DUNE: Uniform Navigational Environment  2020.01.0
List of all members | Public Types | Public Member Functions | Public Attributes
Control::UAV::PX4::Task Struct Reference

Public Types

typedef void(Task::* PktHandler) (const mavlink_message_t *msg)
 
typedef std::map< int, PktHandler > PktHandlerMap
 
- Public Types inherited from DUNE::Concurrency::Runnable

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
void onResourceAcquisition (void)
 
void openConnection (void)
 
void onResourceRelease (void)
 
void onUpdateParameters (void)
 
void consume (const IMC::AutopilotMode *msg)
 
void clearMission (void)
 
void sendCommandPacket (uint16_t cmd, float arg1=0, float arg2=0, float arg3=0, float arg4=0, float arg5=0, float arg6=0, float arg7=0)
 
void consume (const IMC::DevCalibrationControl *msg)
 
void consume (const IMC::ControlLoops *cloops)
 
void consume (const IMC::PlanControl *msg)
 
void consume (const IMC::PlanSpecification *msg)
 
void consume (const IMC::Loiter *msg)
 
void consume (const IMC::VehicleState *msg)
 
void consume (const IMC::Announce *msg)
 
void consume (const IMC::Takeoff *tkoff)
 
void consume (const IMC::Land *land)
 
void consume (const IMC::DesiredPath *path)
 
void onMain (void)
 
void handleArdupilotData (void)
 
void checkParseState (mavlink_status_t &status)
 
bool poll (double timeout)
 
int sendData (uint8_t *bfr, int size)
 
int receiveData (uint8_t *buf, size_t blen)
 
void handleAttitudePacket (const mavlink_message_t *msg)
 
void handleImuRaw (const mavlink_message_t *msg)
 
void handlePositionPacket (const mavlink_message_t *msg)
 
void handleHWStatusPacket (const mavlink_message_t *msg)
 
void handleSystemStatusPacket (const mavlink_message_t *msg)
 
void handleScaledPressurePacket (const mavlink_message_t *msg)
 
void handleWindPacket (const mavlink_message_t *msg)
 
void handleStatusTextPacket (const mavlink_message_t *msg)
 
void handleHeartbeatPacket (const mavlink_message_t *msg)
 
void handleHUDPacket (const mavlink_message_t *msg)
 
void handleRawGPSPacket (const mavlink_message_t *msg)
 
void handleSystemTimePacket (const mavlink_message_t *msg)
 
void handleExtendedStatePacket (const mavlink_message_t *msg)
 
void handleMissionAckPacket (const mavlink_message_t *msg)
 
void handleMissionItemReachedPacket (const mavlink_message_t *msg)
 
void handleNavControllerPacket (const mavlink_message_t *msg)
 
- 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

Arguments m_args
 
PktHandlerMap m_mlh
 
bool m_mission
 
float m_hae_offset
 
bool m_offset
 
int m_duration
 
bool m_maneuver
 
bool m_start
 
bool m_tkoff_land
 
Network::TCPSocket * m_TCP_sock
 
Network::UDPSocket * m_UDP_sock
 
uint8_t m_sysid
 
mavlink_message_t m_msg
 
uint8_t m_buf [512]
 
VTOL_State m_vtol_state
 
Time::Counter< float > m_timer
 
bool m_error_missing
 
double m_last_pkt_time
 
double m_last_wp
 
IMC::GpsFix m_fix
 
IMC::EstimatedState m_estate
 
IMC::DesiredPath m_dpath
 
IMC::PathControlState m_pcs
 
IMC::AutopilotMode m_mode
 
IMC::TrueSpeed m_groundspeed
 
IMC::ControlLoops m_cloops
 
IMC::PlanSpecification m_pspec
 

Additional Inherited Members

- 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 onEntityResolution (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
 

Member Typedef Documentation

typedef void(Task::* Control::UAV::PX4::Task::PktHandler) (const mavlink_message_t *msg)

Type definition for PX4 packet handler.

typedef std::map<int, PktHandler> Control::UAV::PX4::Task::PktHandlerMap

Constructor & Destructor Documentation

Control::UAV::PX4::Task::Task ( const std::string &  name,
Tasks::Context &  ctx 
)
inline

Constructor.

Parameters
[in]nametask name.
[in]ctxcontext.

References Control::UAV::PX4::Arguments::basestation, Control::UAV::PX4::Arguments::comm_timeout, Control::UAV::PX4::Arguments::full_plan, handleAttitudePacket(), handleExtendedStatePacket(), handleHeartbeatPacket(), handleHUDPacket(), handleHWStatusPacket(), handleImuRaw(), handleMissionAckPacket(), handleMissionItemReachedPacket(), handleNavControllerPacket(), handlePositionPacket(), handleRawGPSPacket(), handleScaledPressurePacket(), handleStatusTextPacket(), handleSystemStatusPacket(), handleSystemTimePacket(), handleWindPacket(), Control::UAV::PX4::Arguments::heartbeat, Control::UAV::PX4::Arguments::home_update, Control::UAV::PX4::Arguments::ip, Control::UAV::PX4::Arguments::mavlink_phototrigger, Control::UAV::PX4::Arguments::moving_home, Control::UAV::PX4::Arguments::TCP_addr, Control::UAV::PX4::Arguments::tcp_or_udp, Control::UAV::PX4::Arguments::TCP_port, Control::UAV::PX4::Arguments::threshold_fw, Control::UAV::PX4::Arguments::threshold_mc, Control::UAV::PX4::Arguments::transition_fw, Control::UAV::PX4::Arguments::transition_mc, Control::UAV::PX4::Arguments::UDP_addr, Control::UAV::PX4::Arguments::UDP_listen_port, and Control::UAV::PX4::Arguments::UDP_port.

Member Function Documentation

void Control::UAV::PX4::Task::checkParseState ( mavlink_status_t &  status)
inline
void Control::UAV::PX4::Task::clearMission ( void  )
inline
void Control::UAV::PX4::Task::consume ( const IMC::AutopilotMode *  msg)
inline
void Control::UAV::PX4::Task::consume ( const IMC::DevCalibrationControl *  msg)
inline
void Control::UAV::PX4::Task::consume ( const IMC::ControlLoops *  cloops)
inline

References Control::UAV::PX4::PX4_CUSTOM_MAIN_MODE_AUTO, and Control::UAV::PX4::PX4_CUSTOM_SUB_MODE_AUTO_LOITER.

void Control::UAV::PX4::Task::consume ( const IMC::PlanControl *  msg)
inline

References Control::UAV::PX4::PX4_CUSTOM_MAIN_MODE_AUTO, and Control::UAV::PX4::PX4_CUSTOM_SUB_MODE_AUTO_LOITER.

void Control::UAV::PX4::Task::consume ( const IMC::PlanSpecification *  msg)
inline
void Control::UAV::PX4::Task::consume ( const IMC::Loiter *  msg)
inline
void Control::UAV::PX4::Task::consume ( const IMC::VehicleState *  msg)
inline
void Control::UAV::PX4::Task::consume ( const IMC::Announce *  msg)
inline

References Control::UAV::PX4::Arguments::basestation, and Control::UAV::PX4::Arguments::moving_home.

void Control::UAV::PX4::Task::consume ( const IMC::Takeoff *  tkoff)
inline

References Control::UAV::PX4::PX4_CUSTOM_MAIN_MODE_AUTO, and Control::UAV::PX4::PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF.

void Control::UAV::PX4::Task::consume ( const IMC::Land *  land)
inline

References Control::UAV::PX4::PX4_CUSTOM_MAIN_MODE_AUTO, and Control::UAV::PX4::PX4_CUSTOM_SUB_MODE_AUTO_LAND.

void Control::UAV::PX4::Task::consume ( const IMC::DesiredPath *  path)
inline

Message for AUTO(MISSION) control (using PX4's controllers)

References Control::UAV::PX4::Arguments::full_plan, Control::UAV::PX4::MAV_VTOL_STATE_FW, Control::UAV::PX4::MAV_VTOL_STATE_MC, Control::UAV::PX4::PX4_CUSTOM_MAIN_MODE_AUTO, Control::UAV::PX4::PX4_CUSTOM_SUB_MODE_AUTO_LOITER, Control::UAV::PX4::PX4_CUSTOM_SUB_MODE_AUTO_MISSION, Control::UAV::PX4::Arguments::transition_fw, and Control::UAV::PX4::Arguments::transition_mc.

void Control::UAV::PX4::Task::handleArdupilotData ( void  )
inline

References Control::UAV::PX4::Arguments::comm_timeout.

void Control::UAV::PX4::Task::handleAttitudePacket ( const mavlink_message_t *  msg)
inline

Referenced by Task().

void Control::UAV::PX4::Task::handleExtendedStatePacket ( const mavlink_message_t *  msg)
inline

Referenced by Task().

void Control::UAV::PX4::Task::handleHeartbeatPacket ( const mavlink_message_t *  msg)
inline

References Control::UAV::PX4::Arguments::heartbeat, Control::UAV::PX4::PX4_CUSTOM_MAIN_MODE_ACRO, Control::UAV::PX4::PX4_CUSTOM_MAIN_MODE_ALTCTL, Control::UAV::PX4::PX4_CUSTOM_MAIN_MODE_AUTO, Control::UAV::PX4::PX4_CUSTOM_MAIN_MODE_MANUAL, Control::UAV::PX4::PX4_CUSTOM_MAIN_MODE_OFFBOARD, Control::UAV::PX4::PX4_CUSTOM_MAIN_MODE_POSCTL, Control::UAV::PX4::PX4_CUSTOM_MAIN_MODE_RATTITUDE, Control::UAV::PX4::PX4_CUSTOM_MAIN_MODE_STABILIZED, Control::UAV::PX4::PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET, Control::UAV::PX4::PX4_CUSTOM_SUB_MODE_AUTO_LAND, Control::UAV::PX4::PX4_CUSTOM_SUB_MODE_AUTO_LOITER, Control::UAV::PX4::PX4_CUSTOM_SUB_MODE_AUTO_MISSION, Control::UAV::PX4::PX4_CUSTOM_SUB_MODE_AUTO_RTL, and Control::UAV::PX4::PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF.

Referenced by Task().

void Control::UAV::PX4::Task::handleHUDPacket ( const mavlink_message_t *  msg)
inline

Referenced by Task().

void Control::UAV::PX4::Task::handleHWStatusPacket ( const mavlink_message_t *  msg)
inline

Referenced by Task().

void Control::UAV::PX4::Task::handleImuRaw ( const mavlink_message_t *  msg)
inline

Referenced by Task().

void Control::UAV::PX4::Task::handleMissionAckPacket ( const mavlink_message_t *  msg)
inline

Referenced by Task().

void Control::UAV::PX4::Task::handleMissionItemReachedPacket ( const mavlink_message_t *  msg)
inline

References Control::UAV::PX4::PX4_CUSTOM_MAIN_MODE_AUTO, and Control::UAV::PX4::PX4_CUSTOM_SUB_MODE_AUTO_LOITER.

Referenced by Task().

void Control::UAV::PX4::Task::handleNavControllerPacket ( const mavlink_message_t *  msg)
inline

References Control::UAV::PX4::MAV_VTOL_STATE_FW, Control::UAV::PX4::Arguments::threshold_fw, and Control::UAV::PX4::Arguments::threshold_mc.

Referenced by Task().

void Control::UAV::PX4::Task::handlePositionPacket ( const mavlink_message_t *  msg)
inline

Referenced by Task().

void Control::UAV::PX4::Task::handleRawGPSPacket ( const mavlink_message_t *  msg)
inline

Referenced by Task().

void Control::UAV::PX4::Task::handleScaledPressurePacket ( const mavlink_message_t *  msg)
inline

Referenced by Task().

void Control::UAV::PX4::Task::handleStatusTextPacket ( const mavlink_message_t *  msg)
inline

Referenced by Task().

void Control::UAV::PX4::Task::handleSystemStatusPacket ( const mavlink_message_t *  msg)
inline

Referenced by Task().

void Control::UAV::PX4::Task::handleSystemTimePacket ( const mavlink_message_t *  msg)
inline

Referenced by Task().

void Control::UAV::PX4::Task::handleWindPacket ( const mavlink_message_t *  msg)
inline

Referenced by Task().

void Control::UAV::PX4::Task::onMain ( void  )
inlinevirtual

Main loop.

Implements DUNE::Tasks::Task.

void Control::UAV::PX4::Task::onResourceAcquisition ( void  )
inlinevirtual

Acquire resources.

Reimplemented from DUNE::Tasks::Task.

References Control::UAV::PX4::Arguments::ip, and Control::UAV::PX4::Arguments::TCP_port.

void Control::UAV::PX4::Task::onResourceRelease ( void  )
inlinevirtual

Release resources.

Reimplemented from DUNE::Tasks::Task.

void Control::UAV::PX4::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::UAV::PX4::Arguments::home_update, Control::UAV::PX4::Arguments::mavlink_phototrigger, and Control::UAV::PX4::Arguments::moving_home.

void Control::UAV::PX4::Task::openConnection ( void  )
inline

References Control::UAV::PX4::Arguments::TCP_addr, Control::UAV::PX4::Arguments::tcp_or_udp, Control::UAV::PX4::Arguments::TCP_port, and Control::UAV::PX4::Arguments::UDP_listen_port.

bool Control::UAV::PX4::Task::poll ( double  timeout)
inline
int Control::UAV::PX4::Task::receiveData ( uint8_t *  buf,
size_t  blen 
)
inline

References Control::UAV::PX4::Arguments::TCP_addr, Control::UAV::PX4::Arguments::tcp_or_udp, Control::UAV::PX4::Arguments::TCP_port, Control::UAV::PX4::Arguments::UDP_addr, and Control::UAV::PX4::Arguments::UDP_listen_port.

void Control::UAV::PX4::Task::sendCommandPacket ( uint16_t  cmd,
float  arg1 = 0,
float  arg2 = 0,
float  arg3 = 0,
float  arg4 = 0,
float  arg5 = 0,
float  arg6 = 0,
float  arg7 = 0 
)
inline
int Control::UAV::PX4::Task::sendData ( uint8_t *  bfr,
int  size 
)
inline

References Control::UAV::PX4::Arguments::UDP_addr, and Control::UAV::PX4::Arguments::UDP_port.

Member Data Documentation

Arguments Control::UAV::PX4::Task::m_args

Task arguments.

uint8_t Control::UAV::PX4::Task::m_buf[512]
IMC::ControlLoops Control::UAV::PX4::Task::m_cloops

ControlLoops message.

IMC::DesiredPath Control::UAV::PX4::Task::m_dpath

DesiredPath message.

int Control::UAV::PX4::Task::m_duration

Loiter maneuver duration.

bool Control::UAV::PX4::Task::m_error_missing

Mavlink Timeouts.

IMC::EstimatedState Control::UAV::PX4::Task::m_estate

Estimated state message.

IMC::GpsFix Control::UAV::PX4::Task::m_fix

GPS Fix message.

IMC::TrueSpeed Control::UAV::PX4::Task::m_groundspeed

TrueSpeed message.

float Control::UAV::PX4::Task::m_hae_offset

Height offset between MSL and WGS84.

double Control::UAV::PX4::Task::m_last_pkt_time
double Control::UAV::PX4::Task::m_last_wp
bool Control::UAV::PX4::Task::m_maneuver

Vehicle State is "Maneuver".

bool Control::UAV::PX4::Task::m_mission

Flag of mission mode.

PktHandlerMap Control::UAV::PX4::Task::m_mlh

PX4 packet handling.

IMC::AutopilotMode Control::UAV::PX4::Task::m_mode

AutopilotMode message.

mavlink_message_t Control::UAV::PX4::Task::m_msg

Parser Variables.

bool Control::UAV::PX4::Task::m_offset

Flag to signal if MSL-WGS84 offset has already been calculated.

IMC::PathControlState Control::UAV::PX4::Task::m_pcs

PathControlState message.

IMC::PlanSpecification Control::UAV::PX4::Task::m_pspec

PlanSpecification message.

bool Control::UAV::PX4::Task::m_start

Signals if a plan was started.

uint8_t Control::UAV::PX4::Task::m_sysid

System ID.

Network::TCPSocket* Control::UAV::PX4::Task::m_TCP_sock

TCP socket.

Time::Counter<float> Control::UAV::PX4::Task::m_timer

Moving Home timer.

bool Control::UAV::PX4::Task::m_tkoff_land

Signals if maneuver is a takeoff or landing.

Network::UDPSocket* Control::UAV::PX4::Task::m_UDP_sock

UDP socket.

VTOL_State Control::UAV::PX4::Task::m_vtol_state

VTOL State.

Collaboration diagram for Control::UAV::PX4::Task:
Collaboration graph