Detailed Description

Plan Specification parser.

Classes
struct	ParseError

Public Member Functions
	Plan (const IMC::PlanSpecification spec, bool compute_progress, bool fpredict, float max_depth, Tasks::Task task, uint16_t min_cal_time, Parsers::Config *cfg)

	~Plan (void)

void	clear (void)

void	parse (const std::set< uint16_t > supported_maneuvers, const std::map< std::string, IMC::EntityInfo > &cinfo, IMC::PlanStatistics &ps, bool imu_enabled=false, const IMC::EstimatedState state=NULL)

void	planStarted (void)

void	planStopped (void)

void	calibrationStarted (void)

void	maneuverStarted (const std::string &id)

void	maneuverDone (void)

uint16_t	getEstimatedCalibrationTime (void) const

bool	isDone (void) const

IMC::PlanManeuver *	loadStartManeuver (void)

IMC::PlanManeuver *	loadNextManeuver (void)

std::string	getCurrentId (void) const

const std::string	getCalibrationInfo (void) const

bool	isCalibrationDone (void) const

bool	hasCalibrationFailed (void) const

float	updateProgress (const IMC::ManeuverControlState *mcs)

void	updateCalibration (const IMC::VehicleState *vs)

bool	onEntityActivationState (const std::string &id, const IMC::EntityActivationState *msg)

void	onFuelLevel (const IMC::FuelLevel *msg)

float	getETA (void) const

Constructor & Destructor Documentation

Plan::Engine::Plan::Plan	(	const IMC::PlanSpecification *	spec,
		bool	compute_progress,
		bool	fpredict,
		float	max_depth,
		Tasks::Task *	task,
		uint16_t	min_cal_time,
		Parsers::Config *	cfg
	)

Default constructor.

Parameters

[in]	spec	pointer to PlanSpecification message
[in]	compute_progress	true if progress should be computed
[in]	fpredict	true if fuel prediction should be computed
[in]	max_depth	maximum admissible depth
[in]	task	pointer to task
[in]	min_cal_time	minimum calibration time in s.
[in]	cfg	pointer to config object

References Plan::Engine::Calibration.

Plan::Engine::Plan::~Plan ( void )

Destructor.

Member Function Documentation

void Plan::Engine::Plan::calibrationStarted ( void )

Signal that calibration has started.

References Plan::Engine::Calibration::setTime().

void Plan::Engine::Plan::clear ( void )

Reset data.

References Plan::Engine::Calibration::clear(), and Plan::Engine::ComponentActiveTime::clear().

Referenced by parse().

const std::string Plan::Engine::Plan::getCalibrationInfo ( void ) const

inline

Get calibration info string.

Returns: calibration info string

std::string Plan::Engine::Plan::getCurrentId ( void ) const

inline

Get current maneuver id.

Returns: current id string

Referenced by getETA().

uint16_t Plan::Engine::Plan::getEstimatedCalibrationTime ( void ) const

Get necessary calibration time.

Returns: necessary calibration time

float Plan::Engine::Plan::getETA ( void ) const

Get current estimated time of arrival.

Returns: ETA

References Plan::Engine::ActionSchedule, Plan::Engine::ActionSchedule::calibTimeLeft(), Plan::Engine::PreStatistics::fill(), Plan::Engine::ActionSchedule::fillComponentActiveTime(), Plan::Engine::FuelPrediction, getCurrentId(), Plan::Engine::ActionSchedule::getEarliestSchedule(), Plan::Engine::Timeline::getPlanETA(), Plan::Engine::Calibration::getRemaining(), Plan::Engine::Calibration::inProgress(), Plan::Engine::Calibration::notStarted(), Plan::Engine::Timeline::setManeuverETA(), Plan::Engine::Timeline::setPlanETA(), Plan::Engine::Statistics::setProperties(), DUNE::Math::trimValue(), and Plan::Engine::ActionSchedule::waitingForDevice().

Referenced by updateProgress().

bool Plan::Engine::Plan::hasCalibrationFailed ( void ) const

inline

Has calibration failed.

Returns: true if so, false otherwise

bool Plan::Engine::Plan::isCalibrationDone ( void ) const

inline

Is calibration done.

Returns: true if so, false otherwise

bool Plan::Engine::Plan::isDone ( void ) const

Check if plan has been completed.

Returns: true if plan is done

IMC::PlanManeuver * Plan::Engine::Plan::loadNextManeuver ( void )

Get next maneuver message.

Returns: NULL if maneuver id is invalid

IMC::PlanManeuver * Plan::Engine::Plan::loadStartManeuver ( void )

Get start maneuver message.

Returns: NULL if start maneuver id is invalid

void Plan::Engine::Plan::maneuverDone ( void )

Signal that current maneuver is done.

References Plan::Engine::ActionSchedule::maneuverDone(), and Plan::Engine::RunTimeStatistics::maneuverStopped().

void Plan::Engine::Plan::maneuverStarted ( const std::string & id )

Signal that a maneuver has started.

Parameters

[in] id name of the started maneuver

References Plan::Engine::ActionSchedule::maneuverStarted(), and Plan::Engine::RunTimeStatistics::maneuverStarted().

bool Plan::Engine::Plan::onEntityActivationState	(	const std::string &	id,
		const IMC::EntityActivationState *	msg
	)

Pass EntityActivationState to scheduler.

Parameters

[in]	id	entity label
[in]	msg	pointer to EntityActivationState message

Returns: false if something failed to be activated, true otherwise

References Plan::Engine::ActionSchedule::onEntityActivationState().

void Plan::Engine::Plan::onFuelLevel ( const IMC::FuelLevel * msg )

Pass FuelLevel to FuelPrediction.

Parameters

[in] msg FuelLevel message

References Plan::Engine::FuelPrediction::onFuelLevel().

void Plan::Engine::Plan::parse	(	const std::set< uint16_t > *	supported_maneuvers,
		const std::map< std::string, IMC::EntityInfo > &	cinfo,
		IMC::PlanStatistics &	ps,
		bool	imu_enabled = `false`,
		const IMC::EstimatedState *	state = `NULL`
	)

Parse a given plan.

Parameters

[in]	supported_maneuvers	list of supported maneuvers
[in]	cinfo	map of components info
[out]	ps	reference to PlanStatistics message
[in]	imu_enabled	true if imu enabled, false otherwise
[in]	state	pointer to EstimatedState message