Autonomy::TREX::Task Struct Reference

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onEntityReservation (void)
void	updateEntityState (void)
void	consume (const IMC::Heartbeat *msg)
void	consume (const IMC::Announce *msg)
void	consume (const IMC::VehicleState *msg)
void	consume (const IMC::PlanControlState *msg)
void	consume (const IMC::Abort *msg)
void	consume (const IMC::PlanControl *msg)
void	consume (const IMC::TrexOperation *msg)
void	onUpdateParameters (void)
void	onActivation (void)
void	onDeactivation (void)
void	startExecution (void)
void	stopExecution (void)
void	checkState (void)
void	resetAuxCpu (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
const char *	getEntityLabel (void) const
void	setEntityLabel (const std::string &label)
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
std::map< unsigned int, IMC::Announce >	lastAnnounces
std::map< unsigned int, double >	lastHeartBeat
DUNE::Concurrency::Mutex	m_mutex
Arguments	m_args
double	m_last_heartbeat
IMC::VehicleState	m_last_vehicle_state
IMC::PlanControlState	m_last_plan_state
IMC::PowerChannelControl	m_pwr_cpu
bool	m_trex_connected
bool	m_trex_control

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
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 >
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 bool	onWriteParamsXML (std::ostream &os) const
virtual void	onEntityResolution (void)
virtual void	onReportEntityState (void)
virtual void	onResourceAcquisition (void)
virtual void	onResourceRelease (void)
virtual void	onResourceInitialization (void)
virtual void	onRequestActivation (void)
virtual void	onRequestDeactivation (void)
virtual void	onQueryEntityParameters (const IMC::QueryEntityParameters *msg)
virtual void	onSetEntityParameters (const IMC::SetEntityParameters *msg)
virtual void	onPushEntityParameters (const IMC::PushEntityParameters *msg)
virtual void	onPopEntityParameters (const IMC::PopEntityParameters *msg)
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
std::vector < Entities::BasicEntity * >	m_entities

Constructor & Destructor Documentation

Autonomy::TREX::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Autonomy::TREX::Arguments::altitude_interval, Autonomy::TREX::Arguments::aux_pwr_channel, Autonomy::TREX::Arguments::connection_timeout, DUNE::Tasks::Parameter::defaultValue(), m_args, DUNE::Tasks::Task::param(), DUNE::Tasks::Task::paramActive(), and Autonomy::TREX::Arguments::trex_id.

Member Function Documentation

void Autonomy::TREX::Task::checkState ( void  )

inline

References Autonomy::TREX::Arguments::aux_pwr_channel, DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::isActive(), m_args, m_last_plan_state, m_last_vehicle_state, m_pwr_cpu, m_trex_connected, m_trex_control, startExecution(), and stopExecution().

Referenced by onMain().

void Autonomy::TREX::Task::consume ( const IMC::Heartbeat *  msg )

inline

References lastAnnounces, lastHeartBeat, m_args, m_last_heartbeat, m_trex_connected, and Autonomy::TREX::Arguments::trex_id.

void Autonomy::TREX::Task::consume ( const IMC::Announce *  msg )

inline

References lastAnnounces, lastHeartBeat, DUNE::Concurrency::Mutex::lock(), m_mutex, and DUNE::Concurrency::Mutex::unlock().

void Autonomy::TREX::Task::consume ( const IMC::VehicleState *  msg )

inline

References m_last_vehicle_state, and DUNE::Tasks::Task::requestDeactivation().

void Autonomy::TREX::Task::consume ( const IMC::PlanControlState *  msg )

inline

References m_last_plan_state, and m_trex_control.

void Autonomy::TREX::Task::consume ( const IMC::Abort *  msg )

inline

References DUNE::Tasks::Task::getSystemId(), DUNE::Tasks::Task::requestDeactivation(), and DUNE::Tasks::Task::war().

void Autonomy::TREX::Task::consume ( const IMC::PlanControl *  msg )

inline

References m_last_plan_state, m_trex_control, DUNE::Tasks::Task::requestDeactivation(), and DUNE::Tasks::Task::war().

void Autonomy::TREX::Task::consume ( const IMC::TrexOperation *  msg )

inline

References DUNE::Tasks::Task::dispatch(), DUNE::IMC::AddressResolver::id(), DUNE::Tasks::Task::inf(), DUNE::Tasks::Task::m_ctx, resetAuxCpu(), DUNE::Tasks::Context::resolver, and DUNE::Tasks::Task::war().

void Autonomy::TREX::Task::onActivation ( void  )

inlinevirtual

Called when the task starts/resumes normal execution.

Reimplemented from DUNE::Tasks::Task.

References Autonomy::TREX::Arguments::aux_pwr_channel, DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::inf(), m_args, m_pwr_cpu, and DUNE::Tasks::Task::setEntityState().

void Autonomy::TREX::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::inf(), and DUNE::Tasks::Task::setEntityState().

void Autonomy::TREX::Task::onEntityReservation ( void  )

inlinevirtual

Called when the task is instructed to reserve all the entity identifiers it needs for normal execution.

See reserveEntity(). Derived classes that need to reserve entity identifiers other than that of the main entity should override this function.

Reimplemented from DUNE::Tasks::Task.

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

void Autonomy::TREX::Task::onMain ( void  )

inlinevirtual

Implements DUNE::Tasks::Task.

References checkState(), Autonomy::TREX::Arguments::connection_timeout, DUNE::Tasks::Task::consumeMessages(), DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::getSystemName(), lastAnnounces, lastHeartBeat, DUNE::Concurrency::Mutex::lock(), m_args, m_mutex, DUNE::Tasks::Task::stopping(), DUNE::Concurrency::Mutex::unlock(), and updateEntityState().

void Autonomy::TREX::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 Autonomy::TREX::Arguments::aux_pwr_channel, m_args, and m_pwr_cpu.

void Autonomy::TREX::Task::resetAuxCpu ( void  )

inline

References Autonomy::TREX::Arguments::aux_pwr_channel, DUNE::Tasks::Task::dispatch(), m_args, and m_pwr_cpu.

Referenced by consume().

void Autonomy::TREX::Task::startExecution ( void  )

inline

References Autonomy::TREX::Arguments::altitude_interval, Autonomy::TREX::Arguments::connection_timeout, DUNE::Tasks::Task::dispatch(), DUNE::Tasks::Task::inf(), m_args, and Autonomy::TREX::Arguments::trex_id.

Referenced by checkState().

void Autonomy::TREX::Task::stopExecution ( void  )

inline

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

Referenced by checkState().

void Autonomy::TREX::Task::updateEntityState ( void  )

inline

References DUNE::Tasks::Task::isActive(), m_last_heartbeat, m_trex_connected, DUNE::Tasks::Task::requestDeactivation(), and DUNE::Tasks::Task::setEntityState().

Referenced by onMain().

Member Data Documentation

std::map<unsigned int, IMC::Announce> Autonomy::TREX::Task::lastAnnounces

Announce cache.

Referenced by consume(), and onMain().

std::map<unsigned int, double> Autonomy::TREX::Task::lastHeartBeat

HeartBeat cache.

Referenced by consume(), and onMain().

Arguments Autonomy::TREX::Task::m_args

Task arguments.

Referenced by checkState(), consume(), onActivation(), onMain(), onUpdateParameters(), resetAuxCpu(), startExecution(), and Task().

double Autonomy::TREX::Task::m_last_heartbeat

Last HeartBeat.

Referenced by consume(), and updateEntityState().

IMC::PlanControlState Autonomy::TREX::Task::m_last_plan_state

Last plan control state.

Referenced by checkState(), and consume().

IMC::VehicleState Autonomy::TREX::Task::m_last_vehicle_state

Last vehicle state.

Referenced by checkState(), and consume().

DUNE::Concurrency::Mutex Autonomy::TREX::Task::m_mutex

Mutex for accessing announces map.

Referenced by consume(), and onMain().

IMC::PowerChannelControl Autonomy::TREX::Task::m_pwr_cpu

Message to turn on/off TREX's CPU.

Referenced by checkState(), onActivation(), onUpdateParameters(), and resetAuxCpu().

bool Autonomy::TREX::Task::m_trex_connected

Stores state of attached TREX.

Referenced by checkState(), consume(), and updateEntityState().

bool Autonomy::TREX::Task::m_trex_control

Stores if TREX is currently controlling the vehicle.

Referenced by checkState(), and consume().

Collaboration diagram for Autonomy::TREX::Task: