DUNE: Uniform Navigational Environment  2.3.0
Control::AUV::RemoteOperation::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
void onUpdateParameters (void)
 
void onActivation (void)
 
void onDeactivation (void)
 
void onRemoteActions (const IMC::RemoteActions *msg)
 
void onConnectionTimeout (void)
 
void consume (const IMC::EstimatedState *msg)
 
void activateTorqueControl (void)
 
void actuate (void)
 
- Public Member Functions inherited from DUNE::Control::BasicRemoteOperation
 BasicRemoteOperation (const std::string &name, Tasks::Context &ctx)
 
virtual ~BasicRemoteOperation (void)
 
void consume (const IMC::RemoteActions *message)
 
void consume (const IMC::RemoteActionsRequest *message)
 
void consume (const IMC::ControlLoops *message)
 
- 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
 
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

float m_hrate
 
float m_thrust
 
int m_acceleration
 
float m_verfin
 
float m_horfin
 
bool m_torque_control
 
Counter< float > m_last_estate
 
Arguments m_args
 
bool m_analog_thrust
 

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::Control::BasicRemoteOperation
void addActionButton (const std::string &action)
 
void addActionAxis (const std::string &action)
 
void setConnectionTimeout (const float tout)
 
virtual void onRemoteActions (const IMC::RemoteActions *message)
 
virtual void onConnectionResumed (void)
 
virtual void onResourceInitialization (void)
 
void enableControlLoops (uint32_t mask)
 
void disableControlLoops (uint32_t mask)
 
- 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 onResourceAcquisition (void)
 
virtual void onResourceRelease (void)
 
virtual void onRequestActivation (void)
 
virtual void onRequestDeactivation (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

Member Function Documentation

void Control::AUV::RemoteOperation::Task::activateTorqueControl ( void  )
inline
void Control::AUV::RemoteOperation::Task::consume ( const IMC::EstimatedState *  msg)
inline
void Control::AUV::RemoteOperation::Task::onActivation ( void  )
inlinevirtual
void Control::AUV::RemoteOperation::Task::onConnectionTimeout ( void  )
inlinevirtual

Reimplemented from DUNE::Control::BasicRemoteOperation.

References actuate(), m_hrate, m_thrust, and m_verfin.

void Control::AUV::RemoteOperation::Task::onDeactivation ( void  )
inlinevirtual

Called when the task stops normal execution and enters an idleness state.

Reimplemented from DUNE::Tasks::Task.

References m_acceleration, m_horfin, m_hrate, m_thrust, and m_verfin.

void Control::AUV::RemoteOperation::Task::onRemoteActions ( const IMC::RemoteActions *  msg)
inline
void Control::AUV::RemoteOperation::Task::onUpdateParameters ( void  )
inlinevirtual

Member Data Documentation

int Control::AUV::RemoteOperation::Task::m_acceleration

Acceleration.

Referenced by actuate(), onActivation(), onDeactivation(), and onRemoteActions().

bool Control::AUV::RemoteOperation::Task::m_analog_thrust

The analog axis is being used for thrust.

Referenced by onRemoteActions().

Arguments Control::AUV::RemoteOperation::Task::m_args
float Control::AUV::RemoteOperation::Task::m_horfin

Position of the horizontal fins. (for torque control)

Referenced by activateTorqueControl(), actuate(), onActivation(), and onDeactivation().

float Control::AUV::RemoteOperation::Task::m_hrate

Heading rate reference.

Referenced by actuate(), onActivation(), onConnectionTimeout(), onDeactivation(), and onRemoteActions().

Counter<float> Control::AUV::RemoteOperation::Task::m_last_estate

Last received EstimatedState.

Referenced by actuate(), consume(), and onUpdateParameters().

float Control::AUV::RemoteOperation::Task::m_thrust

Forward thrust reference.

Referenced by actuate(), onActivation(), onConnectionTimeout(), onDeactivation(), and onRemoteActions().

bool Control::AUV::RemoteOperation::Task::m_torque_control

Control the fins directly.

Referenced by activateTorqueControl(), actuate(), onActivation(), and onRemoteActions().

float Control::AUV::RemoteOperation::Task::m_verfin

Position of the vertical fins. (for torque control)

Referenced by activateTorqueControl(), actuate(), onActivation(), onConnectionTimeout(), onDeactivation(), and onRemoteActions().

Collaboration diagram for Control::AUV::RemoteOperation::Task:
Collaboration graph