Control::ROV::Depth::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	reset (void)
void	onResourceInitialization (void)
void	onUpdateParameters (void)
void	onEntityReservation (void)
void	onEstimatedState (const double timestep, const IMC::EstimatedState *msg)
float	depthControl (const double timestep, const IMC::EstimatedState *msg)
Public Member Functions inherited from DUNE::Control::BasicAutopilot
	BasicAutopilot (const std::string &name, Tasks::Context &ctx, const uint32_t controllable_loops, const uint32_t required_loops)
virtual	~BasicAutopilot (void)
virtual void	onResourceAcquisition (void)
virtual void	onResourceRelease (void)
virtual void	onEstimatedState (const double timestep, const IMC::EstimatedState *msg)=0
void	consume (const IMC::EstimatedState *msg)
void	consume (const IMC::DesiredZ *msg)
void	consume (const IMC::DesiredPitch *msg)
void	consume (const IMC::DesiredHeading *msg)
void	consume (const IMC::DesiredHeadingRate *msg)
void	consume (const IMC::ControlLoops *msg)
void	consume (const IMC::DesiredVelocity *msg)
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
DiscretePID	m_depth_pid
DiscretePID	m_heave_pid
IMC::SetThrusterActuation	m_thrust
IMC::ControlParcel	m_depth_parcels
IMC::ControlParcel	m_heave_parcels
Arguments	m_args

Additional Inherited Members
Public Types inherited from DUNE::Concurrency::Runnable
Protected Types inherited from DUNE::Control::BasicAutopilot
Protected Member Functions inherited from DUNE::Control::BasicAutopilot
virtual void	onAutopilotActivation (void)
virtual void	onAutopilotDeactivation (void)
void	onDeactivation (void)
void	onActivation (void)
void	signalBadYaw (const char *desc=DTR("yaw control mode %d not supported"))
void	signalBadVertical (const char *desc=DTR("vertical control mode %d not supported"))
float	getVerticalRef (void) const
VerticalMode	getVerticalMode (void) const
float	getYawRef (void) const
YawMode	getYawMode (void) const
float	getSurgeRef (void) const
float	getSwayRef (void) const
float	getBottomFollowDepth (void) const
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	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::ROV::Depth::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Control::ROV::Depth::Arguments::depth_gains, Control::ROV::Depth::Arguments::heave_gains, Control::ROV::Depth::Arguments::int_depth_limit, Control::ROV::Depth::Arguments::log_parcels, Control::ROV::Depth::Arguments::max_heave, Control::ROV::Depth::Arguments::max_thrust, and Control::ROV::Depth::Arguments::vmotor_id.

Member Function Documentation

float Control::ROV::Depth::Task::depthControl ( const double  timestep, const IMC::EstimatedState *  msg  )

inline

Compute thrust to comply with heave reference.

void Control::ROV::Depth::Task::onEntityReservation ( void  )

inlinevirtual

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

See reserveEntity(). Derived classes that need to reserve entity identifiers other than that of the main entity should override this function.

Reimplemented from DUNE::Tasks::Task.

References Control::ROV::Depth::Arguments::log_parcels.

void Control::ROV::Depth::Task::onEstimatedState ( const double  timestep, const IMC::EstimatedState *  msg  )

inline

References Control::ROV::Depth::Arguments::vmotor_id.

void Control::ROV::Depth::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::Control::BasicAutopilot.

void Control::ROV::Depth::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::ROV::Depth::Arguments::depth_gains, Control::ROV::Depth::Arguments::heave_gains, Control::ROV::Depth::Arguments::int_depth_limit, Control::ROV::Depth::Arguments::log_parcels, Control::ROV::Depth::Arguments::max_heave, and Control::ROV::Depth::Arguments::max_thrust.

void Control::ROV::Depth::Task::reset ( void  )

inlinevirtual

Reset to initial values.

Reimplemented from DUNE::Control::BasicAutopilot.

References Control::ROV::Depth::Arguments::vmotor_id.

Member Data Documentation

Arguments Control::ROV::Depth::Task::m_args

Task Arguments.

IMC::ControlParcel Control::ROV::Depth::Task::m_depth_parcels

Depth PID parcels.

DiscretePID Control::ROV::Depth::Task::m_depth_pid

Depth PID controller.

IMC::ControlParcel Control::ROV::Depth::Task::m_heave_parcels

Heave PID parcels.

DiscretePID Control::ROV::Depth::Task::m_heave_pid

Heave speed PID controller.

IMC::SetThrusterActuation Control::ROV::Depth::Task::m_thrust

Desired actuation torque vector.

Collaboration diagram for Control::ROV::Depth::Task: