Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)

	~Task ()

void	onUpdateParameters (void)

void	onResourceRelease (void)

void	onResourceAcquisition (void)

void	onResourceInitialization (void)

void	consume (const IMC::EstimatedState *msg)

void	consume (const IMC::ManeuverControlState *msg)

void	consume (const IMC::PowerOperation *po)

void	consume (const IMC::RegisterManeuver *msg)

void	consume (const IMC::EntityInfo *msg)

void	consume (const IMC::PlanDB *pdb)

void	consume (const IMC::EntityActivationState *msg)

void	openDB (void)

void	closeDB (void)

void	consume (const IMC::VehicleCommand *vc)

void	consume (const IMC::VehicleState *vs)

void	onVehicleService (const IMC::VehicleState *vs)

void	onVehicleManeuver (const IMC::VehicleState *vs)

void	onVehicleError (const IMC::VehicleState *vs)

void	onVehicleCalibration (const IMC::VehicleState *vs)

void	onVehicleExternalControl (const IMC::VehicleState *vs)

void	consume (const IMC::PlanControl *pc)

bool	loadPlan (const std::string &plan_id, const IMC::Message *arg, bool plan_startup=false)

void	getPlan (void)

bool	stopPlan (bool plan_startup=false)

bool	parsePlan (bool plan_startup)

bool	lookForPlan (const std::string &plan_id, IMC::PlanSpecification &ps)

bool	startPlan (const std::string &plan_id, const IMC::Message *spec, uint16_t flags)

bool	startCalibration (void)

void	startManeuver (IMC::PlanManeuver *pman)

void	answer (uint8_t type, const std::string &desc, bool print=true)

void	onFailure (const std::string &errmsg, bool print=true)

void	onSuccess (const std::string &msg=DTR("OK"), bool print=true)

void	changeMode (IMC::PlanControlState::StateEnum s, const std::string &event_desc, const std::string &nid, const IMC::Message *maneuver, bool print=true)

void	changeMode (IMC::PlanControlState::StateEnum s, const std::string &event_desc, bool print=true)

void	setInitialState (void)

void	reportProgress (void)

void	onMain (void)

void	vehicleRequest (IMC::VehicleCommand::CommandEnum command, const IMC::Message *arg=0)

bool	pendingReply (void)

bool	blockedMode (void) const

bool	readyMode (void) const

bool	initMode (void) const

bool	execMode (void) const

void	changeLog (const std::string &name)

Public Member Functions inherited from DUNE::Tasks::Task
	Task (const std::string &name, Context &context)

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
Plan *	m_plan

Calibration *	m_calib

bool	m_stopped_calib

bool	m_wait_min

IMC::PlanControlState	m_pcs

IMC::PlanControl	m_reply

std::string	m_last_event

uint16_t	m_vreq_ctr

double	m_vc_reply_deadline

double	m_last_vstate

IMC::VehicleCommand	m_vc

IMC::PlanSpecification	m_spec

std::set< uint16_t >	m_supported_maneuvers

Database::Connection *	m_db

Database::Statement *	m_get_plan_stmt

IMC::LoggingControl	m_lc

IMC::EstimatedState	m_state

IMC::ManeuverControlState	m_mcs

Time::Counter< float >	m_report_timer

std::map< std::string, IMC::EntityInfo >	m_cinfo

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 >
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	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

Plan::Engine::Task::Task	(	const std::string &	name,
		Tasks::Context &	ctx
	)

inline

References Plan::Engine::Arguments::actfail_abort, Plan::Engine::Arguments::calibration_time, DUNE::Tasks::Parameter::defaultValue(), m_args, DUNE::Tasks::Task::param(), Plan::Engine::Arguments::progress, Plan::Engine::Arguments::speed_conv_act, Plan::Engine::Arguments::speed_conv_rpm, and Plan::Engine::Arguments::speriod.

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

inlinevirtual

Destructor.

Reimplemented from DUNE::Tasks::Task.

References closeDB().

Member Function Documentation

void Plan::Engine::Task::answer	(	uint8_t	type,
		const std::string &	desc,
		bool	print = `true`
	)

inline

Answer to the plan control request.

Parameters

[in]	type	type of reply (same field as plan control message)
[in]	desc	description for the answer
[in]	print	true if output should be printed out

References Plan::Engine::c_op_desc, DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::err(), DUNE::Tasks::Task::inf(), and m_reply.

Referenced by onFailure(), and onSuccess().

bool Plan::Engine::Task::blockedMode ( void ) const

inline

References m_pcs.

Referenced by onVehicleCalibration(), onVehicleExternalControl(), and startCalibration().

void Plan::Engine::Task::changeLog ( const std::string & name )

inline

References DUNE::Tasks::Task::dispatch(), and m_lc.

Referenced by changeMode(), and startPlan().

void Plan::Engine::Task::changeMode	(	IMC::PlanControlState::StateEnum	s,
		const std::string &	event_desc,
		const std::string &	nid,
		const IMC::Message *	maneuver,
		bool	print = `true`
	)

inline

Change the current plan control state mode.

Parameters

[in]	s	plan control state to switch to
[in]	event_desc	description of the event that motivated the change
[in]	nid	id of the maneuver if any
[in]	maneuver	pointer to maneuver message
[in]	print	true if the messages should be printed to output

References Plan::Engine::c_state_desc, changeLog(), DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::dispatch(), execMode(), initMode(), m_last_event, m_pcs, m_plan, Plan::Engine::Plan::planStopped(), and DUNE::Tasks::Task::war().

Referenced by changeMode(), consume(), loadPlan(), onMain(), onVehicleCalibration(), onVehicleError(), onVehicleExternalControl(), onVehicleManeuver(), onVehicleService(), startManeuver(), startPlan(), and stopPlan().

void Plan::Engine::Task::changeMode	(	IMC::PlanControlState::StateEnum	s,
		const std::string &	event_desc,
		bool	print = `true`
	)

inline

Change the current plan control state mode.

Parameters

[in]	s	plan control state to switch to
[in]	event_desc	description of the event that motivated the change
[in]	print	true if the messages should be printed to output

References changeMode().

void Plan::Engine::Task::closeDB ( void )

inline

References DUNE::Tasks::Task::debug(), m_db, and m_get_plan_stmt.

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

void Plan::Engine::Task::consume ( const IMC::EstimatedState * msg )

inline

References m_state.

void Plan::Engine::Task::consume ( const IMC::ManeuverControlState * msg )

inline

References m_mcs, m_plan, and Plan::Engine::Plan::maneuverDone().

void Plan::Engine::Task::consume ( const IMC::PowerOperation * po )

inline

References closeDB(), DUNE::Tasks::Task::getSystemId(), openDB(), and DUNE::Tasks::Task::setEntityState().

void Plan::Engine::Task::consume ( const IMC::RegisterManeuver * msg )

inline

References m_supported_maneuvers.

void Plan::Engine::Task::consume ( const IMC::EntityInfo * msg )

inline

References m_cinfo.

void Plan::Engine::Task::consume ( const IMC::PlanDB * pdb )

inline

References openDB().

void Plan::Engine::Task::consume ( const IMC::EntityActivationState * msg )

inline

References Plan::Engine::Arguments::actfail_abort, changeMode(), DUNE::Tasks::Task::err(), m_args, m_plan, Plan::Engine::Plan::onEntityActivationState(), onFailure(), and DUNE::Tasks::Task::resolveEntity().

void Plan::Engine::Task::consume ( const IMC::VehicleCommand * vc )

inline

References changeMode(), DUNE::Tasks::Task::debug(), execMode(), DUNE::Tasks::Task::getEntityId(), DUNE::Tasks::Task::getSystemId(), initMode(), m_vc_reply_deadline, m_vreq_ctr, and pendingReply().

void Plan::Engine::Task::consume ( const IMC::PlanControl * pc )

inline

References Plan::Engine::c_op_desc, DUNE::Tasks::Task::getEntityState(), getPlan(), DUNE::Tasks::Task::inf(), m_reply, onFailure(), startPlan(), stopPlan(), and vehicleRequest().

bool Plan::Engine::Task::execMode ( void ) const

inline

References m_pcs.

Referenced by changeMode(), consume(), getPlan(), loadPlan(), onVehicleError(), onVehicleManeuver(), reportProgress(), startPlan(), and stopPlan().

void Plan::Engine::Task::getPlan ( void )

inline

Get current plan.

References execMode(), initMode(), m_reply, m_spec, onFailure(), and onSuccess().

Referenced by consume().

bool Plan::Engine::Task::initMode ( void ) const

inline

References m_pcs.

Referenced by changeMode(), consume(), getPlan(), loadPlan(), onVehicleCalibration(), onVehicleError(), reportProgress(), startPlan(), and stopPlan().

bool Plan::Engine::Task::loadPlan	(	const std::string &	plan_id,
		const IMC::Message *	arg,
		bool	plan_startup = `false`
	)

inline

Load a plan into the vehicle.

Parameters

[in]	plan_id	name of the plan
[in]	arg	argument which may either be a maneuver or a plan specification
[in]	plan_startup	true if a plan will start right after

Returns: true if plan is successfully loaded

References changeMode(), execMode(), DUNE::Tasks::Task::getEntityId(), initMode(), lookForPlan(), m_pcs, m_reply, m_spec, onFailure(), onSuccess(), and parsePlan().

Referenced by startPlan().

bool Plan::Engine::Task::lookForPlan	(	const std::string &	plan_id,
		IMC::PlanSpecification &	ps
	)

inline

Look for a plan in the database.

Parameters

[in]	plan_id	name of the plan
[in]	ps	plan specification message

Returns: true if plan is found

References DUNE::Tasks::Task::err(), m_get_plan_stmt, and onFailure().

Referenced by loadPlan().

void Plan::Engine::Task::onFailure	(	const std::string &	errmsg,
		bool	print = `true`
	)

inline

Answer to the reply with a failure message.

Parameters

[in]	errmsg	text error message to send
[in]	print	true if the message should be printed to output

References answer(), and m_pcs.

Referenced by consume(), getPlan(), loadPlan(), lookForPlan(), onVehicleError(), onVehicleService(), parsePlan(), startCalibration(), startPlan(), and stopPlan().

void Plan::Engine::Task::onMain ( void )

inlinevirtual

Implements DUNE::Tasks::Task.

References Plan::Engine::c_vs_timeout, changeMode(), DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::getEntityState(), m_args, m_last_vstate, m_pcs, m_report_timer, m_vc_reply_deadline, Plan::Engine::Arguments::progress, reportProgress(), setInitialState(), DUNE::Tasks::Task::stopping(), and DUNE::Tasks::Task::waitForMessages().

void Plan::Engine::Task::onResourceAcquisition ( void )

inlinevirtual

Called when the task is instructed to acquire resources whose configuration is defined by run-time parameters.

Reimplemented from DUNE::Tasks::Task.

References Plan::Engine::Calibration, Plan::Engine::Arguments::calibration_time, m_args, m_calib, m_plan, m_spec, Plan::Engine::Plan, Plan::Engine::Arguments::progress, Plan::Engine::Arguments::speed_conv_act, and Plan::Engine::Arguments::speed_conv_rpm.

void Plan::Engine::Task::onResourceInitialization ( void )

inlinevirtual

Called when the task is instructed to initialize resources acquired previously or whose initialization depends on run-time parameters.

Reimplemented from DUNE::Tasks::Task.

References m_args, m_report_timer, and Plan::Engine::Arguments::speriod.

void Plan::Engine::Task::onResourceRelease ( void )

inlinevirtual

Called when the task is instructed to release resources.

Derived classes that override this function must not assume that any resource was previously acquired. This function must be implemented in such a way that it can be called at any time.

Reimplemented from DUNE::Tasks::Task.

References m_calib, and m_plan.

void Plan::Engine::Task::onSuccess	(	const std::string &	msg = `DTR("OK")`,
		bool	print = `true`
	)

inline

Answer to the reply with a success message.

Parameters

[in]	msg	text message to send
[in]	print	true if the message should be printed to output

References answer(), and m_pcs.

Referenced by getPlan(), loadPlan(), onVehicleManeuver(), and startPlan().

void Plan::Engine::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 m_args, DUNE::Tasks::Task::paramChanged(), and Plan::Engine::Arguments::speriod.

void Plan::Engine::Task::onVehicleCalibration ( const IMC::VehicleState * vs )

inline

References blockedMode(), changeMode(), and initMode().

Referenced by consume().

void Plan::Engine::Task::onVehicleError ( const IMC::VehicleState * vs )

inline

References changeMode(), execMode(), initMode(), m_last_event, m_reply, m_spec, and onFailure().

Referenced by consume().

void Plan::Engine::Task::onVehicleExternalControl ( const IMC::VehicleState * vs )

inline

References blockedMode(), and changeMode().

Referenced by consume().

void Plan::Engine::Task::onVehicleManeuver ( const IMC::VehicleState * vs )

inline

References changeMode(), execMode(), Plan::Engine::Plan::isDone(), Plan::Engine::Plan::loadNextManeuver(), m_pcs, m_plan, m_reply, m_spec, onSuccess(), pendingReply(), startManeuver(), and vehicleRequest().

Referenced by consume().

void Plan::Engine::Task::onVehicleService ( const IMC::VehicleState * vs )

inline

References changeMode(), Plan::Engine::Plan::loadStartManeuver(), m_pcs, m_plan, m_reply, m_spec, onFailure(), pendingReply(), and startManeuver().

Referenced by consume().

void Plan::Engine::Task::openDB ( void )

inline

References DUNE::Tasks::Task::debug(), DUNE::Tasks::Context::dir_db, DUNE::Tasks::Task::m_ctx, m_db, m_get_plan_stmt, and DUNE::Tasks::Task::setEntityState().

Referenced by consume().

bool Plan::Engine::Task::parsePlan ( bool plan_startup )

inline

Parse a given plan.

Parameters

[in] plan_startup true if the plan is starting up

Returns: true if was able to parse the plan

References m_cinfo, m_plan, m_state, m_supported_maneuvers, onFailure(), and Plan::Engine::Plan::parse().

Referenced by loadPlan().

bool Plan::Engine::Task::pendingReply ( void )

inline

References m_vc_reply_deadline.

Referenced by consume(), onVehicleManeuver(), and onVehicleService().

bool Plan::Engine::Task::readyMode ( void ) const

inline

References m_pcs.

void Plan::Engine::Task::reportProgress ( void )

inline

Report progress.

References execMode(), Plan::Engine::Plan::getPlanEta(), initMode(), m_calib, m_mcs, m_pcs, m_plan, and Plan::Engine::Plan::updateProgress().

Referenced by onMain().

void Plan::Engine::Task::setInitialState ( void )

inline

Set task's initial state.

References DUNE::Tasks::Task::dispatch(), m_last_event, m_last_vstate, m_pcs, m_vc_reply_deadline, and m_vreq_ctr.

Referenced by onMain().

bool Plan::Engine::Task::startCalibration ( void )

inline

Send a request to start calibration procedures.

Returns: true if request was sent

References blockedMode(), onFailure(), and vehicleRequest().

Referenced by startPlan().

void Plan::Engine::Task::startManeuver ( IMC::PlanManeuver * pman )

inline

Start a maneuver by name.

Parameters

[in] pman pointer to plan maneuver message

References changeMode(), Plan::Engine::Plan::getCurrentId(), m_plan, Plan::Engine::Plan::maneuverStarted(), and vehicleRequest().

Referenced by onVehicleManeuver(), onVehicleService(), and startPlan().

bool Plan::Engine::Task::startPlan	(	const std::string &	plan_id,
		const IMC::Message *	spec,
		uint16_t	flags
	)

inline

Start a given plan.

Parameters

[in]	plan_id	name of the plan to execute
[in]	spec	plan specification message if any
[in]	flags	plan control flags

Returns: false if previously executing maneuver was not stopped

References changeLog(), changeMode(), DUNE::Tasks::Task::dispatch(), execMode(), Plan::Engine::Plan::getCalibrationTime(), initMode(), loadPlan(), Plan::Engine::Plan::loadStartManeuver(), m_calib, m_last_event, m_plan, m_spec, onFailure(), onSuccess(), Plan::Engine::Plan::planStarted(), Plan::Engine::Plan::planStopped(), Plan::Engine::Calibration::setTime(), startCalibration(), startManeuver(), and stopPlan().

Referenced by consume().

bool Plan::Engine::Task::stopPlan ( bool plan_startup = false )

inline

Stop current plan being executed.

Parameters

[in] plan_startup true if a plan will start right after this stop

Returns: false if a plan is still running after this

References changeMode(), DUNE::Tasks::Task::debug(), execMode(), initMode(), m_pcs, m_reply, m_spec, onFailure(), and vehicleRequest().

Referenced by consume(), and startPlan().

void Plan::Engine::Task::vehicleRequest	(	IMC::VehicleCommand::CommandEnum	command,
		const IMC::Message *	arg = `0`
	)

inline

References Plan::Engine::c_vc_reply_timeout, Plan::Engine::Plan::calibrationStarted(), DUNE::Tasks::Task::dispatch(), Plan::Engine::Calibration::getTime(), m_calib, m_plan, m_stopped_calib, m_vc, m_vc_reply_deadline, and m_vreq_ctr.

Referenced by consume(), onVehicleManeuver(), startCalibration(), startManeuver(), and stopPlan().

Member Data Documentation

Arguments Plan::Engine::Task::m_args

Task arguments.

Referenced by consume(), onMain(), onResourceAcquisition(), onResourceInitialization(), onUpdateParameters(), and Task().

Calibration* Plan::Engine::Task::m_calib

Calibration object.

Referenced by consume(), onResourceAcquisition(), onResourceRelease(), reportProgress(), startPlan(), and vehicleRequest().

std::map<std::string, IMC::EntityInfo> Plan::Engine::Task::m_cinfo

Map of component names to entityinfo.

Referenced by consume(), and parsePlan().

Database::Connection* Plan::Engine::Task::m_db

Database related (for plan DB direct queries to avoid unnecessary interface with bus / PlanDB task directly)

Referenced by closeDB(), and openDB().

Database::Statement* Plan::Engine::Task::m_get_plan_stmt

Referenced by closeDB(), lookForPlan(), and openDB().

std::string Plan::Engine::Task::m_last_event

Last event description.

Referenced by changeMode(), onVehicleError(), setInitialState(), and startPlan().

double Plan::Engine::Task::m_last_vstate

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

IMC::LoggingControl Plan::Engine::Task::m_lc

Misc.

Referenced by changeLog().

IMC::ManeuverControlState Plan::Engine::Task::m_mcs

ManeuverControlState message.

Referenced by consume(), and reportProgress().

IMC::PlanControlState Plan::Engine::Task::m_pcs

Plan control interface.

Referenced by blockedMode(), changeMode(), execMode(), initMode(), loadPlan(), onFailure(), onMain(), onSuccess(), onVehicleManeuver(), onVehicleService(), readyMode(), reportProgress(), setInitialState(), and stopPlan().

Plan* Plan::Engine::Task::m_plan

Pointer to Plan class.

Referenced by changeMode(), consume(), onResourceAcquisition(), onResourceRelease(), onVehicleManeuver(), onVehicleService(), parsePlan(), reportProgress(), startManeuver(), startPlan(), and vehicleRequest().

IMC::PlanControl Plan::Engine::Task::m_reply

Referenced by answer(), consume(), getPlan(), loadPlan(), onVehicleError(), onVehicleManeuver(), onVehicleService(), and stopPlan().

Time::Counter<float> Plan::Engine::Task::m_report_timer

Timer counter for state report period.

Referenced by onMain(), and onResourceInitialization().

IMC::PlanSpecification Plan::Engine::Task::m_spec

PlanSpecification message.

Referenced by consume(), getPlan(), loadPlan(), onResourceAcquisition(), onVehicleError(), onVehicleManeuver(), onVehicleService(), startPlan(), and stopPlan().

IMC::EstimatedState Plan::Engine::Task::m_state

Referenced by consume(), and parsePlan().

bool Plan::Engine::Task::m_stopped_calib

True if a stop for calibration has been requested.

Referenced by consume(), and vehicleRequest().

std::set<uint16_t> Plan::Engine::Task::m_supported_maneuvers

List of supported maneuvers.

Referenced by consume(), and parsePlan().

IMC::VehicleCommand Plan::Engine::Task::m_vc

Referenced by vehicleRequest().

double Plan::Engine::Task::m_vc_reply_deadline

Referenced by consume(), onMain(), pendingReply(), setInitialState(), and vehicleRequest().

uint16_t Plan::Engine::Task::m_vreq_ctr

Vehicle interface.

Referenced by consume(), setInitialState(), and vehicleRequest().

bool Plan::Engine::Task::m_wait_min

True if just waiting for minimum time of calibration.

Referenced by consume().

Collaboration diagram for Plan::Engine::Task:

Public Member Functions

Public Attributes

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation