DUNE: Uniform Navigational Environment  2.6.1
DUNE::Maneuvers::Maneuver Class Reference

Detailed Description

Base abstract class for maneuver tasks.

Public Member Functions

 Maneuver (const std::string &name, Tasks::Context &ctx)
 
virtual ~Maneuver ()
 
void onEntityReservation (void)
 
void onResourceInitialization (void)
 
virtual void onManeuverActivation (void)
 
virtual void onManeuverDeactivation (void)
 
virtual void onPathControlState (const IMC::PathControlState *pcs)
 
void onActivation (void)
 
void onDeactivation (void)
 
template<typename T , typename M >
void startManeuver (const M *maneuver)
 
template<typename T , typename M >
void bindToManeuver (void)
 
template<typename T >
void bindToManeuvers (T *task_obj, const std::vector< uint32_t > &list)
 
template<typename M , typename T >
void consumeIfActive (const M *msg)
 
template<typename M , typename T >
void bind (T *task_obj, bool always=false)
 
void consume (const IMC::StopManeuver *sm)
 
void consume (const IMC::PathControlState *pcs)
 
void setControl (uint32_t mask)
 
void setEntityId (unsigned eid)
 
void dispatch (IMC::Message *msg, unsigned int flags=0)
 
void dispatch (IMC::Message &msg, unsigned int flags=0)
 
void dispatch (IMC::DesiredPath *msg, unsigned int flags=0)
 
void dispatch (IMC::DesiredPath &msg, unsigned int flags=0)
 
virtual void onStateReport (void)
 
void updateLoops (const IMC::ControlLoops *cl)
 
void signalError (const std::string &msg)
 
void signalInvalidZ (void)
 
void signalNoAltitude (void)
 
void signalCompletion (const std::string &msg="done")
 
void signalProgress (uint16_t time_left, const std::string &msg)
 
void signalProgress (const std::string &msg)
 
void signalProgress (uint16_t time_left)
 
void signalProgress (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
 
DebugLevel getDebugLevel (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)
 

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)
 
template<typename E >
E * 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 >
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 , 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 onEntityResolution (void)
 
virtual void onReportEntityState (void)
 
virtual void onResourceAcquisition (void)
 
virtual void onResourceRelease (void)
 
virtual void onUpdateParameters (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
Contextm_ctx
 
std::vector
< Entities::BasicEntity * > 
m_entities
 

Constructor & Destructor Documentation

DUNE::Maneuvers::Maneuver::Maneuver ( const std::string &  name,
Tasks::Context ctx 
)

Constructor.

DUNE::Maneuvers::Maneuver::~Maneuver ( void  )
virtual

Destructor.

Member Function Documentation

template<typename M , typename T >
void DUNE::Maneuvers::Maneuver::bind ( T *  task_obj,
bool  always = false 
)
inline
template<typename T , typename M >
void DUNE::Maneuvers::Maneuver::bindToManeuver ( void  )
inline
template<typename T >
void DUNE::Maneuvers::Maneuver::bindToManeuvers ( T *  task_obj,
const std::vector< uint32_t > &  list 
)
inline
void DUNE::Maneuvers::Maneuver::consume ( const IMC::StopManeuver sm)
void DUNE::Maneuvers::Maneuver::consume ( const IMC::PathControlState pcs)

Consumer for PathControlState message.

Parameters
pcsmessage to consume.

References DUNE::IMC::PathControlState::path_ref.

template<typename M , typename T >
void DUNE::Maneuvers::Maneuver::consumeIfActive ( const M *  msg)
inline
void DUNE::Maneuvers::Maneuver::dispatch ( IMC::Message msg,
unsigned int  flags = 0 
)
inline

Dispatch needs to be handled in a special fashion for DesiredPath.

This function handles every other kind of message.

Parameters
[in]msgmessage pointer.
[in]flagsbitfield with flags.

References DUNE::Tasks::DF_KEEP_SRC_EID, and DUNE::IMC::Message::setSourceEntity().

Referenced by dispatch().

void DUNE::Maneuvers::Maneuver::dispatch ( IMC::Message msg,
unsigned int  flags = 0 
)
inline

Dispatch needs to be handled in a special fashion for DesiredPath.

This function handles every other kind of message.

Parameters
[in]msgmessage reference.
[in]flagsbitfield with flags.

References dispatch().

void DUNE::Maneuvers::Maneuver::dispatch ( IMC::DesiredPath msg,
unsigned int  flags = 0 
)
inline

Dispatch needs to be handled in a special fashion for DesiredPath.

Parameters
[in]msgmessage pointer.
[in]flagsbitfield with flags.

References DUNE::Tasks::DF_KEEP_SRC_EID, DUNE::IMC::DesiredPath::path_ref, and DUNE::IMC::Message::setSourceEntity().

void DUNE::Maneuvers::Maneuver::dispatch ( IMC::DesiredPath msg,
unsigned int  flags = 0 
)
inline

Dispatch needs to be handled in a special fashion for DesiredPath.

Parameters
[in]msgmessage reference.
[in]flagsbitfield with flags.

References dispatch().

void DUNE::Maneuvers::Maneuver::onActivation ( void  )
virtual

On task activation Should be used only by parent class Maneuver.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Status::CODE_ACTIVE, and DUNE::IMC::EntityState::ESTA_NORMAL.

void DUNE::Maneuvers::Maneuver::onDeactivation ( void  )
virtual

On task deactivation Should be used only by parent class Maneuver.

Reimplemented from DUNE::Tasks::Task.

References DUNE::Status::CODE_IDLE, and DUNE::IMC::EntityState::ESTA_NORMAL.

void DUNE::Maneuvers::Maneuver::onEntityReservation ( void  )
virtual

On entity reservation.

Reimplemented from DUNE::Tasks::Task.

void DUNE::Maneuvers::Maneuver::onMain ( void  )
virtual
virtual void DUNE::Maneuvers::Maneuver::onManeuverActivation ( void  )
inlinevirtual

On maneuver activation.

virtual void DUNE::Maneuvers::Maneuver::onManeuverDeactivation ( void  )
inlinevirtual

On maneuver deactivation.

virtual void DUNE::Maneuvers::Maneuver::onPathControlState ( const IMC::PathControlState pcs)
inlinevirtual

On Path Control State.

void DUNE::Maneuvers::Maneuver::onResourceInitialization ( void  )
inlinevirtual
virtual void DUNE::Maneuvers::Maneuver::onStateReport ( void  )
inlinevirtual

State report handler.

It should be overriden by maneuvers where it convenient to do so in time-triggered manner rather than in response to a particular message.

void DUNE::Maneuvers::Maneuver::setControl ( uint32_t  mask)

Set or reconfigure control loops used by maneuver task.

Parameters
maskmask identifying controllers that should be made active.

References DUNE::IMC::CL_ALL, DUNE::IMC::ControlLoops::CL_DISABLE, DUNE::IMC::ControlLoops::CL_ENABLE, DUNE::IMC::ControlLoops::enable, DUNE::IMC::ControlLoops::mask, and DUNE::IMC::ControlLoops::scope_ref.

void DUNE::Maneuvers::Maneuver::setEntityId ( unsigned  eid)
inline

Set entity Id for dispatching message Useful for maneuvers binding to more than one maneuver message.

void DUNE::Maneuvers::Maneuver::signalCompletion ( const std::string &  msg = "done")

Signal an error.

This method should be used by subclasses to signal maneuver completion.

Parameters
msgcompletion message

References DUNE::IMC::ManeuverControlState::eta, DUNE::IMC::ManeuverControlState::info, DUNE::IMC::ManeuverControlState::MCS_DONE, and DUNE::IMC::ManeuverControlState::state.

void DUNE::Maneuvers::Maneuver::signalError ( const std::string &  msg)

Signal an error.

This method should be used by subclasses to signal an error condition.

Parameters
msgerror message

References DUNE::IMC::ManeuverControlState::eta, DUNE::IMC::ManeuverControlState::info, DUNE::IMC::ManeuverControlState::MCS_ERROR, and DUNE::IMC::ManeuverControlState::state.

void DUNE::Maneuvers::Maneuver::signalInvalidZ ( void  )

Signal invalid Z reference This method should be used by subclasses to signal an error condition.

void DUNE::Maneuvers::Maneuver::signalNoAltitude ( void  )

Signal no altitude error.

This method should be used by subclasses to signal an error condition.

void DUNE::Maneuvers::Maneuver::signalProgress ( uint16_t  time_left,
const std::string &  msg 
)

Signal maneuver progress.

Parameters
time_leftestimated time for completion.
msghuman-readable information.

References DUNE::IMC::ManeuverControlState::eta, DUNE::IMC::ManeuverControlState::info, DUNE::IMC::ManeuverControlState::MCS_EXECUTING, and DUNE::IMC::ManeuverControlState::state.

Referenced by signalProgress(), and startManeuver().

void DUNE::Maneuvers::Maneuver::signalProgress ( const std::string &  msg)
inline

Signal maneuver progress.

Parameters
msghuman-readable information.

References signalProgress().

void DUNE::Maneuvers::Maneuver::signalProgress ( uint16_t  time_left)
inline

Signal maneuver progress.

Parameters
time_leftestimated time for completion.

References signalProgress().

void DUNE::Maneuvers::Maneuver::signalProgress ( void  )
inline

Signal maneuver progress.

References signalProgress().

template<typename T , typename M >
void DUNE::Maneuvers::Maneuver::startManeuver ( const M *  maneuver)
inline

Method fired on maneuver startup.

It performs some initialization, then delegates handling on the task's consume method for the message.

Parameters
maneuvermaneuver object

References consume(), DUNE::Tasks::Task::debug(), DUNE::Tasks::Task::requestActivation(), and signalProgress().

void DUNE::Maneuvers::Maneuver::updateLoops ( const IMC::ControlLoops cl)

Update active control loops.

Parameters
clcontrol loops message

References DUNE::IMC::ControlLoops::CL_ENABLE, DUNE::IMC::ControlLoops::enable, and DUNE::IMC::ControlLoops::mask.

Collaboration diagram for DUNE::Maneuvers::Maneuver:
Collaboration graph