Control::AUV::Speed::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onActivation (void)
void	onDeactivation (void)
void	onResourceInitialization (void)
void	onUpdateParameters (void)
void	initializePIDs (void)
void	reset (void)
void	consume (const IMC::Abort *msg)
void	consume (const IMC::Brake *msg)
void	consume (const IMC::DesiredSpeed *msg)
void	consume (const IMC::EstimatedState *msg)
void	consume (const IMC::ControlLoops *msg)
void	consume (const IMC::Rpm *msg)
void	rpmToThrust (float rpmvalue, float desired_rpm, double timestep)
void	mpsToRpm (float abs_gvel, double timestep)
void	dispatchThrust (float value, double timestep)
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
float	m_desired_speed
uint8_t	m_speed_units
Delta	m_last_rpm
Delta	m_last_mps
DiscretePID	m_rpm_pid
DiscretePID	m_mps_pid
IMC::SetThrusterActuation	m_act
IMC::SetThrusterActuation	m_last_act
float	m_desired_rpm
float	m_desired_gvel
bool	m_u_active
float	m_previous_rpm
bool	m_braking
IMC::ControlParcel	m_parcel_mps
IMC::ControlParcel	m_parcel_rpm
uint32_t	m_scope_ref
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	onEntityResolution (void)
virtual void	onReportEntityState (void)
virtual void	onResourceAcquisition (void)
virtual void	onResourceRelease (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::Speed::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Control::AUV::Speed::Arguments::hardrpms, Control::AUV::Speed::Arguments::log_parcels, Control::AUV::Speed::Arguments::max_accel, Control::AUV::Speed::Arguments::max_int_mps, Control::AUV::Speed::Arguments::max_rpm, Control::AUV::Speed::Arguments::max_thrust, Control::AUV::Speed::Arguments::min_rpm, Control::AUV::Speed::Arguments::min_thrust, Control::AUV::Speed::Arguments::mps_ffgain, Control::AUV::Speed::Arguments::mps_gains, Control::AUV::Speed::Arguments::ramp_act, Control::AUV::Speed::Arguments::rpm_ffgain, Control::AUV::Speed::Arguments::rpm_gains, and Control::AUV::Speed::Arguments::rpms_eos.

Member Function Documentation

void Control::AUV::Speed::Task::consume ( const IMC::Abort *  msg )

inline

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

inline

void Control::AUV::Speed::Task::consume ( const IMC::DesiredSpeed *  msg )

inline

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

inline

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

inline

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

inline

void Control::AUV::Speed::Task::dispatchThrust ( float  value, double  timestep  )

inline

Dispatch to bus SetThrusterActuation message.

Parameters

[in]	value	set thrust actuation value
[in]	timestep	amount of time since last control step

References Control::AUV::Speed::Arguments::ramp_act, and DUNE::Math::trimValue().

void Control::AUV::Speed::Task::initializePIDs ( void  )

inline

Initialize PID related variables.

References Control::AUV::Speed::Arguments::log_parcels, Control::AUV::Speed::Arguments::max_int_mps, Control::AUV::Speed::Arguments::max_thrust, Control::AUV::Speed::Arguments::min_thrust, Control::AUV::Speed::Arguments::mps_gains, and Control::AUV::Speed::Arguments::rpm_gains.

void Control::AUV::Speed::Task::mpsToRpm ( float  abs_gvel, double  timestep  )

inline

Convert meters per second to a desired rpm value.

Parameters

[in]	abs_gvel	absolute ground velocity
[in]	timestep	amount of time since last control step

References Control::AUV::Speed::Arguments::max_accel, Control::AUV::Speed::Arguments::max_rpm, Control::AUV::Speed::Arguments::min_rpm, and Control::AUV::Speed::Arguments::mps_ffgain.

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

inlinevirtual

Called when the task starts/resumes normal execution.

Reimplemented from DUNE::Tasks::Task.

void Control::AUV::Speed::Task::onDeactivation ( void  )

inlinevirtual

Called when the task stops normal execution and enters an idleness state.

Reimplemented from DUNE::Tasks::Task.

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

inlinevirtual

Implements DUNE::Tasks::Task.

void Control::AUV::Speed::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.

void Control::AUV::Speed::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 Control::AUV::Speed::Arguments::log_parcels, Control::AUV::Speed::Arguments::max_int_mps, Control::AUV::Speed::Arguments::max_thrust, Control::AUV::Speed::Arguments::min_thrust, Control::AUV::Speed::Arguments::mps_ffgain, Control::AUV::Speed::Arguments::mps_gains, Control::AUV::Speed::Arguments::rpm_ffgain, and Control::AUV::Speed::Arguments::rpm_gains.

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

inline

void Control::AUV::Speed::Task::rpmToThrust ( float  rpmvalue, float  desired_rpm, double  timestep  )

inline

Convert rpm value to thrust actuation.

Parameters

[in]	rpmvalue	value of rpms currently in the motor
[in]	desired_rpm	desired rpms for the motor
[in]	timestep	amount of time since last control step

References Control::AUV::Speed::Arguments::hardrpms, Control::AUV::Speed::Arguments::rpm_ffgain, and Control::AUV::Speed::Arguments::rpms_eos.

Member Data Documentation

IMC::SetThrusterActuation Control::AUV::Speed::Task::m_act

Thruster actuaction.

Arguments Control::AUV::Speed::Task::m_args

Task arguments.

bool Control::AUV::Speed::Task::m_braking

True if braking.

float Control::AUV::Speed::Task::m_desired_gvel

Last desired ground velocity.

float Control::AUV::Speed::Task::m_desired_rpm

Desired Rpms from ground velocity controller.

float Control::AUV::Speed::Task::m_desired_speed

Desired speed.

IMC::SetThrusterActuation Control::AUV::Speed::Task::m_last_act

Last thruster actuaction.

Delta Control::AUV::Speed::Task::m_last_mps

Time of last MPS message.

Delta Control::AUV::Speed::Task::m_last_rpm

Time of last RPM message.

DiscretePID Control::AUV::Speed::Task::m_mps_pid

MPS PID controller.

IMC::ControlParcel Control::AUV::Speed::Task::m_parcel_mps

Control Parcels for meters per second controller.

IMC::ControlParcel Control::AUV::Speed::Task::m_parcel_rpm

Control Parcels for rpm controller.

float Control::AUV::Speed::Task::m_previous_rpm

previous value of the desired rpm speed

DiscretePID Control::AUV::Speed::Task::m_rpm_pid

RPM PID controller.

uint32_t Control::AUV::Speed::Task::m_scope_ref

Control loops last reference.

uint8_t Control::AUV::Speed::Task::m_speed_units

Desired speed units.

bool Control::AUV::Speed::Task::m_u_active

Boolean to enable or disable the speed controller using estimated state.

Collaboration diagram for Control::AUV::Speed::Task: