DUNE: Uniform Navigational Environment  2022.04.0
List of all members | Public Member Functions | Static Public Member Functions | Public Attributes
Simulators::CDC3::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
void onUpdateParameters (void)
 
void consume (const IMC::EstimatedState *estate)
 
void sendAcomms (const std::vector< char > &data)
 
void sendEnable (void)
 
void sendRetaskWaypoint (void)
 
void sendRetaskMission (void)
 
void sendReport (void)
 
uint32_t calculateHash (const uint32_t &seconds, const double &latDeg, const double &lonDeg, const uint32_t &sourceId) const
 
void sendTargetOfInterest (void)
 
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)
 

Static Public Member Functions

static int64_t positionToInteger (const double &pos)
 

Public Attributes

Time::Counter< double > m_wdog_enable
 
Time::Counter< double > m_wdog_report
 
Time::Counter< double > m_wdog_toi
 
Time::Counter< double > m_wdog_rtm
 
Time::Counter< double > m_wdog_rtw
 
IMC::EstimatedState * m_eestate
 
std::vector< uint8_t > m_bfr
 
Arguments m_args
 

Additional Inherited Members

- Public Types inherited from DUNE::Concurrency::Runnable
enum  State {
  StateStarting, StateRunning, StateStopping, StateDead,
  StateUnknown
}
 
- 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 onResourceAcquisition (void)
 
virtual void onResourceRelease (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
 

Constructor & Destructor Documentation

◆ Task()

Simulators::CDC3::Task::Task ( const std::string &  name,
Tasks::Context &  ctx 
)
inline

Constructor.

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

References Simulators::CDC3::Arguments::dest, Simulators::CDC3::Arguments::enbl_ordinal, Simulators::CDC3::Arguments::enbl_value, Simulators::CDC3::Arguments::origin_lat_degs, Simulators::CDC3::Arguments::origin_lon_degs, Simulators::CDC3::Arguments::override_location, Simulators::CDC3::Arguments::period_enable, Simulators::CDC3::Arguments::period_report, Simulators::CDC3::Arguments::period_rtm, Simulators::CDC3::Arguments::period_rtw, Simulators::CDC3::Arguments::period_toi, Simulators::CDC3::Arguments::retask_mission_id, Simulators::CDC3::Arguments::src, Simulators::CDC3::Arguments::toi_lat_degs, and Simulators::CDC3::Arguments::toi_lon_degs.

Member Function Documentation

◆ calculateHash()

uint32_t Simulators::CDC3::Task::calculateHash ( const uint32_t &  seconds,
const double &  latDeg,
const double &  lonDeg,
const uint32_t &  sourceId 
) const
inline

◆ consume()

void Simulators::CDC3::Task::consume ( const IMC::EstimatedState *  estate)
inline

◆ onMain()

void Simulators::CDC3::Task::onMain ( void  )
inlinevirtual

Main loop.

Implements DUNE::Tasks::Task.

◆ onUpdateParameters()

void Simulators::CDC3::Task::onUpdateParameters ( void  )
inlinevirtual

Update internal state with new parameter values.

Reimplemented from DUNE::Tasks::Task.

References Simulators::CDC3::Arguments::period_enable, Simulators::CDC3::Arguments::period_report, Simulators::CDC3::Arguments::period_rtm, Simulators::CDC3::Arguments::period_rtw, and Simulators::CDC3::Arguments::period_toi.

◆ positionToInteger()

static int64_t Simulators::CDC3::Task::positionToInteger ( const double &  pos)
inlinestatic

◆ sendAcomms()

void Simulators::CDC3::Task::sendAcomms ( const std::vector< char > &  data)
inline

References Simulators::CDC3::Arguments::dest, and Simulators::CDC3::Arguments::src.

◆ sendEnable()

void Simulators::CDC3::Task::sendEnable ( void  )
inline

References Simulators::CDC3::CODE_ENABLE_MESSAGE, Simulators::CDC3::Arguments::enbl_ordinal, Simulators::CDC3::Arguments::enbl_value, Simulators::CDC3::EnableMessage::m_enable_disable, and Simulators::CDC3::EnableMessage::m_msg_ordinal.

◆ sendReport()

void Simulators::CDC3::Task::sendReport ( void  )
inline

References Simulators::CDC3::Report::alt, Simulators::CDC3::CODE_REPORT, Simulators::CDC3::Report::depth, Simulators::CDC3::Report::fuel_conf, Simulators::CDC3::Report::fuel_level, Simulators::CDC3::Report::lat, Simulators::CDC3::Report::lon, Simulators::CDC3::Arguments::origin_lat_degs, Simulators::CDC3::Arguments::origin_lon_degs, Simulators::CDC3::Arguments::override_location, Simulators::CDC3::Report::progress, and Simulators::CDC3::Report::yaw.

◆ sendRetaskMission()

void Simulators::CDC3::Task::sendRetaskMission ( void  )
inline

References Simulators::CDC3::CODE_RETASK_MISSION, Simulators::CDC3::RetaskMission::m_mission_id, Simulators::CDC3::RetaskMission::m_timestamp_s, and Simulators::CDC3::Arguments::retask_mission_id.

◆ sendRetaskWaypoint()

void Simulators::CDC3::Task::sendRetaskWaypoint ( void  )
inline

References Simulators::CDC3::CODE_RETASK_WP, Simulators::CDC3::RetaskWaypoint::m_lat_rads, Simulators::CDC3::RetaskWaypoint::m_lon_rads, Simulators::CDC3::RetaskWaypoint::m_speed_mps, Simulators::CDC3::RetaskWaypoint::m_timestamp_s, Simulators::CDC3::Arguments::origin_lat_degs, Simulators::CDC3::Arguments::origin_lon_degs, and Simulators::CDC3::Arguments::override_location.

◆ sendTargetOfInterest()

void Simulators::CDC3::Task::sendTargetOfInterest ( void  )
inline

References Simulators::CDC3::CODE_TOI, Simulators::CDC3::TargetOfInterest::confidence, Simulators::CDC3::TargetOfInterest::hashCode, Simulators::CDC3::TargetOfInterest::lat, Simulators::CDC3::TargetOfInterest::lon, Simulators::CDC3::TargetOfInterest::sourceId, Simulators::CDC3::TargetOfInterest::timestamp, Simulators::CDC3::Arguments::toi_lat_degs, and Simulators::CDC3::Arguments::toi_lon_degs.

Member Data Documentation

◆ m_args

Arguments Simulators::CDC3::Task::m_args

◆ m_bfr

std::vector<uint8_t> Simulators::CDC3::Task::m_bfr

◆ m_eestate

IMC::EstimatedState* Simulators::CDC3::Task::m_eestate

◆ m_wdog_enable

Time::Counter<double> Simulators::CDC3::Task::m_wdog_enable

◆ m_wdog_report

Time::Counter<double> Simulators::CDC3::Task::m_wdog_report

◆ m_wdog_rtm

Time::Counter<double> Simulators::CDC3::Task::m_wdog_rtm

◆ m_wdog_rtw

Time::Counter<double> Simulators::CDC3::Task::m_wdog_rtw

◆ m_wdog_toi

Time::Counter<double> Simulators::CDC3::Task::m_wdog_toi
Collaboration diagram for Simulators::CDC3::Task:
Collaboration graph