DUNE: Uniform Navigational Environment  2016.05.0
Control::Path::LOSnSMC::Task Struct Reference

Public Member Functions

 Task (const std::string &name, Tasks::Context &ctx)
void onUpdateParameters (void)
void onPathActivation (void)
void consume (const IMC::IndicatedSpeed *airspeed)
void consume (const IMC::EstimatedStreamVelocity *wind)
void step (const IMC::EstimatedState &state, const TrackingState &ts)
- Public Member Functions inherited from DUNE::Control::PathController
 PathController (std::string name, Tasks::Context &ctx)
virtual ~PathController (void)
void onEntityReservation (void)
void consume (const IMC::Brake *brake)
void consume (const IMC::EstimatedState *es)
void consume (const IMC::ControlLoops *cl)
void consume (const IMC::DesiredPath *dp)
void consume (const IMC::NavigationUncertainty *nu)
void consume (const IMC::Distance *dist)
void consume (const IMC::DesiredZ *zref)
void consume (const IMC::DesiredSpeed *dspeed)
virtual void onResourceInitialization (void)
virtual void onResourceRelease (void)
virtual void onPathDeactivation (void)
virtual void onPathStartup (const IMC::EstimatedState &state, const TrackingState &ts)
virtual void step (const IMC::EstimatedState &state, const TrackingState &ts)=0
virtual void loiter (const IMC::EstimatedState &state, const TrackingState &ts)
virtual bool hasSpecificZControl (void) const
void signalError (const std::string &msg)
void enableControlLoops (uint32_t mask)
void disableControlLoops (uint32_t mask)
virtual bool sourceFilter (const IMC::EstimatedState *es)
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

Arguments m_args
IMC::DesiredRoll m_bank
double m_airspeed
double m_bank_lim
double m_lookahead
double m_lookahead_sq
double m_W_x
double m_W_y

Additional Inherited Members

- Public Types inherited from DUNE::Concurrency::Runnable
enum  State {
  StateStarting, StateRunning, StateStopping, StateDead,
- 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 onEntityResolution (void)
virtual void onReportEntityState (void)
virtual void onResourceAcquisition (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
< Entities::BasicEntity * > 

Constructor & Destructor Documentation

Member Function Documentation

void Control::Path::LOSnSMC::Task::consume ( const IMC::IndicatedSpeed *  airspeed)

References m_airspeed.

void Control::Path::LOSnSMC::Task::consume ( const IMC::EstimatedStreamVelocity *  wind)

References m_W_x, and m_W_y.

void Control::Path::LOSnSMC::Task::onPathActivation ( void  )

Handler for path control activation.

This is called when path control is activated. By default it does nothing.

Reimplemented from DUNE::Control::PathController.

References DUNE::Control::PathController::enableControlLoops(), m_args, and Control::Path::LOSnSMC::Arguments::use_controller.

void Control::Path::LOSnSMC::Task::onUpdateParameters ( void  )

Handler for parameter updates.

This can be overriden but in that case this parent class implementation MUST be called.

Reimplemented from DUNE::Control::PathController.

References Control::Path::LOSnSMC::Arguments::lookahead, m_args, m_bank_lim, m_lookahead, m_lookahead_sq, and Control::Path::LOSnSMC::Arguments::max_bank.

Member Data Documentation

double Control::Path::LOSnSMC::Task::m_airspeed

Referenced by consume(), and step().

Arguments Control::Path::LOSnSMC::Task::m_args
IMC::DesiredRoll Control::Path::LOSnSMC::Task::m_bank

Referenced by step().

double Control::Path::LOSnSMC::Task::m_bank_lim

Referenced by onUpdateParameters(), and step().

double Control::Path::LOSnSMC::Task::m_lookahead

Referenced by onUpdateParameters(), and step().

double Control::Path::LOSnSMC::Task::m_lookahead_sq

Referenced by onUpdateParameters(), and step().

double Control::Path::LOSnSMC::Task::m_W_x

Referenced by consume(), and step().

double Control::Path::LOSnSMC::Task::m_W_y

Referenced by consume(), and step().

Collaboration diagram for Control::Path::LOSnSMC::Task:
Collaboration graph