DUNE: Uniform Navigational Environment  2016.05.0
Control::UAV::Ardupilot::Task Struct Reference

Public Types

typedef void(Task::* PktHandler )(const mavlink_message_t *msg)
typedef std::map< int, PktHandlerPktHandlerMap
- Public Types inherited from DUNE::Concurrency::Runnable
enum  State {
  StateStarting, StateRunning, StateStopping, StateDead,

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
void onResourceRelease (void)
void onResourceAcquisition (void)
void onUpdateParameters (void)
void openConnection (void)
void setupRate (uint8_t rate)
void info (uint32_t was, uint32_t is, uint32_t loop, const char *desc)
void consume (const IMC::ControlLoops *cloops)
void activateFBW (void)
void consume (const IMC::DesiredRoll *d_roll)
void consume (const IMC::DesiredControl *d_acc)
void consume (const IMC::DesiredZ *d_z)
void consume (const IMC::DesiredVerticalRate *d_vr)
void consume (const IMC::DesiredSpeed *d_speed)
int map2PWM (int min_pwm, int max_pwm, float min_value, float max_value, float value, bool reverse)
void consume (const IMC::DesiredPath *path)
void takeoff_copter (const IMC::DesiredPath *dpath)
void takeoff_plane (const IMC::DesiredPath *dpath)
void loiterHere (void)
void consume (const IMC::IdleManeuver *idle)
void consume (const IMC::VehicleMedium *vm)
void consume (const IMC::VehicleState *msg)
void consume (const IMC::SimulatedState *sim_state)
void consume (const IMC::DevCalibrationControl *msg)
void consume (const IMC::AutopilotMode *msg)
void sendCommandPacket (uint16_t cmd, float arg1=0, float arg2=0, float arg3=0, float arg4=0, float arg5=0, float arg6=0, float arg7=0)
void sendMissionItem (bool next)
void onMain (void)
bool poll (double timeout)
int sendData (uint8_t *bfr, int size)
int receiveData (uint8_t *buf, size_t blen)
void handleArdupilotData (void)
void handleAttitudePacket (const mavlink_message_t *msg)
void handleImuRaw (const mavlink_message_t *msg)
void handlePositionPacket (const mavlink_message_t *msg)
float getHeight (void)
void handleHWStatusPacket (const mavlink_message_t *msg)
void handleSystemStatusPacket (const mavlink_message_t *msg)
void handleScaledPressurePacket (const mavlink_message_t *msg)
void handleRawGPSPacket (const mavlink_message_t *msg)
void handleWindPacket (const mavlink_message_t *msg)
void handleCmdAckPacket (const mavlink_message_t *msg)
void handleMissionAckPacket (const mavlink_message_t *msg)
void handleMissionCurrentPacket (const mavlink_message_t *msg)
void handleStatusTextPacket (const mavlink_message_t *msg)
void handleHeartbeatPacket (const mavlink_message_t *msg)
void handleNavControllerPacket (const mavlink_message_t *msg)
void handleMissionItemPacket (const mavlink_message_t *msg)
void handleHUDPacket (const mavlink_message_t *msg)
void handleSystemTimePacket (const mavlink_message_t *msg)
void handleMissionRequestPacket (const mavlink_message_t *msg)
- 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

Arguments m_args
PktHandlerMap m_mlh
double m_last_pkt_time
uint8_t m_buf [512]
IMC::EstimatedState m_estate
IMC::Voltage m_volt
IMC::Current m_curr
IMC::FuelLevel m_fuel
IMC::Pressure m_pressure
IMC::Temperature m_temp
IMC::GpsFix m_fix
IMC::EstimatedStreamVelocity m_stream
IMC::PathControlState m_pcs
IMC::DesiredPath m_dpath
IMC::ControlLoops m_controllps
fp64_t m_ref_lat
fp64_t m_ref_lon
fp32_t m_ref_hae
Network::TCPSocket * m_TCP_sock
uint8_t m_sysid
double m_lat
double m_lon
float m_hae_msl
float m_hae_offset
bool m_external
int m_current_wp
bool m_critical
uint32_t m_cloops
mavlink_message_t m_msg
int m_desired_radius
int m_gnd_speed
int m_mode
bool m_changing_wp
bool m_error_missing
bool m_esta_ext
bool m_has_setup_rate
bool m_ground
float m_droll
float m_dclimb
float m_dspeed
APM_Vehicle m_vehicle_type
bool m_service
float m_last_wp
std::queue< mavlink_message_t > m_mission_items
float m_gb_pan
float m_gb_tilt
float m_gb_retract

Additional Inherited Members

- 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 >
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 bool onWriteParamsXML (std::ostream &os) const
virtual void onEntityReservation (void)
virtual void onEntityResolution (void)
virtual void onReportEntityState (void)
virtual void onResourceInitialization (void)
virtual void onRequestActivation (void)
virtual void onRequestDeactivation (void)
virtual void onActivation (void)
virtual void onDeactivation (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
< Entities::BasicEntity * > 

Member Typedef Documentation

typedef void(Task::* Control::UAV::Ardupilot::Task::PktHandler)(const mavlink_message_t *msg)

Type definition for Arduino packet handler.

Constructor & Destructor Documentation

Control::UAV::Ardupilot::Task::Task ( const std::string &  name,
Tasks::Context &  ctx 

References Control::UAV::Ardupilot::Arguments::alt, Control::UAV::Ardupilot::Arguments::ardu_tracker, Control::UAV::Ardupilot::Arguments::comm_timeout, Control::UAV::Ardupilot::Arguments::convert_msl, Control::UAV::Ardupilot::Arguments::cp_wp_radius, DUNE::Tasks::Parameter::defaultValue(), Control::UAV::Ardupilot::Arguments::form_fl, Control::UAV::Ardupilot::Arguments::form_fl_ent, handleAttitudePacket(), handleCmdAckPacket(), handleHeartbeatPacket(), handleHUDPacket(), handleHWStatusPacket(), handleImuRaw(), handleMissionAckPacket(), handleMissionCurrentPacket(), handleMissionItemPacket(), handleMissionRequestPacket(), handleNavControllerPacket(), handlePositionPacket(), handleRawGPSPacket(), handleScaledPressurePacket(), handleStatusTextPacket(), handleSystemStatusPacket(), handleSystemTimePacket(), handleWindPacket(), Control::UAV::Ardupilot::Arguments::hitl, Control::UAV::Ardupilot::Arguments::lradius, Control::UAV::Ardupilot::Arguments::ltolerance, m_args, m_estate, m_last_pkt_time, m_mlh, DUNE::Tasks::Parameter::maximumValue(), DUNE::Tasks::Parameter::minimumValue(), DUNE::Tasks::Task::param(), Control::UAV::Ardupilot::RadioChannel::pwm_max, Control::UAV::Ardupilot::RadioChannel::pwm_min, Control::UAV::Ardupilot::Arguments::pwrm, Control::UAV::Ardupilot::Arguments::rc1, Control::UAV::Ardupilot::Arguments::rc2, Control::UAV::Ardupilot::Arguments::rc3, Control::UAV::Ardupilot::RadioChannel::reverse, DUNE::Tasks::Parameter::scope(), Control::UAV::Ardupilot::Arguments::secs, Control::UAV::Ardupilot::Arguments::TCP_addr, Control::UAV::Ardupilot::Arguments::TCP_port, Control::UAV::Ardupilot::Arguments::trate, Control::UAV::Ardupilot::RadioChannel::val_max, Control::UAV::Ardupilot::RadioChannel::val_min, and DUNE::Tasks::Parameter::visibility().

Member Function Documentation

void Control::UAV::Ardupilot::Task::activateFBW ( void  )

Messages for FBWB control (using DUNE's controllers)

References m_sysid, and sendData().

Referenced by consume().

void Control::UAV::Ardupilot::Task::consume ( const IMC::ControlLoops *  cloops)
void Control::UAV::Ardupilot::Task::consume ( const IMC::DesiredZ *  d_z)
void Control::UAV::Ardupilot::Task::consume ( const IMC::DesiredVerticalRate *  d_vr)
void Control::UAV::Ardupilot::Task::consume ( const IMC::DesiredSpeed *  d_speed)
void Control::UAV::Ardupilot::Task::consume ( const IMC::IdleManeuver *  idle)

References loiterHere(), and m_dpath.

void Control::UAV::Ardupilot::Task::consume ( const IMC::VehicleMedium *  vm)

References m_ground.

void Control::UAV::Ardupilot::Task::consume ( const IMC::VehicleState *  msg)

References m_service.

void Control::UAV::Ardupilot::Task::consume ( const IMC::SimulatedState *  sim_state)
void Control::UAV::Ardupilot::Task::consume ( const IMC::DevCalibrationControl *  msg)

References sendCommandPacket().

void Control::UAV::Ardupilot::Task::consume ( const IMC::AutopilotMode *  msg)

References sendCommandPacket().

float Control::UAV::Ardupilot::Task::getHeight ( void  )
void Control::UAV::Ardupilot::Task::handleAttitudePacket ( const mavlink_message_t *  msg)

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

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleCmdAckPacket ( const mavlink_message_t *  msg)

References DUNE::Tasks::Task::debug(), m_changing_wp, and m_last_wp.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleHUDPacket ( const mavlink_message_t *  msg)
void Control::UAV::Ardupilot::Task::handleHWStatusPacket ( const mavlink_message_t *  msg)
void Control::UAV::Ardupilot::Task::handleImuRaw ( const mavlink_message_t *  msg)

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

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleMissionAckPacket ( const mavlink_message_t *  msg)

References DUNE::Tasks::Task::debug(), m_changing_wp, and m_last_wp.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleMissionCurrentPacket ( const mavlink_message_t *  msg)
void Control::UAV::Ardupilot::Task::handleMissionItemPacket ( const mavlink_message_t *  msg)

References m_critical, and DUNE::Tasks::Task::trace().

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleMissionRequestPacket ( const mavlink_message_t *  msg)

References DUNE::Tasks::Task::debug(), and sendMissionItem().

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleRawGPSPacket ( const mavlink_message_t *  msg)

References m_fix.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleScaledPressurePacket ( const mavlink_message_t *  msg)

References DUNE::Tasks::Task::dispatch(), m_pressure, and m_temp.

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleStatusTextPacket ( const mavlink_message_t *  msg)

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

Referenced by Task().

void Control::UAV::Ardupilot::Task::handleSystemStatusPacket ( const mavlink_message_t *  msg)
void Control::UAV::Ardupilot::Task::handleSystemTimePacket ( const mavlink_message_t *  msg)
void Control::UAV::Ardupilot::Task::handleWindPacket ( const mavlink_message_t *  msg)

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

Referenced by Task().

void Control::UAV::Ardupilot::Task::info ( uint32_t  was,
uint32_t  is,
uint32_t  loop,
const char *  desc 

Prints to terminal and log when control loops are activated and deactivated.

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

Referenced by consume().

int Control::UAV::Ardupilot::Task::map2PWM ( int  min_pwm,
int  max_pwm,
float  min_value,
float  max_value,
float  value,
bool  reverse 

Converts value in range min_value:max_value to a value_pwm in range min_pwm:max_pwm.

References DUNE::Math::trimValue().

Referenced by consume().

void Control::UAV::Ardupilot::Task::onResourceAcquisition ( void  )

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

Reimplemented from DUNE::Tasks::Task.

References openConnection().

void Control::UAV::Ardupilot::Task::onResourceRelease ( void  )

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_TCP_sock.

void Control::UAV::Ardupilot::Task::onUpdateParameters ( void  )

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, Control::UAV::Ardupilot::Arguments::rc1, Control::UAV::Ardupilot::Arguments::rc2, Control::UAV::Ardupilot::RadioChannel::val_max, and Control::UAV::Ardupilot::RadioChannel::val_min.

Referenced by consume().

bool Control::UAV::Ardupilot::Task::poll ( double  timeout)

References m_TCP_sock.

Referenced by handleArdupilotData().

int Control::UAV::Ardupilot::Task::receiveData ( uint8_t *  buf,
size_t  blen 
void Control::UAV::Ardupilot::Task::sendCommandPacket ( uint16_t  cmd,
float  arg1 = 0,
float  arg2 = 0,
float  arg3 = 0,
float  arg4 = 0,
float  arg5 = 0,
float  arg6 = 0,
float  arg7 = 0 
int Control::UAV::Ardupilot::Task::sendData ( uint8_t *  bfr,
int  size 
void Control::UAV::Ardupilot::Task::sendMissionItem ( bool  next)
void Control::UAV::Ardupilot::Task::setupRate ( uint8_t  rate)
void Control::UAV::Ardupilot::Task::takeoff_copter ( const IMC::DesiredPath *  dpath)
void Control::UAV::Ardupilot::Task::takeoff_plane ( const IMC::DesiredPath *  dpath)

Member Data Documentation

uint8_t Control::UAV::Ardupilot::Task::m_buf[512]

Referenced by handleArdupilotData().

bool Control::UAV::Ardupilot::Task::m_changing_wp
uint32_t Control::UAV::Ardupilot::Task::m_cloops

Bitfield of enabled control loops.

Referenced by consume().

IMC::ControlLoops Control::UAV::Ardupilot::Task::m_controllps

DesiredPath message.

Referenced by consume(), and handleHeartbeatPacket().

bool Control::UAV::Ardupilot::Task::m_critical

Critical WP.

Referenced by consume(), handleHeartbeatPacket(), and handleMissionItemPacket().

IMC::Current Control::UAV::Ardupilot::Task::m_curr
int Control::UAV::Ardupilot::Task::m_current_wp

Current waypoint.

Referenced by handleMissionCurrentPacket(), and handleNavControllerPacket().

float Control::UAV::Ardupilot::Task::m_dclimb

Referenced by consume().

int Control::UAV::Ardupilot::Task::m_desired_radius
IMC::DesiredPath Control::UAV::Ardupilot::Task::m_dpath

DesiredPath message.

Referenced by consume(), handleHeartbeatPacket(), and handleNavControllerPacket().

float Control::UAV::Ardupilot::Task::m_droll

Desired control.

Referenced by consume().

float Control::UAV::Ardupilot::Task::m_dspeed

Referenced by consume().

bool Control::UAV::Ardupilot::Task::m_error_missing

Referenced by handleArdupilotData(), and onMain().

bool Control::UAV::Ardupilot::Task::m_esta_ext

Referenced by handleArdupilotData(), and onMain().

IMC::EstimatedState Control::UAV::Ardupilot::Task::m_estate
bool Control::UAV::Ardupilot::Task::m_external

External control.

Referenced by consume(), handleHeartbeatPacket(), loiterHere(), and onMain().

IMC::GpsFix Control::UAV::Ardupilot::Task::m_fix

GPS Fix message.

Referenced by handleRawGPSPacket(), handleSystemTimePacket(), and loiterHere().

IMC::FuelLevel Control::UAV::Ardupilot::Task::m_fuel
float Control::UAV::Ardupilot::Task::m_gb_pan

Desired gimbal angles.

float Control::UAV::Ardupilot::Task::m_gb_retract
float Control::UAV::Ardupilot::Task::m_gb_tilt
int Control::UAV::Ardupilot::Task::m_gnd_speed
bool Control::UAV::Ardupilot::Task::m_ground

Vehicle is on ground.

Referenced by consume(), and loiterHere().

float Control::UAV::Ardupilot::Task::m_hae_msl

Height received from the Ardupilot (Geoid/MSL).

Referenced by getHeight(), handleHUDPacket(), handlePositionPacket(), and takeoff_plane().

float Control::UAV::Ardupilot::Task::m_hae_offset

Height offset to convert to WGS-84 ellipsoid.

Referenced by consume(), getHeight(), handlePositionPacket(), takeoff_copter(), and takeoff_plane().

bool Control::UAV::Ardupilot::Task::m_has_setup_rate

Setup rate hack.

Referenced by handleHeartbeatPacket().

double Control::UAV::Ardupilot::Task::m_last_pkt_time

Referenced by handleArdupilotData(), and Task().

float Control::UAV::Ardupilot::Task::m_last_wp

Time since last waypoint was sent.

Referenced by consume(), handleCmdAckPacket(), handleMissionAckPacket(), and handleNavControllerPacket().

double Control::UAV::Ardupilot::Task::m_lat

Last received position.

Referenced by consume(), handlePositionPacket(), takeoff_copter(), and takeoff_plane().

double Control::UAV::Ardupilot::Task::m_lon
std::queue<mavlink_message_t> Control::UAV::Ardupilot::Task::m_mission_items

Mission items queue.

Referenced by sendMissionItem(), and takeoff_plane().

PktHandlerMap Control::UAV::Ardupilot::Task::m_mlh

Arduino packet handling.

Referenced by handleArdupilotData(), and Task().

int Control::UAV::Ardupilot::Task::m_mode
mavlink_message_t Control::UAV::Ardupilot::Task::m_msg

Parser Variables.

Referenced by handleArdupilotData().

IMC::PathControlState Control::UAV::Ardupilot::Task::m_pcs
IMC::Pressure Control::UAV::Ardupilot::Task::m_pressure

Pressure message.

Referenced by handleScaledPressurePacket().

fp32_t Control::UAV::Ardupilot::Task::m_ref_hae

Referenced by handlePositionPacket().

fp64_t Control::UAV::Ardupilot::Task::m_ref_lat

Localization origin (WGS-84)

Referenced by handlePositionPacket().

fp64_t Control::UAV::Ardupilot::Task::m_ref_lon

Referenced by handlePositionPacket().

bool Control::UAV::Ardupilot::Task::m_service

Check if is in service.

Referenced by consume(), and handleHeartbeatPacket().

IMC::EstimatedStreamVelocity Control::UAV::Ardupilot::Task::m_stream

Wind message.

Referenced by handleWindPacket().

uint8_t Control::UAV::Ardupilot::Task::m_sysid
Network::TCPSocket* Control::UAV::Ardupilot::Task::m_TCP_sock
IMC::Temperature Control::UAV::Ardupilot::Task::m_temp

Temperature message.

Referenced by handleScaledPressurePacket().

APM_Vehicle Control::UAV::Ardupilot::Task::m_vehicle_type
IMC::Voltage Control::UAV::Ardupilot::Task::m_volt

Battery messages.

Referenced by handleHWStatusPacket(), and handleSystemStatusPacket().

Collaboration diagram for Control::UAV::Ardupilot::Task:
Collaboration graph