Classes
struct	Arguments

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)

void	onResourceInitialization (void)

void	onResourceRelease () override

void	consume (const IMC::PlanControlState *msg)

void	consume (const IMC::VehicleState *msg)

void	consume (const IMC::TextMessage *msg)

void	consume (const IMC::PlanGeneration *msg)

void	consume (const IMC::PlanControl *msg)

bool	retrievePlan (const std::string &plan_id, IMC::PlanSpecification &ps)

PlanSpecification	splitPlan (const std::string &plan_id, const std::string &man_id)

bool	checkNumber (const std::string &str)

void	splitCommand (const std::string &text, std::string &cmd, std::string &args)

void	reply (const std::string &origin, const std::string &text)

void	handleCommand (const std::string &origin, const std::string &cmd, const std::string &args)

void	handleErrorsCommand (const std::string &origin)

void	handleChangeNumCommand (const std::string &origin, const std::string &args)

void	handleInfoCommand (const std::string &origin)

void	handleRebootCommand (const std::string &origin, const std::string &args)

void	handleStartCommand (const std::string &origin, const std::string &args, bool ignore_errors=true)

void	handleResumeCommand (const std::string &origin, const std::string &args, bool ignore_errors=true)

void	handleAbortCommand (const std::string &origin, const std::string &args)

void	handleHelpCommand (const std::string &origin)

void	handlePlanGeneratorCommand (const std::string &origin, const std::string &cmd, const std::string &args)

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
IMC::PlanControlState *	m_pcs

IMC::VehicleState *	m_vstate

IMC::TextMessage *	m_last

int	m_reqid

Path	m_db_file

struct Autonomy::TextActions::Task::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	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

◆ Task()

Autonomy::TextActions::Task::Task	(	const std::string &	name,
		Tasks::Context &	ctx
	)

inline

References DUNE::Tasks::Parameter::defaultValue(), DUNE::Tasks::Context::dir_db, Autonomy::TextActions::Task::Arguments::help_url, m_args, DUNE::Tasks::Task::m_ctx, DUNE::Tasks::Task::param(), Autonomy::TextActions::Task::Arguments::reply_timeout, and Autonomy::TextActions::Task::Arguments::valid_cmds.

Member Function Documentation

◆ checkNumber()

bool Autonomy::TextActions::Task::checkNumber ( const std::string & str )

inline

Checks if a string is a phone number.

Referenced by handleChangeNumCommand().

◆ consume() [1/5]

void Autonomy::TextActions::Task::consume ( const IMC::PlanControlState * msg )

inline

◆ consume() [2/5]

void Autonomy::TextActions::Task::consume ( const IMC::VehicleState * msg )

inline

◆ consume() [3/5]

void Autonomy::TextActions::Task::consume ( const IMC::TextMessage * msg )

inline

References handleCommand(), DUNE::Tasks::Task::inf(), and splitCommand().

◆ consume() [4/5]

void Autonomy::TextActions::Task::consume ( const IMC::PlanGeneration * msg )

inline

Handles responses from PlanGeneration requests.

References m_args, reply(), and Autonomy::TextActions::Task::Arguments::valid_cmds.

◆ consume() [5/5]

void Autonomy::TextActions::Task::consume ( const IMC::PlanControl * msg )

inline

! Handles responses from PlanControl requests

References reply(), and splitCommand().

◆ handleAbortCommand()

void Autonomy::TextActions::Task::handleAbortCommand	(	const std::string &	origin,
		const std::string &	args
	)

inline

Execute command 'ABORT'.

References DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::err(), DUNE::Tasks::Task::getSystemId(), and reply().

Referenced by handleCommand().

◆ handleChangeNumCommand()

void Autonomy::TextActions::Task::handleChangeNumCommand	(	const std::string &	origin,
		const std::string &	args
	)

inline

Execute command 'phone' for the one in args or for origin if the args is null.

References checkNumber(), DUNE::Tasks::Task::dispatch(), Autonomy::TextActions::Task::Arguments::help_url, m_args, reply(), splitCommand(), and DUNE::Tasks::Task::war().

Referenced by handleCommand().

◆ handleCommand()

void Autonomy::TextActions::Task::handleCommand	(	const std::string &	origin,
		const std::string &	cmd,
		const std::string &	args
	)

inline

Parse incoming command and run it.

Parameters

origin	The original sender
cmd	The command to be executed
args	The arguments of the command (if any)

References handleAbortCommand(), handleChangeNumCommand(), handleErrorsCommand(), handleHelpCommand(), handleInfoCommand(), handlePlanGeneratorCommand(), handleRebootCommand(), handleResumeCommand(), and handleStartCommand().

Referenced by consume().

◆ handleErrorsCommand()

void Autonomy::TextActions::Task::handleErrorsCommand ( const std::string & origin )

inline

Execute command 'ERRORS'.

References reply().

Referenced by handleCommand().

◆ handleHelpCommand()

void Autonomy::TextActions::Task::handleHelpCommand ( const std::string & origin )

inline

Execute command 'HELP'.

References Autonomy::TextActions::Task::Arguments::help_url, m_args, and reply().

Referenced by handleCommand().

◆ handleInfoCommand()

void Autonomy::TextActions::Task::handleInfoCommand ( const std::string & origin )

inline

Execute command 'INFO'.

References reply(), and DUNE::Tasks::Task::war().

Referenced by handleCommand().

◆ handlePlanGeneratorCommand()

void Autonomy::TextActions::Task::handlePlanGeneratorCommand	(	const std::string &	origin,
		const std::string &	cmd,
		const std::string &	args
	)

inline

Sends a PlanGeneration request resulting from an unknown command.

References DUNE::Tasks::Task::dispatch().

Referenced by handleCommand().

◆ handleRebootCommand()

void Autonomy::TextActions::Task::handleRebootCommand	(	const std::string &	origin,
		const std::string &	args
	)

inline

Execute command 'REBOOT'.

References DUNE::Tasks::Task::dispatch(), reply(), and DUNE::Tasks::Task::war().

Referenced by handleCommand().

◆ handleResumeCommand()

void Autonomy::TextActions::Task::handleResumeCommand	(	const std::string &	origin,
		const std::string &	args,
		bool	ignore_errors = `true`
	)

inline

Execute command 'RESUME'.

References DUNE::Tasks::Task::dispatch(), DUNE::IMC::AddressResolver::id(), DUNE::Tasks::Task::inf(), DUNE::Tasks::Task::m_ctx, reply(), DUNE::Tasks::Context::resolver, and splitPlan().

Referenced by handleCommand().

◆ handleStartCommand()

void Autonomy::TextActions::Task::handleStartCommand	(	const std::string &	origin,
		const std::string &	args,
		bool	ignore_errors = `true`
	)

inline

Execute command 'START'.

References DUNE::Tasks::Task::dispatch(), DUNE::IMC::AddressResolver::id(), DUNE::Tasks::Task::inf(), DUNE::Tasks::Task::m_ctx, reply(), and DUNE::Tasks::Context::resolver.

Referenced by handleCommand().

◆ onMain()

void Autonomy::TextActions::Task::onMain ( void )

inlinevirtual

Implements DUNE::Tasks::Task.

References DUNE::Tasks::Task::stopping(), and DUNE::Tasks::Task::waitForMessages().

◆ onResourceInitialization()

void Autonomy::TextActions::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 DUNE::Tasks::Task::setEntityState().

◆ onResourceRelease()

void Autonomy::TextActions::Task::onResourceRelease ( void )

inlineoverridevirtual

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.

◆ reply()

void Autonomy::TextActions::Task::reply	(	const std::string &	origin,
		const std::string &	text
	)

inline

Send back a reply to a TextMessage's origin.

Parameters

origin	the original sender
text	the text to be sent back to the sender

References DUNE::Tasks::Task::dispatch(), DUNE::IMC::AddressResolver::id(), DUNE::Tasks::Task::inf(), m_args, DUNE::Tasks::Task::m_ctx, m_reqid, Autonomy::TextActions::Task::Arguments::reply_timeout, DUNE::Tasks::Context::resolver, and DUNE::Tasks::Task::war().

Referenced by consume(), handleAbortCommand(), handleChangeNumCommand(), handleErrorsCommand(), handleHelpCommand(), handleInfoCommand(), handleRebootCommand(), handleResumeCommand(), and handleStartCommand().

◆ retrievePlan()

bool Autonomy::TextActions::Task::retrievePlan	(	const std::string &	plan_id,
		IMC::PlanSpecification &	ps
	)

inline

Referenced by splitPlan().

◆ splitCommand()

void Autonomy::TextActions::Task::splitCommand	(	const std::string &	text,
		std::string &	cmd,
		std::string &	args
	)

inline

! Splits the text into command and arguments

Parameters

[in]	text	The text to be split
[out]	cmd	The first word of the text
[out]	args	The remaining text or empty string if text has just one word.

References DUNE::Tasks::Task::inf().

Referenced by consume(), and handleChangeNumCommand().

◆ splitPlan()

PlanSpecification Autonomy::TextActions::Task::splitPlan	(	const std::string &	plan_id,
		const std::string &	man_id
	)

inline

References retrievePlan().

Referenced by handleResumeCommand().

Member Data Documentation

◆ m_args

struct Autonomy::TextActions::Task::Arguments Autonomy::TextActions::Task::m_args

Referenced by consume(), handleChangeNumCommand(), handleHelpCommand(), reply(), and Task().

◆ m_db_file

Path Autonomy::TextActions::Task::m_db_file

Plan database file.

◆ m_last

IMC::TextMessage* Autonomy::TextActions::Task::m_last

last received message

◆ m_pcs

IMC::PlanControlState* Autonomy::TextActions::Task::m_pcs

last received PlanControlState

◆ m_reqid

int Autonomy::TextActions::Task::m_reqid

Transmission request id.

Referenced by reply().

◆ m_vstate

IMC::VehicleState* Autonomy::TextActions::Task::m_vstate

last received VehicleState

Collaboration diagram for Autonomy::TextActions::Task:

Classes

Public Member Functions

Public Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ Task()

Member Function Documentation

◆ checkNumber()

◆ consume() [1/5]

◆ consume() [2/5]

◆ consume() [3/5]

◆ consume() [4/5]

◆ consume() [5/5]

◆ handleAbortCommand()

◆ handleChangeNumCommand()

◆ handleCommand()

◆ handleErrorsCommand()

◆ handleHelpCommand()

◆ handleInfoCommand()

◆ handlePlanGeneratorCommand()

◆ handleRebootCommand()

◆ handleResumeCommand()

◆ handleStartCommand()

◆ onMain()

◆ onResourceInitialization()

◆ onResourceRelease()

◆ reply()

◆ retrievePlan()

◆ splitCommand()

◆ splitPlan()

Member Data Documentation

◆ m_args

◆ m_db_file

◆ m_last

◆ m_pcs

◆ m_reqid

◆ m_vstate