DUNE: Uniform Navigational Environment  2.5.0-rc1
Navigation::General::GPSNavigation::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
void onEntityResolution (void)
 
void consume (const IMC::GroundVelocity *msg)
 
void consume (const IMC::AngularVelocity *msg)
 
void consume (const IMC::EulerAngles *msg)
 
void consume (const IMC::GpsFix *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

int m_gps_eid
 
int m_imu_eid
 
int m_yaw_eid
 
IMC::EstimatedState m_estate
 
IMC::GpsFixRejection m_gps_rej
 
Counter< double > m_time_without_gps
 
Arguments m_args
 

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 onEntityReservation (void)
 
virtual void onReportEntityState (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)
 
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
 

Constructor & Destructor Documentation

Member Function Documentation

void Navigation::General::GPSNavigation::Task::consume ( const IMC::GroundVelocity *  msg)
inline

References m_estate.

void Navigation::General::GPSNavigation::Task::consume ( const IMC::AngularVelocity *  msg)
inline

References m_estate, m_imu_eid, and m_yaw_eid.

void Navigation::General::GPSNavigation::Task::consume ( const IMC::EulerAngles *  msg)
inline

References m_estate, m_imu_eid, and m_yaw_eid.

void Navigation::General::GPSNavigation::Task::consume ( const IMC::GpsFix *  msg)
inline
void Navigation::General::GPSNavigation::Task::onEntityResolution ( void  )
inlinevirtual

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

See resolveEntity(). Derived classes that need to resolve entity identifiers should override this function.

Reimplemented from DUNE::Tasks::Task.

References Navigation::General::GPSNavigation::Arguments::elabel_gps, Navigation::General::GPSNavigation::Arguments::elabel_imu, Navigation::General::GPSNavigation::Arguments::elabel_yaw, m_args, m_gps_eid, m_imu_eid, m_yaw_eid, and DUNE::Tasks::Task::resolveEntity().

void Navigation::General::GPSNavigation::Task::onMain ( void  )
inlinevirtual

Member Data Documentation

Arguments Navigation::General::GPSNavigation::Task::m_args

Task arguments.

Referenced by onEntityResolution(), and Task().

IMC::EstimatedState Navigation::General::GPSNavigation::Task::m_estate

Estimated state.

Referenced by consume(), and Task().

int Navigation::General::GPSNavigation::Task::m_gps_eid

GPS entity eid.

Referenced by consume(), and onEntityResolution().

IMC::GpsFixRejection Navigation::General::GPSNavigation::Task::m_gps_rej

GPS fix rejection.

Referenced by consume().

int Navigation::General::GPSNavigation::Task::m_imu_eid

IMU entity eid.

Referenced by consume(), and onEntityResolution().

Counter<double> Navigation::General::GPSNavigation::Task::m_time_without_gps

Time without GPS.

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

int Navigation::General::GPSNavigation::Task::m_yaw_eid

Yaw entity eid.

Referenced by consume(), and onEntityResolution().

Collaboration diagram for Navigation::General::GPSNavigation::Task:
Collaboration graph