Maneuver::Elevator::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onResourceRelease (void)
void	consume (const IMC::Elevator *maneuver)
void	consume (const IMC::EstimatedState *state)
void	consume (const IMC::PathControlState *pcs)
float	getVerticalError (void) const
void	checkVerticalProgress (void)
Public Member Functions inherited from DUNE::IMC::Message
	Message (void)
virtual	~Message (void)
virtual Message *	clone (void) const =0
virtual void	clear (void)=0
virtual int	validate (void) const =0
virtual const char *	getName (void) const =0
virtual uint16_t	getId (void) const =0
double	setTimeStamp (double ts)
double	setTimeStamp (void)
double	getTimeStamp (void) const
uint16_t	getSource (void) const
void	setSource (uint16_t src)
uint8_t	getSourceEntity (void) const
void	setSourceEntity (uint8_t src_ent)
uint16_t	getDestination (void) const
void	setDestination (uint16_t dst)
uint8_t	getDestinationEntity (void) const
void	setDestinationEntity (uint8_t dst_ent)
virtual uint16_t	getSubId (void) const
virtual void	setSubId (uint16_t subid)
virtual fp64_t	getValueFP (void) const
virtual void	setValueFP (fp64_t val)
unsigned	getSerializationSize (void) const
unsigned	getPayloadSerializationSize (void) const
virtual unsigned	getFixedSerializationSize (void) const
virtual unsigned	getVariableSerializationSize (void) const
void	toJSON (std::ostream &os) const
void	toText (std::ostream &os) const
virtual uint8_t *	serializeFields (uint8_t *bfr) const =0
virtual uint16_t	deserializeFields (const uint8_t *bfr, uint16_t len)=0
virtual uint16_t	reverseDeserializeFields (const uint8_t *bfr, uint16_t len)=0
virtual void	fieldsToJSON (std::ostream &os, unsigned indent_level) const
bool	operator== (const Message &other) const
bool	operator!= (const Message &other) const

Public Attributes
IMC::DesiredPath	m_path
IMC::Elevator	m_maneuver
IMC::EstimatedState	m_estate
float *	m_state_z
bool	m_done
bool	m_loitering
int	m_dir
VMonitor *	m_vmon
Arguments	m_args

Additional Inherited Members
Protected Member Functions inherited from DUNE::IMC::Message
virtual void	setTimeStampNested (double value)
virtual void	setSourceNested (uint16_t value)
virtual void	setSourceEntityNested (uint8_t value)
virtual void	setDestinationNested (uint16_t value)
virtual void	setDestinationEntityNested (uint8_t value)
virtual bool	fieldsEqual (const Message &other) const
Protected Attributes inherited from DUNE::IMC::Message
Header	m_header

Constructor & Destructor Documentation

Maneuver::Elevator::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Maneuver::Elevator::Arguments::depth_tolerance, m_args, Maneuver::Elevator::Arguments::min_radius, Maneuver::Elevator::Arguments::radius_tolerance, Maneuver::Elevator::Arguments::vmonitor_speed, and Maneuver::Elevator::Arguments::vmonitor_timeout.

Member Function Documentation

void Maneuver::Elevator::Task::checkVerticalProgress ( void  )

inline

Check vertical progress.

References Maneuver::Elevator::VMonitor::last_depth, Maneuver::Elevator::VMonitor::last_time, m_args, m_dir, m_estate, m_vmon, Maneuver::Elevator::VMonitor::mave, Maneuver::Elevator::VMonitor::slow_progress, Maneuver::Elevator::VMonitor::timer, DUNE::Math::MovingAverage< T >::update(), and Maneuver::Elevator::Arguments::vmonitor_speed.

Referenced by consume().

void Maneuver::Elevator::Task::consume ( const IMC::Elevator *  maneuver )

inline

References m_args, m_dir, m_done, m_estate, m_loitering, m_maneuver, m_path, m_vmon, Maneuver::Elevator::Arguments::min_radius, Maneuver::Elevator::Arguments::vmonitor_speed, and Maneuver::Elevator::Arguments::vmonitor_timeout.

void Maneuver::Elevator::Task::consume ( const IMC::EstimatedState *  state )

inline

References m_dir, m_estate, m_maneuver, m_path, and m_state_z.

void Maneuver::Elevator::Task::consume ( const IMC::PathControlState *  pcs )

inline

References checkVerticalProgress(), Maneuver::Elevator::Arguments::depth_tolerance, getVerticalError(), m_args, m_dir, m_done, m_estate, m_loitering, m_maneuver, m_path, m_state_z, and Maneuver::Elevator::Arguments::vmonitor_speed.

float Maneuver::Elevator::Task::getVerticalError ( void  ) const

inline

Get absolute difference between current zed and target one.

Returns

the vertical error for the desiredZ

References m_maneuver, and m_state_z.

Referenced by consume().

void Maneuver::Elevator::Task::onResourceRelease ( void  )

inline

References m_vmon.

Member Data Documentation

Arguments Maneuver::Elevator::Task::m_args

Task parameters.

Referenced by checkVerticalProgress(), consume(), and Task().

int Maneuver::Elevator::Task::m_dir

direction up or down (1 or -1)

Referenced by checkVerticalProgress(), and consume().

bool Maneuver::Elevator::Task::m_done

true if the target depth has been reached

Referenced by consume().

IMC::EstimatedState Maneuver::Elevator::Task::m_estate

Estimated state.

Referenced by checkVerticalProgress(), and consume().

bool Maneuver::Elevator::Task::m_loitering

True if loitering.

Referenced by consume().

IMC::Elevator Maneuver::Elevator::Task::m_maneuver

Elevator Maneuver message.

Referenced by consume(), and getVerticalError().

IMC::DesiredPath Maneuver::Elevator::Task::m_path

Desired path message.

Referenced by consume().

float* Maneuver::Elevator::Task::m_state_z

Pointer to zed that matters.

Referenced by consume(), and getVerticalError().

VMonitor* Maneuver::Elevator::Task::m_vmon

Vertical monitor.

Referenced by checkVerticalProgress(), consume(), and onResourceRelease().

Collaboration diagram for Maneuver::Elevator::Task: