::energy, Monitors::FuelLevel::Arguments::filter_args, Monitors::FuelLevel::FuelFilter::MDL_TOTAL, and Monitors::FuelLevel::FuelFilter::Arguments::models.

void Monitors::FuelLevel::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 Monitors::FuelLevel::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 Monitors::FuelLevel::FuelFilter::Arguments::decay_factor, Monitors::FuelLevel::FuelFilter::BatteryModel::energy, Monitors::FuelLevel::Arguments::filter_args, Monitors::FuelLevel::FuelFilter::MDL_TOTAL, Monitors::FuelLevel::FuelFilter::Arguments::models, and Monitors::FuelLevel::FuelFilter::BatteryModel::voltage.

void Monitors::FuelLevel::Task::task ( void  )

inlinevirtual

The task to be executed on each cycle.

Implements DUNE::Tasks::Periodic.

References Monitors::FuelLevel::Arguments::err_lvl, Monitors::FuelLevel::Arguments::err_lvl_volt, Monitors::FuelLevel::FuelFilter::fillMessage(), Monitors::FuelLevel::Arguments::low_confidence, Monitors::FuelLevel::Arguments::thr_err_lvl_volt, Monitors::FuelLevel::FuelFilter::update(), and Monitors::FuelLevel::Arguments::war_lvl.

Member Data Documentation

Arguments Monitors::FuelLevel::Task::m_args

Task arguments.

unsigned Monitors::FuelLevel::Task::m_eids[BatteryData::BM_TOTAL]

Array of entities.

EPMap Monitors::FuelLevel::Task::m_epower

Set to gather estimated power consumption of certain entities.

bool Monitors::FuelLevel::Task::m_filter_ready

True if filter is ready and computing estimates.

IMC::FuelLevel Monitors::FuelLevel::Task::m_fuel

Fuel level message.

FuelFilter* Monitors::FuelLevel::Task::m_fuel_filter

Fuel filter.

std::vector<std::string> Monitors::FuelLevel::Task::m_op_labels

Label of the operation modes.

std::vector<float> Monitors::FuelLevel::Task::m_op_values

Corresponding value of power consumption in these modes.

Power::Model* Monitors::FuelLevel::Task::m_power_model

Power model.

float Monitors::FuelLevel::Task::m_volt_bat

Volatage level of batteries.

bool Monitors::FuelLevel::Task::m_volt_error_level

Flag to control state of voltage error level.

Collaboration diagram for Monitors::FuelLevel::Task: