Plan::Engine::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onEntityResolution (void)
void	onUpdateParameters (void)
void	onResourceRelease (void)
void	onResourceAcquisition (void)
void	onResourceInitialization (void)
void	consume (const IMC::EstimatedState *msg)
void	consume (const IMC::ManeuverControlState *msg)
void	consume (const IMC::RegisterManeuver *msg)
void	consume (const IMC::EntityInfo *msg)
void	consume (const IMC::EntityActivationState *msg)
void	consume (const IMC::FuelLevel *msg)
void	consume (const IMC::VehicleCommand *vc)
void	consume (const IMC::VehicleState *vs)
void	onVehicleService (const IMC::VehicleState *vs)
void	onVehicleManeuver (const IMC::VehicleState *vs)
void	onVehicleError (const IMC::VehicleState *vs)
void	onVehicleCalibration (const IMC::VehicleState *vs)
void	onVehicleExternalControl (const IMC::VehicleState *vs)
void	consume (const IMC::PlanControl *pc)
void	processRequest (const IMC::PlanControl *pc)
bool	loadPlan (const std::string &plan_id, const IMC::Message *arg, bool plan_startup=false)
void	getPlan (void)
bool	stopPlan (bool plan_startup=false)
bool	parsePlan (bool plan_startup, IMC::PlanStatistics &ps)
bool	lookForPlan (const std::string &plan_id, IMC::PlanSpecification &ps)
bool	parseArg (const std::string &plan_id, const IMC::Message *arg, std::string &info)
bool	startPlan (const std::string &plan_id, const IMC::Message *spec, uint16_t flags)
bool	startCalibration (void)
void	startManeuver (IMC::PlanManeuver *pman)
void	answer (uint8_t type, const std::string &desc, bool print=true)
void	onFailure (const std::string &errmsg, bool print=true)
void	onSuccess (const std::string &msg=DTR("OK"), bool print=true)
void	changeMode (IMC::PlanControlState::StateEnum s, const std::string &event_desc, const std::string &nid, const IMC::Message *maneuver, OutputType print=TYPE_WAR)
void	changeMode (IMC::PlanControlState::StateEnum s, const std::string &event_desc, OutputType print=TYPE_WAR)
void	setInitialState (void)
void	reportProgress (void)
void	onMain (void)
void	vehicleRequest (IMC::VehicleCommand::CommandEnum command, const IMC::Message *arg=0)
bool	pendingReply (void)
bool	blockedMode (void) const
bool	readyMode (void) const
bool	initMode (void) const
bool	execMode (void) const
void	changeLog (const std::string &name)
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
Plan *	m_plan
IMC::PlanControlState	m_pcs
IMC::PlanControl	m_reply
std::string	m_last_event
uint16_t	m_vreq_ctr
double	m_vc_reply_deadline
double	m_last_vstate
IMC::VehicleCommand	m_vc
IMC::PlanSpecification	m_spec
std::set< uint16_t >	m_supported_maneuvers
IMC::LoggingControl	m_lc
IMC::EstimatedState	m_state
IMC::ManeuverControlState	m_mcs
Time::Counter< float >	m_report_timer
std::map< std::string, IMC::EntityInfo >	m_cinfo
unsigned	m_eid_imu
unsigned	m_eid_gen
bool	m_imu_enabled
std::queue< IMC::PlanControl >	m_requests
Path	m_db_file
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	bind (unsigned int message_id, AbstractConsumer *consumer)
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	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

Plan::Engine::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Plan::Engine::Arguments::actfail_abort, Plan::Engine::Arguments::calibration_time, Plan::Engine::Arguments::do_calib, Plan::Engine::Arguments::fpredict, Plan::Engine::Arguments::label_gen, Plan::Engine::Arguments::label_imu, Plan::Engine::Arguments::max_depth, Plan::Engine::Arguments::progress, Plan::Engine::Arguments::recovery_plan, Plan::Engine::Arguments::sk_calib, Plan::Engine::Arguments::sk_radius, Plan::Engine::Arguments::sk_rpm, and Plan::Engine::Arguments::speriod.

Member Function Documentation

void Plan::Engine::Task::answer ( uint8_t  type, const std::string &  desc, bool  print = true  )

inline

Answer to the plan control request.

Parameters

[in]	type	type of reply (same field as plan control message)
[in]	desc	description for the answer
[in]	print	true if output should be printed out

bool Plan::Engine::Task::blockedMode ( void  ) const

inline

void Plan::Engine::Task::changeLog ( const std::string &  name )

inline

void Plan::Engine::Task::changeMode ( IMC::PlanControlState::StateEnum  s, const std::string &  event_desc, const std::string &  nid, const IMC::Message *  maneuver, OutputType  print = TYPE_WAR  )

inline

Change the current plan control state mode.

Parameters

[in]	s	plan control state to switch to
[in]	event_desc	description of the event that motivated the change
[in]	nid	id of the maneuver if any
[in]	maneuver	pointer to maneuver message
[in]	print	true if the messages should be printed to output

References Plan::Engine::TYPE_INF, and Plan::Engine::TYPE_WAR.

void Plan::Engine::Task::changeMode ( IMC::PlanControlState::StateEnum  s, const std::string &  event_desc, OutputType  print = TYPE_WAR  )

inline

Change the current plan control state mode.

Parameters

[in]	s	plan control state to switch to
[in]	event_desc	description of the event that motivated the change
[in]	print	true if the messages should be printed to output

void Plan::Engine::Task::consume ( const IMC::EstimatedState *  msg )

inline

void Plan::Engine::Task::consume ( const IMC::ManeuverControlState *  msg )

inline

void Plan::Engine::Task::consume ( const IMC::RegisterManeuver *  msg )

inline

void Plan::Engine::Task::consume ( const IMC::EntityInfo *  msg )

inline

void Plan::Engine::Task::consume ( const IMC::EntityActivationState *  msg )

inline

References Plan::Engine::Arguments::actfail_abort, and Plan::Engine::TYPE_NONE.

void Plan::Engine::Task::consume ( const IMC::FuelLevel *  msg )

inline

void Plan::Engine::Task::consume ( const IMC::VehicleCommand *  vc )

inline

References Plan::Engine::TYPE_NONE.

void Plan::Engine::Task::consume ( const IMC::VehicleState *  vs )

inline

void Plan::Engine::Task::consume ( const IMC::PlanControl *  pc )

inline

References Plan::Engine::Arguments::recovery_plan.

bool Plan::Engine::Task::execMode ( void  ) const

inline

void Plan::Engine::Task::getPlan ( void  )

inline

Get current plan.

bool Plan::Engine::Task::initMode ( void  ) const

inline

bool Plan::Engine::Task::loadPlan ( const std::string &  plan_id, const IMC::Message *  arg, bool  plan_startup = false  )

inline

Load a plan into the vehicle.

Parameters

[in]	plan_id	name of the plan
[in]	arg	argument which may either be a maneuver or a plan specification
[in]	plan_startup	true if a plan will start right after

Returns

true if plan is successfully loaded

bool Plan::Engine::Task::lookForPlan ( const std::string &  plan_id, IMC::PlanSpecification &  ps  )

inline

Look for a plan in the database.

Parameters

[in]	plan_id	name of the plan
[in]	ps	plan specification message

Returns

true if plan is found

void Plan::Engine::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 Plan::Engine::Arguments::label_gen, and Plan::Engine::Arguments::label_imu.

void Plan::Engine::Task::onFailure ( const std::string &  errmsg, bool  print = true  )

inline

Answer to the reply with a failure message.

Parameters

[in]	errmsg	text error message to send
[in]	print	true if the message should be printed to output

void Plan::Engine::Task::onMain ( void  )

inlinevirtual

Implements DUNE::Tasks::Task.

References Plan::Engine::Arguments::progress.

void Plan::Engine::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 Plan::Engine::Arguments::calibration_time, Plan::Engine::Arguments::fpredict, Plan::Engine::Arguments::max_depth, Plan::Engine::Plan, and Plan::Engine::Arguments::progress.

void Plan::Engine::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.

References Plan::Engine::Arguments::speriod.

void Plan::Engine::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 Plan::Engine::Task::onSuccess ( const std::string &  msg = DTR("OK"), bool  print = true  )

inline

Answer to the reply with a success message.

Parameters

[in]	msg	text message to send
[in]	print	true if the message should be printed to output

void Plan::Engine::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 Plan::Engine::Arguments::calibration_time, Plan::Engine::Arguments::progress, and Plan::Engine::Arguments::speriod.

void Plan::Engine::Task::onVehicleCalibration ( const IMC::VehicleState *  vs )

inline

References Plan::Engine::TYPE_NONE.

void Plan::Engine::Task::onVehicleError ( const IMC::VehicleState *  vs )

inline

References Plan::Engine::TYPE_NONE.

void Plan::Engine::Task::onVehicleExternalControl ( const IMC::VehicleState *  vs )

inline

References Plan::Engine::TYPE_NONE.

void Plan::Engine::Task::onVehicleManeuver ( const IMC::VehicleState *  vs )

inline

References Plan::Engine::TYPE_INF.

void Plan::Engine::Task::onVehicleService ( const IMC::VehicleState *  vs )

inline

References Plan::Engine::TYPE_INF.

bool Plan::Engine::Task::parseArg ( const std::string &  plan_id, const IMC::Message *  arg, std::string &  info  )

inline

Get the PlanSpecification from IMC::Message.

Parameters

[in]	plan_id	ID of the plan
[in]	arg	pointer to arg message
[out]	info	string with the error in case of failure

Returns

false if unable to get the spec

bool Plan::Engine::Task::parsePlan ( bool  plan_startup, IMC::PlanStatistics &  ps  )

inline

Parse a given plan.

Parameters

[in]	plan_startup	true if the plan is starting up
[out]	ps	reference to PlanStatistics message

Returns

true if was able to parse the plan

bool Plan::Engine::Task::pendingReply ( void  )

inline

void Plan::Engine::Task::processRequest ( const IMC::PlanControl *  pc )

inline

bool Plan::Engine::Task::readyMode ( void  ) const

inline

void Plan::Engine::Task::reportProgress ( void  )

inline

Report progress.

void Plan::Engine::Task::setInitialState ( void  )

inline

Set task's initial state.

bool Plan::Engine::Task::startCalibration ( void  )

inline

Send a request to start calibration procedures.

Returns

true if request was sent

References Plan::Engine::Arguments::sk_calib, Plan::Engine::Arguments::sk_radius, and Plan::Engine::Arguments::sk_rpm.

void Plan::Engine::Task::startManeuver ( IMC::PlanManeuver *  pman )

inline

Start a maneuver by name.

Parameters

[in]

pman

pointer to plan maneuver message

References Plan::Engine::TYPE_INF.

bool Plan::Engine::Task::startPlan ( const std::string &  plan_id, const IMC::Message *  spec, uint16_t  flags  )

inline

Start a given plan.

Parameters

[in]	plan_id	name of the plan to execute
[in]	spec	plan specification message if any
[in]	flags	plan control flags

Returns

false if previously executing maneuver was not stopped

References Plan::Engine::Arguments::do_calib, and Plan::Engine::TYPE_INF.

bool Plan::Engine::Task::stopPlan ( bool  plan_startup = false )

inline

Stop current plan being executed.

Parameters

[in]

plan_startup

true if a plan will start right after this stop

Returns

false if a plan is still running after this

References Plan::Engine::TYPE_INF.

void Plan::Engine::Task::vehicleRequest ( IMC::VehicleCommand::CommandEnum  command, const IMC::Message *  arg = 0  )

inline

References Plan::Engine::c_vc_reply_timeout.

Member Data Documentation

Arguments Plan::Engine::Task::m_args

Task arguments.

std::map<std::string, IMC::EntityInfo> Plan::Engine::Task::m_cinfo

Map of component names to entityinfo.

Path Plan::Engine::Task::m_db_file

Plan database file.

unsigned Plan::Engine::Task::m_eid_gen

Source entity of the plan generator.

unsigned Plan::Engine::Task::m_eid_imu

Source entity of the IMU.

bool Plan::Engine::Task::m_imu_enabled

IMU is enabled or not.

std::string Plan::Engine::Task::m_last_event

Last event description.

double Plan::Engine::Task::m_last_vstate

IMC::LoggingControl Plan::Engine::Task::m_lc

Misc.

IMC::ManeuverControlState Plan::Engine::Task::m_mcs

ManeuverControlState message.

IMC::PlanControlState Plan::Engine::Task::m_pcs

Plan control interface.

Plan* Plan::Engine::Task::m_plan

Pointer to Plan class.

IMC::PlanControl Plan::Engine::Task::m_reply

Time::Counter<float> Plan::Engine::Task::m_report_timer

Timer counter for state report period.

std::queue<IMC::PlanControl> Plan::Engine::Task::m_requests

Queue of PlanControl messages.

IMC::PlanSpecification Plan::Engine::Task::m_spec

PlanSpecification message.

IMC::EstimatedState Plan::Engine::Task::m_state

std::set<uint16_t> Plan::Engine::Task::m_supported_maneuvers

List of supported maneuvers.

IMC::VehicleCommand Plan::Engine::Task::m_vc

double Plan::Engine::Task::m_vc_reply_deadline

uint16_t Plan::Engine::Task::m_vreq_ctr

Vehicle interface.

Collaboration diagram for Plan::Engine::Task: