Control::PTU::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onUpdateParameters (void)
void	consume (const IMC::EstimatedState *msg)
void	consume (const IMC::Target *msg)
void	consume (const IMC::EulerAngles *msg)
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
IMC::EstimatedState	m_estate
IMC::EstimatedState	m_estate_ref
IMC::RemoteActions	m_ra
bool	m_es_flag
bool	m_trg_flag
bool	m_sensor_flag
Matrix	m_ptu_pos
Matrix	m_ptu_rot
Matrix	m_sensor_ang
Matrix	m_trg_pos
Matrix	m_trg_vel
std::string	m_trg_name
unsigned	m_trg_id
bool	m_ptu_ctrl_mode
bool	m_ptu_fixed
float	m_panrt_gain
float	m_tiltrt_gain
float	m_ptu_lat
float	m_ptu_lon
float	m_ptu_height

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 >
Parameter &	param (const std::string &name, T &var)
template<typename Y , typename T >
Parameter &	param (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	onResourceInitialization (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
Context &	m_ctx

Constructor & Destructor Documentation

Control::PTU::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References DUNE::Tasks::Parameter::description(), m_panrt_gain, m_ptu_ctrl_mode, m_ptu_fixed, m_ptu_height, m_ptu_lat, m_ptu_lon, m_tiltrt_gain, m_trg_name, and DUNE::Tasks::Task::param().

Member Function Documentation

void Control::PTU::Task::consume ( const IMC::EstimatedState *  msg )

inline

References DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::getEntityId(), m_estate, m_estate_ref, m_panrt_gain, m_ptu_ctrl_mode, m_ptu_fixed, m_ptu_height, m_ptu_lat, m_ptu_lon, m_ptu_pos, m_ptu_rot, m_ra, m_sensor_ang, m_tiltrt_gain, m_trg_flag, m_trg_id, m_trg_pos, m_trg_vel, DUNE::Tasks::Task::setEntityState(), DUNE::Tasks::Task::spew(), DUNE::Math::Matrix::toDCM(), and DUNE::Math::transpose().

void Control::PTU::Task::consume ( const IMC::Target *  msg )

inline

References m_es_flag, m_estate, m_estate_ref, m_trg_flag, and m_trg_pos.

void Control::PTU::Task::consume ( const IMC::EulerAngles *  msg )

inline

References DUNE::Tasks::Task::inf(), m_sensor_ang, and m_sensor_flag.

void Control::PTU::Task::onMain ( void  )

inlinevirtual

Implements DUNE::Tasks::Task.

References DUNE::Tasks::Task::stopping(), and DUNE::Tasks::Task::waitForMessages().

void Control::PTU::Task::onUpdateParameters ( void  )

inlinevirtual

Called when the task is instructed to update its run-time parameters.

Derived classes that need to compute auxiliary values based on run-time parameters should override this function.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Tasks::Task::inf(), m_trg_id, m_trg_name, and DUNE::Tasks::Task::resolveSystemName().

Member Data Documentation

bool Control::PTU::Task::m_es_flag

Referenced by consume().

IMC::EstimatedState Control::PTU::Task::m_estate

Referenced by consume().

IMC::EstimatedState Control::PTU::Task::m_estate_ref

Referenced by consume().

float Control::PTU::Task::m_panrt_gain

Referenced by consume(), and Task().

bool Control::PTU::Task::m_ptu_ctrl_mode

Referenced by consume(), and Task().

bool Control::PTU::Task::m_ptu_fixed

Referenced by consume(), and Task().

float Control::PTU::Task::m_ptu_height

Referenced by consume(), and Task().

float Control::PTU::Task::m_ptu_lat

Referenced by consume(), and Task().

float Control::PTU::Task::m_ptu_lon

Referenced by consume(), and Task().

Matrix Control::PTU::Task::m_ptu_pos

Referenced by consume().

Matrix Control::PTU::Task::m_ptu_rot

Referenced by consume().

IMC::RemoteActions Control::PTU::Task::m_ra

Referenced by consume().

Matrix Control::PTU::Task::m_sensor_ang

Referenced by consume().

bool Control::PTU::Task::m_sensor_flag

Referenced by consume().

float Control::PTU::Task::m_tiltrt_gain

Referenced by consume(), and Task().

bool Control::PTU::Task::m_trg_flag

Referenced by consume().

unsigned Control::PTU::Task::m_trg_id

Referenced by consume(), and onUpdateParameters().

std::string Control::PTU::Task::m_trg_name

Referenced by onUpdateParameters(), and Task().

Matrix Control::PTU::Task::m_trg_pos

Referenced by consume().

Matrix Control::PTU::Task::m_trg_vel

Referenced by consume().

Collaboration diagram for Control::PTU::Task: