DUNE: Uniform Navigational Environment  2.4.0
Control::UAV::Ardupilot::Task Struct Reference

Public Types

typedef void(Task::* PktHandler )(const mavlink_message_t *msg)
 
typedef std::map< int, PktHandlerPktHandlerMap
 
- Public Types inherited from DUNE::Concurrency::Runnable
enum  State {
  StateStarting, StateRunning, StateStopping, StateDead,
  StateUnknown
}
 

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
void onResourceRelease (void)
 
void onResourceAcquisition (void)
 
void onParameterUpdate (void)
 
void openConnection (void)
 
void setupRate (uint8_t rate)
 
void info (uint32_t was, uint32_t is, uint32_t loop, const char *desc)
 
void consume (const IMC::ControlLoops *cloops)
 
void activateFBW (void)
 
void consume (const IMC::DesiredRoll *d_roll)
 
void consume (const IMC::DesiredZ *d_z)
 
void consume (const IMC::DesiredVerticalRate *d_vr)
 
void consume (const IMC::DesiredSpeed *d_speed)
 
int map2PWM (int min_pwm, int max_pwm, float min_value, float max_value, float value)
 
void consume (const IMC::DesiredPath *path)
 
void takeoff (const IMC::DesiredPath *dpath)
 
void loiterHere (void)
 
void consume (const IMC::IdleManeuver *idle)
 
void consume (const IMC::PowerChannelControl *pcc)
 
void consume (const IMC::VehicleMedium *vm)
 
void sendCommandPacket (uint16_t cmd, float arg1=0, float arg2=0, float arg3=0, float arg4=0, float arg5=0, float arg6=0, float arg7=0)
 
void onMain (void)
 
bool poll (double timeout)
 
int sendData (uint8_t *bfr, int size)
 
int receiveData (uint8_t *buf, size_t blen)
 
void handleArdupilotData (void)
 
void handleAttitudePacket (const mavlink_message_t *msg)
 
void handlePositionPacket (const mavlink_message_t *msg)
 
void handleHWStatusPacket (const mavlink_message_t *msg)
 
void handleSystemStatusPacket (const mavlink_message_t *msg)
 
void handleScaledPressurePacket (const mavlink_message_t *msg)
 
void handleRawGPSPacket (const mavlink_message_t *msg)
 
void handleWindPacket (const mavlink_message_t *msg)
 
void handleCmdAckPacket (const mavlink_message_t *msg)
 
void handleMissionAckPacket (const mavlink_message_t *msg)
 
void handleMissionCurrentPacket (const mavlink_message_t *msg)
 
void handleStatusTextPacket (const mavlink_message_t *msg)
 
void handleHeartbeatPacket (const mavlink_message_t *msg)
 
void handleNavControllerPacket (const mavlink_message_t *msg)
 
void handleMissionItemPacket (const mavlink_message_t *msg)
 
void handleHUDPacket (const mavlink_message_t *msg)
 
void handleSystemTimePacket (const mavlink_message_t *msg)
 
- 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

Arguments m_args
 
PktHandlerMap m_mlh
 
double m_last_pkt_time
 
uint8_t m_buf [512]
 
IMC::EstimatedState m_estate
 
IMC::Voltage m_volt
 
IMC::Current m_curr
 
IMC::FuelLevel m_fuel
 
IMC::Pressure m_pressure
 
IMC::Temperature m_temp
 
IMC::GpsFix m_fix
 
IMC::EstimatedStreamVelocity m_stream
 
IMC::AngularVelocity m_ang_vel
 
IMC::Acceleration m_accel
 
IMC::MagneticField m_mag_field
 
IMC::SetServoPosition m_servo
 
IMC::PathControlState m_pcs
 
IMC::DesiredPath m_dpath
 
fp64_t ref_lat
 
fp64_t ref_lon
 
fp32_t ref_hei
 
TCPSocket * m_TCP_sock
 
Address m_TCP_addr
 
uint16_t m_TCP_port
 
uint8_t m_sysid
 
double m_lat
 
double m_lon
 
float m_alt
 
bool m_external
 
int m_current_wp
 
bool m_critical
 
uint32_t m_cloops
 
mavlink_message_t m_msg
 
int m_desired_radius
 
int m_gnd_speed
 
int m_mode
 
bool m_changing_wp
 
bool m_error_missing
 
bool m_esta_ext
 
bool m_has_setup_rate
 
bool m_ground
 
float m_droll
 
float m_dclimb
 
float m_dspeed
 
APM_Vehicle m_vehicle_type
 

Additional Inherited Members

- 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
 

Member Typedef Documentation

typedef void(Task::* Control::UAV::Ardupilot::Task::PktHandler)(const mavlink_message_t *msg)

Arduino packet handling.

Constructor & Destructor Documentation

Control::UAV::Ardupilot::Task::Task ( const std::string &  name,
Tasks::Context &  ctx 
)
inline

References Control::UAV::Ardupilot::Arguments::alt, Control::UAV::Ardupilot::Arguments::ardu_tracker, Control::UAV::Ardupilot::Arguments::comm_timeout, DUNE::Tasks::Parameter::defaultValue(), Control::UAV::Ardupilot::Arguments::fbwb_mode, handleAttitudePacket(), handleCmdAckPacket(), handleHeartbeatPacket(), handleHUDPacket(), handleHWStatusPacket(), handleMissionAckPacket(), handleMissionCurrentPacket(), handleMissionItemPacket(), handleNavControllerPacket(), handlePositionPacket(), handleRawGPSPacket(), handleScaledPressurePacket(), handleStatusTextPacket(), handleSystemStatusPacket(), handleSystemTimePacket(), handleWindPacket(), Control::UAV::Ardupilot::Arguments::lradius, Control::UAV::Ardupilot::Arguments::ltolerance, m_args, m_estate, m_last_pkt_time, m_mlh, DUNE::Tasks::Parameter::maximumValue(), DUNE::Tasks::Parameter::minimumValue(), DUNE::Tasks::Task::param(), Control::UAV::Ardupilot::RadioChannel::pwm_max, Control::UAV::Ardupilot::RadioChannel::pwm_min, Control::UAV::Ardupilot::Arguments::pwrm, Control::UAV::Ardupilot::Arguments::rc1, Control::UAV::Ardupilot::Arguments::rc2, Control::UAV::Ardupilot::Arguments::rc3, Control::UAV::Ardupilot::Arguments::rc8, Control::UAV::Ardupilot::Arguments::secs, Control::UAV::Ardupilot::Arguments::speed, Control::UAV::Ardupilot::Arguments::TCP_addr, Control::UAV::Ardupilot::Arguments::TCP_port, Control::UAV::Ardupilot::Arguments::trate, Control::UAV::Ardupilot::Arguments::ublox, Control::UAV::Ardupilot::RadioChannel::val_max, and Control::UAV::Ardupilot::RadioChannel::val_min.

Member Function Documentation

void Control::UAV::Ardupilot::Task::activateFBW ( void  )
inline

Messages for FBWB control (using DUNE's controllers)

References m_sysid, and sendData().

Referenced by consume().

void Control::UAV::Ardupilot::Task::consume ( const IMC::ControlLoops *  cloops)
inline
void Control::UAV::Ardupilot::Task::consume ( const IMC::DesiredZ *  d_z)
inline
void Control::UAV::Ardupilot::Task::consume ( const IMC::DesiredVerticalRate *  d_vr)
inline
void Control::UAV::Ardupilot::Task::consume ( const IMC::DesiredSpeed *  d_speed)
inline
void Control::UAV::Ardupilot::Task::consume ( const IMC::DesiredPath *  path)
inline
void Control::UAV::Ardupilot::Task::consume ( const IMC::IdleManeuver *  idle)
inline

References loiterHere(), and m_dpath.

void Control::UAV::Ardupilot::Task::consume ( const IMC::PowerChannelControl *  pcc)
inline
void Control::UAV::Ardupilot::Task::consume ( const IMC::VehicleMedium *  vm)
inline

References m_ground.

void Control::UAV::Ardupilot::Task::handleAttitudePacket ( const mavlink_message_t *  msg)
inline

References m_estate.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleCmdAckPacket ( const mavlink_message_t *  msg)
inline

References DUNE::Tasks::Task::debug(), and m_changing_wp.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleHUDPacket ( const mavlink_message_t *  msg)
inline

References DUNE::Tasks::Task::dispatch(), and m_gnd_speed.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleHWStatusPacket ( const mavlink_message_t *  msg)
inline
void Control::UAV::Ardupilot::Task::handleMissionAckPacket ( const mavlink_message_t *  msg)
inline

References DUNE::Tasks::Task::debug(), and m_changing_wp.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleMissionCurrentPacket ( const mavlink_message_t *  msg)
inline
void Control::UAV::Ardupilot::Task::handleMissionItemPacket ( const mavlink_message_t *  msg)
inline

References m_critical, and DUNE::Tasks::Task::trace().

Referenced by Task().

void Control::UAV::Ardupilot::Task::handlePositionPacket ( const mavlink_message_t *  msg)
inline
void Control::UAV::Ardupilot::Task::handleRawGPSPacket ( const mavlink_message_t *  msg)
inline

References m_fix.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleScaledPressurePacket ( const mavlink_message_t *  msg)
inline

References DUNE::Tasks::Task::dispatch(), m_pressure, and m_temp.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleStatusTextPacket ( const mavlink_message_t *  msg)
inline

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

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleSystemStatusPacket ( const mavlink_message_t *  msg)
inline
void Control::UAV::Ardupilot::Task::handleSystemTimePacket ( const mavlink_message_t *  msg)
inline

References DUNE::Tasks::Task::dispatch(), and m_fix.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleWindPacket ( const mavlink_message_t *  msg)
inline

References DUNE::Tasks::Task::dispatch(), and m_stream.

Referenced by Task().

void Control::UAV::Ardupilot::Task::info ( uint32_t  was,
uint32_t  is,
uint32_t  loop,
const char *  desc 
)
inline

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

Referenced by consume().

int Control::UAV::Ardupilot::Task::map2PWM ( int  min_pwm,
int  max_pwm,
float  min_value,
float  max_value,
float  value 
)
inline

Converts value in range min_value:max_value to a value_pwm in range min_pwm:max_pwm.

References DUNE::Math::trimValue().

Referenced by consume().

void Control::UAV::Ardupilot::Task::onResourceAcquisition ( void  )
inlinevirtual

Called when the task is instructed to acquire resources whose configuration is defined by run-time parameters.

Reimplemented from DUNE::Tasks::Task.

References m_args, m_TCP_addr, m_TCP_port, openConnection(), Control::UAV::Ardupilot::Arguments::TCP_addr, and Control::UAV::Ardupilot::Arguments::TCP_port.

void Control::UAV::Ardupilot::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_TCP_sock.

bool Control::UAV::Ardupilot::Task::poll ( double  timeout)
inline

References m_TCP_sock.

Referenced by handleArdupilotData().

int Control::UAV::Ardupilot::Task::receiveData ( uint8_t *  buf,
size_t  blen 
)
inline
void Control::UAV::Ardupilot::Task::sendCommandPacket ( uint16_t  cmd,
float  arg1 = 0,
float  arg2 = 0,
float  arg3 = 0,
float  arg4 = 0,
float  arg5 = 0,
float  arg6 = 0,
float  arg7 = 0 
)
inline
int Control::UAV::Ardupilot::Task::sendData ( uint8_t *  bfr,
int  size 
)
inline
void Control::UAV::Ardupilot::Task::setupRate ( uint8_t  rate)
inline
void Control::UAV::Ardupilot::Task::takeoff ( const IMC::DesiredPath *  dpath)
inline

Member Data Documentation

IMC::Acceleration Control::UAV::Ardupilot::Task::m_accel
float Control::UAV::Ardupilot::Task::m_alt
IMC::AngularVelocity Control::UAV::Ardupilot::Task::m_ang_vel

IMU messages.

uint8_t Control::UAV::Ardupilot::Task::m_buf[512]

Referenced by handleArdupilotData().

bool Control::UAV::Ardupilot::Task::m_changing_wp
uint32_t Control::UAV::Ardupilot::Task::m_cloops

Bitfield of enabled control loops.

Referenced by consume().

bool Control::UAV::Ardupilot::Task::m_critical

Critical WP.

Referenced by consume(), and handleMissionItemPacket().

IMC::Current Control::UAV::Ardupilot::Task::m_curr
int Control::UAV::Ardupilot::Task::m_current_wp

Current waypoint.

Referenced by handleMissionCurrentPacket().

float Control::UAV::Ardupilot::Task::m_dclimb

Referenced by consume().

int Control::UAV::Ardupilot::Task::m_desired_radius
IMC::DesiredPath Control::UAV::Ardupilot::Task::m_dpath

DesiredPath message.

Referenced by consume(), and handleHeartbeatPacket().

float Control::UAV::Ardupilot::Task::m_droll

Desired control.

Referenced by consume().

float Control::UAV::Ardupilot::Task::m_dspeed

Referenced by consume().

bool Control::UAV::Ardupilot::Task::m_error_missing

Referenced by handleArdupilotData(), and onMain().

bool Control::UAV::Ardupilot::Task::m_esta_ext

Referenced by onMain().

IMC::EstimatedState Control::UAV::Ardupilot::Task::m_estate

Estimated state message.

Referenced by handleAttitudePacket(), handlePositionPacket(), and Task().

bool Control::UAV::Ardupilot::Task::m_external

External control.

Referenced by consume(), handleHeartbeatPacket(), loiterHere(), and onMain().

IMC::GpsFix Control::UAV::Ardupilot::Task::m_fix

GPS Fix message.

Referenced by handleRawGPSPacket(), handleSystemTimePacket(), and loiterHere().

IMC::FuelLevel Control::UAV::Ardupilot::Task::m_fuel
int Control::UAV::Ardupilot::Task::m_gnd_speed
bool Control::UAV::Ardupilot::Task::m_ground

Vehicle is on ground.

Referenced by consume(), and loiterHere().

bool Control::UAV::Ardupilot::Task::m_has_setup_rate

Setup rate hack.

Referenced by handleHeartbeatPacket().

double Control::UAV::Ardupilot::Task::m_last_pkt_time

Referenced by handleArdupilotData(), and Task().

double Control::UAV::Ardupilot::Task::m_lat

Last received position.

Referenced by consume(), handlePositionPacket(), and takeoff().

double Control::UAV::Ardupilot::Task::m_lon
IMC::MagneticField Control::UAV::Ardupilot::Task::m_mag_field
PktHandlerMap Control::UAV::Ardupilot::Task::m_mlh

Referenced by handleArdupilotData(), and Task().

int Control::UAV::Ardupilot::Task::m_mode
mavlink_message_t Control::UAV::Ardupilot::Task::m_msg

Parser Variables.

Referenced by handleArdupilotData().

IMC::PathControlState Control::UAV::Ardupilot::Task::m_pcs
IMC::Pressure Control::UAV::Ardupilot::Task::m_pressure

Pressure message.

Referenced by handleScaledPressurePacket().

IMC::SetServoPosition Control::UAV::Ardupilot::Task::m_servo

Servo PWM message.

IMC::EstimatedStreamVelocity Control::UAV::Ardupilot::Task::m_stream

Wind message.

Referenced by handleWindPacket().

uint8_t Control::UAV::Ardupilot::Task::m_sysid
Address Control::UAV::Ardupilot::Task::m_TCP_addr
uint16_t Control::UAV::Ardupilot::Task::m_TCP_port
TCPSocket* Control::UAV::Ardupilot::Task::m_TCP_sock
IMC::Temperature Control::UAV::Ardupilot::Task::m_temp

Temperature message.

Referenced by handleScaledPressurePacket().

APM_Vehicle Control::UAV::Ardupilot::Task::m_vehicle_type

Type of system to be controlled.

Referenced by handleHeartbeatPacket().

IMC::Voltage Control::UAV::Ardupilot::Task::m_volt

Battery messages.

Referenced by handleHWStatusPacket(), and handleSystemStatusPacket().

fp32_t Control::UAV::Ardupilot::Task::ref_hei

Referenced by handlePositionPacket().

fp64_t Control::UAV::Ardupilot::Task::ref_lat

Reference Lat and Lon and Hei to measure displacement.

Referenced by handlePositionPacket().

fp64_t Control::UAV::Ardupilot::Task::ref_lon

Referenced by handlePositionPacket().

Collaboration diagram for Control::UAV::Ardupilot::Task:
Collaboration graph