Navigation::General::Alignment::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onUpdateParameters (void)
void	onEntityResolution (void)
void	onResourceInitialization (void)
void	onResourceRelease (void)
void	consume (const IMC::Acceleration *msg)
void	consume (const IMC::AngularVelocity *msg)
void	consume (const IMC::DevCalibrationControl *msg)
void	consume (const IMC::EntityActivationState *msg)
void	consume (const IMC::GpsFix *msg)
void	consume (const IMC::VehicleMedium *msg)
bool	canCalibrate (void)
void	reset (void)
void	calibrate (void)
double	evaluate (void)
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
bool	m_dev_medium
bool	m_dev_active
bool	m_cmd_calibrate
bool	m_calibrated
bool	m_gps
IMC::EulerAngles	m_euler
MovingAverage< double > *	m_avg_acc
unsigned	m_imu_eid
double	m_lat
double	m_av_x
double	m_av_y
double	m_av_z
unsigned	m_av_readings
double	m_acc_x
double	m_acc_y
double	m_acc_z
unsigned	m_acc_readings
Time::Counter< float >	m_time
Time::Counter< float >	m_delay
Time::Counter< float >	m_wdog
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	onReportEntityState (void)
virtual void	onResourceAcquisition (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

Navigation::General::Alignment::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Navigation::General::Alignment::Arguments::avg_samples, DUNE::Tasks::Parameter::defaultValue(), Navigation::General::Alignment::Arguments::delay, Navigation::General::Alignment::Arguments::elabel_imu, m_args, m_calibrated, DUNE::Tasks::Task::param(), DUNE::Tasks::Task::setEntityState(), Navigation::General::Alignment::Arguments::start_at_boot, Navigation::General::Alignment::Arguments::std, Navigation::General::Alignment::Arguments::time, DUNE::Tasks::Parameter::units(), and Navigation::General::Alignment::Arguments::wdog.

Member Function Documentation

void Navigation::General::Alignment::Task::calibrate ( void  )

inline

Calibrate orientation by means of computing current compass heading bias.

References m_acc_readings, m_acc_x, m_acc_y, m_acc_z, m_av_readings, m_av_x, m_av_y, m_av_z, m_euler, DUNE::Math::Matrix::norm_2(), DUNE::Math::Matrix::resizeAndFill(), DUNE::Math::Matrix::set(), DUNE::Tasks::Task::spew(), DUNE::Math::Matrix::toEulerAngles(), and DUNE::Math::transpose().

Referenced by consume().

bool Navigation::General::Alignment::Task::canCalibrate ( void  )

inline

Perform basic checks.

Returns

true to calibrate, false otherwise.

References m_calibrated, m_dev_active, and m_dev_medium.

Referenced by consume().

void Navigation::General::Alignment::Task::consume ( const IMC::Acceleration *  msg )

inline

References canCalibrate(), DUNE::Tasks::Task::getEntityState(), m_acc_readings, m_acc_x, m_acc_y, m_acc_z, m_args, m_avg_acc, m_cmd_calibrate, m_delay, m_imu_eid, DUNE::Tasks::Task::setEntityState(), Navigation::General::Alignment::Arguments::start_at_boot, Navigation::General::Alignment::Arguments::std, DUNE::Math::MovingAverage< T >::stdev(), and DUNE::Math::MovingAverage< T >::update().

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

inline

References calibrate(), canCalibrate(), DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::getEntityState(), m_args, m_av_readings, m_av_x, m_av_y, m_av_z, m_calibrated, m_cmd_calibrate, m_delay, m_euler, m_gps, m_imu_eid, m_time, m_wdog, reset(), DUNE::Tasks::Task::setEntityState(), and Navigation::General::Alignment::Arguments::start_at_boot.

void Navigation::General::Alignment::Task::consume ( const IMC::DevCalibrationControl *  msg )

inline

References DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::getEntityId(), m_calibrated, m_cmd_calibrate, m_dev_active, m_dev_medium, reset(), and DUNE::Tasks::Task::setEntityState().

void Navigation::General::Alignment::Task::consume ( const IMC::EntityActivationState *  msg )

inline

References m_calibrated, m_dev_active, m_imu_eid, and DUNE::Tasks::Task::setEntityState().

void Navigation::General::Alignment::Task::consume ( const IMC::GpsFix *  msg )

inline

References m_gps, and m_lat.

void Navigation::General::Alignment::Task::consume ( const IMC::VehicleMedium *  msg )

inline

References m_dev_medium.

double Navigation::General::Alignment::Task::evaluate ( void  )

inline

Evaluate orientation performance.

void Navigation::General::Alignment::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::Alignment::Arguments::elabel_imu, m_args, m_imu_eid, DUNE::Tasks::Task::resolveEntity(), and DUNE::Tasks::Task::war().

void Navigation::General::Alignment::Task::onMain ( void  )

inlinevirtual

Implements DUNE::Tasks::Task.

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

void Navigation::General::Alignment::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 Navigation::General::Alignment::Arguments::avg_samples, m_args, m_avg_acc, m_delay, and reset().

void Navigation::General::Alignment::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_avg_acc.

void Navigation::General::Alignment::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 Navigation::General::Alignment::Arguments::delay, m_args, m_delay, m_wdog, and Navigation::General::Alignment::Arguments::wdog.

void Navigation::General::Alignment::Task::reset ( void  )

inline

Reset internal parameters.

References Navigation::General::Alignment::Arguments::delay, m_acc_readings, m_acc_x, m_acc_y, m_acc_z, m_args, m_av_readings, m_av_x, m_av_y, m_av_z, m_delay, m_time, and Navigation::General::Alignment::Arguments::time.

Referenced by consume(), and onResourceInitialization().

Member Data Documentation

unsigned Navigation::General::Alignment::Task::m_acc_readings

Number of Acceleration readings.

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

double Navigation::General::Alignment::Task::m_acc_x

Accumulator for x-axis acceleration.

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

double Navigation::General::Alignment::Task::m_acc_y

Accumulator for y-axis acceleration.

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

double Navigation::General::Alignment::Task::m_acc_z

Accumulator for z-axis acceleration.

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

Arguments Navigation::General::Alignment::Task::m_args

Task arguments.

Referenced by consume(), onEntityResolution(), onResourceInitialization(), onUpdateParameters(), reset(), and Task().

unsigned Navigation::General::Alignment::Task::m_av_readings

Number of Angular Velocity readings.

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

double Navigation::General::Alignment::Task::m_av_x

Accumulator for x-axis angular velocity.

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

double Navigation::General::Alignment::Task::m_av_y

Accumulator for y-axis angular velocity.

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

double Navigation::General::Alignment::Task::m_av_z

Accumulator for z-axis angular velocity.

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

MovingAverage<double>* Navigation::General::Alignment::Task::m_avg_acc

Moving average for acceleration vector.

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

bool Navigation::General::Alignment::Task::m_calibrated

Device calibrated.

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

bool Navigation::General::Alignment::Task::m_cmd_calibrate

Received order to calibrate.

Referenced by consume().

Time::Counter<float> Navigation::General::Alignment::Task::m_delay

Initial delay time.

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

bool Navigation::General::Alignment::Task::m_dev_active

Device is activated.

Referenced by canCalibrate(), and consume().

bool Navigation::General::Alignment::Task::m_dev_medium

Device is proper medium.

Referenced by canCalibrate(), and consume().

IMC::EulerAngles Navigation::General::Alignment::Task::m_euler

Euler Angles calibrated.

Referenced by calibrate(), and consume().

bool Navigation::General::Alignment::Task::m_gps

GpsFix received.

Referenced by consume().

unsigned Navigation::General::Alignment::Task::m_imu_eid

IMU entity id.

Referenced by consume(), and onEntityResolution().

double Navigation::General::Alignment::Task::m_lat

Vehicle WGS-84 latitude.

Referenced by consume().

Time::Counter<float> Navigation::General::Alignment::Task::m_time

Minimum calibration time.

Referenced by consume(), and reset().

Time::Counter<float> Navigation::General::Alignment::Task::m_wdog

Watchdog.

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

Collaboration diagram for Navigation::General::Alignment::Task: