DUNE: Uniform Navigational Environment  2020.01.0
List of all members | Public Member Functions | Public Attributes
Supervisors::Vehicle::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
void onResourceAcquisition (void)
 
void onResourceRelease (void)
 
void onResourceInitialization (void)
 
void reset (void)
 
void setInitialState (void)
 
void changeMode (IMC::VehicleState::OperationModeEnum s, IMC::Message *maneuver=0)
 
void consume (const IMC::Abort *msg)
 
void onEnabledControlLoops (void)
 
void onDisabledControlLoops (void)
 
void consume (const IMC::ControlLoops *msg)
 
std::string splitAndTranslate (const std::string &list)
 
void consume (const IMC::EntityMonitoringState *msg)
 
void consume (const IMC::ManeuverControlState *msg)
 
void consume (const IMC::PlanControl *msg)
 
void answer (const IMC::VehicleCommand *cmd, IMC::VehicleCommand::TypeEnum type, const std::string &desc)
 
void requestOK (const IMC::VehicleCommand *cmd, const std::string &desc)
 
void requestFailed (const IMC::VehicleCommand *cmd, const std::string &desc)
 
void startCalibration (const IMC::VehicleCommand *msg)
 
void stopCalibration (const IMC::VehicleCommand *msg)
 
void startManeuver (const IMC::VehicleCommand *msg)
 
void stopManeuver (bool abort=false)
 
void consume (const IMC::VehicleCommand *cmd)
 
void disableLoops (void)
 
void task (void)
 
bool entityError (void)
 
bool serviceMode (void) const
 
bool maneuverMode (void) const
 
bool errorMode (void) const
 
bool externalMode (void) const
 
bool calibrationMode (void) const
 
bool bootMode (void) const
 
bool modeIs (IMC::VehicleState::OperationModeEnum mode) const
 
bool teleoperationOn (void) const
 
bool maneuverIs (uint16_t id) const
 
bool nonOverridableLoops (void) const
 
- Public Member Functions inherited from DUNE::Tasks::Periodic
 Periodic (const std::string &name, Context &ctx)
 
virtual ~Periodic (void)
 
void setFrequency (double freq)
 
double getFrequency (void) const
 
double getRunTime (void) const
 
unsigned getRunCount (void) const
 
- 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_switch_time
 
bool m_ignore_errors
 
Time::Counter< float > m_err_timer
 
IMC::VehicleCommand m_vc_reply
 
IMC::VehicleState m_vs
 
IMC::StopManeuver m_stop
 
IMC::IdleManeuver m_idle
 
uint32_t m_scope_ref
 
std::vector< std::string > m_ents_in_error
 
IMC::VehicleState::OperationModeEnum m_last_op
 
unsigned m_eboot
 
Time::Counter< float > m_loops_timer
 
ManeuverSupervisor * m_man_sup
 
float m_calib_timeout
 
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 onEntityResolution (void)
 
virtual void onReportEntityState (void)
 
virtual void onUpdateParameters (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

Supervisors::Vehicle::Task::Task ( const std::string &  name,
Tasks::Context &  ctx 
)
inline

References Supervisors::Vehicle::Arguments::ext_control, Supervisors::Vehicle::Arguments::handle_timeout, and Supervisors::Vehicle::Arguments::vital_ents.

Member Function Documentation

void Supervisors::Vehicle::Task::answer ( const IMC::VehicleCommand *  cmd,
IMC::VehicleCommand::TypeEnum  type,
const std::string &  desc 
)
inline
bool Supervisors::Vehicle::Task::bootMode ( void  ) const
inline
bool Supervisors::Vehicle::Task::calibrationMode ( void  ) const
inline
void Supervisors::Vehicle::Task::changeMode ( IMC::VehicleState::OperationModeEnum  s,
IMC::Message *  maneuver = 0 
)
inline

References Supervisors::Vehicle::ManeuverSupervisor::addStart().

void Supervisors::Vehicle::Task::consume ( const IMC::Abort *  msg)
inline
void Supervisors::Vehicle::Task::consume ( const IMC::ControlLoops *  msg)
inline
void Supervisors::Vehicle::Task::consume ( const IMC::EntityMonitoringState *  msg)
inline
void Supervisors::Vehicle::Task::consume ( const IMC::ManeuverControlState *  msg)
inline

References Supervisors::Vehicle::ManeuverSupervisor::update().

void Supervisors::Vehicle::Task::consume ( const IMC::PlanControl *  msg)
inline
void Supervisors::Vehicle::Task::consume ( const IMC::VehicleCommand *  cmd)
inline
void Supervisors::Vehicle::Task::disableLoops ( void  )
inline
bool Supervisors::Vehicle::Task::entityError ( void  )
inline

Check if the entities in error are relevant for performing an emergency plan.

Returns
true if entity error is relevant for current state, false otherwise

References Supervisors::Vehicle::Arguments::vital_ents.

bool Supervisors::Vehicle::Task::errorMode ( void  ) const
inline
bool Supervisors::Vehicle::Task::externalMode ( void  ) const
inline
bool Supervisors::Vehicle::Task::maneuverIs ( uint16_t  id) const
inline
bool Supervisors::Vehicle::Task::maneuverMode ( void  ) const
inline
bool Supervisors::Vehicle::Task::modeIs ( IMC::VehicleState::OperationModeEnum  mode) const
inline
bool Supervisors::Vehicle::Task::nonOverridableLoops ( void  ) const
inline
void Supervisors::Vehicle::Task::onDisabledControlLoops ( void  )
inline
void Supervisors::Vehicle::Task::onEnabledControlLoops ( void  )
inline
void Supervisors::Vehicle::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 Supervisors::Vehicle::Arguments::handle_timeout.

void Supervisors::Vehicle::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 Supervisors::Vehicle::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 Supervisors::Vehicle::Task::requestFailed ( const IMC::VehicleCommand *  cmd,
const std::string &  desc 
)
inline
void Supervisors::Vehicle::Task::requestOK ( const IMC::VehicleCommand *  cmd,
const std::string &  desc 
)
inline
void Supervisors::Vehicle::Task::reset ( void  )
inline

References Supervisors::Vehicle::ManeuverSupervisor::addStart(), and Supervisors::Vehicle::ManeuverSupervisor::addStop().

bool Supervisors::Vehicle::Task::serviceMode ( void  ) const
inline
void Supervisors::Vehicle::Task::setInitialState ( void  )
inline
std::string Supervisors::Vehicle::Task::splitAndTranslate ( const std::string &  list)
inline

Split comma separated list and translate labels, then join again.

Parameters
[in]listcomma separated list of entity labels
Returns
'comma + white space' separated list of translated entity labels
void Supervisors::Vehicle::Task::startCalibration ( const IMC::VehicleCommand *  msg)
inline

References Supervisors::Vehicle::ManeuverSupervisor::addStop().

void Supervisors::Vehicle::Task::startManeuver ( const IMC::VehicleCommand *  msg)
inline

References Supervisors::Vehicle::ManeuverSupervisor::addStop().

void Supervisors::Vehicle::Task::stopCalibration ( const IMC::VehicleCommand *  msg)
inline
void Supervisors::Vehicle::Task::stopManeuver ( bool  abort = false)
inline
void Supervisors::Vehicle::Task::task ( void  )
inlinevirtual

The task to be executed on each cycle.

Implements DUNE::Tasks::Periodic.

References Supervisors::Vehicle::Arguments::ext_control, and Supervisors::Vehicle::ManeuverSupervisor::update().

bool Supervisors::Vehicle::Task::teleoperationOn ( void  ) const
inline

Member Data Documentation

Arguments Supervisors::Vehicle::Task::m_args

Task arguments.

float Supervisors::Vehicle::Task::m_calib_timeout

A timeout for calibration state.

unsigned Supervisors::Vehicle::Task::m_eboot

Entities booting.

std::vector<std::string> Supervisors::Vehicle::Task::m_ents_in_error

Vector of labels from entities in error.

Time::Counter<float> Supervisors::Vehicle::Task::m_err_timer

Counter for printing errors.

IMC::IdleManeuver Supervisors::Vehicle::Task::m_idle

Idle maneuver message.

bool Supervisors::Vehicle::Task::m_ignore_errors

Currently ignoring errors while executing plan.

IMC::VehicleState::OperationModeEnum Supervisors::Vehicle::Task::m_last_op

Last vehicle state operation mode.

Time::Counter<float> Supervisors::Vehicle::Task::m_loops_timer

Time counter for enabled loops in service mode.

ManeuverSupervisor* Supervisors::Vehicle::Task::m_man_sup

Maneuver handler.

uint32_t Supervisors::Vehicle::Task::m_scope_ref

Control loops last reference.

IMC::StopManeuver Supervisors::Vehicle::Task::m_stop

Stop maneuver message.

float Supervisors::Vehicle::Task::m_switch_time

Timer to wait for calibration and maneuver requests.

IMC::VehicleCommand Supervisors::Vehicle::Task::m_vc_reply

Vehicle command message.

IMC::VehicleState Supervisors::Vehicle::Task::m_vs

Vehicle state message.

Collaboration diagram for Supervisors::Vehicle::Task:
Collaboration graph