Control::AUV::Speed::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onActivation (void)
void	onDeactivation (void)
void	onResourceInitialization (void)
void	onUpdateParameters (void)
void	initializePIDs (void)
void	reset (void)
void	consume (const IMC::Abort *msg)
void	consume (const IMC::Brake *msg)
void	consume (const IMC::DesiredSpeed *msg)
void	consume (const IMC::EstimatedState *msg)
void	consume (const IMC::ControlLoops *msg)
void	consume (const IMC::Rpm *msg)
void	rpmToThrust (float rpmvalue, float desired_rpm, double timestep)
void	mpsToRpm (float abs_gvel, double timestep)
void	dispatchThrust (float value, double timestep)
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
unsigned int	resolveEntity (const std::string &label) const
std::string	resolveEntity (unsigned int id) 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
float	m_desired_speed
uint8_t	m_speed_units
Delta	m_last_rpm
Delta	m_last_mps
DiscretePID	m_rpm_pid
DiscretePID	m_mps_pid
IMC::SetThrusterActuation	m_act
IMC::SetThrusterActuation	m_last_act
float	m_desired_rpm
float	m_desired_gvel
bool	m_u_active
float	m_previous_rpm
bool	m_braking
IMC::ControlParcel	m_parcel_mps
IMC::ControlParcel	m_parcel_rpm
uint32_t	m_scope_ref
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)
bool	stopping (void)
bool	isActive (void) const
bool	isActivating (void) const
bool	isDeactivating (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 , typename M >
void	bind (T *task_obj, const std::vector< uint32_t > &list, void(T::*consumer)(const M *)=&T::consume)
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	onResourceAcquisition (void)
virtual void	onResourceRelease (void)
virtual void	onRequestActivation (void)
virtual void	onRequestDeactivation (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

Control::AUV::Speed::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References DUNE::Tasks::Context::config, DUNE::Tasks::Parameter::defaultValue(), DUNE::Parsers::Config::get(), Control::AUV::Speed::Arguments::hardrpms, Control::AUV::Speed::Arguments::log_parcels, m_args, DUNE::Tasks::Task::m_ctx, Control::AUV::Speed::Arguments::max_accel, Control::AUV::Speed::Arguments::max_int_mps, Control::AUV::Speed::Arguments::max_rpm, Control::AUV::Speed::Arguments::max_thrust, Control::AUV::Speed::Arguments::min_rpm, Control::AUV::Speed::Arguments::min_thrust, Control::AUV::Speed::Arguments::mps_ffgain, Control::AUV::Speed::Arguments::mps_gains, DUNE::Tasks::Task::param(), Control::AUV::Speed::Arguments::ramp_act, Control::AUV::Speed::Arguments::rpm_ffgain, Control::AUV::Speed::Arguments::rpm_gains, Control::AUV::Speed::Arguments::rpms_eos, and DUNE::Tasks::Task::setEntityState().

Member Function Documentation

void Control::AUV::Speed::Task::consume ( const IMC::Abort *  msg )

inline

References DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::getSystemId(), and reset().

void Control::AUV::Speed::Task::consume ( const IMC::Brake *  msg )

inline

References m_braking.

void Control::AUV::Speed::Task::consume ( const IMC::DesiredSpeed *  msg )

inline

References DUNE::Tasks::Task::isActive(), m_desired_speed, and m_speed_units.

void Control::AUV::Speed::Task::consume ( const IMC::EstimatedState *  msg )

inline

References DUNE::Tasks::Task::getSystemId(), DUNE::Tasks::Task::isActive(), m_last_mps, m_speed_units, m_u_active, and mpsToRpm().

void Control::AUV::Speed::Task::consume ( const IMC::ControlLoops *  msg )

inline

References DUNE::Tasks::Task::isActive(), m_scope_ref, DUNE::Tasks::Task::requestActivation(), DUNE::Tasks::Task::requestDeactivation(), and reset().

void Control::AUV::Speed::Task::consume ( const IMC::Rpm *  msg )

inline

References dispatchThrust(), DUNE::Tasks::Task::isActive(), m_desired_rpm, m_desired_speed, m_last_rpm, m_previous_rpm, m_speed_units, m_u_active, and rpmToThrust().

void Control::AUV::Speed::Task::dispatchThrust ( float  value, double  timestep  )

inline

Dispatch to bus SetThrusterActuation message.

Parameters

[in]	value	set thrust actuation value
[in]	timestep	amount of time since last control step

References DUNE::Tasks::Task::dispatch(), m_act, m_args, m_braking, m_last_act, Control::AUV::Speed::Arguments::ramp_act, and DUNE::Math::trimValue().

Referenced by consume(), and rpmToThrust().

void Control::AUV::Speed::Task::initializePIDs ( void  )

inline

Initialize PID related variables.

References Control::AUV::Speed::Arguments::log_parcels, m_args, m_mps_pid, m_parcel_mps, m_parcel_rpm, m_rpm_pid, Control::AUV::Speed::Arguments::max_int_mps, Control::AUV::Speed::Arguments::max_thrust, Control::AUV::Speed::Arguments::min_thrust, Control::AUV::Speed::Arguments::mps_gains, and Control::AUV::Speed::Arguments::rpm_gains.

Referenced by onUpdateParameters().

void Control::AUV::Speed::Task::mpsToRpm ( float  abs_gvel, double  timestep  )

inline

Convert meters per second to a desired rpm value.

Parameters

[in]	abs_gvel	absolute ground velocity
[in]	timestep	amount of time since last control step

References m_args, m_desired_gvel, m_desired_rpm, m_desired_speed, m_mps_pid, m_parcel_mps, m_previous_rpm, m_speed_units, Control::AUV::Speed::Arguments::max_accel, Control::AUV::Speed::Arguments::max_rpm, Control::AUV::Speed::Arguments::min_rpm, and Control::AUV::Speed::Arguments::mps_ffgain.

Referenced by consume().

void Control::AUV::Speed::Task::onActivation ( void  )

inlinevirtual

Called when the task starts/resumes normal execution.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Tasks::Task::setEntityState().

void Control::AUV::Speed::Task::onDeactivation ( void  )

inlinevirtual

Called when the task stops normal execution and enters an idleness state.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Tasks::Task::setEntityState().

void Control::AUV::Speed::Task::onMain ( void  )

inlinevirtual

Implements DUNE::Tasks::Task.

References DUNE::Tasks::Task::stopping(), and DUNE::Tasks::Task::waitForMessages().

void Control::AUV::Speed::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_act, DUNE::Tasks::Task::requestDeactivation(), and reset().

void Control::AUV::Speed::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 initializePIDs(), Control::AUV::Speed::Arguments::log_parcels, m_args, Control::AUV::Speed::Arguments::max_int_mps, Control::AUV::Speed::Arguments::max_thrust, Control::AUV::Speed::Arguments::min_thrust, Control::AUV::Speed::Arguments::mps_ffgain, Control::AUV::Speed::Arguments::mps_gains, DUNE::Tasks::Task::paramChanged(), reset(), Control::AUV::Speed::Arguments::rpm_ffgain, and Control::AUV::Speed::Arguments::rpm_gains.

void Control::AUV::Speed::Task::reset ( void  )

inline

References DUNE::Tasks::Task::dispatch(), m_act, m_braking, m_desired_speed, m_last_act, m_mps_pid, m_previous_rpm, m_rpm_pid, m_speed_units, and m_u_active.

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

void Control::AUV::Speed::Task::rpmToThrust ( float  rpmvalue, float  desired_rpm, double  timestep  )

inline

Convert rpm value to thrust actuation.

Parameters

[in]	rpmvalue	value of rpms currently in the motor
[in]	desired_rpm	desired rpms for the motor
[in]	timestep	amount of time since last control step

References dispatchThrust(), Control::AUV::Speed::Arguments::hardrpms, m_args, m_parcel_rpm, m_rpm_pid, Control::AUV::Speed::Arguments::rpm_ffgain, and Control::AUV::Speed::Arguments::rpms_eos.

Referenced by consume().

Member Data Documentation

IMC::SetThrusterActuation Control::AUV::Speed::Task::m_act

Thruster actuaction.

Referenced by dispatchThrust(), onResourceInitialization(), and reset().

Arguments Control::AUV::Speed::Task::m_args

Task arguments.

Referenced by dispatchThrust(), initializePIDs(), mpsToRpm(), onUpdateParameters(), rpmToThrust(), and Task().

bool Control::AUV::Speed::Task::m_braking

True if braking.

Referenced by consume(), dispatchThrust(), and reset().

float Control::AUV::Speed::Task::m_desired_gvel

Last desired ground velocity.

Referenced by mpsToRpm().

float Control::AUV::Speed::Task::m_desired_rpm

Desired Rpms from ground velocity controller.

Referenced by consume(), and mpsToRpm().

float Control::AUV::Speed::Task::m_desired_speed

Desired speed.

Referenced by consume(), mpsToRpm(), and reset().

IMC::SetThrusterActuation Control::AUV::Speed::Task::m_last_act

Last thruster actuaction.

Referenced by dispatchThrust(), and reset().

Delta Control::AUV::Speed::Task::m_last_mps

Time of last MPS message.

Referenced by consume().

Delta Control::AUV::Speed::Task::m_last_rpm

Time of last RPM message.

Referenced by consume().

DiscretePID Control::AUV::Speed::Task::m_mps_pid

MPS PID controller.

Referenced by initializePIDs(), mpsToRpm(), and reset().

IMC::ControlParcel Control::AUV::Speed::Task::m_parcel_mps

Control Parcels for meters per second controller.

Referenced by initializePIDs(), and mpsToRpm().

IMC::ControlParcel Control::AUV::Speed::Task::m_parcel_rpm

Control Parcels for rpm controller.

Referenced by initializePIDs(), and rpmToThrust().

float Control::AUV::Speed::Task::m_previous_rpm

previous value of the desired rpm speed

Referenced by consume(), mpsToRpm(), and reset().

DiscretePID Control::AUV::Speed::Task::m_rpm_pid

RPM PID controller.

Referenced by initializePIDs(), reset(), and rpmToThrust().

uint32_t Control::AUV::Speed::Task::m_scope_ref

Control loops last reference.

Referenced by consume().

uint8_t Control::AUV::Speed::Task::m_speed_units

Desired speed units.

Referenced by consume(), mpsToRpm(), and reset().

bool Control::AUV::Speed::Task::m_u_active

Boolean to enable or disable the speed controller using estimated state.

Referenced by consume(), and reset().

Collaboration diagram for Control::AUV::Speed::Task: