Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)

void	reset (void)

void	onResourceInitialization (void)

void	onUpdateParameters (void)

void	onEntityReservation (void)

void	onEstimatedState (const double timestep, const IMC::EstimatedState *msg)

float	surgeControl (const double timestep, const IMC::EstimatedState *msg)

float	swayControl (const double timestep, const IMC::EstimatedState *msg)

void	logDesiredHRate (float value)

float	headingControl (const double timestep, const IMC::EstimatedState *msg)

void	tal (double X, double Y, double N)

Public Member Functions inherited from DUNE::Control::BasicAutopilot
	BasicAutopilot (const std::string &name, Tasks::Context &ctx, const uint32_t controllable_loops, const uint32_t required_loops)

virtual	~BasicAutopilot (void)

virtual void	onResourceAcquisition (void)

virtual void	onResourceRelease (void)

virtual void	onEstimatedState (const double timestep, const IMC::EstimatedState *msg)=0

void	consume (const IMC::EstimatedState *msg)

void	consume (const IMC::DesiredZ *msg)

void	consume (const IMC::DesiredPitch *msg)

void	consume (const IMC::DesiredHeading *msg)

void	consume (const IMC::DesiredHeadingRate *msg)

void	consume (const IMC::ControlLoops *msg)

void	consume (const IMC::DesiredVelocity *msg)

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
DiscretePID	m_pid [LP_MAX_LOOPS]

IMC::ControlParcel	m_parcels [LP_MAX_LOOPS]

Arguments	m_args

Additional Inherited Members
Public Types inherited from DUNE::Concurrency::Runnable
enum	State { StateStarting, StateRunning, StateStopping, StateDead, StateUnknown }

Protected Types inherited from DUNE::Control::BasicAutopilot
enum	VerticalMode { VERTICAL_MODE_NONE, VERTICAL_MODE_DEPTH, VERTICAL_MODE_ALTITUDE, VERTICAL_MODE_PITCH, VERTICAL_MODE_HEAVE, VERTICAL_MODE_SIZE }

enum	YawMode { YAW_MODE_NONE, YAW_MODE_HEADING, YAW_MODE_HRATE, YAW_MODE_BYPASS, YAW_MODE_SIZE }

Protected Member Functions inherited from DUNE::Control::BasicAutopilot
virtual void	onAutopilotActivation (void)

virtual void	onAutopilotDeactivation (void)

void	onDeactivation (void)

void	onActivation (void)

void	signalBadYaw (const char *desc=DTR("yaw control mode %d not supported"))

void	signalBadVertical (const char *desc=DTR("vertical control mode %d not supported"))

float	getVerticalRef (void) const

VerticalMode	getVerticalMode (void) const

float	getYawRef (void) const

YawMode	getYawMode (void) const

float	getSurgeRef (void) const

float	getSwayRef (void) const

float	getBottomFollowDepth (void) const

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	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

Control::ROV::HorizontalPlane::Task::Task	(	const std::string &	name,
		Tasks::Context &	ctx
	)

inline

Member Function Documentation

float Control::ROV::HorizontalPlane::Task::headingControl	(	const double	timestep,
		const IMC::EstimatedState *	msg
	)

inline

Compute thrust necessary to comply with desired heading or heading rate.

References DUNE::Control::BasicAutopilot::getYawMode(), DUNE::Control::BasicAutopilot::getYawRef(), logDesiredHRate(), Control::ROV::HorizontalPlane::LP_HEADING, Control::ROV::HorizontalPlane::LP_HRATE, m_pid, DUNE::Control::BasicAutopilot::signalBadYaw(), DUNE::Control::BasicAutopilot::YAW_MODE_BYPASS, DUNE::Control::BasicAutopilot::YAW_MODE_HEADING, and DUNE::Control::BasicAutopilot::YAW_MODE_HRATE.

Referenced by onEstimatedState().

void Control::ROV::HorizontalPlane::Task::logDesiredHRate ( float value )

inline

Log Desired heading rate.

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

Referenced by headingControl().

void Control::ROV::HorizontalPlane::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 Control::ROV::HorizontalPlane::Arguments::log_parcels, Control::ROV::HorizontalPlane::LP_MAX_LOOPS, m_args, m_parcels, and DUNE::Tasks::Task::reserveEntity().

void Control::ROV::HorizontalPlane::Task::onEstimatedState	(	const double	timestep,
		const IMC::EstimatedState *	msg
	)

inline

References headingControl(), surgeControl(), swayControl(), and tal().

void Control::ROV::HorizontalPlane::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::Control::BasicAutopilot.

void Control::ROV::HorizontalPlane::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.

void Control::ROV::HorizontalPlane::Task::reset ( void )

inlinevirtual

Reset to initial values.

Reimplemented from DUNE::Control::BasicAutopilot.

References Control::ROV::HorizontalPlane::LP_MAX_LOOPS, m_pid, and tal().

Referenced by onUpdateParameters().

float Control::ROV::HorizontalPlane::Task::surgeControl	(	const double	timestep,
		const IMC::EstimatedState *	msg
	)

inline

Compute thrust necessary to comply with desired surge speed.

References DUNE::Control::BasicAutopilot::getSurgeRef(), Control::ROV::HorizontalPlane::LP_SURGE, m_args, m_pid, and Control::ROV::HorizontalPlane::Arguments::stabilize_ground.

Referenced by onEstimatedState().

float Control::ROV::HorizontalPlane::Task::swayControl	(	const double	timestep,
		const IMC::EstimatedState *	msg
	)

inline

Compute thrust necessary to comply with desired sway speed.

References DUNE::Control::BasicAutopilot::getSwayRef(), Control::ROV::HorizontalPlane::LP_SWAY, m_args, m_pid, and Control::ROV::HorizontalPlane::Arguments::stabilize_ground.

Referenced by onEstimatedState().

void Control::ROV::HorizontalPlane::Task::tal	(	double	X,
		double	Y,
		double	N
	)

inline

function for thrust allocation surge, sway and yaw force (respectively X, Y and N)

References DUNE::Tasks::Task::dispatch(), m_args, Control::ROV::HorizontalPlane::Arguments::max_thrust, Control::ROV::HorizontalPlane::Arguments::n_thrusters, Control::ROV::HorizontalPlane::Arguments::tmat, and DUNE::Math::trimValue().

Referenced by onEstimatedState(), and reset().

Member Data Documentation

Arguments Control::ROV::HorizontalPlane::Task::m_args

Task Arguments.

Referenced by onEntityReservation(), onUpdateParameters(), surgeControl(), swayControl(), tal(), and Task().

IMC::ControlParcel Control::ROV::HorizontalPlane::Task::m_parcels[LP_MAX_LOOPS]

PID parcels.

Referenced by onEntityReservation(), and onUpdateParameters().

DiscretePID Control::ROV::HorizontalPlane::Task::m_pid[LP_MAX_LOOPS]

PID controllers.

Referenced by headingControl(), onUpdateParameters(), reset(), surgeControl(), and swayControl().

Collaboration diagram for Control::ROV::HorizontalPlane::Task:

Public Member Functions

Public Attributes

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation