Detailed Description

Plan Specification parser.

Classes
struct	Node

Public Types
typedef std::map< std::string, Node >	PlanMap

typedef std::vector < IMC::PlanManeuver * > ::const_iterator	const_iterator

Public Member Functions
	Plan (const IMC::PlanSpecification *spec, bool compute_progress, float speed_rpm_factor, float speed_act_factor)

	Plan (const IMC::PlanSpecification *spec, bool compute_progress)

	~Plan (void)

void	clear (void)

bool	parse (std::string &desc, const std::set< uint16_t > supported_maneuvers, bool plan_startup, const std::map< std::string, IMC::EntityInfo > &cinfo, Tasks::Task task, const IMC::EstimatedState *state=NULL)

void	planStarted (void)

void	planStopped (void)

void	calibrationStarted (const Calibration *calib)

void	maneuverStarted (const std::string &id)

void	maneuverDone (void)

uint16_t	getCalibrationTime (void) const

bool	isDone (void) const

IMC::PlanManeuver *	loadStartManeuver (void)

IMC::PlanManeuver *	loadNextManeuver (void)

std::string	getCurrentId (void) const

float	getExecutionDuration (void) const

float	getTotalDuration (void) const

float	getExecutionPercentage (void) const

float	updateProgress (const IMC::ManeuverControlState mcs, Calibration calib)

bool	onEntityActivationState (const std::string &id, const IMC::EntityActivationState *msg)

bool	waitingForDevice (void)

float	getPlanEta (void) const

size_t	size (void) const

const_iterator	begin (void) const

const_iterator	end (void) const

float	calibTimeLeft (void) const

Member Typedef Documentation

typedef std::vector<IMC::PlanManeuver*>::const_iterator Plan::Engine::Plan::const_iterator

Iterator.

typedef std::map<std::string, Node> Plan::Engine::Plan::PlanMap

Mapping between maneuver IDs and graph nodes.

Constructor & Destructor Documentation

Plan::Engine::Plan::Plan	(	const IMC::PlanSpecification *	spec,
		bool	compute_progress,
		float	speed_rpm_factor,
		float	speed_act_factor
	)

inline

Default constructor.

Parameters

[in]	spec	pointer to PlanSpecification message
[in]	compute_progress	true if progress should be computed
[in]	speed_rpm_factor	factor to convert from RPMs to m/s
[in]	speed_act_factor	factor to convert from actuation to m/s

Plan::Engine::Plan::Plan	(	const IMC::PlanSpecification *	spec,
		bool	compute_progress
	)

inline

No speed conversion constructor.

Parameters

[in]	spec	pointer to PlanSpecification message
[in]	compute_progress	true if progress should be computed

References Plan::Engine::Plan.

Plan::Engine::Plan::~Plan ( void )

inline

Member Function Documentation

const_iterator Plan::Engine::Plan::begin ( void ) const

inline

Return an iterator referring to the first element in the list container.

Returns: iterator.

void Plan::Engine::Plan::calibrationStarted ( const Calibration * calib )

inline

Signal that calibration has started.

References Plan::Engine::Calibration::getTime().

Referenced by Plan::Engine::Task::vehicleRequest().

float Plan::Engine::Plan::calibTimeLeft ( void ) const

inline

Returns calibration time left according to scheduler.

Returns: calibration time left or -1 if no scheduler is active

Referenced by Plan::Engine::Task::consume().

void Plan::Engine::Plan::clear ( void )

inline

Reset data.

const_iterator Plan::Engine::Plan::end ( void ) const

inline

Returns an iterator referring to the past-the-end element in the list container.

Returns: iterator.

uint16_t Plan::Engine::Plan::getCalibrationTime ( void ) const

inline

Get necessary calibration time.

Returns: necessary calibration time

Referenced by Plan::Engine::Task::startPlan().

std::string Plan::Engine::Plan::getCurrentId ( void ) const

inline

Get current maneuver id.

Returns: current id string

Referenced by Plan::Engine::Task::startManeuver().

float Plan::Engine::Plan::getExecutionDuration ( void ) const

inline

Get duration of the execution phase of the plan (total of maneuver accumulated duration)

Returns: duration of the execution phase of the plan

float Plan::Engine::Plan::getExecutionPercentage ( void ) const

inline

Get execution percentage.

Returns: percentage of the plan represented by the execution

float Plan::Engine::Plan::getPlanEta ( void ) const

inline

Get plan estimated time of arrival.

Returns: ETA

Referenced by Plan::Engine::Task::reportProgress().

float Plan::Engine::Plan::getTotalDuration ( void ) const

inline

Get total duration of the plan.

Returns: total duration of the plan

bool Plan::Engine::Plan::isDone ( void ) const

inline

Check if plan has been completed.

Returns: true if plan is done

Referenced by Plan::Engine::Task::onVehicleManeuver().

IMC::PlanManeuver* Plan::Engine::Plan::loadNextManeuver ( void )

inline

Get next maneuver message.

Returns: NULL if maneuver id is invalid

Referenced by Plan::Engine::Task::onVehicleManeuver().

IMC::PlanManeuver* Plan::Engine::Plan::loadStartManeuver ( void )

inline

Get start maneuver message.

Returns: NULL if start maneuver id is invalid

Referenced by Plan::Engine::Task::onVehicleService(), and Plan::Engine::Task::startPlan().

void Plan::Engine::Plan::maneuverDone ( void )

inline

Signal that current maneuver is done.

Referenced by Plan::Engine::Task::consume().

void Plan::Engine::Plan::maneuverStarted ( const std::string & id )

inline

Signal that a maneuver has started.

Parameters

[in] id name of the started maneuver

Referenced by Plan::Engine::Task::startManeuver().

bool Plan::Engine::Plan::onEntityActivationState	(	const std::string &	id,
		const IMC::EntityActivationState *	msg
	)

inline

Pass EntityActivationState to scheduler.

Parameters

[in]	id	entity label
[in]	msg	pointer to EntityActivationState message

Returns: false if something failed to be activated, true otherwise

Referenced by Plan::Engine::Task::consume().

bool Plan::Engine::Plan::parse	(	std::string &	desc,
		const std::set< uint16_t > *	supported_maneuvers,
		bool	plan_startup,
		const std::map< std::string, IMC::EntityInfo > &	cinfo,
		Tasks::Task *	task,
		const IMC::EstimatedState *	state = `NULL`
	)

inline

Parse a given plan.

Parameters

[out]	desc	description of the failure if any
[in]	supported_maneuvers	list of supported maneuvers
[in]	plan_startup	true if the plan is starting up
[in]	cinfo	map of components info
[in]	task	pointer to task
[in]	state	pointer to EstimatedState message