DUNE: Uniform Navigational Environment  2.4.0
Autonomy::TREX::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
void onEntityReservation (void)
 
void onReportEntityState (void)
 
void consume (const IMC::Heartbeat *msg)
 
void consume (const IMC::Announce *msg)
 
void consume (const IMC::VehicleState *msg)
 
void consume (const IMC::PlanControlState *msg)
 
void consume (const IMC::Abort *msg)
 
void consume (const IMC::TrexOperation *msg)
 
void onActivation (void)
 
void onDeactivation (void)
 
void startExecution (void)
 
void stopExecution (void)
 
void checkState (void)
 
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
 
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)
 
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)
 
State getState (void)
 
bool isCreated (void)
 
bool isStopping (void)
 
bool isRunning (void)
 
bool isStarting (void)
 
bool isDead (void)
 

Public Attributes

std::map< unsigned int,
IMC::Announce > 
lastAnnounces
 
std::map< unsigned int, double > lastHeartBeat
 
DUNE::Concurrency::Mutex m_mutex
 
Arguments m_args
 
double m_last_heartbeat
 
IMC::VehicleState m_last_vehicle_state
 
IMC::PlanControlState m_last_plan_state
 
bool m_trex_connected
 
bool m_trex_control
 

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
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 onEntityResolution (void)
 
virtual void onResourceAcquisition (void)
 
virtual void onResourceRelease (void)
 
virtual void onResourceInitialization (void)
 
virtual void onUpdateParameters (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 Autonomy::TREX::Task::checkState ( void  )
inline
void Autonomy::TREX::Task::consume ( const IMC::Heartbeat *  msg)
inline
void Autonomy::TREX::Task::consume ( const IMC::Announce *  msg)
inline
void Autonomy::TREX::Task::consume ( const IMC::VehicleState *  msg)
inline

References m_last_vehicle_state.

void Autonomy::TREX::Task::consume ( const IMC::PlanControlState *  msg)
inline
void Autonomy::TREX::Task::consume ( const IMC::Abort *  msg)
inline
void Autonomy::TREX::Task::consume ( const IMC::TrexOperation *  msg)
inline
void Autonomy::TREX::Task::onActivation ( void  )
inlinevirtual

Called when the task starts/resumes normal execution.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Tasks::Task::inf(), and DUNE::Tasks::Task::setEntityState().

void Autonomy::TREX::Task::onDeactivation ( void  )
inlinevirtual

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

Reimplemented from DUNE::Tasks::Task.

References DUNE::Tasks::Task::inf(), and DUNE::Tasks::Task::setEntityState().

void Autonomy::TREX::Task::onEntityReservation ( void  )
inlinevirtual

Called when the task is instructed to reserve all the entity identifiers it needs for normal execution.

See reserveEntity(). Derived classes that need to reserve entity identifiers other than that of the main entity should override this function.

Reimplemented from DUNE::Tasks::Task.

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

void Autonomy::TREX::Task::onReportEntityState ( void  )
inlinevirtual

Called when the task is instructed to report the state of its entities.

Derived classes that need to report the state of entities other than the main entity should override this function to dispatch the EntityState of those entities.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Tasks::Task::isActive(), m_last_heartbeat, m_trex_connected, DUNE::Tasks::Task::requestDeactivation(), and DUNE::Tasks::Task::setEntityState().

void Autonomy::TREX::Task::stopExecution ( void  )
inline

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

Referenced by checkState().

Member Data Documentation

std::map<unsigned int, IMC::Announce> Autonomy::TREX::Task::lastAnnounces

Announce cache.

Referenced by consume(), and onMain().

std::map<unsigned int, double> Autonomy::TREX::Task::lastHeartBeat

HeartBeat cache.

Referenced by consume(), and onMain().

Arguments Autonomy::TREX::Task::m_args

Task arguments.

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

double Autonomy::TREX::Task::m_last_heartbeat

Last HeartBeat.

Referenced by consume(), and onReportEntityState().

IMC::PlanControlState Autonomy::TREX::Task::m_last_plan_state

Last plan control state.

Referenced by checkState(), and consume().

IMC::VehicleState Autonomy::TREX::Task::m_last_vehicle_state

Last vehicle state.

Referenced by checkState(), and consume().

DUNE::Concurrency::Mutex Autonomy::TREX::Task::m_mutex

Mutex for accessing announces map.

Referenced by consume(), and onMain().

bool Autonomy::TREX::Task::m_trex_connected

Stores state of attached TREX.

Referenced by checkState(), consume(), and onReportEntityState().

bool Autonomy::TREX::Task::m_trex_control

Stores if TREX is currently controlling the vehicle.

Referenced by checkState(), and consume().

Collaboration diagram for Autonomy::TREX::Task:
Collaboration graph