Maneuver::PopUp::Task Struct Reference

Detailed Description

PopUp task.

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onResourceRelease (void)
void	elevate (float z_value, unsigned z_units, bool current)
void	goUp (void)
void	goDown (void)
void	consume (const IMC::PopUp *maneuver)
void	consume (const IMC::VehicleMedium *msg)
void	consume (const IMC::GpsFix *msg)
void	consume (const IMC::EstimatedState *state)
void	consume (const IMC::PathControlState *pcs)
void	onStateReport (void)
void	computeETA (void)
bool	useCurr (void)
bool	mustWait (void)
bool	mustKeep (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::EstimatedState	m_state
IMC::PopUp	m_maneuver
double	m_gps_lat
double	m_gps_lon
bool	m_got_fix
bool	m_matched_criteria
bool	m_at_surface
unsigned	m_path_eta
Maneuvers::StationKeep *	m_skeep
Maneuvers::Elevate *	m_elevate
Time::Counter< float >	m_dur_timer
PopUpState	m_pstate
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::PopUp::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Maneuver::PopUp::Arguments::elev_radius, m_args, Maneuver::PopUp::Arguments::min_distance, and Maneuver::PopUp::Arguments::min_sats.

Member Function Documentation

void Maneuver::PopUp::Task::computeETA ( void  )

inline

Compute ETA.

References m_dur_timer, m_pstate, Maneuver::PopUp::ST_DONE, and Maneuver::PopUp::ST_WAIT.

Referenced by onStateReport().

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

inline

References goUp(), m_dur_timer, m_maneuver, m_pstate, Maneuver::PopUp::ST_GO_TO, Maneuver::PopUp::ST_GO_UP, and useCurr().

void Maneuver::PopUp::Task::consume ( const IMC::VehicleMedium *  msg )

inline

Used to check if we're at the surface.

References Maneuver::PopUp::Arguments::elev_radius, m_args, m_dur_timer, m_maneuver, m_pstate, m_skeep, mustKeep(), mustWait(), Maneuver::PopUp::ST_GET_FIX, Maneuver::PopUp::ST_NEAR_SURFACE, Maneuver::PopUp::ST_SKEEP, and Maneuver::PopUp::ST_WAIT.

void Maneuver::PopUp::Task::consume ( const IMC::GpsFix *  msg )

inline

References goDown(), m_args, m_pstate, m_state, Maneuver::PopUp::Arguments::min_distance, Maneuver::PopUp::ST_GET_FIX, and Maneuver::PopUp::ST_GO_DOWN.

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

inline

References goDown(), m_dur_timer, m_elevate, m_pstate, m_skeep, m_state, Maneuver::PopUp::ST_GO_DOWN, Maneuver::PopUp::ST_GO_UP, Maneuver::PopUp::ST_SKEEP, and Maneuver::PopUp::ST_WAIT.

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

inline

References goUp(), m_elevate, m_pstate, m_skeep, Maneuver::PopUp::ST_DONE, Maneuver::PopUp::ST_GO_DOWN, Maneuver::PopUp::ST_GO_TO, Maneuver::PopUp::ST_GO_UP, Maneuver::PopUp::ST_NEAR_SURFACE, and Maneuver::PopUp::ST_SKEEP.

void Maneuver::PopUp::Task::elevate ( float  z_value, unsigned  z_units, bool  current  )

inline

References Maneuver::PopUp::Arguments::elev_radius, m_args, m_elevate, and m_maneuver.

Referenced by goDown(), and goUp().

void Maneuver::PopUp::Task::goDown ( void  )

inline

References elevate(), and m_maneuver.

Referenced by consume().

void Maneuver::PopUp::Task::goUp ( void  )

inline

References elevate().

Referenced by consume().

bool Maneuver::PopUp::Task::mustKeep ( void  )

inline

Must station keep while at surface.

Returns

true if position must be kept at surface

References m_maneuver.

Referenced by consume().

bool Maneuver::PopUp::Task::mustWait ( void  )

inline

Must wait some time at surface.

Returns

true if must wait when surface has been reached

References m_maneuver.

Referenced by consume().

void Maneuver::PopUp::Task::onResourceRelease ( void  )

inline

References m_elevate, and m_skeep.

void Maneuver::PopUp::Task::onStateReport ( void  )

inline

References computeETA().

bool Maneuver::PopUp::Task::useCurr ( void  )

inline

Will use current position.

Returns

true if must use current waypoint

References m_maneuver.

Referenced by consume().

Member Data Documentation

Arguments Maneuver::PopUp::Task::m_args

Task arguments.

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

bool Maneuver::PopUp::Task::m_at_surface

Vehicle is not underwater.

Time::Counter<float> Maneuver::PopUp::Task::m_dur_timer

Timer counter for duration.

Referenced by computeETA(), and consume().

Maneuvers::Elevate* Maneuver::PopUp::Task::m_elevate

Elevator behavior.

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

bool Maneuver::PopUp::Task::m_got_fix

True if a fix has been received yet.

double Maneuver::PopUp::Task::m_gps_lat

Last GpsFix latitude.

double Maneuver::PopUp::Task::m_gps_lon

Last GpsFix longitude.

IMC::PopUp Maneuver::PopUp::Task::m_maneuver

PopUp maneuver message.

Referenced by consume(), elevate(), goDown(), mustKeep(), mustWait(), and useCurr().

bool Maneuver::PopUp::Task::m_matched_criteria

Matched criteria for popping up.

IMC::DesiredPath Maneuver::PopUp::Task::m_path

DesiredPath message.

unsigned Maneuver::PopUp::Task::m_path_eta

Estimated time of arrival from PathControlState.

PopUpState Maneuver::PopUp::Task::m_pstate

PopUp maneuver state.

Referenced by computeETA(), and consume().

Maneuvers::StationKeep* Maneuver::PopUp::Task::m_skeep

Station keeping behavior in case it is necessary.

Referenced by consume(), and onResourceRelease().

IMC::EstimatedState Maneuver::PopUp::Task::m_state

EstimatedState message.

Referenced by consume().

Collaboration diagram for Maneuver::PopUp::Task: