Maneuver::Multiplexer::Task Struct Reference

Public Types
typedef std::map< uint32_t, uint8_t >	MultiplexMap

Public Member Functions
	Task (const std::string &name, Tasks::Context &ctx)
void	onUpdateParameters (void)
void	onResourceInitialization (void)
template<typename Type , typename Args >
AbstractMux *	create (Args *args)
template<typename Type >
AbstractMux *	create (void)
void	onResourceAcquisition (void)
void	onResourceRelease (void)
void	onEntityReservation (void)
void	onManeuverDeactivation (void)
void	changeEntity (void)
void	consume (const IMC::Maneuver *maneuver)
void	consume (const IMC::EstimatedState *msg)
void	consume (const IMC::GpsFix *msg)
void	consume (const IMC::VehicleMedium *msg)
void	onPathControlState (const IMC::PathControlState *pcs)
void	onStateReport (void)
Public Member Functions inherited from DUNE::IMC::Message
	Message (void)
virtual	~Message (void)
virtual Message *	clone (void) const =0
virtual void	clear (void)=0
virtual int	validate (void) const =0
virtual const char *	getName (void) const =0
virtual uint16_t	getId (void) const =0
double	setTimeStamp (double ts)
double	setTimeStamp (void)
double	getTimeStamp (void) const
uint16_t	getSource (void) const
void	setSource (uint16_t src)
uint8_t	getSourceEntity (void) const
void	setSourceEntity (uint8_t src_ent)
uint16_t	getDestination (void) const
void	setDestination (uint16_t dst)
uint8_t	getDestinationEntity (void) const
void	setDestinationEntity (uint8_t dst_ent)
virtual uint16_t	getSubId (void) const
virtual void	setSubId (uint16_t subid)
virtual fp64_t	getValueFP (void) const
virtual void	setValueFP (fp64_t val)
unsigned	getSerializationSize (void) const
unsigned	getPayloadSerializationSize (void) const
virtual unsigned	getFixedSerializationSize (void) const
virtual unsigned	getVariableSerializationSize (void) const
void	toJSON (std::ostream &os) const
void	toText (std::ostream &os) const
virtual uint8_t *	serializeFields (uint8_t *bfr) const =0
virtual uint16_t	deserializeFields (const uint8_t *bfr, uint16_t len)=0
virtual uint16_t	reverseDeserializeFields (const uint8_t *bfr, uint16_t len)=0
virtual void	fieldsToJSON (std::ostream &os, unsigned indent_level) const
bool	operator== (const Message &other) const
bool	operator!= (const Message &other) const

Public Attributes
ManeuverType	m_type
unsigned	m_ents [TYPE_TOTAL]
std::vector< uint32_t >	m_supported
MultiplexMap	m_map
AbstractMux *	m_maneuvers [TYPE_TOTAL]
Arguments	m_args

Additional Inherited Members
Protected Member Functions inherited from DUNE::IMC::Message
virtual void	setTimeStampNested (double value)
virtual void	setSourceNested (uint16_t value)
virtual void	setSourceEntityNested (uint8_t value)
virtual void	setDestinationNested (uint16_t value)
virtual void	setDestinationEntityNested (uint8_t value)
virtual bool	fieldsEqual (const Message &other) const
Protected Attributes inherited from DUNE::IMC::Message
Header	m_header

Member Typedef Documentation

typedef std::map<uint32_t, uint8_t> Maneuver::Multiplexer::Task::MultiplexMap

Map of message id to maneuver type.

Constructor & Destructor Documentation

Maneuver::Multiplexer::Task::Task ( const std::string &  name, Tasks::Context &  ctx  )

inline

References Maneuver::Multiplexer::DislodgeArgs::attempts, Maneuver::Multiplexer::DislodgeArgs::burst_time, Maneuver::Multiplexer::DislodgeArgs::bursts, Maneuver::Multiplexer::YoYoArgs::check_errors, Maneuver::Multiplexer::DislodgeArgs::depth_threshold, Maneuver::Multiplexer::Arguments::dislodge, Maneuver::Multiplexer::PopUpArgs::elev_radius, Maneuver::Multiplexer::Arguments::elevator, Maneuver::Multiplexer::DislodgeArgs::interval_time, Maneuver::Multiplexer::Arguments::labels, Maneuver::Multiplexer::Arguments::loiter, m_args, m_maneuvers, Maneuver::Multiplexer::PopUpArgs::max_sk_dist, Maneuver::Multiplexer::PopUpArgs::min_distance, Maneuver::Multiplexer::DislodgeArgs::min_distance, Maneuver::Multiplexer::StationKeepingArgs::min_radius, Maneuver::Multiplexer::LoiterArgs::min_radius, Maneuver::Multiplexer::ElevatorArgs::min_radius, Maneuver::Multiplexer::PopUpArgs::min_sats, Maneuver::Multiplexer::Arguments::popup, Maneuver::Multiplexer::ElevatorArgs::radius_tolerance, Maneuver::Multiplexer::PopUpArgs::report, Maneuver::Multiplexer::DislodgeArgs::safe_gap, Maneuver::Multiplexer::Arguments::sk, Maneuver::Multiplexer::TYPE_TOTAL, Maneuver::Multiplexer::YoYoArgs::u_course, Maneuver::Multiplexer::YoYoArgs::u_ctrack, Maneuver::Multiplexer::Arguments::unsupported, Maneuver::Multiplexer::YoYoArgs::variation, Maneuver::Multiplexer::ElevatorArgs::vmonitor_speed, Maneuver::Multiplexer::ElevatorArgs::vmonitor_timeout, and Maneuver::Multiplexer::Arguments::yoyo.

Member Function Documentation

void Maneuver::Multiplexer::Task::changeEntity ( void  )

inline

References m_ents, and m_type.

Referenced by consume().

void Maneuver::Multiplexer::Task::consume ( const IMC::Maneuver *  maneuver )

inline

References changeEntity(), m_maneuvers, m_map, m_type, Maneuver::Multiplexer::AbstractMux::start(), and Maneuver::Multiplexer::TYPE_TOTAL.

void Maneuver::Multiplexer::Task::consume ( const IMC::EstimatedState *  msg )

inline

References m_maneuvers, m_type, and Maneuver::Multiplexer::AbstractMux::onEstimatedState().

void Maneuver::Multiplexer::Task::consume ( const IMC::GpsFix *  msg )

inline

References m_maneuvers, m_type, and Maneuver::Multiplexer::AbstractMux::onGpsFix().

void Maneuver::Multiplexer::Task::consume ( const IMC::VehicleMedium *  msg )

inline

References m_maneuvers, m_type, and Maneuver::Multiplexer::AbstractMux::onVehicleMedium().

template<typename Type , typename Args >

AbstractMux* Maneuver::Multiplexer::Task::create ( Args *  args )

inline

template<typename Type >

AbstractMux* Maneuver::Multiplexer::Task::create ( void  )

inline

void Maneuver::Multiplexer::Task::onEntityReservation ( void  )

inline

References Maneuver::Multiplexer::Arguments::labels, m_args, m_ents, and Maneuver::Multiplexer::TYPE_TOTAL.

void Maneuver::Multiplexer::Task::onManeuverDeactivation ( void  )

inline

void Maneuver::Multiplexer::Task::onPathControlState ( const IMC::PathControlState *  pcs )

inline

References m_maneuvers, m_type, and Maneuver::Multiplexer::AbstractMux::onPathControlState().

void Maneuver::Multiplexer::Task::onResourceAcquisition ( void  )

inline

References Maneuver::Multiplexer::Arguments::dislodge, Maneuver::Multiplexer::Arguments::elevator, Maneuver::Multiplexer::Arguments::loiter, m_args, m_maneuvers, Maneuver::Multiplexer::Arguments::popup, Maneuver::Multiplexer::Arguments::sk, Maneuver::Multiplexer::TYPE_DISLODGE, Maneuver::Multiplexer::TYPE_ELEVATOR, Maneuver::Multiplexer::TYPE_FOLLOWPATH, Maneuver::Multiplexer::TYPE_GOTO, Maneuver::Multiplexer::TYPE_IDLE, Maneuver::Multiplexer::TYPE_LAUNCH, Maneuver::Multiplexer::TYPE_LOITER, Maneuver::Multiplexer::TYPE_POPUP, Maneuver::Multiplexer::TYPE_ROWS, Maneuver::Multiplexer::TYPE_SKEEP, Maneuver::Multiplexer::TYPE_YOYO, and Maneuver::Multiplexer::Arguments::yoyo.

void Maneuver::Multiplexer::Task::onResourceInitialization ( void  )

inline

References m_supported.

void Maneuver::Multiplexer::Task::onResourceRelease ( void  )

inline

References m_maneuvers, and Maneuver::Multiplexer::TYPE_TOTAL.

void Maneuver::Multiplexer::Task::onStateReport ( void  )

inline

References m_maneuvers, m_type, and Maneuver::Multiplexer::AbstractMux::onStateReport().

void Maneuver::Multiplexer::Task::onUpdateParameters ( void  )

inline

References m_args, m_map, m_supported, Maneuver::Multiplexer::TYPE_TOTAL, Maneuver::Multiplexer::YoYoArgs::u_course, Maneuver::Multiplexer::Arguments::unsupported, Maneuver::Multiplexer::YoYoArgs::variation, and Maneuver::Multiplexer::Arguments::yoyo.

Member Data Documentation

Arguments Maneuver::Multiplexer::Task::m_args

Task arguments.

Referenced by onEntityReservation(), onResourceAcquisition(), onUpdateParameters(), and Task().

unsigned Maneuver::Multiplexer::Task::m_ents[TYPE_TOTAL]

Array of entity ids.

Referenced by changeEntity(), and onEntityReservation().

AbstractMux* Maneuver::Multiplexer::Task::m_maneuvers[TYPE_TOTAL]

Array of AbstractMuxes.

Referenced by consume(), onPathControlState(), onResourceAcquisition(), onResourceRelease(), onStateReport(), and Task().

MultiplexMap Maneuver::Multiplexer::Task::m_map

Referenced by consume(), and onUpdateParameters().

std::vector<uint32_t> Maneuver::Multiplexer::Task::m_supported

Vector of supported maneuver IDs.

Referenced by onResourceInitialization(), and onUpdateParameters().

ManeuverType Maneuver::Multiplexer::Task::m_type

Type of maneuver to perform.

Referenced by changeEntity(), consume(), onPathControlState(), and onStateReport().

Collaboration diagram for Maneuver::Multiplexer::Task: