Maneuver::YoYo::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onUpdateParameters (void)
void	onResourceRelease (void)
void	consume (const IMC::YoYo *maneuver)
void	consume (const IMC::PathControlState *pcs)
void	consume (const IMC::EstimatedState *state)
void	update (double state_z, double theta)
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::DesiredPitch	m_pitch
IMC::ZUnits	m_zunits
DUNE::Control::YoYoMotion *	m_yoyo
bool	m_on_course
bool	m_course_recovered
bool	m_dispatched
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::YoYo::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Maneuver::YoYo::Arguments::check_errors, m_args, Maneuver::YoYo::Arguments::u_course, Maneuver::YoYo::Arguments::u_ctrack, and Maneuver::YoYo::Arguments::variation.

Member Function Documentation

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

inline

References m_args, m_course_recovered, m_on_course, m_path, m_yoyo, m_zunits, and Maneuver::YoYo::Arguments::variation.

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

inline

References Maneuver::YoYo::Arguments::check_errors, m_args, m_course_recovered, m_on_course, m_pitch, Maneuver::YoYo::Arguments::u_course, and Maneuver::YoYo::Arguments::u_ctrack.

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

inline

References m_zunits, and update().

void Maneuver::YoYo::Task::onResourceRelease ( void  )

inline

References m_yoyo.

void Maneuver::YoYo::Task::onUpdateParameters ( void  )

inline

References m_args, Maneuver::YoYo::Arguments::u_course, and Maneuver::YoYo::Arguments::variation.

void Maneuver::YoYo::Task::update ( double  state_z, double  theta  )

inline

update the maneuver with a depth or altitude value a negative value will be interpreted as an altitude

Parameters

[in]	state_z	current z position
[in]	theta	current pitch angle

References m_course_recovered, m_dispatched, m_on_course, m_pitch, m_yoyo, DUNE::Control::YoYoMotion::stabilize(), and DUNE::Control::YoYoMotion::update().

Referenced by consume().

Member Data Documentation

Arguments Maneuver::YoYo::Task::m_args

Task arguments.

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

bool Maneuver::YoYo::Task::m_course_recovered

Course recovered flag.

Referenced by consume(), and update().

bool Maneuver::YoYo::Task::m_dispatched

Some pitch reference has been dispatched already.

Referenced by update().

bool Maneuver::YoYo::Task::m_on_course

On course flag.

Referenced by consume(), and update().

IMC::DesiredPath Maneuver::YoYo::Task::m_path

Desired path message.

Referenced by consume().

IMC::DesiredPitch Maneuver::YoYo::Task::m_pitch

Desired pitch message.

Referenced by consume(), and update().

DUNE::Control::YoYoMotion* Maneuver::YoYo::Task::m_yoyo

Yoyo motion controller.

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

IMC::ZUnits Maneuver::YoYo::Task::m_zunits

Z units for this maneuver.

Referenced by consume().

Collaboration diagram for Maneuver::YoYo::Task: