DUNE: Uniform Navigational Environment  2.5.0-rc1
List of all members | Public Member Functions | Public Attributes
Transports::ArdupilotSITL::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
 
void onResourceAcquisition (void)
 
void consume (const IMC::SimulatedState *simstate)
 
void consume (const IMC::Acceleration *msg)
 
void consume (const IMC::PWM *msg)
 
void openConnection ()
 
void onResourceRelease (void)
 
int receiveData (uint8_t *buf, size_t blen)
 
bool poll (double timeout)
 
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

Arguments m_args
 
uint16_t m_sitl_port_in
 
uint16_t m_sitl_port_out
 
Address m_sitl_addr
 
UDPSocket * m_udp_sock_rc_in
 
UDPSocket * m_udp_sock_out
 
uint8_t m_buf [512]
 
SITL_pwm_packet m_pwm
 
IMC::SetPWM m_motor_pwm [11]
 
IMC::SimulatedState m_sstate
 
IMC::Acceleration m_accel
 

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 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
Context & m_ctx
 

Constructor & Destructor Documentation

Transports::ArdupilotSITL::Task::Task ( const std::string &  name,
Tasks::Context &  ctx 
)
inline

Constructor.

Parameters
[in]nametask name.
[in]ctxcontext.

References DUNE::Tasks::Parameter::defaultValue(), m_args, m_motor_pwm, DUNE::Tasks::Task::param(), DUNE::Tasks::Task::setEntityState(), Transports::ArdupilotSITL::Arguments::sitl_addr, Transports::ArdupilotSITL::Arguments::sitl_port_in, and Transports::ArdupilotSITL::Arguments::sitl_port_out.

Member Function Documentation

void Transports::ArdupilotSITL::Task::consume ( const IMC::SimulatedState *  simstate)
inline

References Transports::ArdupilotSITL::SITL_fdm::airspeed, Transports::ArdupilotSITL::SITL_fdm::altitude, Transports::ArdupilotSITL::SITL_fdm::heading, DUNE::Tasks::Task::inf(), Transports::ArdupilotSITL::SITL_fdm::latitude, Transports::ArdupilotSITL::SITL_fdm::longitude, m_accel, m_sitl_addr, m_sitl_port_out, m_sstate, m_udp_sock_out, Transports::ArdupilotSITL::SITL_fdm::magic, Transports::ArdupilotSITL::SITL_fdm::pitchDeg, Transports::ArdupilotSITL::SITL_fdm::pitchRate, Transports::ArdupilotSITL::SITL_fdm::rollDeg, Transports::ArdupilotSITL::SITL_fdm::rollRate, Transports::ArdupilotSITL::SITL_fdm::speedD, Transports::ArdupilotSITL::SITL_fdm::speedE, Transports::ArdupilotSITL::SITL_fdm::speedN, DUNE::Math::squaresum(), DUNE::Tasks::Task::trace(), Transports::ArdupilotSITL::SITL_fdm::xAccel, Transports::ArdupilotSITL::SITL_fdm::yAccel, Transports::ArdupilotSITL::SITL_fdm::yawDeg, Transports::ArdupilotSITL::SITL_fdm::yawRate, and Transports::ArdupilotSITL::SITL_fdm::zAccel.

void Transports::ArdupilotSITL::Task::consume ( const IMC::Acceleration *  msg)
inline

References m_accel.

void Transports::ArdupilotSITL::Task::consume ( const IMC::PWM *  msg)
inline

References DUNE::Tasks::Task::inf(), m_pwm, m_sitl_addr, m_sitl_port_out, m_udp_sock_out, Transports::ArdupilotSITL::SITL_pwm_packet::pwm, DUNE::Tasks::Task::resolveEntity(), DUNE::Tasks::Task::spew(), and DUNE::Tasks::Task::trace().

void Transports::ArdupilotSITL::Task::onMain ( void  )
inlinevirtual

Main loop.

Implements DUNE::Tasks::Task.

References DUNE::Tasks::Task::consumeMessages(), DUNE::Tasks::Task::dispatch(), m_buf, m_motor_pwm, m_udp_sock_rc_in, poll(), Transports::ArdupilotSITL::SITL_rc_control::pwm, receiveData(), DUNE::Tasks::Task::spew(), and DUNE::Tasks::Task::stopping().

void Transports::ArdupilotSITL::Task::onResourceAcquisition ( void  )
inlinevirtual

Acquire resources.

Reimplemented from DUNE::Tasks::Task.

References m_args, m_sitl_addr, m_sitl_port_in, m_sitl_port_out, m_udp_sock_out, openConnection(), Transports::ArdupilotSITL::Arguments::sitl_addr, Transports::ArdupilotSITL::Arguments::sitl_port_in, and Transports::ArdupilotSITL::Arguments::sitl_port_out.

void Transports::ArdupilotSITL::Task::onResourceRelease ( void  )
inlinevirtual

Release resources.

Reimplemented from DUNE::Tasks::Task.

References m_udp_sock_rc_in.

void Transports::ArdupilotSITL::Task::openConnection ( void  )
inline

References m_sitl_port_in, and m_udp_sock_rc_in.

Referenced by onResourceAcquisition(), and receiveData().

bool Transports::ArdupilotSITL::Task::poll ( double  timeout)
inline

References m_udp_sock_rc_in.

Referenced by onMain().

int Transports::ArdupilotSITL::Task::receiveData ( uint8_t *  buf,
size_t  blen 
)
inline

References m_udp_sock_rc_in, openConnection(), and DUNE::Tasks::Task::war().

Referenced by onMain().

Member Data Documentation

IMC::Acceleration Transports::ArdupilotSITL::Task::m_accel

Referenced by consume().

Arguments Transports::ArdupilotSITL::Task::m_args

Arguments.

Referenced by onResourceAcquisition(), and Task().

uint8_t Transports::ArdupilotSITL::Task::m_buf[512]

Buffer.

Referenced by onMain().

IMC::SetPWM Transports::ArdupilotSITL::Task::m_motor_pwm[11]

Holdings for outgoing motor pwm values.

Referenced by onMain(), and Task().

SITL_pwm_packet Transports::ArdupilotSITL::Task::m_pwm

Ready to send packet, updated for each new pwm IMC message.

Referenced by consume().

Address Transports::ArdupilotSITL::Task::m_sitl_addr

Address of ardupilot sitl application.

Referenced by consume(), and onResourceAcquisition().

uint16_t Transports::ArdupilotSITL::Task::m_sitl_port_in

Port from SITL.

Referenced by onResourceAcquisition(), and openConnection().

uint16_t Transports::ArdupilotSITL::Task::m_sitl_port_out

Port to sitl.

Referenced by consume(), and onResourceAcquisition().

IMC::SimulatedState Transports::ArdupilotSITL::Task::m_sstate

Referenced by consume().

UDPSocket* Transports::ArdupilotSITL::Task::m_udp_sock_out

UDP socket for simulation output.

Referenced by consume(), and onResourceAcquisition().

UDPSocket* Transports::ArdupilotSITL::Task::m_udp_sock_rc_in

UDP Socket for input from apm.

Referenced by onMain(), onResourceRelease(), openConnection(), poll(), and receiveData().

Collaboration diagram for Transports::ArdupilotSITL::Task:
Collaboration graph