DUNE: Uniform Navigational Environment  2.3.0
Simulators::UAV::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
void onResourceAcquisition (void)
 
 ~Task (void)
 
void onResourceRelease (void)
 
void consume (const IMC::DesiredRoll *msg)
 
void consume (const IMC::DesiredVelocity *msg)
 
void consume (const IMC::SetServoPosition *msg)
 
void consume (const IMC::SetThrusterActuation *msg)
 
Matrix matrixRotRbody2gnd (float roll, float pitch, float yaw)
 
Matrix matrixJ (float roll, float pitch, float yaw)
 
void onMain (void)
 
- Public Member Functions inherited from DUNE::Tasks::Task
 Task (const std::string &name, Context &context)
 
const char * getName (void) const
 
const char * getSystemName (void) const
 
unsigned int getSystemId (void) const
 
unsigned int getEntityId (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
 
- 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)
 
- 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)
 
State getState (void)
 
bool isCreated (void)
 
bool isStopping (void)
 
bool isRunning (void)
 
bool isStarting (void)
 
bool isDead (void)
 

Public Attributes

UAVModel * m_model
 
IMC::SimulatedState m_sstate
 
double m_start_time
 
double m_last_update
 
float m_thruster_act
 
Matrix m_servo_pos
 
float m_bank_cmd
 
float m_speed_cmd
 
Matrix m_position
 
Matrix m_velocity
 
unsigned m_gps_eid
 
Arguments m_args
 

Additional Inherited Members

- Public Types inherited from DUNE::Concurrency::Runnable
enum  State {
  StateStarting, StateRunning, StateStopping, StateDead,
  StateUnknown
}
 
- Static Public Member Functions inherited from DUNE::Concurrency::Thread
static unsigned native (void)
 
- Protected Member Functions inherited from DUNE::Tasks::Task
const char * getEntityLabel (void) const
 
void setEntityLabel (const std::string &label)
 
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)
 
unsigned int resolveEntity (const std::string &label) const
 
std::string resolveEntity (unsigned int id) const
 
bool stopping (void)
 
bool isActive (void) const
 
void waitForMessages (double timeout)
 
void consumeMessages (void)
 
template<typename T >
Parameterparam (const std::string &name, T &var)
 
template<typename Y , typename T >
Parameterparam (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 >
void bind (T *task_obj, const std::vector< std::string > &list)
 
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 void onEntityReservation (void)
 
virtual void onEntityResolution (void)
 
virtual void onReportEntityState (void)
 
virtual void onResourceInitialization (void)
 
virtual void onUpdateParameters (void)
 
virtual void onRequestActivation (void)
 
virtual void onRequestDeactivation (void)
 
virtual void onActivation (void)
 
virtual void onDeactivation (void)
 
- Protected Member Functions inherited from DUNE::Concurrency::Thread
void startImpl (void)
 
void stopImpl (void)
 
void joinImpl (void)
 
void setPriorityImpl (Scheduler::Policy policy, unsigned priority)
 
- Protected Attributes inherited from DUNE::Tasks::Task
Contextm_ctx
 

Constructor & Destructor Documentation

Simulators::UAV::Task::~Task ( void  )
inlinevirtual

Destructor.

Reimplemented from DUNE::Tasks::Task.

References onResourceRelease().

Member Function Documentation

void Simulators::UAV::Task::consume ( const IMC::DesiredRoll *  msg)
inline
void Simulators::UAV::Task::consume ( const IMC::DesiredVelocity *  msg)
inline
void Simulators::UAV::Task::consume ( const IMC::SetServoPosition *  msg)
inline
void Simulators::UAV::Task::consume ( const IMC::SetThrusterActuation *  msg)
inline
Matrix Simulators::UAV::Task::matrixJ ( float  roll,
float  pitch,
float  yaw 
)
inline
Matrix Simulators::UAV::Task::matrixRotRbody2gnd ( float  roll,
float  pitch,
float  yaw 
)
inline

Referenced by matrixJ().

void Simulators::UAV::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.

References m_model.

Referenced by ~Task().

Member Data Documentation

Arguments Simulators::UAV::Task::m_args

Task arguments.

Referenced by onMain(), onResourceAcquisition(), and Task().

float Simulators::UAV::Task::m_bank_cmd

Bank command.

Referenced by consume(), and onMain().

unsigned Simulators::UAV::Task::m_gps_eid

Gps simulator entity id.

double Simulators::UAV::Task::m_last_update

Last time update was ran.

Referenced by onMain().

UAVModel* Simulators::UAV::Task::m_model

Simulation vehicle.

Referenced by onResourceAcquisition(), and onResourceRelease().

Matrix Simulators::UAV::Task::m_position

Vehicle position.

Referenced by onMain().

Matrix Simulators::UAV::Task::m_servo_pos

Set Servo positions.

Referenced by consume().

float Simulators::UAV::Task::m_speed_cmd

Airspeed command.

Referenced by consume(), and onMain().

IMC::SimulatedState Simulators::UAV::Task::m_sstate

Simulated position (X,Y,Z).

Referenced by onMain().

double Simulators::UAV::Task::m_start_time

Start time.

Referenced by onMain().

float Simulators::UAV::Task::m_thruster_act

Actuation in the thruster.

Referenced by consume().

Matrix Simulators::UAV::Task::m_velocity

Vehicle velocity vector.

Referenced by onMain().

Collaboration diagram for Simulators::UAV::Task:
Collaboration graph